version: 66.02
glider: 102
mission: 4
dive: 47
start: 11 19 107 14 59 9
data:
$ID,102
$MISSION,4
$DIVE,47
$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,-77153.172
$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,20
$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
$GPS1,145353,6130.600,-828.870,55,1.3,55,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-62.4
$GPS2,145815,6130.569,-828.853,10,1.3,10,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.104,-0.238
$KALMAN_X,18609.8,436.8,-46.5,-17934.2,-2599.6
$KALMAN_Y,116372.5,-1216.6,-509.4,-119385.4,12653.1
$MHEAD_RNG_PITCHd_Wd,165.3,3564,-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,-80.85,0.000,6,0.000,0.000,29,1893,3478
$GC,104,-1.46,-146.6,5.5,-8.5,4,125,11.45,2.60,0.00,0.000,4,0.144,0.065,2170,496,3479
$GC,298,-1.46,-146.6,43.4,-14.9,12,305,0.00,2.53,0.00,0.000,6,0.000,0.042,2170,1914,3479
$GC,614,-1.46,-146.6,84.7,-13.7,28,618,0.00,2.47,0.00,0.000,4,0.000,0.048,2170,3297,3480
$GC,652,-1.46,-146.6,90.1,-13.9,30,657,0.00,2.53,0.00,0.000,6,0.000,0.044,2170,1896,3480
$GC,978,-1.46,-146.6,130.3,-12.5,46,982,0.00,2.53,0.00,0.000,4,0.000,0.048,2170,3297,3480
$GC,1016,-1.46,-146.6,135.2,-12.6,48,1021,0.00,2.50,0.00,0.000,6,0.000,0.044,2170,1901,3480
$GC,1341,-1.46,-146.6,169.7,-11.0,64,1346,0.00,2.60,0.00,0.000,4,0.000,0.065,2170,491,3480
$GC,1367,-1.46,-146.6,172.8,-12.4,65,1372,0.00,2.50,0.00,0.000,6,0.000,0.042,2170,1897,3480
$GC,1689,-1.46,-146.6,211.6,-12.7,81,1693,0.00,2.53,0.00,0.000,4,0.000,0.048,2170,3303,3480
$GC,1743,-1.46,-146.6,219.1,-13.5,83,1750,0.00,2.55,0.00,0.000,6,0.000,0.045,2170,1904,3480
$GC,2058,-1.46,-146.6,262.1,-12.9,99,2062,0.00,2.53,0.00,0.000,4,0.000,0.049,2170,3301,3480
$GC,2107,-1.46,-146.6,269.0,-13.9,101,2112,0.00,2.55,0.00,0.000,6,0.000,0.046,2170,1901,3480
$GC,2434,-1.46,-146.6,312.6,-12.9,117,2438,0.00,2.53,0.00,0.000,4,0.000,0.049,2170,3302,3480
$GC,2477,-1.46,-146.6,318.4,-12.7,119,2482,0.00,2.55,0.00,0.000,6,0.000,0.046,2169,1901,3480
$GC,2803,-1.46,-146.6,361.3,-12.6,135,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1902,3480
$GC,3114,-1.46,-146.6,400.5,-12.4,150,3118,0.00,2.53,0.00,0.000,4,0.000,0.050,2170,3295,3480
$GC,3152,-1.46,-146.6,405.2,-12.1,152,3156,0.00,2.53,0.00,0.000,6,0.000,0.046,2170,1894,3480
$GC,3478,-1.46,-146.6,444.9,-12.1,168,3482,0.00,2.55,0.00,0.000,4,0.000,0.051,2170,3300,3480
$GC,3509,-1.46,-146.6,448.9,-12.1,169,3517,0.00,2.55,0.00,0.000,6,0.000,0.048,2169,1903,3480
$GC,3825,-1.46,-146.6,485.7,-11.2,185,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1903,3480
$GC,4134,-1.46,-146.6,519.9,-10.7,200,4139,0.00,2.53,0.00,0.000,4,0.000,0.052,2170,3295,3480
