version: 66.02
glider: 102
mission: 4
dive: 45
start: 11 19 107 6 46 27
data:
$ID,102
$MISSION,4
$DIVE,45
$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,-77124.062
$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,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
$GPS1,063731,6129.469,-828.505,37,1.2,37,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-61.1
$GPS2,064533,6129.422,-828.441,13,1.2,13,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.075,-0.249
$KALMAN_X,24034.0,-1234.7,20.6,-21391.5,620.9
$KALMAN_Y,103693.1,62.8,-293.8,-110332.5,9057.9
$MHEAD_RNG_PITCHd_Wd,172.2,3224,-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,18,-1.46,-146.6,0.0,0.0,0,102,0.00,0.00,-80.72,0.000,6,0.000,0.000,31,1892,3477
$GC,104,-1.46,-146.6,5.7,-8.7,4,125,11.43,2.65,0.00,0.000,4,0.145,0.064,2168,493,3479
$GC,170,-1.46,-146.6,25.0,-15.9,7,175,0.00,2.50,0.00,0.000,6,0.000,0.041,2168,1913,3479
$GC,495,-1.46,-146.6,75.3,-15.4,23,499,0.00,2.47,0.00,0.000,4,0.000,0.047,2168,3297,3480
$GC,560,-1.46,-146.6,85.1,-14.7,26,565,0.00,2.53,0.00,0.000,6,0.000,0.044,2168,1908,3480
$GC,887,-1.46,-146.6,129.5,-13.6,42,891,0.00,2.50,0.00,0.000,4,0.000,0.048,2168,3298,3480
$GC,918,-1.46,-146.6,134.1,-13.4,43,926,0.00,2.55,0.00,0.000,6,0.000,0.044,2168,1900,3480
$GC,1236,-1.46,-146.6,177.2,-13.7,59,1240,0.00,2.53,0.00,0.000,4,0.000,0.048,2168,3304,3480
$GC,1278,-1.46,-146.6,183.6,-14.3,61,1283,0.00,2.55,0.00,0.000,6,0.000,0.044,2168,1904,3480
$GC,1605,-1.46,-146.6,224.4,-12.2,77,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,1904,3480
$GC,1914,-1.46,-146.6,260.5,-11.0,92,1918,0.00,2.53,0.00,0.000,4,0.000,0.049,2168,3302,3480
$GC,1953,-1.46,-146.6,264.9,-11.2,94,1957,0.00,2.50,0.00,0.000,6,0.000,0.044,2168,1900,3480
$GC,2278,-1.46,-146.6,304.4,-12.3,110,2282,0.00,2.53,0.00,0.000,4,0.000,0.048,2168,3298,3480
$GC,2310,-1.46,-146.6,308.8,-13.4,111,2316,0.00,2.53,0.00,0.000,6,0.000,0.045,2168,1900,3480
$GC,2632,-1.46,-146.6,352.2,-14.5,127,2637,0.00,2.53,0.00,0.000,4,0.000,0.049,2168,3301,3480
$GC,2681,-1.46,-146.6,359.1,-13.6,129,2686,0.00,2.55,0.00,0.000,6,0.000,0.046,2168,1904,3480
$GC,3002,-1.46,-146.6,403.5,-14.1,145,3006,0.00,2.62,0.00,0.000,4,0.000,0.067,2168,488,3480
$GC,3028,-1.46,-146.6,407.7,-16.0,146,3033,0.00,2.53,0.00,0.000,6,0.000,0.044,2168,1900,3480
$GC,3352,-1.46,-146.6,452.1,-13.4,162,3356,0.00,2.53,0.00,0.000,4,0.000,0.052,2168,3298,3481
$GC,3412,-1.46,-146.6,460.4,-12.9,165,3416,0.00,2.53,0.00,0.000,6,0.000,0.049,2168,1902,3480
$GC,3739,-1.46,-146.6,502.2,-13.1,181,3743,0.00,2.55,0.00,0.000,4,0.000,0.053,2168,3302,3480
$GC,3777,-1.46,-146.6,507.4,-13.3,183,3781,0.00,2.55,0.00,0.000,6,0.000,0.049,2168,1897,3480
$GC,4102,-1.46,-146.6,547.9,-12.0,199,4106,0.00,2.55,0.00,0.000,4,0.000,0.054,2168,3297,3480
