version: 66.02
glider: 102
mission: 4
dive: 14
start: 11 15 107 10 12 22
data:
$ID,102
$MISSION,4
$DIVE,14
$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,-76520.516
$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,25
$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
$GPS1,100707,6133.372,-820.832,22,1.9,22,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-62.2
$GPS2,101127,6133.389,-820.864,13,1.9,13,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.073,-0.249
$KALMAN_X,-29.7,511.5,-399.7,8034.5,2818.0
$KALMAN_Y,43827.4,-479.7,-633.3,-42216.1,15686.0
$MHEAD_RNG_PITCHd_Wd,205.3,7263,-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,-81.88,0.000,6,0.000,0.000,29,1888,3477
$GC,103,-1.46,-146.6,5.4,-7.7,4,124,11.50,2.60,0.00,0.000,4,0.147,0.045,2171,3311,3478
$GC,376,-1.46,-146.6,49.3,-13.1,16,380,0.00,2.55,0.00,0.000,6,0.000,0.042,2171,1904,3479
$GC,702,-1.46,-146.6,89.5,-12.7,32,707,0.00,2.55,0.00,0.000,4,0.000,0.048,2171,3316,3479
$GC,728,-1.46,-146.6,93.1,-13.2,33,733,0.00,2.58,0.00,0.000,6,0.000,0.043,2171,1900,3479
$GC,1050,-1.46,-146.6,134.5,-12.8,49,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1900,3479
$GC,1359,-1.46,-146.6,173.6,-12.5,64,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1900,3479
$GC,1668,-1.46,-146.6,215.6,-14.6,79,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1900,3479
$GC,1977,-1.46,-146.6,260.4,-15.0,94,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1900,3479
$GC,2287,-1.46,-146.6,304.4,-13.3,109,2291,0.00,2.55,0.00,0.000,4,0.000,0.050,2171,3308,3479
$GC,2402,-1.46,-146.6,319.1,-12.9,114,2407,0.00,2.55,0.00,0.000,6,0.000,0.044,2171,1905,3479
$GC,2724,-1.46,-146.6,356.6,-10.7,130,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1905,3479
$GC,3033,-1.46,-146.6,386.1,-8.8,145,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1905,3479
$GC,3342,-1.46,-146.6,412.6,-7.5,160,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1905,3479
$GC,3652,-1.46,-146.6,436.4,-7.2,175,3655,0.00,2.53,0.00,0.000,4,0.000,0.051,2171,3310,3479
$GC,3763,-1.46,-146.6,445.7,-7.4,180,3768,0.00,2.55,0.00,0.000,6,0.000,0.048,2171,1897,3479
$GC,4090,-1.46,-146.6,470.5,-9.5,196,4094,0.00,2.55,0.00,0.000,4,0.000,0.051,2171,3309,3479
$GC,4245,-1.46,-146.6,483.7,-9.6,203,4250,0.00,2.55,0.00,0.000,6,0.000,0.049,2171,1900,3479
$GC,4571,-1.46,-146.6,522.3,-13.1,219,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1899,3479
$GC,4881,-1.46,-146.6,567.4,-15.8,234,4885,0.00,2.55,0.00,0.000,4,0.000,0.056,2171,3308,3479
$GC,4957,-1.46,-146.6,578.5,-12.2,237,4964,0.00,2.58,0.00,0.000,6,0.000,0.051,2171,1904,3478
$GC,5273,-1.46,-146.6,620.3,-13.7,253,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1904,3478
$STATE,5395,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5395,begin apogee
$GC,5399,-0.36,0.0,635.1,11.7,259,5525,1.17,0.00,122.38,1.232,6,0.094,0.000,2414,2256,2878
$STATE,5526,end apogee,CONTROL_FINISHED_OK
$STATE,5526,begin climb
$GC,5527,1.46,146.6,641.0,0.0,265,5656,1.80,2.75,119.95,1.197,4,0.058,0.067,2810,840,2279
