version: 66.02
glider: 102
mission: 4
dive: 12
start: 11 15 107 4 40 34
data:
$ID,102
$MISSION,4
$DIVE,12
$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,-76488.742
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,043525,6133.540,-818.903,27,1.1,44,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-62.1
$GPS2,043939,6133.519,-818.947,13,1.2,13,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.062,-0.252
$KALMAN_X,-1616.6,-96.2,648.9,10849.6,290.5
$KALMAN_Y,38629.4,-1394.2,-1056.6,-35412.0,16193.5
$MHEAD_RNG_PITCHd_Wd,202.8,8431,-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,-82.72,0.000,2,0.000,0.000,28,1890,3401
$GC,103,-1.46,-146.6,5.0,-7.4,4,126,11.48,2.58,-1.55,0.000,4,0.146,0.058,2173,3305,3478
$GC,377,-1.46,-146.6,46.8,-12.0,16,382,0.00,2.53,0.00,0.000,6,0.000,0.044,2173,1911,3478
$GC,704,-1.46,-146.6,86.9,-13.0,32,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,1911,3479
$GC,1013,-1.46,-146.6,126.5,-13.0,47,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,1912,3479
$GC,1322,-1.46,-146.6,167.7,-12.6,62,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,1911,3479
$GC,1631,-1.46,-146.6,208.4,-13.7,77,1635,0.00,2.53,0.00,0.000,4,0.000,0.048,2173,3312,3479
$GC,1680,-1.46,-146.6,215.3,-13.8,79,1685,0.00,2.55,0.00,0.000,6,0.000,0.044,2173,1906,3479
$GC,2001,-1.46,-146.6,259.2,-13.1,95,2005,0.00,2.62,0.00,0.000,4,0.000,0.068,2173,489,3479
$GC,2078,-1.46,-146.6,270.0,-14.0,98,2085,0.00,2.53,0.00,0.000,6,0.000,0.042,2173,1913,3479
$GC,2393,-1.46,-146.6,315.2,-14.1,114,2398,0.00,2.47,0.00,0.000,4,0.000,0.048,2173,3294,3479
$GC,2470,-1.46,-146.6,324.6,-12.0,117,2479,0.00,2.53,0.00,0.000,6,0.000,0.045,2173,1906,3479
$GC,2786,-1.46,-146.6,365.7,-14.4,133,2790,0.00,2.62,0.00,0.000,4,0.000,0.069,2173,490,3480
$GC,2824,-1.46,-146.6,371.4,-14.8,135,2829,0.00,2.47,0.00,0.000,6,0.000,0.044,2173,1897,3479
$GC,3156,-1.46,-146.6,413.8,-13.0,151,3161,0.00,2.62,0.00,0.000,4,0.000,0.071,2173,493,3479
$GC,3188,-1.46,-146.6,418.6,-14.4,152,3195,0.00,2.53,0.00,0.000,6,0.000,0.045,2173,1904,3479
$GC,3503,-1.46,-146.6,454.6,-10.7,168,3508,0.00,2.65,0.00,0.000,4,0.000,0.072,2173,492,3480
$GC,3569,-1.46,-146.6,464.1,-15.4,171,3574,0.00,2.53,0.00,0.000,6,0.000,0.046,2173,1899,3479
$GC,3896,-1.46,-146.6,505.5,-11.1,187,3900,0.00,2.55,0.00,0.000,4,0.000,0.055,2173,3304,3479
$GC,3980,-1.46,-146.6,512.5,-10.6,191,3984,0.00,2.58,0.00,0.000,6,0.000,0.053,2173,1896,3479
$GC,4304,-1.46,-146.6,547.5,-11.7,207,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,1896,3479
$STATE,4427,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4427,begin apogee
$GC,4431,-0.36,0.0,558.0,9.0,213,4556,1.15,0.00,121.28,1.186,6,0.087,0.000,2414,2245,2878
$STATE,4557,end apogee,CONTROL_FINISHED_OK
$STATE,4557,begin climb
$GC,4558,1.46,146.6,563.1,0.0,219,4685,1.80,2.67,118.82,1.146,4,0.054,0.060,2812,3653,2280
