version: 66.02
glider: 102
mission: 4
dive: 38
start: 11 18 107 5 7 31
data:
$ID,102
$MISSION,4
$DIVE,38
$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,-76986.984
$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,20
$R_STBD_OVSHOOT,19
$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
$GPS1,050207,6129.583,-819.785,36,2.0,41,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-56.9
$GPS2,050638,6129.549,-819.709,33,1.5,38,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.250,-0.071
$KALMAN_X,31794.9,-4225.1,-1109.9,-17280.5,19038.4
$KALMAN_Y,90386.7,-1553.8,-445.3,-95015.6,7567.6
$MHEAD_RNG_PITCHd_Wd,263.0,4749,-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,-82.12,0.000,6,0.000,0.000,31,1894,3477
$GC,103,-1.46,-146.6,5.2,-7.8,4,124,11.48,2.58,0.00,0.000,4,0.146,0.044,2171,3313,3478
$GC,376,-1.46,-146.6,52.9,-12.6,16,380,0.00,2.55,0.00,0.000,6,0.000,0.042,2172,1905,3479
$GC,703,-1.46,-146.6,93.7,-12.7,32,707,0.00,2.53,0.00,0.000,4,0.000,0.047,2172,3313,3479
$GC,763,-1.46,-146.6,101.8,-13.2,35,767,0.00,2.53,0.00,0.000,6,0.000,0.043,2172,1900,3479
$GC,1089,-1.46,-146.6,142.7,-12.2,51,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,1899,3479
$GC,1398,-1.46,-146.6,182.7,-13.3,66,1402,0.00,2.53,0.00,0.000,4,0.000,0.046,2172,3312,3479
$GC,1459,-1.46,-146.6,190.5,-12.6,69,1463,0.00,2.53,0.00,0.000,6,0.000,0.042,2172,1897,3480
$GC,1790,-1.46,-146.6,233.0,-12.7,85,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,1897,3480
$GC,2099,-1.46,-146.6,273.1,-12.6,100,2104,0.00,2.55,0.00,0.000,4,0.000,0.048,2172,3312,3480
$GC,2187,-1.46,-146.6,284.2,-12.1,104,2192,0.00,2.55,0.00,0.000,6,0.000,0.043,2172,1900,3480
$GC,2515,-1.46,-146.6,326.0,-13.1,120,2519,0.00,2.55,0.00,0.000,4,0.000,0.048,2172,3316,3480
$GC,2591,-1.46,-146.6,336.0,-12.3,123,2599,0.00,2.58,0.00,0.000,6,0.000,0.044,2172,1898,3480
$GC,2908,-1.46,-146.6,375.1,-12.2,139,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,1898,3480
$GC,3216,-1.46,-146.6,410.8,-11.5,154,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,1898,3480
$GC,3525,-1.46,-146.6,445.9,-11.1,169,3529,0.00,2.55,0.00,0.000,4,0.000,0.051,2172,3311,3480
$GC,3597,-1.46,-146.6,454.3,-11.4,172,3601,0.00,2.55,0.00,0.000,6,0.000,0.046,2172,1905,3480
$GC,3917,-1.46,-146.6,491.4,-12.3,188,3922,0.00,2.55,0.00,0.000,4,0.000,0.052,2172,3314,3480
$GC,4028,-1.46,-146.6,505.5,-10.3,193,4033,0.00,2.55,0.00,0.000,6,0.000,0.045,2172,1905,3480
$GC,4354,-1.46,-146.6,544.3,-11.0,209,4359,0.00,2.55,0.00,0.000,4,0.000,0.054,2172,3310,3480
$GC,4613,-1.46,-146.6,575.1,-12.4,220,4620,0.00,2.55,0.00,0.000,6,0.000,0.050,2172,1898,3480
$GC,4928,-1.46,-146.6,610.7,-10.8,236,4932,0.00,2.60,0.00,0.000,4,0.000,0.058,2172,3316,3480
$GC,5161,-1.46,-146.6,636.3,-11.0,246,5168,0.00,2.58,0.00,0.000,6,0.000,0.053,2172,1904,3480
$GC,5477,-1.46,-146.6,674.1,-12.4,262,5481,0.00,2.60,0.00,0.000,4,0.000,0.063,2172,3310,3479
$GC,5554,-1.46,-146.6,681.8,-10.0,265,5559,0.00,2.62,0.00,0.000,6,0.000,0.058,2172,1885,3479
$GC,5875,-1.46,-146.6,715.6,-13.7,281,5880,0.00,2.67,0.00,0.000,4,0.000,0.090,2171,495,3479
$GC,5929,-1.46,-146.6,724.5,-14.4,283,5937,0.00,2.58,0.00,0.000,6,0.000,0.060,2172,1898,3479
$STATE,6100,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6100,begin apogee
$GC,6104,-0.36,0.0,736.1,10.7,292,6231,1.17,0.00,123.70,1.328,6,0.091,0.000,2416,2258,2878
$STATE,6232,end apogee,CONTROL_FINISHED_OK
$STATE,6232,begin climb
$GC,6233,1.46,146.6,740.4,0.0,298,6365,1.80,2.78,121.70,1.281,4,0.054,0.073,2815,848,2280
$GC,6617,1.46,146.6,716.0,11.6,315,6624,0.00,2.58,0.00,0.000,6,0.000,0.054,2815,2245,2278