$GC,4211,-1.46,-146.6,528.3,-11.2,203,4218,0.00,2.55,0.00,0.000,6,0.000,0.048,2170,1901,3480
$GC,4527,-1.46,-146.6,563.6,-10.9,219,4531,0.00,2.55,0.00,0.000,4,0.000,0.054,2170,3301,3480
$GC,4581,-1.46,-146.6,569.5,-10.5,221,4588,0.00,2.58,0.00,0.000,6,0.000,0.050,2170,1901,3480
$GC,4896,-1.46,-146.6,602.5,-10.8,237,4900,0.00,2.60,0.00,0.000,4,0.000,0.069,2170,495,3480
$GC,4939,-1.46,-146.6,608.2,-13.2,239,4944,0.00,2.53,0.00,0.000,6,0.000,0.048,2170,1895,3480
$GC,5266,-1.46,-146.6,643.2,-10.4,255,5270,0.00,2.53,0.00,0.000,4,0.000,0.055,2170,3298,3480
$GC,5478,-1.46,-146.6,663.9,-8.3,264,5483,0.00,2.58,0.00,0.000,6,0.000,0.058,2170,1907,3480
$GC,5799,-1.46,-146.6,691.3,-7.1,280,5803,0.00,2.67,0.00,0.000,4,0.000,0.077,2170,486,3480
$GC,5973,-1.46,-146.6,706.6,-8.4,288,5977,0.00,2.53,0.00,0.000,6,0.000,0.054,2170,1896,3480
$GC,6297,-1.46,-146.6,737.5,-11.8,304,6302,0.00,2.60,0.00,0.000,4,0.000,0.066,2170,3301,3480
$GC,6515,-1.46,-146.6,754.9,-3.9,314,6520,0.00,2.62,0.00,0.000,6,0.000,0.067,2170,1901,3479
$GC,6841,-1.46,-146.6,809.4,-12.7,330,6845,0.00,2.62,0.00,0.000,4,0.000,0.071,2170,3307,3477
$GC,6985,-1.46,-146.6,830.1,-15.1,336,6992,0.00,2.65,0.00,0.000,6,0.000,0.064,2170,1903,3476
$STATE,7010,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7010,begin apogee
$GC,7014,-0.36,0.0,832.4,9.8,338,7144,1.17,0.00,126.10,1.407,6,0.090,0.000,2416,2249,2878
$STATE,7145,end apogee,CONTROL_FINISHED_OK
$STATE,7145,begin climb
$GC,7146,1.46,146.6,836.8,0.0,344,7279,1.77,2.78,124.00,1.355,4,0.052,0.077,2810,838,2279
$GC,7329,1.61,265.5,819.7,4.4,353,7435,0.15,2.62,99.32,1.345,6,0.061,0.061,2847,2251,1794
$GC,7761,1.61,265.5,757.7,15.7,374,7765,0.00,2.62,0.00,0.000,4,0.000,0.071,2847,3653,1793
$GC,8017,1.61,265.5,725.1,13.8,385,8024,0.00,2.62,0.00,0.000,6,0.000,0.060,2847,2254,1792
$GC,8333,1.61,265.5,683.9,12.0,401,8337,0.00,2.72,0.00,0.000,4,0.000,0.084,2847,839,1791
$GC,8364,1.61,265.5,679.6,13.1,402,8371,0.00,2.60,0.00,0.000,6,0.000,0.058,2847,2239,1790
$GC,8679,1.61,265.5,641.1,11.5,418,8683,0.00,2.67,0.00,0.000,4,0.000,0.078,2846,835,1789
$GC,8717,1.61,265.5,636.7,11.0,419,8724,0.00,2.60,0.00,0.000,6,0.000,0.054,2847,2247,1789
$GC,9032,1.61,265.5,598.3,13.2,435,9037,0.00,2.65,0.00,0.000,4,0.000,0.074,2847,838,1788
$GC,9053,1.61,265.5,595.6,13.5,436,9058,0.00,2.58,0.00,0.000,6,0.000,0.050,2847,2253,1788
$GC,9379,1.61,265.5,552.3,11.9,452,9384,0.00,2.58,0.00,0.000,4,0.000,0.059,2847,3656,1788
$GC,9445,1.61,265.5,542.9,14.6,455,9450,0.00,2.58,0.00,0.000,6,0.000,0.049,2847,2246,1787
$GC,9773,1.61,265.5,496.2,14.0,471,9777,0.00,2.58,0.00,0.000,4,0.000,0.056,2847,3656,1788
$GC,9855,1.61,265.5,484.2,14.6,475,9860,0.00,2.53,0.00,0.000,6,0.000,0.046,2847,2246,1789
