version: 66.02
glider: 102
mission: 4
dive: 39
start: 11 18 107 9 1 3
data:
$ID,102
$MISSION,4
$DIVE,39
$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,-77004.125
$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,26
$R_STBD_OVSHOOT,22
$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
$GPS1,085537,6129.355,-823.732,37,1.4,37,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-52.8
$GPS2,090008,6129.278,-823.658,15,1.4,15,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.254,-0.051
$KALMAN_X,30349.1,-3716.6,-1312.2,-19616.6,15090.2
$KALMAN_Y,89157.4,-317.1,-535.8,-95432.3,4615.4
$MHEAD_RNG_PITCHd_Wd,267.5,1787,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.46,-146.6,0.0,0.0,0,101,0.00,0.00,-81.22,0.000,6,0.000,0.000,35,1892,3477
$GC,102,-1.46,-146.6,6.2,-10.3,4,124,11.48,2.58,0.00,0.000,4,0.145,0.044,2171,3310,3478
$GC,375,-1.46,-146.6,57.5,-15.2,16,380,0.00,2.53,0.00,0.000,6,0.000,0.041,2171,1907,3478
$GC,702,-1.46,-146.6,102.5,-14.1,32,706,0.00,2.53,0.00,0.000,4,0.000,0.048,2171,3314,3479
$GC,795,-1.46,-146.6,115.1,-12.3,36,800,0.00,2.55,0.00,0.000,6,0.000,0.042,2171,1901,3479
$GC,1116,-1.46,-146.6,157.5,-14.1,52,1120,0.00,2.53,0.00,0.000,4,0.000,0.047,2171,3312,3479
$GC,1187,-1.46,-146.6,167.7,-14.0,55,1192,0.00,2.55,0.00,0.000,6,0.000,0.042,2171,1900,3479
$GC,1514,-1.46,-146.6,209.8,-13.0,71,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1899,3479
$GC,1824,-1.46,-146.6,250.0,-12.6,86,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1900,3478
$GC,2133,-1.46,-146.6,289.9,-13.0,101,2137,0.00,2.53,0.00,0.000,4,0.000,0.048,2171,3312,3479
$GC,2216,-1.46,-146.6,300.6,-13.2,105,2221,0.00,2.53,0.00,0.000,6,0.000,0.043,2171,1895,3479
$GC,2542,-1.46,-146.6,341.7,-12.4,121,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1894,3479
$GC,2851,-1.46,-146.6,381.6,-12.8,136,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1895,3479
$GC,3161,-1.46,-146.6,419.8,-12.5,151,3165,0.00,2.55,0.00,0.000,4,0.000,0.051,2171,3307,3479
$GC,3237,-1.46,-146.6,429.4,-11.6,154,3244,0.00,2.55,0.00,0.000,6,0.000,0.047,2171,1905,3479
$GC,3553,-1.46,-146.6,467.3,-12.1,170,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1905,3479
$GC,3862,-1.46,-146.6,504.5,-12.3,185,3866,0.00,2.55,0.00,0.000,4,0.000,0.053,2171,3311,3479
$GC,3949,-1.46,-146.6,515.3,-12.4,189,3954,0.00,2.55,0.00,0.000,6,0.000,0.045,2171,1901,3479
$GC,4276,-1.46,-146.6,556.3,-12.6,205,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1901,3479
$GC,4585,-1.46,-146.6,598.1,-12.2,220,4590,0.00,2.55,0.00,0.000,4,0.000,0.054,2172,3306,3479
$GC,4746,-1.46,-146.6,617.8,-12.8,227,4751,0.00,2.58,0.00,0.000,6,0.000,0.049,2171,1900,3479
$GC,5067,-1.46,-146.6,646.1,-11.1,243,5071,0.00,2.58,0.00,0.000,4,0.000,0.056,2171,3309,3479
$GC,5324,-1.46,-146.6,674.3,-11.5,254,5331,0.00,2.60,0.00,0.000,6,0.000,0.053,2171,1900,3479
$GC,5640,-1.46,-146.6,709.4,-8.8,270,5644,0.00,2.60,0.00,0.000,4,0.000,0.062,2171,3305,3479
$GC,5727,-1.46,-146.6,717.7,-10.7,274,5732,0.00,2.58,0.00,0.000,6,0.000,0.057,2171,1904,3479
$GC,6054,-1.46,-146.6,754.4,-9.6,290,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1904,3478
$GC,6363,-1.46,-146.6,787.2,-15.7,305,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1904,3477
$GC,6673,-1.46,-146.6,816.2,-7.3,320,6677,0.00,2.72,0.00,0.000,4,0.000,0.091,2171,489,3474
