version: 66.02
glider: 102
mission: 4
dive: 44
start: 11 19 107 2 46 44
data:
$ID,102
$MISSION,4
$DIVE,44
$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,-77108.359
$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,26
$R_STBD_OVSHOOT,36
$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
$GPS1,023758,6129.126,-829.818,25,2.3,44,-8.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-55.9
$GPS2,024550,6129.098,-829.796,13,1.2,13,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.101,-0.239
$KALMAN_X,25003.8,-906.9,-252.5,-23598.4,1154.8
$KALMAN_Y,98822.8,-3.9,-325.9,-105973.7,8902.4
$MHEAD_RNG_PITCHd_Wd,166.0,4556,-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,16,begin dive
$GC,17,-1.46,-146.6,0.0,0.0,0,101,0.00,0.00,-82.00,0.000,2,0.000,0.000,29,1910,3448
$GC,103,-1.46,-146.6,4.1,-6.0,4,126,11.43,2.67,-0.57,0.000,4,0.143,0.077,2170,500,3478
$GC,305,-1.46,-146.6,41.0,-16.7,13,309,0.00,2.47,0.00,0.000,6,0.000,0.042,2170,1902,3478
$GC,632,-1.46,-146.6,84.8,-13.0,29,637,0.00,2.50,0.00,0.000,4,0.000,0.048,2170,3295,3479
$GC,681,-1.46,-146.6,91.9,-13.6,31,686,0.00,2.53,0.00,0.000,6,0.000,0.045,2170,1908,3479
$GC,1003,-1.46,-146.6,138.4,-13.9,47,1007,0.00,2.50,0.00,0.000,4,0.000,0.048,2170,3296,3479
$GC,1029,-1.46,-146.6,142.0,-13.2,48,1034,0.00,2.50,0.00,0.000,6,0.000,0.044,2170,1900,3479
$GC,1344,-1.46,-146.6,182.4,-12.6,63,1348,0.00,2.53,0.00,0.000,4,0.000,0.048,2170,3303,3479
$GC,1382,-1.46,-146.6,187.0,-12.8,65,1386,0.00,2.53,0.00,0.000,6,0.000,0.044,2170,1897,3479
$GC,1710,-1.46,-146.6,226.8,-12.1,81,1714,0.00,2.53,0.00,0.000,4,0.000,0.048,2170,3299,3479
$GC,1753,-1.46,-146.6,232.4,-12.9,83,1757,0.00,2.55,0.00,0.000,6,0.000,0.045,2170,1900,3479
$GC,2079,-1.46,-146.6,273.0,-12.6,99,2083,0.00,2.53,0.00,0.000,4,0.000,0.048,2170,3304,3479
$GC,2105,-1.46,-146.6,276.4,-12.5,100,2110,0.00,2.55,0.00,0.000,6,0.000,0.044,2170,1899,3479
$GC,2427,-1.46,-146.6,312.4,-10.6,116,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1900,3479
$GC,2736,-1.46,-146.6,347.0,-11.0,131,2741,0.00,2.53,0.00,0.000,4,0.000,0.049,2170,3300,3479
$GC,2762,-1.46,-146.6,349.9,-10.8,132,2768,0.00,2.55,0.00,0.000,6,0.000,0.044,2170,1898,3479
$GC,3083,-1.46,-146.6,385.8,-11.4,148,3087,0.00,2.53,0.00,0.000,4,0.000,0.049,2170,3303,3479
$GC,3127,-1.46,-146.6,391.0,-11.7,150,3131,0.00,2.53,0.00,0.000,6,0.000,0.046,2170,1896,3479
$GC,3459,-1.46,-146.6,427.4,-10.9,166,3463,0.00,2.53,0.00,0.000,4,0.000,0.051,2170,3298,3479
$GC,3479,-1.46,-146.6,429.8,-10.8,167,3484,0.00,2.55,0.00,0.000,6,0.000,0.045,2170,1898,3479
$GC,3806,-1.46,-146.6,466.9,-11.9,183,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1898,3479
$GC,4115,-1.46,-146.6,502.8,-11.6,198,4119,0.00,2.53,0.00,0.000,4,0.000,0.051,2170,3295,3479
