version: 66.02
glider: 102
mission: 4
dive: 25
start: 11 16 107 21 16 45
data:
$ID,102
$MISSION,4
$DIVE,25
$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,-76697.57
$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
$GPS1,205737,6131.987,-820.977,36,1.0,36,-8.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-55.7
$GPS2,211551,6132.118,-820.870,10,1.6,10,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.071,-0.250
$KALMAN_X,3283.4,465.2,-415.4,4762.3,2639.1
$KALMAN_Y,79461.8,-1820.5,-808.0,-78668.5,17986.5
$MHEAD_RNG_PITCHd_Wd,204.9,5357,-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,17,-1.46,-146.6,0.0,0.0,0,101,0.00,0.00,-81.85,0.000,2,0.000,0.000,29,1887,3316
$GC,103,-1.46,-146.6,3.2,-5.4,4,126,11.45,2.58,-3.55,0.000,4,0.144,0.058,2169,3312,3477
$GC,242,-1.46,-146.6,29.9,-15.1,10,247,0.00,2.58,0.00,0.000,6,0.000,0.043,2169,1898,3477
$GC,569,-1.46,-146.6,76.3,-14.7,26,573,0.00,2.55,0.00,0.000,4,0.000,0.047,2169,3312,3477
$GC,634,-1.46,-146.6,85.5,-13.5,29,639,0.00,2.55,0.00,0.000,6,0.000,0.042,2169,1904,3477
$GC,962,-1.46,-146.6,128.8,-13.3,45,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1904,3477
$GC,1270,-1.46,-146.6,168.4,-12.7,60,1274,0.00,2.53,0.00,0.000,4,0.000,0.048,2169,3309,3477
$GC,1302,-1.46,-146.6,172.3,-12.2,61,1309,0.00,2.55,0.00,0.000,6,0.000,0.043,2169,1901,3477
$GC,1617,-1.46,-146.6,210.0,-11.9,77,1622,0.00,2.53,0.00,0.000,4,0.000,0.048,2169,3308,3477
$GC,1656,-1.46,-146.6,214.5,-11.7,79,1661,0.00,2.53,0.00,0.000,6,0.000,0.044,2170,1901,3477
$GC,1983,-1.46,-146.6,251.8,-11.8,95,1987,0.00,2.53,0.00,0.000,4,0.000,0.048,2170,3309,3477
$GC,2053,-1.46,-146.6,260.8,-12.1,98,2058,0.00,2.55,0.00,0.000,6,0.000,0.044,2169,1904,3477
$GC,2375,-1.46,-146.6,303.2,-13.1,114,2379,0.00,2.60,0.00,0.000,4,0.000,0.067,2169,491,3477
$GC,2390,-1.46,-146.6,305.1,-10.9,115,2394,0.00,2.50,0.00,0.000,6,0.000,0.044,2169,1913,3477
$GC,2722,-1.46,-146.6,348.0,-7.3,131,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1914,3478
$GC,3031,-1.46,-146.6,379.1,-10.5,146,3035,0.00,2.47,0.00,0.000,4,0.000,0.049,2169,3297,3477
$GC,3091,-1.46,-146.6,384.8,-9.7,148,3098,0.00,2.53,0.00,0.000,6,0.000,0.046,2169,1905,3477
$GC,3407,-1.46,-146.6,412.6,-8.3,164,3411,0.00,2.53,0.00,0.000,4,0.000,0.051,2169,3302,3477
$GC,3449,-1.46,-146.6,415.8,-7.1,166,3454,0.00,2.55,0.00,0.000,6,0.000,0.048,2169,1905,3477
$GC,3776,-1.46,-146.6,439.4,-7.1,182,3780,0.00,2.65,0.00,0.000,4,0.000,0.073,2168,489,3477
$GC,3802,-1.46,-146.6,441.3,-6.5,183,3807,0.00,2.47,0.00,0.000,6,0.000,0.045,2169,1901,3477
$GC,4123,-1.46,-146.6,466.9,-8.8,199,4127,0.00,2.53,0.00,0.000,4,0.000,0.054,2169,3298,3478
$GC,4222,-1.46,-146.6,476.9,-11.0,203,4229,0.00,2.55,0.00,0.000,6,0.000,0.051,2169,1909,3477
$GC,4537,-1.46,-146.6,518.6,-15.0,219,4541,0.00,2.55,0.00,0.000,4,0.000,0.056,2169,3303,3477
$GC,4569,-1.46,-146.6,523.8,-15.5,220,4577,0.00,2.58,0.00,0.000,6,0.000,0.052,2169,1905,3477
$GC,4885,-1.46,-146.6,568.8,-11.9,236,4889,0.00,2.55,0.00,0.000,4,0.000,0.058,2169,3302,3477
$GC,5063,-1.46,-146.6,593.7,-17.2,244,5067,0.00,2.55,0.00,0.000,6,0.000,0.054,2169,1900,3477
$STATE,5243,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5244,begin apogee
$GC,5248,-0.36,0.0,617.5,10.5,253,5373,1.20,0.00,121.68,1.223,6,0.094,0.000,2418,2244,2878
