version: 66.02
glider: 102
mission: 4
dive: 15
start: 11 15 107 13 14 32
data:
$ID,102
$MISSION,4
$DIVE,15
$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,-76538.32
$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,24
$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
$GPS1,130908,6133.153,-821.339,35,0.9,35,-8.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-65.3
$GPS2,131338,6133.152,-821.285,10,1.1,15,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.055,-0.254
$KALMAN_X,616.1,63.6,256.0,6804.6,1623.4
$KALMAN_Y,47676.9,-1029.6,-861.2,-45721.1,16877.2
$MHEAD_RNG_PITCHd_Wd,201.1,6697,-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,-81.47,0.000,6,0.000,0.000,34,1894,3477
$GC,103,-1.46,-146.6,5.7,-8.5,4,124,11.45,2.60,0.00,0.000,4,0.144,0.046,2171,3312,3479
$GC,358,-1.46,-146.6,49.1,-14.3,15,364,0.00,2.55,0.00,0.000,6,0.000,0.042,2171,1906,3479
$GC,680,-1.46,-146.6,92.2,-14.0,31,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1906,3479
$GC,989,-1.46,-146.6,131.7,-13.0,46,994,0.00,2.53,0.00,0.000,4,0.000,0.048,2170,3308,3479
$GC,1028,-1.46,-146.6,136.8,-12.2,48,1032,0.00,2.53,0.00,0.000,6,0.000,0.044,2171,1900,3479
$GC,1352,-1.46,-146.6,178.6,-13.3,64,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1900,3479
$GC,1662,-1.46,-146.6,218.2,-13.0,79,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1900,3479
$GC,1971,-1.46,-146.6,262.4,-13.8,94,1975,0.00,2.53,0.00,0.000,4,0.000,0.049,2171,3309,3480
$GC,2087,-1.46,-146.6,278.4,-13.9,99,2092,0.00,2.55,0.00,0.000,6,0.000,0.044,2171,1903,3479
$GC,2414,-1.46,-146.6,321.8,-13.3,115,2418,0.00,2.55,0.00,0.000,4,0.000,0.050,2171,3312,3479
$GC,2508,-1.46,-146.6,333.9,-12.2,119,2513,0.00,2.55,0.00,0.000,6,0.000,0.044,2171,1905,3480
$GC,2829,-1.46,-146.6,379.4,-13.2,135,2833,0.00,2.62,0.00,0.000,4,0.000,0.069,2171,491,3480
$GC,2906,-1.46,-146.6,390.4,-13.0,138,2913,0.00,2.53,0.00,0.000,6,0.000,0.044,2171,1908,3480
$GC,3222,-1.46,-146.6,424.6,-10.0,154,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1908,3480
$GC,3531,-1.46,-146.6,454.2,-9.1,169,3535,0.00,2.65,0.00,0.000,4,0.000,0.071,2171,494,3480
$GC,3569,-1.46,-146.6,458.1,-10.7,171,3574,0.00,2.47,0.00,0.000,6,0.000,0.048,2171,1899,3480
$GC,3894,-1.46,-146.6,497.3,-13.0,187,3899,0.00,2.65,0.00,0.000,4,0.000,0.074,2171,494,3480
$GC,3926,-1.46,-146.6,501.5,-13.5,188,3934,0.00,2.50,0.00,0.000,6,0.000,0.048,2171,1894,3480
$GC,4242,-1.46,-146.6,515.8,-3.7,204,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1894,3480
$GC,4551,-1.46,-146.6,531.5,-4.5,219,4556,0.00,2.55,0.00,0.000,4,0.000,0.055,2171,3297,3479
$GC,4728,-1.46,-146.6,550.1,-22.2,227,4732,0.00,2.55,0.00,0.000,6,0.000,0.052,2171,1896,3478
$GC,5053,-1.46,-146.6,610.0,-11.7,243,5057,0.00,2.62,0.00,0.000,4,0.000,0.079,2171,495,3478
$GC,5119,-1.46,-146.6,618.1,-14.3,246,5124,0.00,2.53,0.00,0.000,6,0.000,0.051,2171,1902,3477
$STATE,5273,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5273,begin apogee
$GC,5277,-0.36,0.0,637.6,12.8,254,5402,1.20,0.00,121.50,1.260,6,0.097,0.000,2417,2250,2878
$STATE,5403,end apogee,CONTROL_FINISHED_OK
$STATE,5403,begin climb
$GC,5404,1.46,146.6,641.4,0.0,260,5532,1.80,2.67,119.53,1.220,4,0.054,0.064,2815,3651,2279
$GC,5597,1.46,146.6,634.9,12.1,269,5602,0.00,2.58,0.00,0.000,6,0.000,0.050,2815,2261,2279
