version: 66.02
glider: 102
mission: 4
dive: 13
start: 11 15 107 7 18 16
data:
$ID,102
$MISSION,4
$DIVE,13
$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,-76504.547
$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,21
$R_STBD_OVSHOOT,24
$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
$GPS1,071244,6133.129,-819.482,24,1.5,30,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-62.9
$GPS2,071721,6133.157,-819.538,13,1.7,13,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.099,-0.240
$KALMAN_X,136.1,191.9,-617.6,9562.7,4131.6
$KALMAN_Y,40371.9,-690.4,-753.5,-38852.3,15753.4
$MHEAD_RNG_PITCHd_Wd,211.4,7581,-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,16,-1.46,-146.6,0.0,0.0,0,102,0.00,0.00,-82.65,0.000,6,0.000,0.000,30,1896,3476
$GC,104,-1.46,-146.6,2.8,-3.6,4,125,11.48,2.58,0.00,0.000,4,0.146,0.044,2168,3308,3478
$GC,283,-1.46,-146.6,38.5,-12.2,12,287,0.00,2.53,0.00,0.000,6,0.000,0.043,2168,1898,3478
$GC,608,-1.46,-146.6,80.9,-13.5,28,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,1898,3478
$GC,917,-1.46,-146.6,122.1,-13.9,43,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,1898,3479
$GC,1226,-1.46,-146.6,161.5,-12.7,58,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,1898,3479
$GC,1536,-1.46,-146.6,200.5,-12.6,73,1540,0.00,2.55,0.00,0.000,4,0.000,0.048,2168,3313,3479
$GC,1612,-1.46,-146.6,210.3,-11.9,76,1619,0.00,2.55,0.00,0.000,6,0.000,0.041,2168,1901,3479
$GC,1928,-1.46,-146.6,250.4,-13.0,92,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1901,3479
$GC,2237,-1.46,-146.6,292.0,-13.4,107,2241,0.00,2.60,0.00,0.000,4,0.000,0.066,2168,489,3479
$GC,2274,-1.46,-146.6,297.5,-14.8,108,2282,0.00,2.53,0.00,0.000,6,0.000,0.042,2168,1911,3479
$GC,2590,-1.46,-146.6,337.8,-12.6,124,2594,0.00,2.47,0.00,0.000,4,0.000,0.050,2168,3294,3479
$GC,2661,-1.46,-146.6,347.1,-13.2,127,2667,0.00,2.53,0.00,0.000,6,0.000,0.045,2168,1908,3479
$GC,2982,-1.46,-146.6,385.9,-12.6,143,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,1908,3479
$GC,3292,-1.46,-146.6,423.7,-11.5,158,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1908,3479
$GC,3601,-1.46,-146.6,459.1,-11.7,173,3605,0.00,2.53,0.00,0.000,4,0.000,0.052,2168,3296,3479
$GC,3644,-1.46,-146.6,464.0,-11.0,175,3649,0.00,2.55,0.00,0.000,6,0.000,0.048,2168,1904,3479
$GC,3971,-1.46,-146.6,502.7,-12.4,191,3976,0.00,2.65,0.00,0.000,4,0.000,0.074,2168,491,3479
$GC,4049,-1.46,-146.6,513.5,-13.2,194,4055,0.00,2.47,0.00,0.000,6,0.000,0.047,2169,1896,3479
$GC,4363,-1.46,-146.6,548.9,-12.3,210,4368,0.00,2.55,0.00,0.000,4,0.000,0.055,2168,3298,3478
$GC,4469,-1.46,-146.6,560.9,-11.6,215,4474,0.00,2.53,0.00,0.000,6,0.000,0.054,2169,1903,3479
$STATE,4738,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4738,begin apogee
$GC,4742,-0.36,0.0,596.1,14.8,228,4867,1.17,0.00,121.68,1.206,6,0.086,0.000,2415,2246,2878
$STATE,4868,end apogee,CONTROL_FINISHED_OK
$STATE,4868,begin climb
$GC,4869,1.46,146.6,603.2,0.0,234,4999,1.83,2.70,119.50,1.170,4,0.061,0.064,2812,838,2279
