version: 66.02
glider: 102
mission: 4
dive: 10
start: 11 14 107 22 52 45
data:
$ID,102
$MISSION,4
$DIVE,10
$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,-76456.75
$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,2175
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,30
$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
$GPS1,224719,6135.364,-821.561,36,1.3,48,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-65.1
$GPS2,225151,6135.392,-821.575,12,1.0,12,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.011,-0.259
$KALMAN_X,-4576.5,262.7,-608.8,12410.9,-1882.4
$KALMAN_Y,36225.6,-2933.7,-1120.7,-27929.4,16641.4
$MHEAD_RNG_PITCHd_Wd,191.4,10434,-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,-146.6,0.0,0.0,0,96,0.00,0.00,-77.18,0.000,2,0.000,0.000,33,1895,3336
$GC,98,-1.46,-146.6,4.1,-5.2,4,116,11.62,0.00,-2.95,0.000,6,0.146,0.000,2169,1895,3478
$GC,425,-1.46,-146.6,55.2,-13.1,20,429,0.00,2.53,0.00,0.000,4,0.000,0.047,2169,3301,3479
$GC,486,-1.46,-146.6,63.5,-13.5,23,490,0.00,2.53,0.00,0.000,6,0.000,0.044,2169,1894,3479
$GC,811,-1.46,-146.6,106.4,-13.6,39,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1894,3479
$GC,1120,-1.46,-146.6,149.5,-13.5,54,1128,0.00,2.53,0.00,0.000,4,0.000,0.047,2169,3301,3480
$GC,1161,-1.46,-146.6,155.2,-14.3,55,1167,0.00,2.53,0.00,0.000,6,0.000,0.044,2169,1893,3480
$GC,1475,-1.46,-146.6,199.7,-15.1,71,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1893,3480
$GC,1785,-1.46,-146.6,243.5,-13.5,86,1789,0.00,2.55,0.00,0.000,4,0.000,0.048,2169,3309,3480
$GC,1810,-1.46,-146.6,246.9,-12.5,87,1815,0.00,2.55,0.00,0.000,6,0.000,0.044,2169,1905,3480
$GC,2131,-1.46,-146.6,286.6,-12.2,103,2136,0.00,2.53,0.00,0.000,4,0.000,0.048,2169,3305,3480
$GC,2186,-1.46,-146.6,293.7,-13.2,105,2194,0.00,2.55,0.00,0.000,6,0.000,0.045,2169,1907,3480
$GC,2502,-1.46,-146.6,327.4,-10.0,121,2506,0.00,2.62,0.00,0.000,4,0.000,0.070,2169,495,3480
$GC,2555,-1.46,-146.6,333.2,-10.9,123,2563,0.00,2.47,0.00,0.000,6,0.000,0.043,2169,1898,3480
$GC,2871,-1.46,-146.6,366.1,-10.7,139,2875,0.00,2.53,0.00,0.000,4,0.000,0.051,2169,3301,3480
$GC,2970,-1.46,-146.6,376.5,-10.7,143,2977,0.00,2.55,0.00,0.000,6,0.000,0.048,2169,1908,3480
$GC,3285,-1.46,-146.6,413.3,-12.9,159,3289,0.00,2.65,0.00,0.000,4,0.000,0.071,2170,489,3480
$GC,3334,-1.46,-146.6,420.7,-15.0,161,3339,0.00,2.50,0.00,0.000,6,0.000,0.044,2169,1897,3480
$GC,3655,-1.46,-146.6,467.3,-13.7,177,3659,0.00,2.53,0.00,0.000,4,0.000,0.054,2170,3295,3480
$GC,3749,-1.46,-146.6,479.7,-12.8,181,3754,0.00,2.55,0.00,0.000,6,0.000,0.051,2169,1907,3480
$GC,4070,-1.46,-146.6,520.0,-13.4,197,4074,0.00,2.65,0.00,0.000,4,0.000,0.074,2169,493,3480
$GC,4108,-1.46,-146.6,525.0,-12.6,199,4114,0.00,2.47,0.00,0.000,6,0.000,0.048,2169,1897,3480
$GC,4440,-1.46,-146.6,569.7,-9.9,215,4444,0.00,2.55,0.00,0.000,4,0.000,0.058,2169,3299,3480
$GC,4555,-1.46,-146.6,578.6,-7.5,220,4560,0.00,2.58,0.00,0.000,6,0.000,0.055,2169,1907,3480
$GC,4877,-1.46,-146.6,614.7,-10.8,236,4881,0.00,2.58,0.00,0.000,4,0.000,0.061,2169,3302,3480
$GC,4998,-1.46,-146.6,625.2,-7.0,241,5005,0.00,2.58,0.00,0.000,6,0.000,0.058,2169,1902,3479
$STATE,5086,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5086,begin apogee
$GC,5090,-0.36,0.0,634.2,10.3,246,5215,1.17,0.00,121.93,1.251,6,0.090,0.000,2414,2180,2878
