version: 66.02
glider: 102
mission: 4
dive: 11
start: 11 15 107 2 5 56
data:
$ID,102
$MISSION,4
$DIVE,11
$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,-76473.359
$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,19
$R_STBD_OVSHOOT,29
$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
$GPS1,015637,6134.757,-819.701,28,0.9,28,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-62.3
$GPS2,020502,6134.779,-819.760,14,0.9,14,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.037,-0.257
$KALMAN_X,-3263.6,-136.2,624.3,11838.0,-889.8
$KALMAN_Y,38412.8,-2140.3,-1327.1,-31853.1,16848.4
$MHEAD_RNG_PITCHd_Wd,197.1,9989,-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,-81.15,0.000,6,0.000,0.000,31,1893,3477
$GC,103,-1.46,-146.6,5.6,-8.0,4,124,11.52,2.58,0.00,0.000,4,0.147,0.044,2175,3302,3479
$GC,326,-1.46,-146.6,45.5,-12.8,14,331,0.00,2.53,0.00,0.000,6,0.000,0.042,2175,1896,3479
$GC,652,-1.46,-146.6,86.8,-12.5,30,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,1896,3479
$GC,961,-1.46,-146.6,125.3,-12.6,45,965,0.00,2.55,0.00,0.000,4,0.000,0.047,2175,3310,3479
$GC,1015,-1.46,-146.6,132.5,-13.4,47,1022,0.00,2.55,0.00,0.000,6,0.000,0.042,2175,1904,3479
$GC,1330,-1.46,-146.6,171.6,-11.9,63,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,1904,3479
$GC,1639,-1.46,-146.6,210.2,-12.6,78,1643,0.00,2.53,0.00,0.000,4,0.000,0.047,2175,3305,3479
$GC,1671,-1.46,-146.6,214.2,-12.1,79,1676,0.00,2.55,0.00,0.000,6,0.000,0.044,2175,1904,3479
$GC,1993,-1.46,-146.6,250.8,-11.8,95,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,1904,3479
$GC,2302,-1.46,-146.6,286.5,-11.3,110,2306,0.00,2.53,0.00,0.000,4,0.000,0.048,2175,3308,3479
$GC,2373,-1.46,-146.6,293.6,-9.3,113,2377,0.00,2.55,0.00,0.000,6,0.000,0.045,2175,1906,3479
$GC,2696,-1.46,-146.6,326.2,-11.0,129,2700,0.00,2.62,0.00,0.000,4,0.000,0.069,2175,493,3479
$GC,2756,-1.46,-146.6,333.4,-11.4,132,2760,0.00,2.47,0.00,0.000,6,0.000,0.044,2175,1905,3480
$GC,3087,-1.46,-146.6,373.9,-13.7,148,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,1907,3480
$GC,3396,-1.46,-146.6,411.4,-11.3,163,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,1907,3480
$GC,3706,-1.46,-146.6,446.5,-10.8,178,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,1907,3479
$GC,4015,-1.46,-146.6,482.1,-10.6,193,4019,0.00,2.53,0.00,0.000,4,0.000,0.053,2175,3300,3479
$GC,4082,-1.46,-146.6,489.4,-10.8,196,4087,0.00,2.55,0.00,0.000,6,0.000,0.052,2175,1904,3479
$GC,4402,-1.46,-146.6,521.0,-9.5,212,4406,0.00,2.53,0.00,0.000,4,0.000,0.053,2175,3295,3480
$GC,4463,-1.46,-146.6,526.5,-9.1,215,4467,0.00,2.53,0.00,0.000,6,0.000,0.051,2174,1900,3479
$GC,4788,-1.46,-146.6,555.3,-8.9,231,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,1900,3479
$STATE,4951,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4951,begin apogee
$GC,4955,-0.36,0.0,571.2,10.4,239,5080,1.12,0.00,121.03,1.189,6,0.074,0.000,2417,2255,2877
$STATE,5081,end apogee,CONTROL_FINISHED_OK
$STATE,5081,begin climb
$GC,5082,1.46,146.6,571.3,0.0,245,5210,1.77,2.65,119.25,1.142,4,0.051,0.061,2814,3650,2279
$GC,5226,1.67,317.7,570.5,2.0,252,5373,0.17,2.58,138.27,1.115,6,0.053,0.045,2862,2247,1582
$GC,5693,1.67,317.7,507.0,14.4,275,5697,0.00,2.67,0.00,0.000,4,0.000,0.072,2862,837,1581
$GC,5720,1.67,317.7,502.5,17.1,276,5724,0.00,2.55,0.00,0.000,6,0.000,0.045,2862,2246,1582
$GC,6040,1.67,317.7,447.0,17.2,292,6045,0.00,2.58,0.00,0.000,4,0.000,0.055,2862,3654,1581
$GC,6169,1.67,317.7,423.5,18.0,298,6174,0.00,2.53,0.00,0.000,6,0.000,0.047,2862,2252,1581
$GC,6495,1.67,317.7,366.0,16.3,314,6499,0.00,2.65,0.00,0.000,4,0.000,0.068,2863,835,1581
$GC,6526,1.67,317.7,360.4,17.9,315,6534,0.00,2.55,0.00,0.000,6,0.000,0.043,2862,2255,1581
$GC,6842,1.67,317.7,307.5,17.2,331,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2259,1581
$GC,7151,1.67,317.7,256.2,17.1,346,7156,0.00,2.62,0.00,0.000,4,0.000,0.064,2862,840,1581
$GC,7183,1.67,317.7,250.1,18.5,347,7190,0.00,2.53,0.00,0.000,6,0.000,0.041,2862,2247,1581
$GC,7498,1.67,317.7,196.9,16.6,363,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2250,1581
$GC,7807,1.67,317.7,147.7,15.3,378,7809,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2250,1581
$GC,8119,1.67,317.7,101.9,14.8,393,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2250,1581
$GC,8427,1.67,317.7,53.5,14.3,408,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2250,1581
$GC,8736,1.67,317.7,8.2,15.3,423,8740,0.00,2.53,0.00,0.000,4,0.000,0.048,2862,3656,1581
$GC,8745,1.67,317.7,6.4,15.6,423,8752,0.00,2.53,0.00,0.000,6,0.000,0.039,2863,2242,1581
$STATE,8791,end climb,SURFACE_DEPTH_REACHED
$STATE,8791,begin surface coast
$FINISH,-0.3,1.014875
$STATE,8815,end surface coast,CONTROL_FINISHED_OK
$STATE,8815,begin surface
$SM_CCo,8893,0.00,0.000,0,0,1581,318.15
$SM_GC,0.45,12.23,0.00,0.00,0.033,0.000,0.000,28,1897,1581,-11.27,-0.08,318.15
$IRIDIUM_FIX,6108.28,-818.01,151107,050503
$TT8_MAMPS,0.026845
$HUMID,2096
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,475.7,105.5
$24V_AH,23.4,13.828
$10V_AH,10.1,5.750
$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,26.825,67.750,378.550,0.000,0.000,75.691,167.309,124.686,3.750,0.000,0.000,15.987,799.999,6749.723,454.217,977.600,427.636,33.354,979.501,0.000,955.692,0.000,26.644
$DEVICE_MAMPS,147.264,72.098,1188.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,312.785,285.878,289.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22301,427
$CFSIZE,260165632,257355776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,151107,043525,6133.540,-818.903,27,1.1,44,-8.9