version: 66.02
glider: 102
mission: 4
dive: 20
start: 11 16 107 5 5 14
data:
$ID,102
$MISSION,4
$DIVE,20
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-76606.266
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3332
$C_PITCH,2495
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3761
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,603
$VBD_MAX,3897
$C_VBD,2878
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-8.5065012
$PRESSURE_SLOPE,0.00011626
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043130573
$SEABIRD_T_H,0.00062837353
$SEABIRD_T_I,2.3180288e-05
$SEABIRD_T_J,2.4140363e-06
$SEABIRD_C_G,-10.364641
$SEABIRD_C_H,1.1788509
$SEABIRD_C_I,-0.0011747589
$SEABIRD_C_J,0.00021488362
$GPS1,045632,6132.257,-822.515,40,1.2,40,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-58.1
$GPS2,050420,6132.199,-822.468,12,1.3,12,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.049,-0.255
$KALMAN_X,2347.5,-272.3,30.5,4588.4,1812.3
$KALMAN_Y,62420.1,-1309.5,-1174.2,-61615.5,17044.6
$MHEAD_RNG_PITCHd_Wd,199.7,4646,-17.9,-10.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.46,-146.6,0.0,0.0,0,101,0.00,0.00,-81.80,0.000,2,0.000,0.000,34,1894,3431
$GC,103,-1.46,-146.6,4.2,-6.3,4,126,11.45,2.62,-0.88,0.000,4,0.144,0.058,2171,3315,3477
$GC,377,-1.46,-146.6,49.9,-14.6,16,382,0.00,2.58,0.00,0.000,6,0.000,0.043,2171,1901,3478
$GC,704,-1.46,-146.6,95.2,-15.0,32,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1901,3478
$GC,1013,-1.46,-146.6,137.9,-13.8,47,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1901,3478
$GC,1322,-1.46,-146.6,179.8,-13.5,62,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1901,3478
$GC,1631,-1.46,-146.6,222.1,-14.1,77,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1901,3478
$GC,1940,-1.46,-146.6,262.1,-12.8,92,1945,0.00,2.55,0.00,0.000,4,0.000,0.051,2171,3310,3478
$GC,2012,-1.46,-146.6,271.4,-12.9,95,2017,0.00,2.55,0.00,0.000,6,0.000,0.044,2171,1904,3478
$GC,2333,-1.46,-146.6,310.5,-12.1,111,2338,0.00,2.62,0.00,0.000,4,0.000,0.068,2171,489,3478
$GC,2372,-1.46,-146.6,317.0,-18.9,113,2376,0.00,2.50,0.00,0.000,6,0.000,0.044,2171,1918,3479
$GC,2703,-1.46,-146.6,363.5,-5.9,129,2708,0.00,2.67,0.00,0.000,4,0.000,0.069,2171,489,3478
$GC,2719,-1.46,-146.6,364.6,-4.8,130,2724,0.00,2.50,0.00,0.000,6,0.000,0.044,2171,1906,3478
$GC,3046,-1.46,-146.6,411.8,-16.2,146,3050,0.00,2.50,0.00,0.000,4,0.000,0.051,2171,3298,3479
$GC,3179,-1.46,-146.6,431.9,-15.0,152,3183,0.00,2.55,0.00,0.000,6,0.000,0.049,2171,1904,3478
$GC,3505,-1.46,-146.6,471.2,-10.9,168,3509,0.00,2.62,0.00,0.000,4,0.000,0.071,2171,493,3479
$GC,3548,-1.46,-146.6,476.4,-11.6,170,3553,0.00,2.50,0.00,0.000,6,0.000,0.046,2171,1897,3478
$GC,3875,-1.46,-146.6,519.1,-13.3,186,3880,0.00,2.62,0.00,0.000,4,0.000,0.072,2171,493,3479
$GC,3936,-1.46,-146.6,528.4,-15.2,189,3940,0.00,2.47,0.00,0.000,6,0.000,0.048,2171,1898,3479
$GC,4268,-1.46,-146.6,578.0,-16.0,205,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1899,3479
$GC,4577,-1.46,-146.6,615.4,-8.5,220,4581,0.00,2.65,0.00,0.000,4,0.000,0.076,2171,493,3478
$GC,4670,-1.46,-146.6,625.0,-12.1,224,4675,0.00,2.53,0.00,0.000,6,0.000,0.051,2171,1892,3479
$GC,4992,-1.46,-146.6,652.1,-9.1,240,4996,0.00,2.60,0.00,0.000,4,0.000,0.063,2171,3304,3478
$GC,5112,-1.46,-146.6,668.3,-12.6,245,5121,0.00,2.62,0.00,0.000,6,0.000,0.063,2171,1910,3478
$STATE,5365,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5365,begin apogee
$GC,5369,-0.36,0.0,690.4,3.9,258,5494,1.20,0.00,121.32,1.351,6,0.097,0.000,2417,2248,2878
$STATE,5495,end apogee,CONTROL_FINISHED_OK
$STATE,5495,begin climb
$GC,5496,1.46,146.6,694.8,0.0,264,5626,1.75,2.78,119.70,1.290,4,0.046,0.074,2811,832,2279