$GC,5918,1.46,146.6,595.5,17.3,285,5923,0.00,2.58,0.00,0.000,4,0.000,0.059,2815,3653,2279
$GC,5935,1.46,146.6,592.6,17.4,286,5940,0.00,2.55,0.00,0.000,6,0.000,0.048,2815,2246,2279
$GC,6260,1.46,146.6,578.0,15.3,302,6264,0.00,2.65,0.00,0.000,4,0.000,0.073,2815,841,2277
$GC,6517,1.58,244.4,560.9,5.4,313,6604,0.08,2.55,79.65,1.202,6,0.066,0.048,2839,2247,1880
$GC,6918,1.58,244.4,523.2,14.2,333,6922,0.00,2.65,0.00,0.000,4,0.000,0.069,2839,839,1880
$GC,7092,1.58,244.4,497.7,17.7,341,7097,0.00,2.55,0.00,0.000,6,0.000,0.048,2839,2250,1880
$GC,7417,1.58,244.4,435.7,15.6,357,7422,0.00,2.65,0.00,0.000,4,0.000,0.070,2839,841,1879
$GC,7426,1.58,244.4,434.3,14.5,357,7434,0.00,2.55,0.00,0.000,6,0.000,0.047,2839,2250,1879
$GC,7742,1.58,244.4,392.0,11.5,373,7746,0.00,2.55,0.00,0.000,4,0.000,0.056,2839,3653,1879
$GC,7764,1.58,244.4,389.2,13.1,374,7768,0.00,2.53,0.00,0.000,6,0.000,0.048,2839,2250,1879
$GC,8095,1.58,244.4,355.0,10.8,390,8099,0.00,2.55,0.00,0.000,4,0.000,0.055,2839,3653,1879
$GC,8307,1.58,244.4,326.9,13.8,399,8314,0.00,2.53,0.00,0.000,6,0.000,0.042,2839,2247,1879
$GC,8622,1.58,244.4,285.5,13.4,415,8626,0.00,2.55,0.00,0.000,4,0.000,0.054,2839,3654,1879
$GC,8683,1.58,244.4,278.1,12.5,418,8688,0.00,2.50,0.00,0.000,6,0.000,0.042,2840,2246,1879
$GC,9009,1.58,244.4,236.9,13.5,434,9010,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2246,1879
$GC,9318,1.58,244.4,201.4,11.3,449,9322,0.00,2.53,0.00,0.000,4,0.000,0.051,2839,3654,1880
$GC,9373,1.58,244.4,194.5,12.9,451,9380,0.00,2.50,0.00,0.000,6,0.000,0.040,2839,2251,1879
$GC,9688,1.58,244.4,155.1,12.9,467,9692,0.00,2.53,0.00,0.000,4,0.000,0.050,2839,3656,1880
$GC,9727,1.58,244.4,149.8,13.8,469,9731,0.00,2.47,0.00,0.000,6,0.000,0.041,2839,2250,1880
$GC,10060,1.58,244.4,110.1,11.8,485,10064,0.00,2.55,0.00,0.000,4,0.000,0.050,2839,3658,1882
$GC,10121,1.58,244.4,102.3,13.0,488,10125,0.00,2.47,0.00,0.000,6,0.000,0.041,2839,2248,1881
$GC,10452,1.58,244.4,62.1,11.8,504,10456,0.00,2.55,0.00,0.000,4,0.000,0.050,2839,3659,1882
$GC,10535,1.58,244.4,51.4,13.3,508,10540,0.00,2.47,0.00,0.000,6,0.000,0.040,2839,2249,1882
$GC,10861,1.58,244.4,11.9,12.0,524,10865,0.00,2.53,0.00,0.000,4,0.000,0.050,2839,3656,1882
$STATE,10936,end climb,SURFACE_DEPTH_REACHED
$STATE,10936,begin surface coast
$FINISH,1.2,1.027309
$STATE,10944,end surface coast,CONTROL_FINISHED_OK
$STATE,10944,begin surface
$SM_CCo,10966,44.80,0.828,5,0,1655,300.00
$SM_GC,0.29,0.00,0.00,44.80,0.000,0.000,0.828,28,1889,1655,-11.34,-0.31,300.00
$IRIDIUM_FIX,6108.28,-818.01,151107,141429
$TT8_MAMPS,0.027612
$HUMID,2071
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.1,95.5
$24V_AH,23.3,14.347
$10V_AH,10.1,5.959
$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,26.950,113.625,320.675,44.800,0.000,37.931,35.043,121.515,4.500,0.000,0.000,17.176,1034.550,8112.214,521.615,1383.792,269.222,33.350,1219.670,0.000,1349.201,0.000,31.938
$DEVICE_MAMPS,144.196,79.001,1260.181,827.593,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,385.389,355.026,336.102,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25509,528
$CFSIZE,260165632,257183744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,5,0
$GPS,151107,161937,6132.646,-821.521,34,1.5,34,-8.9