$GC,4128,-1.46,-146.6,551.2,-12.7,200,4132,0.00,2.55,0.00,0.000,6,0.000,0.048,2168,1904,3480
$GC,4449,-1.46,-146.6,592.5,-11.9,216,4453,0.00,2.62,0.00,0.000,4,0.000,0.071,2168,492,3481
$GC,4491,-1.46,-146.6,597.7,-13.5,218,4496,0.00,2.53,0.00,0.000,6,0.000,0.048,2168,1896,3481
$GC,4818,-1.46,-146.6,640.6,-14.2,234,4822,0.00,2.55,0.00,0.000,4,0.000,0.057,2168,3297,3480
$GC,4974,-1.46,-146.6,664.2,-14.6,241,4978,0.00,2.55,0.00,0.000,6,0.000,0.052,2168,1905,3480
$GC,5300,-1.46,-146.6,705.4,-10.8,257,5304,0.00,2.58,0.00,0.000,4,0.000,0.059,2168,3301,3481
$GC,5557,-1.46,-146.6,726.3,-9.0,268,5564,0.00,2.60,0.00,0.000,6,0.000,0.060,2168,1897,3480
$GC,5873,-1.46,-146.6,755.6,-7.8,284,5877,0.00,2.62,0.00,0.000,4,0.000,0.068,2168,3297,3480
$GC,6128,-1.46,-146.6,774.5,-10.4,295,6136,0.00,2.60,0.00,0.000,6,0.000,0.063,2168,1905,3480
$GC,6444,-1.46,-146.6,809.7,-14.0,311,6449,0.00,2.70,0.00,0.000,4,0.000,0.090,2168,493,3478
$GC,6460,-1.46,-146.6,810.5,-2.8,312,6465,0.00,2.58,0.00,0.000,6,0.000,0.064,2168,1896,3478
$GC,6786,-1.46,-146.6,829.5,-4.8,328,6790,0.00,2.65,0.00,0.000,4,0.000,0.075,2168,3307,3476
$GC,6885,-1.46,-146.6,834.9,-7.1,332,6891,0.00,2.65,0.00,0.000,6,0.000,0.066,2168,1906,3474
$STATE,7013,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7013,begin apogee
$GC,7017,-0.36,0.0,844.3,7.9,339,7146,1.17,0.00,125.18,1.451,6,0.090,0.000,2414,2260,2878
$STATE,7147,end apogee,CONTROL_FINISHED_OK
$STATE,7147,begin climb
$GC,7148,1.46,146.6,846.0,0.0,345,7281,1.85,2.83,123.65,1.398,4,0.069,0.083,2809,839,2280
$GC,7534,1.46,146.6,807.0,19.8,363,7539,0.00,2.65,0.00,0.000,6,0.000,0.061,2809,2259,2278
$GC,7860,1.56,226.7,766.8,6.2,379,7935,0.12,2.85,67.50,1.378,4,0.064,0.084,2844,845,1953
$GC,8181,1.56,226.7,730.2,11.0,393,8188,0.00,2.62,0.00,0.000,6,0.000,0.060,2844,2249,1952
$GC,8497,1.56,226.7,687.4,12.6,409,8501,0.00,2.67,0.00,0.000,4,0.000,0.077,2844,838,1951
$GC,8506,1.56,226.7,686.1,12.0,409,8511,0.00,2.62,0.00,0.000,6,0.000,0.058,2844,2251,1951
$GC,8827,1.56,226.7,645.8,13.5,425,8832,0.00,2.67,0.00,0.000,4,0.000,0.076,2844,835,1950
$GC,8844,1.56,226.7,643.6,13.4,426,8848,0.00,2.58,0.00,0.000,6,0.000,0.053,2844,2259,1950
$GC,9169,1.56,226.7,603.3,11.3,442,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2261,1948
$GC,9478,1.56,226.7,567.1,12.7,457,9482,0.00,2.53,0.00,0.000,4,0.000,0.059,2844,3655,1949
$GC,9593,1.56,226.7,551.9,13.3,462,9598,0.00,2.55,0.00,0.000,6,0.000,0.046,2844,2245,1949
$GC,9920,1.56,226.7,512.4,11.8,478,9924,0.00,2.55,0.00,0.000,4,0.000,0.054,2844,3655,1950
$GC,9991,1.56,226.7,503.5,12.1,481,9996,0.00,2.53,0.00,0.000,6,0.000,0.044,2844,2248,1951
$GC,10312,1.56,226.7,465.4,12.1,497,10317,0.00,2.55,0.00,0.000,4,0.000,0.054,2844,3659,1952