$STATE,5374,end apogee,CONTROL_FINISHED_OK
$STATE,5374,begin climb
$GC,5375,1.46,146.6,620.4,0.0,259,5508,1.83,2.72,119.97,1.180,4,0.053,0.071,2817,840,2280
$GC,5759,1.51,185.0,606.6,8.2,277,5797,0.00,2.58,32.15,1.190,6,0.000,0.051,2818,2240,2124
$GC,6105,1.54,209.8,575.0,8.8,294,6129,0.00,0.00,21.38,1.205,6,0.000,0.000,2818,2240,2022
$GC,6434,1.54,209.8,536.4,12.1,310,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2240,2021
$GC,6744,1.54,209.8,501.6,11.5,325,6748,0.00,2.65,0.00,0.000,4,0.000,0.073,2817,836,2020
$GC,6764,1.54,209.8,498.8,12.6,326,6769,0.00,2.58,0.00,0.000,6,0.000,0.049,2817,2249,2020
$GC,7091,1.54,209.8,465.3,10.1,342,7095,0.00,2.58,0.00,0.000,4,0.000,0.060,2817,3654,2019
$GC,7139,1.54,209.8,460.2,10.9,344,7144,0.00,2.58,0.00,0.000,6,0.000,0.048,2817,2249,2019
$GC,7460,1.54,209.8,432.1,10.3,360,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2249,2019
$GC,7769,1.54,209.8,399.9,10.8,375,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2249,2018
$GC,8079,1.56,224.1,367.4,9.3,390,8100,0.00,2.65,11.70,1.131,4,0.000,0.055,2817,3659,1964
$GC,8267,1.56,224.1,346.8,11.7,398,8272,0.00,2.55,0.00,0.000,6,0.000,0.044,2817,2247,1964
$GC,8588,1.60,257.7,316.3,8.4,414,8623,0.12,2.65,27.65,1.060,4,0.058,0.053,2853,3654,1827
$GC,8644,1.60,257.7,310.6,10.5,416,8651,0.00,2.55,0.00,0.000,6,0.000,0.043,2853,2256,1827
$GC,8959,1.60,257.7,268.0,13.4,432,8964,0.00,2.53,0.00,0.000,4,0.000,0.050,2853,3658,1827
$GC,9037,1.60,257.7,259.2,11.7,435,9041,0.00,2.53,0.00,0.000,6,0.000,0.042,2853,2251,1827
$GC,9358,1.60,257.7,220.5,13.2,451,9362,0.00,2.55,0.00,0.000,4,0.000,0.051,2853,3656,1828
$GC,9435,1.60,257.7,208.6,15.0,454,9442,0.00,2.53,0.00,0.000,6,0.000,0.041,2853,2248,1828
$GC,9750,1.60,257.7,163.0,14.2,470,9754,0.00,2.53,0.00,0.000,4,0.000,0.051,2854,3656,1828
$GC,9833,1.60,257.7,150.6,15.0,473,9840,0.00,2.50,0.00,0.000,6,0.000,0.040,2853,2254,1828
$GC,10150,1.60,257.7,104.3,15.0,489,10154,0.00,2.53,0.00,0.000,4,0.000,0.049,2853,3657,1829
$GC,10243,1.60,257.7,89.5,15.5,493,10248,0.00,2.50,0.00,0.000,6,0.000,0.040,2853,2257,1829
$GC,10564,1.60,257.7,39.5,15.3,509,10569,0.00,2.53,0.00,0.000,4,0.000,0.048,2853,3657,1830
$GC,10585,1.60,257.7,36.4,15.2,510,10590,0.00,2.50,0.00,0.000,6,0.000,0.038,2853,2248,1830
$STATE,10890,end climb,SURFACE_DEPTH_REACHED
$STATE,10890,begin surface coast
$FINISH,-1.0,1.001254
$STATE,10912,end surface coast,CONTROL_FINISHED_OK
$STATE,10912,begin surface
$SM_CCo,10931,38.00,0.834,5,0,1655,300.00
$SM_GC,-0.21,0.00,0.00,38.00,0.000,0.000,0.834,31,1886,1655,-11.33,-0.40,300.00
$IRIDIUM_FIX,6108.28,-817.36,171107,010131
$TT8_MAMPS,0.026845
$HUMID,2069
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,527.9,99.4
$24V_AH,23.4,15.801
$10V_AH,10.1,6.532
$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,26.725,113.575,334.525,38.000,0.000,195.187,280.772,284.933,4.250,0.000,0.000,11.598,1019.156,8379.852,535.633,1305.700,862.552,33.357,1213.379,0.000,1280.637,0.000,29.854
$DEVICE_MAMPS,144.196,72.865,1222.598,834.496,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,385.226,353.411,325.782,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25336,526
$CFSIZE,260165632,256745472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,5,0
$GPS,171107,002108,6132.526,-820.817,35,1.0,35,-8.9