version: 66.02
glider: 102
mission: 4
dive: 17
start: 11 15 107 19 26 10
data:
$ID,102
$MISSION,4
$DIVE,17
$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,-76564.352
$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,31
$R_STBD_OVSHOOT,22
$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
$GPS1,192101,6132.144,-821.983,35,1.8,35,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-61.7
$GPS2,192515,6132.146,-822.008,10,1.0,10,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.089,-0.244
$KALMAN_X,3727.0,-857.9,-426.3,4664.3,5613.3
$KALMAN_Y,53842.3,-2408.4,-929.2,-52287.1,18618.1
$MHEAD_RNG_PITCHd_Wd,208.9,4774,-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,-81.85,0.000,6,0.000,0.000,34,1882,3476
$GC,103,-1.46,-146.6,5.5,-8.4,4,124,11.45,2.65,0.00,0.000,4,0.144,0.046,2170,3316,3478
$GC,336,-1.46,-146.6,46.3,-13.8,14,341,0.00,2.55,0.00,0.000,6,0.000,0.043,2169,1912,3478
$GC,657,-1.46,-146.6,91.0,-13.9,30,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1912,3478
$GC,967,-1.46,-146.6,131.2,-13.3,45,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1912,3478
$GC,1276,-1.46,-146.6,171.3,-12.9,60,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1912,3478
$GC,1585,-1.46,-146.6,212.2,-13.2,75,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1912,3479
$GC,1894,-1.46,-146.6,253.3,-11.9,90,1898,0.00,2.53,0.00,0.000,4,0.000,0.049,2170,3312,3479
$GC,1960,-1.46,-146.6,261.2,-12.0,93,1965,0.00,2.55,0.00,0.000,6,0.000,0.044,2170,1907,3479
$GC,2287,-1.46,-146.6,301.2,-12.8,109,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1907,3479
$GC,2596,-1.46,-146.6,339.6,-11.6,124,2601,0.00,2.62,0.00,0.000,4,0.000,0.068,2170,495,3479
$GC,2645,-1.46,-146.6,346.5,-14.6,126,2650,0.00,2.53,0.00,0.000,6,0.000,0.044,2170,1910,3479
$GC,2966,-1.46,-146.6,386.8,-12.9,142,2970,0.00,2.50,0.00,0.000,4,0.000,0.051,2170,3300,3479
$GC,3032,-1.46,-146.6,395.3,-13.2,145,3037,0.00,2.55,0.00,0.000,6,0.000,0.048,2170,1904,3479
$GC,3359,-1.46,-146.6,431.8,-11.0,161,3363,0.00,2.53,0.00,0.000,4,0.000,0.051,2170,3298,3479
$GC,3435,-1.46,-146.6,440.8,-10.9,164,3442,0.00,2.55,0.00,0.000,6,0.000,0.048,2170,1904,3479
$GC,3751,-1.46,-146.6,476.5,-11.3,180,3755,0.00,2.62,0.00,0.000,4,0.000,0.072,2170,494,3479
$GC,3804,-1.46,-146.6,483.3,-12.5,182,3812,0.00,2.53,0.00,0.000,6,0.000,0.046,2170,1906,3479
$GC,4120,-1.46,-146.6,520.8,-12.5,198,4124,0.00,2.53,0.00,0.000,4,0.000,0.055,2170,3297,3479
$GC,4265,-1.46,-146.6,538.8,-11.8,204,4269,0.00,2.58,0.00,0.000,6,0.000,0.052,2169,1903,3479
$GC,4585,-1.46,-146.6,580.4,-13.1,220,4590,0.00,2.65,0.00,0.000,4,0.000,0.076,2170,492,3479
$GC,4691,-1.46,-146.6,594.2,-12.0,225,4695,0.00,2.47,0.00,0.000,6,0.000,0.051,2170,1894,3479
$GC,5023,-1.46,-146.6,640.3,-14.0,241,5027,0.00,2.60,0.00,0.000,4,0.000,0.065,2170,3301,3479
$GC,5161,-1.46,-146.6,657.9,-11.2,247,5166,0.00,2.60,0.00,0.000,6,0.000,0.060,2169,1901,3478
$STATE,5316,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5316,begin apogee
$GC,5320,-0.36,0.0,675.8,12.5,255,5446,1.17,0.00,122.47,1.293,6,0.091,0.000,2413,2247,2878