$STATE,5216,end apogee,CONTROL_FINISHED_OK
$STATE,5216,begin climb
$GC,5217,1.46,146.6,639.4,0.0,252,5342,1.80,0.00,119.88,1.203,6,0.058,0.000,2809,2180,2280
$GC,5647,1.52,198.3,607.7,7.6,273,5697,0.00,2.67,42.90,1.206,4,0.000,0.061,2810,3578,2069
$GC,5921,1.56,222.8,583.6,8.9,285,5947,0.08,2.62,20.60,1.206,6,0.061,0.051,2834,2174,1969
$GC,6261,1.56,222.8,546.7,11.0,302,6266,0.00,2.58,0.00,0.000,4,0.000,0.057,2834,3578,1968
$GC,6350,1.56,222.8,535.2,14.8,306,6355,0.00,2.60,0.00,0.000,6,0.000,0.050,2834,2177,1968
$GC,6676,1.56,222.8,494.4,13.0,322,6681,0.00,2.58,0.00,0.000,4,0.000,0.057,2834,3578,1968
$GC,6933,1.56,222.8,459.8,12.3,333,6940,0.00,2.60,0.00,0.000,6,0.000,0.048,2834,2175,1967
$GC,7249,1.56,222.8,423.6,10.9,349,7253,0.00,2.55,0.00,0.000,4,0.000,0.053,2834,3578,1967
$GC,7488,1.56,222.8,393.9,12.0,359,7496,0.00,2.58,0.00,0.000,6,0.000,0.045,2834,2174,1967
$GC,7804,1.56,222.8,355.8,12.7,375,7808,0.00,2.53,0.00,0.000,4,0.000,0.051,2834,3580,1967
$GC,7893,1.56,222.8,344.6,12.6,379,7898,0.00,2.53,0.00,0.000,6,0.000,0.044,2834,2167,1967
$GC,8224,1.56,222.8,304.6,12.0,395,8229,0.00,2.58,0.00,0.000,4,0.000,0.065,2834,768,1968
$GC,8267,1.56,222.8,298.7,14.0,397,8273,0.00,2.50,0.00,0.000,6,0.000,0.041,2834,2177,1967
$GC,8594,1.56,222.8,259.3,12.1,413,8599,0.00,2.53,0.00,0.000,4,0.000,0.051,2835,3581,1968
$GC,8800,1.56,222.8,233.2,12.5,422,8805,0.00,2.53,0.00,0.000,6,0.000,0.041,2834,2178,1967
$GC,9121,1.56,222.8,195.1,11.7,438,9126,0.00,2.53,0.00,0.000,4,0.000,0.050,2835,3587,1968
$GC,9215,1.56,222.8,183.4,13.6,442,9220,0.00,2.55,0.00,0.000,6,0.000,0.040,2834,2171,1968
$GC,9537,1.56,222.8,147.7,10.8,458,9541,0.00,2.53,0.00,0.000,4,0.000,0.047,2834,3580,1968
$GC,9665,1.56,222.8,133.0,11.2,464,9669,0.00,2.50,0.00,0.000,6,0.000,0.040,2834,2168,1968
$GC,9990,1.56,222.8,97.7,11.1,480,9994,0.00,2.53,0.00,0.000,4,0.000,0.047,2834,3578,1969
$GC,10111,1.56,222.8,83.1,12.5,485,10118,0.00,2.53,0.00,0.000,6,0.000,0.039,2834,2173,1969
$GC,10428,1.56,222.8,49.2,10.1,501,10432,0.00,2.53,0.00,0.000,4,0.000,0.047,2834,3579,1969
$GC,10466,1.56,222.8,44.9,11.3,503,10470,0.00,2.47,0.00,0.000,6,0.000,0.039,2835,2174,1969
$GC,10792,1.56,222.8,10.7,10.6,519,10796,0.00,2.53,0.00,0.000,4,0.000,0.048,2834,3580,1970
$STATE,10867,end climb,SURFACE_DEPTH_REACHED
$STATE,10867,begin surface coast
$FINISH,0.9,1.027292
$STATE,10875,end surface coast,CONTROL_FINISHED_OK
$STATE,10875,begin surface
$SM_CCo,10897,53.35,0.821,4,0,1654,300.00
$SM_GC,0.45,0.00,0.00,53.35,0.000,0.000,0.821,31,1894,1654,-11.33,-0.17,300.00
$IRIDIUM_FIX,6112.75,-823.80,141107,232329
$TT8_MAMPS,0.026845
$HUMID,2041
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.4,40.3
$24V_AH,23.3,13.688
$10V_AH,10.1,5.703
$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,26.825,118.250,305.300,53.350,0.000,36.956,34.765,124.207,5.000,0.000,0.000,13.890,1045.181,7981.705,518.898,1438.791,269.855,33.349,1245.022,0.000,1405.478,0.000,34.571
$DEVICE_MAMPS,146.497,74.399,1250.977,820.690,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.529,351.379,346.553,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25525,523
$CFSIZE,260165632,257376256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,4,0
$GPS,151107,015637,6134.757,-819.701,28,0.9,28,-8.9