$GC,4163,-1.46,-146.6,508.4,-11.8,200,4168,0.00,2.53,0.00,0.000,6,0.000,0.046,2170,1905,3479
$GC,4485,-1.46,-146.6,544.0,-11.2,216,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1905,3479
$GC,4794,-1.46,-146.6,578.1,-11.3,231,4798,0.00,2.55,0.00,0.000,4,0.000,0.055,2170,3302,3479
$GC,4825,-1.46,-146.6,582.0,-11.8,232,4832,0.00,2.58,0.00,0.000,6,0.000,0.049,2170,1902,3479
$GC,5140,-1.46,-146.6,619.0,-10.4,248,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1902,3479
$GC,5450,-1.46,-146.6,655.7,-10.4,263,5454,0.00,2.55,0.00,0.000,4,0.000,0.054,2170,3298,3479
$GC,5651,-1.46,-146.6,679.0,-12.2,272,5656,0.00,2.55,0.00,0.000,6,0.000,0.047,2170,1900,3479
$GC,5978,-1.46,-146.6,723.6,-13.4,288,5982,0.00,2.62,0.00,0.000,4,0.000,0.073,2170,492,3479
$GC,6234,-1.46,-146.6,744.0,-3.3,299,6241,0.00,2.53,0.00,0.000,6,0.000,0.052,2170,1894,3479
$GC,6552,-1.46,-146.6,776.0,-9.2,315,6557,0.00,2.60,0.00,0.000,4,0.000,0.065,2170,3295,3479
$GC,6664,-1.46,-146.6,788.2,-5.9,320,6669,0.00,2.58,0.00,0.000,6,0.000,0.062,2170,1904,3479
$GC,6985,-1.46,-146.6,835.7,-12.3,336,6989,0.00,2.67,0.00,0.000,4,0.000,0.083,2170,491,3477
$GC,7000,-1.46,-146.6,839.0,-15.9,337,7004,0.00,2.55,0.00,0.000,6,0.000,0.060,2170,1899,3476
$STATE,7056,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7057,begin apogee
$GC,7061,-0.36,0.0,845.2,9.8,340,7190,1.17,0.00,125.72,1.408,6,0.090,0.000,2417,2256,2878
$STATE,7191,end apogee,CONTROL_FINISHED_OK
$STATE,7191,begin climb
$GC,7192,1.46,146.6,844.6,0.0,346,7324,1.73,2.78,123.90,1.364,4,0.038,0.076,2819,836,2280
$GC,7578,1.46,146.6,802.6,15.4,364,7582,0.00,2.60,0.00,0.000,6,0.000,0.058,2818,2249,2278
$GC,7903,1.50,180.4,774.0,8.4,380,7938,0.00,2.78,28.67,1.384,4,0.000,0.077,2818,845,2142
$GC,8117,1.51,188.0,749.4,9.6,389,8132,0.00,2.60,7.60,1.332,6,0.000,0.057,2819,2247,2111
$GC,8454,1.55,215.6,728.6,8.7,406,8483,0.00,2.78,23.88,1.368,4,0.000,0.078,2819,835,1998
$GC,8495,1.62,276.7,725.4,7.1,408,8557,0.12,2.62,51.42,1.366,6,0.062,0.055,2851,2256,1750
$GC,8864,1.62,276.7,680.8,12.3,426,8868,0.00,2.70,0.00,0.000,4,0.000,0.076,2851,837,1749
$GC,8912,1.62,276.7,675.0,12.8,428,8917,0.00,2.58,0.00,0.000,6,0.000,0.052,2852,2237,1749
$GC,9233,1.62,276.7,636.6,11.2,444,9237,0.00,2.62,0.00,0.000,4,0.000,0.061,2852,3657,1747
$GC,9331,1.62,276.7,623.0,14.4,448,9339,0.00,2.60,0.00,0.000,6,0.000,0.050,2852,2243,1747
$GC,9647,1.62,276.7,577.7,14.2,464,9651,0.00,2.58,0.00,0.000,4,0.000,0.054,2852,3660,1746
$GC,9775,1.62,276.7,558.6,14.9,469,9782,0.00,2.58,0.00,0.000,6,0.000,0.046,2852,2247,1747
$GC,10090,1.62,276.7,513.3,14.5,485,10094,0.00,2.55,0.00,0.000,4,0.000,0.053,2851,3660,1748
$GC,10150,1.62,276.7,504.0,15.1,487,10157,0.00,2.55,0.00,0.000,6,0.000,0.044,2852,2251,1749