$STATE,5447,end apogee,CONTROL_FINISHED_OK
$STATE,5447,begin climb
$GC,5448,1.46,146.6,687.0,0.0,261,5579,1.80,2.75,120.60,1.251,4,0.054,0.070,2812,3653,2280
$GC,5600,1.64,290.0,677.9,3.3,268,5724,0.15,2.62,117.38,1.235,6,0.048,0.055,2855,2256,1695
$GC,6039,1.64,290.0,625.3,12.1,290,6043,0.00,2.75,0.00,0.000,4,0.000,0.083,2855,835,1694
$GC,6296,1.64,290.0,593.2,12.2,301,6303,0.00,2.60,0.00,0.000,6,0.000,0.054,2855,2246,1693
$GC,6611,1.64,290.0,551.2,14.8,317,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2247,1691
$GC,6921,1.64,290.0,503.6,16.7,332,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2249,1691
$GC,7230,1.64,290.0,454.8,15.7,347,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2249,1690
$GC,7539,1.64,290.0,405.3,15.2,362,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2249,1690
$GC,7848,1.64,290.0,357.5,15.4,377,7852,0.00,2.55,0.00,0.000,4,0.000,0.052,2855,3656,1690
$GC,7908,1.64,290.0,348.1,15.4,379,7916,0.00,2.55,0.00,0.000,6,0.000,0.044,2855,2247,1690
$GC,8224,1.64,290.0,300.7,15.0,395,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2247,1691
$GC,8533,1.64,290.0,255.9,14.4,410,8537,0.00,2.55,0.00,0.000,4,0.000,0.051,2855,3661,1691
$GC,8565,1.64,290.0,251.1,14.3,411,8572,0.00,2.53,0.00,0.000,6,0.000,0.043,2855,2254,1691
$GC,8881,1.64,290.0,206.0,14.4,427,8885,0.00,2.53,0.00,0.000,4,0.000,0.050,2855,3657,1692
$GC,8931,1.64,290.0,199.0,14.1,429,8935,0.00,2.50,0.00,0.000,6,0.000,0.041,2854,2244,1692
$GC,9250,1.64,290.0,153.0,14.2,445,9254,0.00,2.53,0.00,0.000,4,0.000,0.049,2854,3656,1693
$GC,9293,1.64,290.0,146.3,15.5,447,9298,0.00,2.50,0.00,0.000,6,0.000,0.040,2855,2254,1693
$GC,9620,1.64,290.0,100.8,13.5,463,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2254,1694
$GC,9930,1.64,290.0,61.5,11.8,478,9934,0.00,2.53,0.00,0.000,4,0.000,0.049,2855,3660,1694
$GC,10000,1.64,290.0,52.3,12.7,481,10005,0.00,2.50,0.00,0.000,6,0.000,0.039,2855,2257,1694
$GC,10323,1.64,290.0,9.3,13.9,497,10327,0.00,2.53,0.00,0.000,4,0.000,0.048,2855,3657,1695
$STATE,10375,end climb,SURFACE_DEPTH_REACHED
$STATE,10375,begin surface coast
$FINISH,0.4,1.027307
$STATE,10384,end surface coast,CONTROL_FINISHED_OK
$STATE,10384,begin surface
$SM_CCo,10405,9.52,0.867,1,0,1655,300.00
$SM_GC,0.42,0.00,0.00,9.52,0.000,0.000,0.867,34,1894,1655,-11.32,-0.20,300.00
$IRIDIUM_FIX,6112.75,-828.27,151107,202041
$TT8_MAMPS,0.026845
$HUMID,2110
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,602.5,81.4
$24V_AH,23.3,14.629
$10V_AH,10.1,6.065
$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,26.750,88.450,360.450,9.525,0.000,38.598,36.140,108.783,5.000,0.000,0.000,12.428,952.312,7778.569,490.068,1217.693,250.948,33.352,1114.985,0.000,1193.423,0.000,34.661
$DEVICE_MAMPS,144.196,82.836,1293.162,866.710,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.946,335.857,315.437,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25447,500
$CFSIZE,260165632,257114112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,151107,222122,6132.370,-823.048,38,2.9,57,-8.9