version: 66.02
glider: 102
mission: 4
dive: 9
start: 11 14 107 19 30 32
data:
$ID,102
$MISSION,4
$DIVE,9
$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,-76442.234
$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,2175
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$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
$GPS1,192501,6135.467,-822.539,116,1.5,116,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-65.6
$GPS2,192938,6135.489,-822.580,11,0.9,11,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.208,-0.156
$KALMAN_X,-2471.5,585.5,334.6,8133.5,-1141.4
$KALMAN_Y,34149.5,-2570.9,-1169.7,-26020.2,17329.4
$MHEAD_RNG_PITCHd_Wd,135.8,10389,-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,-146.6,0.0,0.0,0,96,0.00,0.00,-77.18,0.000,2,0.000,0.000,29,1895,3408
$GC,98,-1.46,-146.6,5.2,-6.9,4,121,11.55,2.65,-1.38,0.000,4,0.147,0.080,2174,497,3478
$GC,260,-1.46,-146.6,36.4,-13.4,11,264,0.00,2.53,0.00,0.000,6,0.000,0.041,2174,1912,3478
$GC,588,-1.46,-146.6,78.5,-13.0,27,592,0.00,2.47,0.00,0.000,4,0.000,0.047,2174,3297,3478
$GC,630,-1.46,-146.6,84.3,-12.4,29,635,0.00,2.53,0.00,0.000,6,0.000,0.043,2174,1907,3479
$GC,957,-1.46,-146.6,126.3,-12.8,45,962,0.00,2.50,0.00,0.000,4,0.000,0.047,2174,3297,3479
$GC,985,-1.46,-146.6,130.0,-13.8,46,989,0.00,2.53,0.00,0.000,6,0.000,0.044,2174,1893,3478
$GC,1299,-1.46,-146.6,169.3,-12.3,61,1304,0.00,2.53,0.00,0.000,4,0.000,0.046,2174,3298,3479
$GC,1319,-1.46,-146.6,172.0,-12.8,62,1324,0.00,2.55,0.00,0.000,6,0.000,0.044,2174,1898,3478
$GC,1646,-1.46,-146.6,212.9,-13.1,78,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,1898,3478
$GC,1955,-1.46,-146.6,254.2,-13.2,93,1959,0.00,2.53,0.00,0.000,4,0.000,0.046,2174,3304,3479
$GC,2066,-1.46,-146.6,268.8,-13.2,98,2071,0.00,2.55,0.00,0.000,6,0.000,0.045,2174,1901,3479
$GC,2393,-1.46,-146.6,310.5,-12.7,114,2397,0.00,2.60,0.00,0.000,4,0.000,0.066,2174,496,3479
$GC,2424,-1.46,-146.6,315.1,-14.1,115,2432,0.00,2.50,0.00,0.000,6,0.000,0.042,2174,1906,3479
$GC,2740,-1.46,-146.6,353.0,-11.5,131,2744,0.00,2.50,0.00,0.000,4,0.000,0.050,2173,3294,3479
$GC,2760,-1.46,-146.6,355.6,-11.8,132,2766,0.00,2.53,0.00,0.000,6,0.000,0.046,2174,1909,3479
$GC,3087,-1.46,-146.6,396.3,-11.9,148,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,1910,3479
$GC,3397,-1.46,-146.6,435.4,-13.6,163,3401,0.00,2.62,0.00,0.000,4,0.000,0.071,2174,495,3479
$GC,3458,-1.46,-146.6,444.5,-15.2,166,3462,0.00,2.47,0.00,0.000,6,0.000,0.045,2174,1895,3479
$GC,3783,-1.46,-146.6,480.5,-9.3,182,3787,0.00,2.55,0.00,0.000,4,0.000,0.053,2174,3304,3479
$GC,3971,-1.46,-146.6,498.6,-8.6,190,3979,0.00,2.58,0.00,0.000,6,0.000,0.052,2174,1907,3479
$GC,4287,-1.46,-146.6,529.2,-9.9,206,4292,0.00,2.55,0.00,0.000,4,0.000,0.056,2174,3301,3479
$GC,4381,-1.46,-146.6,539.5,-10.3,210,4386,0.00,2.58,0.00,0.000,6,0.000,0.054,2174,1905,3479
$GC,4702,-1.46,-146.6,572.9,-10.1,226,4707,0.00,2.55,0.00,0.000,4,0.000,0.058,2174,3295,3479
$GC,4797,-1.46,-146.6,581.7,-9.3,230,4801,0.00,2.58,0.00,0.000,6,0.000,0.054,2174,1905,3479
$GC,5118,-1.46,-146.6,612.0,-10.3,246,5122,0.00,2.58,0.00,0.000,4,0.000,0.061,2174,3301,3478
$GC,5194,-1.46,-146.6,619.9,-10.4,249,5201,0.00,2.60,0.00,0.000,6,0.000,0.058,2174,1905,3478
$GC,5509,-1.46,-146.6,654.1,-11.8,265,5513,0.00,2.58,0.00,0.000,4,0.000,0.062,2174,3298,3477
$GC,5553,-1.46,-146.6,659.2,-11.0,267,5558,0.00,2.58,0.00,0.000,6,0.000,0.058,2174,1902,3476
$STATE,5637,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5637,begin apogee