$GC,6932,1.47,150.1,690.1,9.8,331,6941,0.00,2.67,3.55,1.204,4,0.000,0.068,2815,3650,2267
$GC,7070,1.47,150.1,676.2,10.1,337,7075,0.00,2.60,0.00,0.000,6,0.000,0.056,2814,2247,2266
$GC,7397,1.49,170.2,645.2,9.1,353,7422,0.00,2.75,17.40,1.338,4,0.000,0.068,2815,3653,2184
$GC,7674,1.53,206.3,623.3,8.3,365,7710,0.00,2.58,30.60,1.322,6,0.000,0.054,2815,2256,2036
$GC,8037,1.53,206.3,582.7,12.3,383,8041,0.00,2.60,0.00,0.000,4,0.000,0.065,2815,3653,2035
$GC,8294,1.53,206.3,555.9,11.3,394,8301,0.00,2.58,0.00,0.000,6,0.000,0.052,2815,2253,2034
$GC,8610,1.55,220.3,529.5,9.3,410,8631,0.00,2.67,12.07,1.272,4,0.000,0.058,2815,3653,1979
$GC,8826,1.55,220.3,501.3,13.1,419,8833,0.00,2.55,0.00,0.000,6,0.000,0.044,2815,2245,1979
$GC,9142,1.55,220.3,467.3,10.4,435,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2244,1979
$GC,9451,1.55,220.3,435.8,10.4,450,9455,0.00,2.55,0.00,0.000,4,0.000,0.052,2815,3654,1981
$GC,9585,1.55,220.3,421.2,10.7,456,9590,0.00,2.47,0.00,0.000,6,0.000,0.041,2815,2247,1981
$GC,9911,1.55,220.9,388.6,10.0,472,9915,0.00,2.55,0.00,0.000,4,0.000,0.052,2815,3654,1982
$GC,10016,1.55,220.9,377.4,11.3,477,10020,0.00,2.47,0.00,0.000,6,0.000,0.040,2815,2243,1983
$GC,10347,1.55,220.9,343.5,10.1,493,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2243,1983
$GC,10657,1.56,228.1,312.9,9.7,508,10671,0.00,2.60,8.18,1.060,4,0.000,0.051,2815,3653,1947
$GC,10760,1.56,228.1,301.9,10.6,512,10767,0.00,2.47,0.00,0.000,6,0.000,0.038,2815,2253,1948
$GC,11076,1.56,228.1,268.2,11.0,528,11077,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2254,1949
$GC,11385,1.56,228.1,235.4,10.8,543,11389,0.00,2.50,0.00,0.000,4,0.000,0.051,2815,3657,1949
$GC,11486,1.56,228.1,223.7,11.7,547,11490,0.00,2.45,0.00,0.000,6,0.000,0.038,2815,2249,1950
$GC,11800,1.56,228.1,190.1,10.8,562,11801,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2249,1950
$GC,12109,1.56,228.1,154.1,12.9,577,12110,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2249,1950
$GC,12420,1.56,228.1,119.1,11.7,592,12424,0.00,2.53,0.00,0.000,4,0.000,0.051,2815,3656,1951
$GC,12527,1.56,228.1,105.7,12.8,597,12531,0.00,2.45,0.00,0.000,6,0.000,0.037,2815,2248,1952
$GC,12852,1.56,228.1,68.7,13.7,613,12856,0.00,2.55,0.00,0.000,4,0.000,0.051,2815,3661,1951
$GC,12939,1.56,228.1,59.2,11.9,617,12944,0.00,2.47,0.00,0.000,6,0.000,0.038,2815,2259,1952
$GC,13268,1.56,228.1,28.7,10.5,633,13272,0.00,2.50,0.00,0.000,4,0.000,0.048,2815,3656,1952
$GC,13396,1.67,318.4,17.9,5.8,639,13473,0.20,2.47,70.32,0.821,6,0.051,0.038,2868,2242,1578
$STATE,13513,end climb,SURFACE_DEPTH_REACHED
$STATE,13513,begin surface coast
$FINISH,-1.0,1.014161
$STATE,13537,end surface coast,CONTROL_FINISHED_OK
$STATE,13537,begin surface
$SM_CCo,13616,0.00,0.000,0,0,1577,319.14
$SM_GC,-0.00,12.35,0.00,0.00,0.033,0.000,0.000,35,1892,1577,-11.26,-0.23,319.14
$IRIDIUM_FIX,6103.81,-812.26,181107,050519
$TT8_MAMPS,0.026078
$HUMID,2060
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.80
$XPDR_PINGS,542
$ALTIM_BOTTOM_PING,651.4,92.2
$24V_AH,23.3,17.397
$10V_AH,10.1,7.138
$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,27.000,119.050,387.525,0.000,0.000,36.319,30.899,102.907,141.000,0.000,0.000,40.612,1273.179,10000.926,503.359,1858.331,263.080,33.348,1413.393,0.000,1789.366,0.000,37.919
$DEVICE_MAMPS,145.730,89.739,1338.415,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.938,434.288,385.543,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31705,645
$CFSIZE,260165632,256270336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,181107,085537,6129.355,-823.732,37,1.4,37,-8.9