$GC,10466,1.62,276.7,457.4,14.5,503,10470,0.00,2.55,0.00,0.000,4,0.000,0.053,2851,3659,1749
$GC,10519,1.62,276.7,449.4,14.8,505,10527,0.00,2.55,0.00,0.000,6,0.000,0.044,2851,2246,1749
$GC,10835,1.62,276.7,404.9,14.0,521,10840,0.00,2.55,0.00,0.000,4,0.000,0.051,2852,3656,1750
$GC,10929,1.62,276.7,390.9,14.8,525,10934,0.00,2.53,0.00,0.000,6,0.000,0.041,2851,2251,1750
$GC,11250,1.62,276.7,344.6,14.6,541,11255,0.00,2.55,0.00,0.000,4,0.000,0.051,2852,3660,1752
$GC,11311,1.62,276.7,335.4,15.0,544,11316,0.00,2.50,0.00,0.000,6,0.000,0.042,2851,2249,1752
$GC,11637,1.62,276.7,287.5,14.3,560,11641,0.00,2.53,0.00,0.000,4,0.000,0.051,2852,3655,1752
$GC,11730,1.62,276.7,273.9,14.3,564,11735,0.00,2.50,0.00,0.000,6,0.000,0.040,2852,2253,1752
$GC,12051,1.62,276.7,228.7,14.1,580,12055,0.00,2.53,0.00,0.000,4,0.000,0.051,2851,3657,1753
$GC,12077,1.62,276.7,224.7,15.7,581,12082,0.00,2.50,0.00,0.000,6,0.000,0.040,2851,2257,1753
$GC,12398,1.62,276.7,180.5,13.9,597,12403,0.00,2.53,0.00,0.000,4,0.000,0.051,2852,3661,1754
$GC,12447,1.62,276.7,173.3,13.4,599,12452,0.00,2.53,0.00,0.000,6,0.000,0.040,2851,2246,1754
$GC,12770,1.62,276.7,130.0,13.5,615,12774,0.00,2.55,0.00,0.000,4,0.000,0.050,2851,3657,1754
$GC,12808,1.62,276.7,124.2,13.7,617,12813,0.00,2.47,0.00,0.000,6,0.000,0.040,2851,2250,1754
$GC,13134,1.62,276.7,79.9,12.4,633,13139,0.00,2.55,0.00,0.000,4,0.000,0.051,2851,3656,1755
$GC,13177,1.62,276.7,73.8,14.4,635,13182,0.00,2.50,0.00,0.000,6,0.000,0.038,2852,2250,1755
$GC,13505,1.62,276.7,27.4,15.2,651,13509,0.00,2.55,0.00,0.000,4,0.000,0.050,2852,3660,1756
$GC,13543,1.62,276.7,21.6,15.4,653,13547,0.00,2.50,0.00,0.000,6,0.000,0.039,2852,2246,1756
$STATE,13702,end climb,SURFACE_DEPTH_REACHED
$STATE,13702,begin surface coast
$FINISH,-0.6,1.013376
$STATE,13724,end surface coast,CONTROL_FINISHED_OK
$STATE,13724,begin surface
$SM_CCo,13742,22.02,0.833,2,0,1654,300.00
$SM_GC,0.29,0.00,0.00,22.02,0.000,0.000,0.833,31,1894,1654,-11.33,-0.17,300.00
$IRIDIUM_FIX,6103.81,-844.77,191107,060628
$TT8_MAMPS,0.026845
$HUMID,2077
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,17.00
$XPDR_PINGS,508
$ALTIM_BOTTOM_PING,776.0,77.9
$24V_AH,23.3,18.337
$10V_AH,10.1,7.526
$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,26.500,160.000,361.200,22.025,0.000,76.080,71.822,182.821,133.750,0.000,0.000,14.711,1298.039,10278.758,539.919,1707.399,436.485,33.359,1423.238,0.000,1663.080,0.000,46.424
$DEVICE_MAMPS,143.429,82.836,1408.212,832.962,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.601,446.683,370.371,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34728,662
$CFSIZE,260165632,255967232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,2,0
$GPS,191107,063731,6129.469,-828.505,37,1.2,37,-8.9