$GC,5878,1.46,146.6,666.6,12.2,281,5885,0.00,2.62,0.00,0.000,6,0.000,0.055,2811,2245,2279
$GC,6193,1.46,146.6,638.6,11.1,297,6198,0.00,2.70,0.00,0.000,4,0.000,0.080,2811,834,2277
$GC,6361,1.48,159.2,625.3,9.4,304,6377,0.00,2.62,10.82,1.305,6,0.000,0.055,2812,2249,2229
$GC,6697,1.52,191.4,595.2,8.5,321,6726,0.00,0.00,27.27,1.305,6,0.000,0.000,2811,2250,2097
$GC,7026,1.52,194.0,562.8,9.9,337,7035,0.00,2.72,3.15,1.182,4,0.000,0.074,2811,844,2087
$GC,7057,1.52,194.0,559.1,11.3,338,7062,0.00,2.60,0.00,0.000,6,0.000,0.051,2811,2255,2087
$GC,7378,1.52,194.0,523.7,11.2,354,7383,0.00,2.67,0.00,0.000,4,0.000,0.073,2811,835,2086
$GC,7427,1.52,194.0,517.6,12.7,356,7432,0.00,2.58,0.00,0.000,6,0.000,0.050,2811,2247,2086
$GC,7748,1.52,194.0,478.6,11.8,372,7753,0.00,2.60,0.00,0.000,4,0.000,0.059,2811,3657,2086
$GC,7776,1.52,194.0,475.1,13.0,373,7780,0.00,2.55,0.00,0.000,6,0.000,0.051,2812,2247,2086
$GC,8090,1.52,194.0,436.3,12.0,388,8095,0.00,2.60,0.00,0.000,4,0.000,0.057,2811,3662,2086
$GC,8326,1.52,194.0,415.6,10.4,398,8332,0.00,2.53,0.00,0.000,6,0.000,0.046,2812,2247,2086
$GC,8640,1.56,225.5,388.4,8.5,414,8669,0.10,0.00,26.08,1.164,6,0.068,0.000,2841,2247,1958
$GC,8969,1.56,225.5,352.4,10.5,430,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2247,1959
$GC,9279,1.56,225.5,316.3,12.1,445,9283,0.00,2.58,0.00,0.000,4,0.000,0.053,2840,3660,1960
$GC,9338,1.56,225.5,308.9,12.1,447,9346,0.00,2.55,0.00,0.000,6,0.000,0.044,2840,2251,1960
$GC,9654,1.57,236.0,277.2,9.5,463,9669,0.00,2.60,9.73,1.080,4,0.000,0.052,2840,3657,1915
$GC,9691,1.57,236.0,273.6,10.0,464,9695,0.00,2.53,0.00,0.000,6,0.000,0.043,2840,2249,1915
$GC,10017,1.57,236.0,239.9,10.9,480,10021,0.00,2.55,0.00,0.000,4,0.000,0.052,2840,3657,1916
$GC,10128,1.57,236.0,228.2,10.7,485,10132,0.00,2.50,0.00,0.000,6,0.000,0.041,2840,2247,1916
$GC,10460,1.57,236.0,194.1,10.4,501,10465,0.00,2.55,0.00,0.000,4,0.000,0.051,2840,3657,1916
$GC,10554,1.57,236.0,183.7,11.2,505,10559,0.00,2.50,0.00,0.000,6,0.000,0.041,2840,2260,1917
$GC,10875,1.57,236.1,150.9,10.0,521,10880,0.00,2.53,0.00,0.000,4,0.000,0.049,2840,3658,1917
$GC,10959,1.57,236.1,141.9,10.8,525,10964,0.00,2.50,0.00,0.000,6,0.000,0.040,2840,2241,1918
$GC,11284,1.57,236.1,105.8,11.5,541,11289,0.00,2.55,0.00,0.000,4,0.000,0.049,2840,3658,1918
$GC,11383,1.57,236.1,93.9,10.9,545,11391,0.00,2.50,0.00,0.000,6,0.000,0.039,2840,2253,1918
$GC,11699,1.57,236.1,57.0,11.8,561,11703,0.00,2.55,0.00,0.000,4,0.000,0.050,2841,3662,1919
$GC,11763,1.57,236.1,49.3,11.6,564,11768,0.00,2.50,0.00,0.000,6,0.000,0.039,2840,2254,1918
$GC,12091,1.57,236.1,13.6,10.9,580,12095,0.00,2.55,0.00,0.000,4,0.000,0.050,2840,3663,1918
$STATE,12182,end climb,SURFACE_DEPTH_REACHED
$STATE,12183,begin surface coast
$FINISH,0.7,1.027297
$STATE,12189,end surface coast,CONTROL_FINISHED_OK
$STATE,12189,begin surface
$SM_CCo,12211,52.88,0.864,6,0,1655,300.00
$SM_GC,-0.07,0.00,0.00,52.88,0.000,0.000,0.864,33,1895,1655,-11.33,-0.17,300.00
$IRIDIUM_FIX,6108.28,-818.01,161107,080857
$TT8_MAMPS,0.026845
$HUMID,2053
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.9,98.5
$24V_AH,23.3,15.075
$10V_AH,10.1,6.247
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,26.675,119.700,318.075,52.875,0.000,74.485,72.262,180.590,5.000,0.000,0.000,13.979,1144.315,9153.719,539.486,1523.385,414.389,33.355,1301.507,0.000,1485.796,0.000,34.703
$DEVICE_MAMPS,144.196,79.768,1350.687,864.409,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.959,393.428,356.641,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28535,584
$CFSIZE,260165632,256962560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,6,0
$GPS,161107,083107,6132.229,-823.498,25,1.6,25,-8.9