$GC,5251,1.46,146.6,575.9,15.2,251,5258,0.00,2.58,0.00,0.000,6,0.000,0.047,2812,2248,2278
$GC,5566,1.55,214.9,542.2,6.8,267,5628,0.00,2.75,56.05,1.166,4,0.000,0.070,2812,836,2000
$GC,5879,1.55,214.9,498.1,14.2,281,5885,0.00,2.58,0.00,0.000,6,0.000,0.045,2811,2253,2000
$GC,6206,1.55,214.9,455.0,13.4,297,6210,0.00,2.65,0.00,0.000,4,0.000,0.067,2812,836,2000
$GC,6260,1.55,214.9,446.9,15.1,299,6268,0.00,2.55,0.00,0.000,6,0.000,0.044,2811,2250,2000
$GC,6576,1.55,214.9,404.3,13.0,315,6580,0.00,2.55,0.00,0.000,4,0.000,0.055,2811,3656,1999
$GC,6658,1.55,214.9,393.4,13.2,318,6666,0.00,2.55,0.00,0.000,6,0.000,0.046,2812,2252,1999
$GC,6974,1.55,214.9,356.5,11.3,334,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2252,1998
$GC,7283,1.56,230.3,326.6,9.3,349,7305,0.10,2.62,12.50,1.098,4,0.067,0.053,2841,3653,1939
$GC,7418,1.56,230.3,308.7,12.7,355,7423,0.00,2.53,0.00,0.000,6,0.000,0.044,2842,2243,1939
$GC,7743,1.56,230.3,273.2,12.7,371,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2243,1939
$GC,8052,1.56,230.3,237.9,10.8,386,8057,0.00,2.55,0.00,0.000,4,0.000,0.050,2841,3658,1939
$GC,8196,1.56,230.3,220.4,13.2,392,8204,0.00,2.53,0.00,0.000,6,0.000,0.041,2842,2249,1940
$GC,8512,1.56,230.3,182.0,12.2,408,8516,0.00,2.53,0.00,0.000,4,0.000,0.050,2842,3657,1940
$GC,8544,1.56,230.3,177.6,13.2,409,8549,0.00,2.50,0.00,0.000,6,0.000,0.041,2842,2255,1940
$GC,8865,1.56,230.3,136.4,13.0,425,8870,0.00,2.53,0.00,0.000,4,0.000,0.049,2842,3657,1940
$GC,8959,1.56,230.3,124.3,12.4,429,8964,0.00,2.50,0.00,0.000,6,0.000,0.039,2842,2254,1940
$GC,9282,1.56,230.3,85.0,12.1,445,9286,0.00,2.53,0.00,0.000,4,0.000,0.048,2841,3657,1940
$GC,9342,1.56,230.3,76.9,13.0,448,9347,0.00,2.47,0.00,0.000,6,0.000,0.040,2841,2247,1940
$GC,9668,1.56,230.3,35.5,12.2,464,9672,0.00,2.55,0.00,0.000,4,0.000,0.050,2842,3657,1941
$GC,9744,1.56,230.3,25.0,13.4,467,9752,0.00,2.50,0.00,0.000,6,0.000,0.040,2842,2250,1941
$STATE,9955,end climb,SURFACE_DEPTH_REACHED
$STATE,9956,begin surface coast
$FINISH,-0.5,1.027300
$STATE,9979,end surface coast,CONTROL_FINISHED_OK
$STATE,9979,begin surface
$SM_CCo,9997,52.08,0.818,5,0,1654,300.00
$SM_GC,0.18,0.00,0.00,52.08,0.000,0.000,0.818,30,1889,1654,-11.34,-0.31,300.00
$IRIDIUM_FIX,6108.28,-814.20,151107,080842
$TT8_MAMPS,0.026845
$HUMID,2076
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,525.5,79.5
$24V_AH,23.4,14.082
$10V_AH,10.1,5.850
$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,26.725,88.075,309.725,52.075,0.000,37.693,54.685,113.904,4.750,0.000,0.000,15.176,929.772,7412.267,512.921,1241.940,272.414,33.352,1141.298,0.000,1207.578,0.000,33.200
$DEVICE_MAMPS,145.730,73.632,1206.491,817.622,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.610,321.442,318.896,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25362,479
$CFSIZE,260165632,257273856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,5,0
$GPS,151107,100707,6133.372,-820.832,22,1.9,22,-8.9