$GC,6756,-1.46,-146.6,823.5,-3.9,324,6760,0.00,2.58,0.00,0.000,6,0.000,0.061,2171,1907,3475
$STATE,6811,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6811,begin apogee
$GC,6815,-0.36,0.0,828.2,9.0,327,6943,1.20,0.00,123.80,1.428,6,0.098,0.000,2417,2252,2878
$STATE,6944,end apogee,CONTROL_FINISHED_OK
$STATE,6944,begin climb
$GC,6945,1.46,146.6,837.2,0.0,333,7079,1.83,2.83,123.62,1.357,4,0.057,0.078,2813,837,2280
$GC,7330,1.69,331.2,827.9,1.4,351,7494,0.17,2.62,153.88,1.350,6,0.048,0.059,2861,2250,1527
$GC,7814,1.69,331.2,748.3,19.4,375,7818,0.00,2.70,0.00,0.000,4,0.000,0.082,2861,838,1526
$GC,7924,1.69,331.2,729.3,19.1,380,7929,0.00,2.60,0.00,0.000,6,0.000,0.058,2861,2239,1526
$GC,8251,1.69,331.2,687.1,12.7,396,8255,0.00,2.65,0.00,0.000,4,0.000,0.069,2861,3657,1525
$GC,8507,1.69,331.2,646.1,17.0,407,8514,0.00,2.60,0.00,0.000,6,0.000,0.053,2860,2248,1525
$GC,8822,1.69,331.2,593.7,14.6,423,8826,0.00,2.60,0.00,0.000,4,0.000,0.058,2861,3660,1524
$GC,8933,1.69,331.2,575.0,17.2,428,8938,0.00,2.58,0.00,0.000,6,0.000,0.048,2861,2250,1524
$GC,9259,1.69,331.2,521.3,15.8,444,9261,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2250,1525
$GC,9569,1.69,331.2,473.5,15.9,459,9570,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2250,1526
$GC,9878,1.69,331.2,425.1,15.6,474,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2250,1526
$GC,10187,1.69,331.2,377.1,15.2,489,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2250,1527
$GC,10497,1.69,331.2,330.4,15.0,504,10498,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2250,1529
$GC,10806,1.69,331.2,285.5,14.8,519,10807,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2250,1529
$GC,11115,1.69,331.2,239.2,14.9,534,11116,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2250,1529
$GC,11424,1.69,331.2,193.3,15.2,549,11426,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2250,1530
$GC,11734,1.69,331.2,146.3,14.4,564,11738,0.00,2.55,0.00,0.000,4,0.000,0.050,2861,3658,1531
$GC,11805,1.69,331.2,135.4,14.9,567,11810,0.00,2.50,0.00,0.000,6,0.000,0.039,2861,2249,1531
$GC,12127,1.69,331.2,92.3,15.9,583,12128,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2249,1532
$GC,12436,1.69,331.2,48.8,11.6,598,12440,0.00,2.55,0.00,0.000,4,0.000,0.049,2861,3663,1532
$GC,12501,1.69,331.2,37.6,16.7,601,12506,0.00,2.50,0.00,0.000,6,0.000,0.040,2861,2259,1532
$STATE,12724,end climb,SURFACE_DEPTH_REACHED
$STATE,12724,begin surface coast
$FINISH,-0.0,1.027274
$STATE,12746,end surface coast,CONTROL_FINISHED_OK
$STATE,12746,begin surface
$SM_CCo,12825,0.00,0.000,0,0,1531,330.42
$SM_GC,0.05,12.18,0.00,0.00,0.031,0.000,0.000,35,1884,1531,-11.26,-0.45,330.42
$IRIDIUM_FIX,6103.81,-826.28,181107,090930
$TT8_MAMPS,0.026845
$HUMID,2085
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.80
$XPDR_PINGS,506
$ALTIM_BOTTOM_PING,727.7,109.4
$24V_AH,23.2,17.578
$10V_AH,10.1,7.199
$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,26.850,83.825,401.300,0.000,0.000,39.434,35.672,116.329,132.750,0.000,0.000,16.518,1151.214,9648.811,491.167,1542.343,272.092,33.354,1260.447,0.000,1504.489,0.000,42.818
$DEVICE_MAMPS,144.963,91.273,1428.154,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.673,413.070,348.079,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31675,613
$CFSIZE,260165632,256237568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,181107,123607,6129.624,-828.436,40,1.3,46,-8.9