$GC,4697,1.61,268.8,561.3,4.3,226,4803,0.15,2.60,99.05,1.119,6,0.054,0.049,2851,2242,1781
$GC,5128,1.61,268.8,487.6,17.9,247,5133,0.00,2.65,0.00,0.000,4,0.000,0.072,2851,840,1781
$GC,5385,1.61,268.8,448.1,14.8,258,5393,0.00,2.53,0.00,0.000,6,0.000,0.044,2851,2242,1781
$GC,5701,1.61,268.8,411.7,10.4,274,5705,0.00,2.62,0.00,0.000,4,0.000,0.068,2851,841,1781
$GC,5777,1.61,268.8,402.9,11.9,277,5784,0.00,2.53,0.00,0.000,6,0.000,0.044,2851,2242,1781
$GC,6093,1.61,268.8,368.2,10.7,293,6097,0.00,2.58,0.00,0.000,4,0.000,0.056,2851,3652,1780
$GC,6146,1.61,268.8,361.8,12.2,295,6154,0.00,2.55,0.00,0.000,6,0.000,0.046,2851,2248,1780
$GC,6463,1.62,272.1,327.3,9.8,311,6472,0.00,2.60,3.62,1.025,4,0.000,0.053,2851,3651,1768
$GC,6528,1.62,272.1,320.3,10.8,314,6533,0.00,2.50,0.00,0.000,6,0.000,0.044,2851,2248,1768
$GC,6860,1.62,272.1,279.8,13.3,330,6864,0.00,2.55,0.00,0.000,4,0.000,0.052,2851,3657,1768
$GC,6876,1.62,272.1,277.7,13.3,331,6880,0.00,2.50,0.00,0.000,6,0.000,0.043,2851,2249,1768
$GC,7201,1.62,272.1,235.3,12.7,347,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2248,1767
$GC,7510,1.62,272.1,198.9,12.4,362,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2249,1768
$GC,7819,1.62,272.1,159.2,12.9,377,7823,0.00,2.53,0.00,0.000,4,0.000,0.051,2851,3653,1768
$GC,7903,1.62,272.1,148.1,13.9,381,7908,0.00,2.47,0.00,0.000,6,0.000,0.041,2851,2247,1769
$GC,8228,1.62,272.1,104.6,14.2,397,8232,0.00,2.55,0.00,0.000,4,0.000,0.050,2851,3657,1769
$GC,8266,1.62,272.1,99.2,13.9,399,8270,0.00,2.47,0.00,0.000,6,0.000,0.041,2851,2249,1769
$GC,8592,1.62,272.1,55.1,13.3,415,8596,0.00,2.55,0.00,0.000,4,0.000,0.050,2851,3659,1770
$GC,8630,1.62,272.1,49.9,13.8,417,8635,0.00,2.47,0.00,0.000,6,0.000,0.041,2851,2248,1769
$GC,8956,1.62,272.1,7.9,13.6,433,8960,0.00,2.55,0.00,0.000,4,0.000,0.050,2851,3658,1770
$STATE,8997,end climb,SURFACE_DEPTH_REACHED
$STATE,8997,begin surface coast
$FINISH,0.9,1.027302
$STATE,9004,end surface coast,CONTROL_FINISHED_OK
$STATE,9004,begin surface
$SM_CCo,9025,25.73,0.835,3,0,1655,300.00
$SM_GC,0.70,0.00,0.00,25.73,0.000,0.000,0.835,30,1898,1655,-11.34,-0.06,300.00
$IRIDIUM_FIX,6112.75,-818.67,151107,060649
$TT8_MAMPS,0.026078
$HUMID,2066
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,476.2,90.7
$24V_AH,23.4,13.956
$10V_AH,10.1,5.798
$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,26.775,93.150,342.775,25.725,0.000,36.135,37.678,108.748,3.750,0.000,0.000,14.757,846.500,6642.796,491.223,1109.116,248.563,33.346,1074.772,0.000,1084.590,0.000,26.610
$DEVICE_MAMPS,146.497,72.098,1185.782,835.263,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,316.918,291.375,300.085,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22213,435
$CFSIZE,260165632,257318912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,3,0
$GPS,151107,071244,6133.129,-819.482,24,1.5,30,-8.9