$GC,5677,1.57,236.4,640.7,5.8,272,5756,0.08,2.60,73.05,1.185,6,0.052,0.050,2836,2247,1914
$GC,6076,1.57,236.4,588.3,15.2,292,6081,0.00,2.65,0.00,0.000,4,0.000,0.071,2836,841,1913
$GC,6333,1.57,236.4,546.7,19.8,303,6340,0.00,2.55,0.00,0.000,6,0.000,0.047,2836,2247,1913
$GC,6649,1.57,236.4,492.9,19.0,319,6653,0.00,2.62,0.00,0.000,4,0.000,0.068,2836,841,1912
$GC,6691,1.57,236.4,485.1,17.6,321,6696,0.00,2.55,0.00,0.000,6,0.000,0.046,2836,2249,1912
$GC,7018,1.57,236.4,434.9,13.7,337,7022,0.00,2.58,0.00,0.000,4,0.000,0.056,2836,3656,1911
$GC,7084,1.57,236.4,423.4,17.3,340,7089,0.00,2.55,0.00,0.000,6,0.000,0.048,2836,2259,1911
$GC,7411,1.57,236.4,378.8,12.4,356,7415,0.00,2.55,0.00,0.000,4,0.000,0.054,2835,3656,1910
$GC,7540,1.57,236.4,363.5,12.0,362,7545,0.00,2.53,0.00,0.000,6,0.000,0.045,2836,2246,1910
$GC,7865,1.60,259.1,328.7,8.9,378,7889,0.00,2.65,18.67,1.098,4,0.000,0.053,2836,3653,1821
$GC,8007,1.60,259.1,314.0,11.2,384,8012,0.00,2.53,0.00,0.000,6,0.000,0.043,2836,2256,1820
$GC,8328,1.60,259.1,271.4,15.2,400,8332,0.00,2.53,0.00,0.000,4,0.000,0.051,2836,3656,1820
$GC,8348,1.60,259.1,267.8,17.3,401,8354,0.00,2.53,0.00,0.000,6,0.000,0.042,2835,2249,1821
$GC,8675,1.60,259.1,228.4,12.9,417,8679,0.00,2.55,0.00,0.000,4,0.000,0.051,2835,3662,1821
$GC,8726,1.60,259.1,221.6,14.3,419,8730,0.00,2.50,0.00,0.000,6,0.000,0.043,2836,2248,1821
$GC,9045,1.60,259.1,179.2,13.5,435,9049,0.00,2.53,0.00,0.000,4,0.000,0.051,2836,3656,1822
$GC,9110,1.60,259.1,169.6,14.2,438,9115,0.00,2.50,0.00,0.000,6,0.000,0.040,2836,2256,1821
$GC,9437,1.60,259.1,126.0,13.5,454,9441,0.00,2.53,0.00,0.000,4,0.000,0.049,2836,3657,1822
$GC,9457,1.60,259.1,122.9,13.7,455,9462,0.00,2.50,0.00,0.000,6,0.000,0.039,2836,2254,1822
$GC,9784,1.60,259.1,82.0,12.3,471,9788,0.00,2.55,0.00,0.000,4,0.000,0.049,2835,3663,1822
$GC,9832,1.60,259.1,75.5,12.9,473,9837,0.00,2.53,0.00,0.000,6,0.000,0.040,2836,2246,1822
$GC,10154,1.60,259.1,35.4,12.5,489,10158,0.00,2.55,0.00,0.000,4,0.000,0.050,2836,3656,1823
$GC,10214,1.60,259.1,27.3,13.1,492,10218,0.00,2.47,0.00,0.000,6,0.000,0.041,2836,2245,1823
$STATE,10443,end climb,SURFACE_DEPTH_REACHED
$STATE,10443,begin surface coast
$FINISH,-0.4,1.004054
$STATE,10463,end surface coast,CONTROL_FINISHED_OK
$STATE,10463,begin surface
$SM_CCo,10482,35.03,0.829,4,0,1655,300.00
$SM_GC,0.42,0.00,0.00,35.03,0.000,0.000,0.829,34,1894,1655,-11.32,-0.17,300.00
$IRIDIUM_FIX,6117.23,-527.28,151107,111119
$TT8_MAMPS,0.026845
$HUMID,2085
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.7,92.9
$24V_AH,23.4,14.214
$10V_AH,10.1,5.903
$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,26.700,93.275,334.050,35.025,0.000,38.276,37.111,110.709,4.500,0.000,0.000,15.344,975.898,7807.489,491.318,1277.862,260.999,33.350,1143.140,0.000,1250.004,0.000,31.457
$DEVICE_MAMPS,147.264,70.564,1231.802,829.127,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.329,339.366,329.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25409,504
$CFSIZE,260165632,257232896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,4,0
$GPS,151107,130908,6133.153,-821.339,35,0.9,35,-8.9