$GC,5641,-0.36,0.0,667.9,10.5,271,5765,1.15,0.00,120.85,1.329,6,0.091,0.000,2414,2177,2878
$STATE,5766,end apogee,CONTROL_FINISHED_OK
$STATE,5766,begin climb
$GC,5767,1.46,146.6,674.2,0.0,277,5898,1.80,2.80,120.57,1.247,4,0.051,0.074,2813,762,2280
$GC,6150,1.46,146.6,651.4,10.1,294,6157,0.00,2.60,0.00,0.000,6,0.000,0.051,2813,2173,2280
$GC,6466,1.50,176.4,625.3,8.6,310,6496,0.00,2.67,25.20,1.269,4,0.000,0.065,2814,3587,2158
$GC,6652,1.54,207.3,610.1,8.6,318,6683,0.00,2.65,26.52,1.256,6,0.000,0.054,2813,2174,2032
$GC,7004,1.58,243.7,582.5,8.3,336,7040,0.12,2.70,30.30,1.250,4,0.073,0.061,2845,3586,1883
$GC,7291,1.58,243.7,547.3,12.4,348,7296,0.00,2.65,0.00,0.000,6,0.000,0.054,2845,2173,1883
$GC,7618,1.58,243.7,500.0,15.5,364,7622,0.00,2.60,0.00,0.000,4,0.000,0.057,2845,3588,1883
$GC,7875,1.58,243.7,461.6,13.3,375,7882,0.00,2.62,0.00,0.000,6,0.000,0.051,2845,2174,1883
$GC,8191,1.58,243.7,420.4,10.3,391,8195,0.00,2.60,0.00,0.000,4,0.000,0.054,2845,3589,1882
$GC,8368,1.58,243.7,403.5,10.1,399,8373,0.00,2.60,0.00,0.000,6,0.000,0.048,2845,2175,1883
$GC,8694,1.58,243.7,368.3,11.9,415,8699,0.00,2.55,0.00,0.000,4,0.000,0.052,2845,3584,1882
$GC,8824,1.58,243.7,350.5,13.8,421,8828,0.00,2.55,0.00,0.000,6,0.000,0.044,2845,2171,1883
$GC,9148,1.58,243.7,306.3,13.0,437,9152,0.00,2.60,0.00,0.000,4,0.000,0.067,2845,761,1883
$GC,9192,1.58,243.7,300.3,14.0,439,9197,0.00,2.50,0.00,0.000,6,0.000,0.041,2845,2183,1883
$GC,9524,1.58,243.7,255.9,12.6,455,9528,0.00,2.50,0.00,0.000,4,0.000,0.049,2846,3576,1883
$GC,9684,1.58,243.7,234.7,13.2,462,9689,0.00,2.55,0.00,0.000,6,0.000,0.042,2845,2171,1884
$GC,10005,1.58,243.7,199.5,10.5,478,10010,0.00,2.55,0.00,0.000,4,0.000,0.048,2845,3587,1884
$GC,10077,1.58,243.7,191.7,11.8,481,10082,0.00,2.53,0.00,0.000,6,0.000,0.039,2845,2177,1884
$GC,10398,1.58,243.7,155.1,11.5,497,10402,0.00,2.53,0.00,0.000,4,0.000,0.049,2845,3577,1885
$GC,10497,1.58,243.7,142.2,13.1,501,10504,0.00,2.53,0.00,0.000,6,0.000,0.041,2845,2175,1885
$GC,10812,1.58,243.7,102.3,12.3,517,10817,0.00,2.53,0.00,0.000,4,0.000,0.048,2845,3578,1885
$GC,10919,1.58,243.7,88.8,12.1,522,10923,0.00,2.50,0.00,0.000,6,0.000,0.040,2845,2168,1886
$GC,11244,1.58,243.7,49.2,12.6,538,11248,0.00,2.53,0.00,0.000,4,0.000,0.047,2846,3577,1886
$GC,11286,1.58,243.7,43.3,13.4,540,11291,0.00,2.53,0.00,0.000,6,0.000,0.040,2845,2174,1886
$GC,11613,1.58,243.7,3.7,11.6,556,11617,0.00,2.53,0.00,0.000,4,0.000,0.047,2846,3578,1887
$STATE,11628,end climb,SURFACE_DEPTH_REACHED
$STATE,11628,begin surface coast
$FINISH,0.9,1.027293
$STATE,11633,end surface coast,CONTROL_FINISHED_OK
$STATE,11633,begin surface
$SM_CCo,11654,45.17,0.833,5,0,1654,300.00
$SM_GC,0.47,0.00,0.00,45.17,0.000,0.000,0.833,33,1896,1654,-11.33,-0.11,300.00
$IRIDIUM_FIX,6103.81,-453.69,141107,191921
$TT8_MAMPS,0.026845
$HUMID,2080
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.4,100.7
$24V_AH,23.3,13.559
$10V_AH,10.1,5.646
$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,26.925,134.275,323.450,45.175,0.000,40.236,37.227,123.442,4.750,0.000,0.000,13.022,1125.087,8487.272,523.377,1596.479,280.828,33.352,1332.828,0.000,1558.359,0.000,33.094
$DEVICE_MAMPS,147.264,79.768,1329.211,832.962,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.997,374.723,343.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28587,557
$CFSIZE,260165632,257417216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,5,0
$GPS,141107,224719,6135.364,-821.561,36,1.3,48,-8.9