$GC,10182,1.61,265.5,440.8,12.9,491,10186,0.00,2.58,0.00,0.000,4,0.000,0.054,2847,3660,1790
$GC,10246,1.61,265.5,431.8,14.3,494,10251,0.00,2.55,0.00,0.000,6,0.000,0.044,2847,2249,1790
$GC,10573,1.61,265.5,389.7,12.9,510,10578,0.00,2.55,0.00,0.000,4,0.000,0.053,2847,3656,1791
$GC,10650,1.61,265.5,379.4,12.6,513,10657,0.00,2.53,0.00,0.000,6,0.000,0.042,2847,2249,1791
$GC,10966,1.61,265.5,340.1,12.9,529,10970,0.00,2.58,0.00,0.000,4,0.000,0.052,2847,3660,1792
$GC,10992,1.61,265.5,336.4,14.0,530,10996,0.00,2.53,0.00,0.000,6,0.000,0.042,2847,2254,1792
$GC,11313,1.61,265.5,294.8,12.7,546,11314,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2254,1793
$GC,11622,1.61,265.5,254.1,14.0,561,11626,0.00,2.55,0.00,0.000,4,0.000,0.052,2847,3662,1793
$GC,11733,1.61,265.5,239.6,12.1,566,11738,0.00,2.53,0.00,0.000,6,0.000,0.041,2847,2246,1794
$GC,12053,1.61,265.5,198.9,13.0,582,12057,0.00,2.55,0.00,0.000,4,0.000,0.051,2847,3658,1794
$GC,12132,1.61,265.5,187.9,13.8,585,12138,0.00,2.50,0.00,0.000,6,0.000,0.041,2847,2248,1795
$GC,12446,1.61,265.5,146.7,13.1,601,12450,0.00,2.55,0.00,0.000,4,0.000,0.051,2847,3657,1795
$GC,12507,1.61,265.5,138.2,13.7,604,12511,0.00,2.47,0.00,0.000,6,0.000,0.041,2847,2249,1795
$GC,12832,1.61,265.5,93.1,13.8,620,12836,0.00,2.55,0.00,0.000,4,0.000,0.051,2847,3657,1795
$GC,12870,1.61,265.5,87.6,14.3,622,12874,0.00,2.50,0.00,0.000,6,0.000,0.040,2847,2246,1795
$GC,13195,1.61,265.5,43.5,13.3,638,13196,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2246,1795
$GC,13504,1.61,265.5,3.4,12.7,653,13509,0.00,2.58,0.00,0.000,4,0.000,0.062,2847,845,1796
$STATE,13512,end climb,SURFACE_DEPTH_REACHED
$STATE,13513,begin surface coast
$FINISH,1.2,1.027266
$STATE,13521,end surface coast,CONTROL_FINISHED_OK
$STATE,13521,begin surface
$SM_CCo,13542,32.00,0.821,4,0,1655,300.00
$SM_GC,-0.05,0.00,0.00,32.00,0.000,0.000,0.821,30,1927,1655,-11.34,0.76,300.00
$IRIDIUM_FIX,6108.28,-831.40,191107,141414
$TT8_MAMPS,0.026845
$HUMID,2062
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,15.60
$XPDR_PINGS,275
$ALTIM_BOTTOM_PING,750.4,90.3
$24V_AH,23.2,18.830
$10V_AH,10.1,7.734
$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,26.925,159.100,349.425,32.000,0.000,39.042,29.643,115.475,75.250,0.000,0.000,12.017,1274.726,10061.174,565.156,1683.206,281.392,33.356,1428.049,0.000,1644.228,0.000,44.376
$DEVICE_MAMPS,144.196,83.603,1406.678,820.690,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,480.128,440.514,373.701,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34804,654
$CFSIZE,260165632,255799296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,4,0
$GPS,191107,184656,6130.821,-827.357,38,1.0,38,-8.9