version: 66.02
glider: 102
mission: 4
dive: 18
start: 11 15 107 22 33 40
data:
$ID,102
$MISSION,4
$DIVE,18
$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,-76580.375
$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,22
$R_STBD_OVSHOOT,21
$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
$GPS1,222122,6132.370,-823.048,38,2.9,57,-8.9
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-60.7
$GPS2,223245,6132.400,-823.052,13,1.4,13,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.054,-0.254
$KALMAN_X,3511.0,-605.8,-283.4,3572.7,4382.6
$KALMAN_Y,57160.3,-2294.1,-937.9,-55242.0,19157.5
$MHEAD_RNG_PITCHd_Wd,176.8,4767,-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,-81.62,0.000,6,0.000,0.000,34,1893,3477
$GC,103,-1.46,-146.6,5.6,-8.3,4,124,11.45,2.60,0.00,0.000,4,0.144,0.045,2169,3314,3478
$GC,376,-1.46,-146.6,51.2,-13.1,16,380,0.00,2.53,0.00,0.000,6,0.000,0.041,2169,1906,3478
$GC,702,-1.46,-146.6,93.2,-13.2,32,707,0.00,2.62,0.00,0.000,4,0.000,0.067,2169,494,3479
$GC,790,-1.46,-146.6,106.4,-15.5,36,795,0.00,2.53,0.00,0.000,6,0.000,0.041,2169,1910,3478
$GC,1119,-1.46,-146.6,147.3,-12.1,52,1123,0.00,2.65,0.00,0.000,4,0.000,0.066,2169,490,3479
$GC,1184,-1.46,-146.6,156.2,-12.6,55,1189,0.00,2.47,0.00,0.000,6,0.000,0.041,2169,1905,3479
$GC,1505,-1.46,-146.6,196.2,-11.9,71,1509,0.00,2.62,0.00,0.000,4,0.000,0.067,2169,496,3479
$GC,1547,-1.46,-146.6,201.8,-12.9,73,1552,0.00,2.47,0.00,0.000,6,0.000,0.041,2169,1898,3479
$GC,1873,-1.46,-146.6,240.8,-12.3,89,1878,0.00,2.62,0.00,0.000,4,0.000,0.067,2169,492,3479
$GC,1980,-1.46,-146.6,256.4,-14.4,94,1984,0.00,2.45,0.00,0.000,6,0.000,0.042,2169,1900,3479
$GC,2305,-1.46,-146.6,295.2,-12.0,110,2309,0.00,2.53,0.00,0.000,4,0.000,0.050,2169,3304,3479
$GC,2343,-1.46,-146.6,299.6,-11.7,112,2348,0.00,2.53,0.00,0.000,6,0.000,0.048,2169,1902,3479
$GC,2673,-1.46,-146.6,338.9,-11.6,128,2678,0.00,2.62,0.00,0.000,4,0.000,0.068,2169,490,3479
$GC,2728,-1.46,-146.6,345.8,-12.1,130,2735,0.00,2.50,0.00,0.000,6,0.000,0.044,2169,1906,3479
$GC,3044,-1.46,-146.6,382.8,-10.6,146,3048,0.00,2.65,0.00,0.000,4,0.000,0.069,2169,489,3479
$GC,3075,-1.46,-146.6,386.3,-10.6,147,3082,0.00,2.50,0.00,0.000,6,0.000,0.044,2169,1899,3479
$GC,3391,-1.46,-146.6,416.9,-9.3,163,3395,0.00,2.62,0.00,0.000,4,0.000,0.070,2169,492,3480
$GC,3433,-1.46,-146.6,421.2,-10.0,165,3438,0.00,2.50,0.00,0.000,6,0.000,0.046,2169,1898,3479
$GC,3760,-1.46,-146.6,454.2,-11.6,181,3765,0.00,2.62,0.00,0.000,4,0.000,0.070,2169,493,3479
$GC,3837,-1.46,-146.6,463.4,-10.8,184,3844,0.00,2.50,0.00,0.000,6,0.000,0.046,2168,1898,3479
$GC,4153,-1.46,-146.6,492.9,-9.5,200,4157,0.00,2.62,0.00,0.000,4,0.000,0.071,2169,495,3479
$GC,4208,-1.46,-146.6,498.9,-11.5,202,4214,0.00,2.47,0.00,0.000,6,0.000,0.047,2169,1900,3480
$GC,4522,-1.46,-146.6,528.7,-8.9,218,4527,0.00,2.65,0.00,0.000,4,0.000,0.073,2169,491,3479
$GC,4655,-1.46,-146.6,540.9,-9.6,224,4659,0.00,2.53,0.00,0.000,6,0.000,0.048,2169,1893,3479
$GC,4982,-1.46,-146.6,570.9,-9.9,240,4986,0.00,2.62,0.00,0.000,4,0.000,0.074,2169,495,3479
$GC,5046,-1.46,-146.6,577.9,-10.8,243,5052,0.00,2.53,0.00,0.000,6,0.000,0.050,2168,1898,3479
$GC,5374,-1.46,-146.6,606.6,-9.5,259,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1901,3479
$GC,5683,-1.46,-146.6,637.0,-8.8,274,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1901,3479
$GC,5992,-1.46,-146.6,668.7,-10.5,289,5996,0.00,2.65,0.00,0.000,4,0.000,0.073,2169,3305,3477