$GC,10400,1.56,226.7,454.1,12.9,501,10405,0.00,2.53,0.00,0.000,6,0.000,0.044,2844,2249,1952
$GC,10727,1.56,226.7,415.1,12.0,517,10731,0.00,2.55,0.00,0.000,4,0.000,0.054,2844,3661,1953
$GC,10821,1.56,226.7,403.0,13.2,521,10825,0.00,2.53,0.00,0.000,6,0.000,0.044,2844,2253,1953
$GC,11142,1.56,226.7,365.0,12.2,537,11146,0.00,2.53,0.00,0.000,4,0.000,0.053,2844,3657,1954
$GC,11196,1.56,226.7,357.9,12.8,539,11203,0.00,2.50,0.00,0.000,6,0.000,0.041,2844,2256,1954
$GC,11511,1.56,226.7,319.6,12.2,555,11515,0.00,2.50,0.00,0.000,4,0.000,0.051,2844,3657,1955
$GC,11588,1.56,226.7,309.8,12.6,558,11593,0.00,2.50,0.00,0.000,6,0.000,0.041,2844,2255,1955
$GC,11909,1.56,226.7,267.6,13.4,574,11913,0.00,2.53,0.00,0.000,4,0.000,0.051,2844,3660,1956
$GC,12003,1.56,226.7,254.2,14.8,578,12008,0.00,2.50,0.00,0.000,6,0.000,0.041,2844,2255,1956
$GC,12324,1.56,226.7,212.9,12.4,594,12328,0.00,2.53,0.00,0.000,4,0.000,0.051,2844,3659,1956
$GC,12407,1.56,226.7,201.9,13.1,598,12412,0.00,2.47,0.00,0.000,6,0.000,0.040,2844,2247,1956
$GC,12739,1.56,226.7,160.1,13.1,614,12743,0.00,2.55,0.00,0.000,4,0.000,0.051,2844,3663,1957
$GC,12804,1.56,226.7,152.4,10.9,617,12809,0.00,2.50,0.00,0.000,6,0.000,0.039,2844,2250,1957
$GC,13133,1.56,226.7,115.7,10.9,633,13137,0.00,2.55,0.00,0.000,4,0.000,0.051,2844,3660,1958
$GC,13181,1.56,226.7,109.9,11.4,635,13186,0.00,2.50,0.00,0.000,6,0.000,0.039,2843,2250,1958
$GC,13503,1.56,226.7,72.8,11.7,651,13507,0.00,2.55,0.00,0.000,4,0.000,0.051,2844,3658,1958
$GC,13596,1.56,226.7,60.5,12.2,655,13601,0.00,2.47,0.00,0.000,6,0.000,0.039,2844,2259,1958
$GC,13917,1.56,226.7,23.7,11.6,671,13921,0.00,2.53,0.00,0.000,4,0.000,0.050,2844,3660,1958
$STATE,14090,end climb,SURFACE_DEPTH_REACHED
$STATE,14090,begin surface coast
$FINISH,0.8,1.027248
$STATE,14094,end surface coast,CONTROL_FINISHED_OK
$STATE,14094,begin surface
$SM_CCo,14116,65.95,0.801,8,0,1655,300.00
$SM_GC,0.06,0.00,0.00,65.95,0.000,0.000,0.801,35,1891,1655,-11.32,-0.25,300.00
$IRIDIUM_FIX,6108.28,-831.40,191107,101010
$TT8_MAMPS,0.026078
$HUMID,2053
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,18.90
$XPDR_PINGS,268
$ALTIM_BOTTOM_PING,750.5,102.5
$24V_AH,23.2,18.504
$10V_AH,10.1,7.598
$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,26.725,170.400,316.325,65.950,0.000,68.295,144.850,128.076,73.500,0.000,0.000,15.080,1350.261,10508.591,587.666,1824.806,442.354,33.357,1510.036,0.000,1776.870,0.000,44.412
$DEVICE_MAMPS,144.963,89.739,1451.164,800.748,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,497.468,458.487,384.087,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34944,679
$CFSIZE,260165632,255909888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,8,0
$GPS,191107,104438,6129.956,-828.994,34,1.1,34,-8.9