$STATE,6039,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6039,begin apogee
$GC,6045,-0.36,0.0,677.7,23.6,291,6171,1.17,0.00,122.45,1.309,6,0.102,0.000,2410,2245,2878
$STATE,6172,end apogee,CONTROL_FINISHED_OK
$STATE,6172,begin climb
$GC,6173,1.46,146.6,689.3,0.0,297,6304,1.85,2.78,120.12,1.270,4,0.065,0.074,2810,839,2280
$GC,6556,1.64,295.3,686.1,3.0,314,6686,0.20,2.55,121.45,1.267,6,0.051,0.053,2863,2248,1674
$GC,6993,1.64,295.3,625.9,15.3,336,6997,0.00,2.70,0.00,0.000,4,0.000,0.079,2864,840,1674
$GC,7176,1.64,295.3,596.4,16.7,344,7180,0.00,2.58,0.00,0.000,6,0.000,0.053,2864,2257,1672
$GC,7496,1.64,295.3,545.4,16.1,360,7501,0.00,2.60,0.00,0.000,4,0.000,0.063,2864,3657,1671
$GC,7541,1.64,295.3,538.1,17.1,362,7545,0.00,2.60,0.00,0.000,6,0.000,0.056,2864,2244,1671
$GC,7866,1.64,295.3,486.8,15.2,378,7870,0.00,2.67,0.00,0.000,4,0.000,0.077,2864,835,1671
$GC,7936,1.64,295.3,474.9,17.7,381,7941,0.00,2.55,0.00,0.000,6,0.000,0.047,2864,2247,1671
$GC,8258,1.64,295.3,418.6,18.0,397,8262,0.00,2.58,0.00,0.000,4,0.000,0.055,2864,3657,1671
$GC,8356,1.64,295.3,402.4,15.8,401,8364,0.00,2.55,0.00,0.000,6,0.000,0.048,2864,2256,1671
$GC,8672,1.64,295.3,357.6,13.6,417,8676,0.00,2.53,0.00,0.000,4,0.000,0.053,2864,3659,1671
$GC,8839,1.64,295.3,332.2,14.9,424,8844,0.00,2.55,0.00,0.000,6,0.000,0.045,2864,2251,1671
$GC,9160,1.64,295.3,279.6,15.1,440,9164,0.00,2.53,0.00,0.000,4,0.000,0.051,2864,3656,1671
$GC,9185,1.64,295.3,276.1,13.4,441,9191,0.00,2.53,0.00,0.000,6,0.000,0.044,2864,2252,1671
$GC,9507,1.64,295.3,227.7,15.6,457,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2252,1672
$GC,9816,1.64,295.3,179.0,15.1,472,9820,0.00,2.53,0.00,0.000,4,0.000,0.050,2864,3661,1672
$GC,9876,1.64,295.3,169.4,15.7,474,9883,0.00,2.53,0.00,0.000,6,0.000,0.041,2864,2253,1672
$GC,10192,1.64,295.3,123.3,14.6,490,10196,0.00,2.55,0.00,0.000,4,0.000,0.049,2864,3662,1673
$GC,10230,1.64,295.3,117.5,15.1,492,10234,0.00,2.50,0.00,0.000,6,0.000,0.041,2864,2247,1673
$GC,10561,1.64,295.3,71.7,13.7,508,10566,0.00,2.55,0.00,0.000,4,0.000,0.049,2864,3659,1673
$GC,10600,1.64,295.3,66.1,14.7,510,10604,0.00,2.47,0.00,0.000,6,0.000,0.041,2863,2248,1674
$GC,10931,1.64,295.3,20.1,14.3,526,10936,0.00,2.55,0.00,0.000,4,0.000,0.049,2864,3658,1674
$GC,11002,1.64,295.3,9.3,14.3,529,11007,0.00,2.53,0.00,0.000,6,0.000,0.041,2864,2248,1674
$STATE,11056,end climb,SURFACE_DEPTH_REACHED
$STATE,11056,begin surface coast
$FINISH,-0.8,1.014773
$STATE,11077,end surface coast,CONTROL_FINISHED_OK
$STATE,11077,begin surface
$SM_CCo,11095,4.70,0.898,0,0,1655,300.00
$SM_GC,1.00,0.00,0.00,4.70,0.000,0.000,0.898,32,1890,1655,-11.33,-0.28,300.00
$IRIDIUM_FIX,6108.28,-827.60,161107,020243
$TT8_MAMPS,0.026845
$HUMID,2098
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.5,86.5
$24V_AH,23.3,14.787
$10V_AH,10.1,6.126
$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,26.925,128.300,364.025,4.700,0.000,104.552,103.825,271.841,5.000,0.000,0.000,15.396,1064.401,8232.326,489.080,1446.947,566.669,33.365,1240.852,0.000,1405.599,0.000,34.686
$DEVICE_MAMPS,144.196,79.001,1308.502,898.157,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.252,358.083,327.464,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28616,533
$CFSIZE,260165632,257052672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,161107,014008,6132.515,-822.779,54,1.4,54,-8.9