version: 66.02
glider: 102
mission: 4
dive: 21
start: 11 16 107 8 36 57
data:
$ID,102
$MISSION,4
$DIVE,21
$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,-76622.703
$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,20
$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
$GPS1,083107,6132.229,-823.498,25,1.6,25,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-60.0
$GPS2,083603,6132.235,-823.522,14,1.7,14,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.131,-0.224
$KALMAN_X,2136.7,-205.9,2.4,3835.3,904.8
$KALMAN_Y,65879.8,-1456.0,-810.5,-65234.4,15639.7
$MHEAD_RNG_PITCHd_Wd,158.5,4340,-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,-146.6,0.0,0.0,0,106,0.00,0.00,-80.97,0.000,6,0.000,0.000,32,1894,3477
$GC,108,-1.46,-146.6,7.5,-8.6,5,130,11.48,2.60,0.00,0.000,4,0.145,0.044,2170,3317,3479
$GC,381,-1.46,-146.6,54.0,-13.6,17,385,0.00,2.58,0.00,0.000,6,0.000,0.044,2170,1905,3480
$GC,708,-1.46,-146.6,96.3,-13.8,33,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1905,3479
$GC,1017,-1.46,-146.6,133.5,-12.3,48,1021,0.00,2.55,0.00,0.000,4,0.000,0.048,2170,3316,3479
$GC,1037,-1.46,-146.6,136.1,-12.3,49,1042,0.00,2.55,0.00,0.000,6,0.000,0.044,2170,1903,3479
$GC,1363,-1.46,-146.6,178.8,-13.5,65,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1903,3479
$GC,1673,-1.46,-146.6,218.1,-12.6,80,1677,0.00,2.55,0.00,0.000,4,0.000,0.048,2170,3314,3479
$GC,1704,-1.46,-146.6,222.3,-12.6,81,1711,0.00,2.55,0.00,0.000,6,0.000,0.044,2170,1906,3479
$GC,2020,-1.46,-146.6,262.2,-13.5,97,2024,0.00,2.62,0.00,0.000,4,0.000,0.068,2170,493,3479
$GC,2074,-1.46,-146.6,270.1,-14.5,99,2079,0.00,2.50,0.00,0.000,6,0.000,0.043,2170,1907,3479
$GC,2395,-1.46,-146.6,314.2,-14.1,115,2399,0.00,2.50,0.00,0.000,4,0.000,0.050,2170,3302,3480
$GC,2462,-1.46,-146.6,323.7,-13.5,118,2466,0.00,2.53,0.00,0.000,6,0.000,0.047,2170,1903,3480
$GC,2793,-1.46,-146.6,368.2,-12.4,134,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1903,3480
$GC,3102,-1.46,-146.6,405.1,-12.4,149,3107,0.00,2.62,0.00,0.000,4,0.000,0.069,2170,489,3479
$GC,3163,-1.46,-146.6,413.4,-13.4,152,3168,0.00,2.47,0.00,0.000,6,0.000,0.044,2170,1899,3480
$GC,3495,-1.46,-146.6,454.2,-11.0,168,3499,0.00,2.53,0.00,0.000,4,0.000,0.052,2170,3296,3479
$GC,3578,-1.46,-146.6,464.9,-14.2,172,3582,0.00,2.55,0.00,0.000,6,0.000,0.051,2170,1897,3479
$GC,3910,-1.46,-146.6,508.8,-13.9,188,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1897,3480
$GC,4219,-1.46,-146.6,557.3,-14.3,203,4223,0.00,2.62,0.00,0.000,4,0.000,0.074,2170,494,3480
$GC,4386,-1.46,-146.6,580.9,-13.6,210,4393,0.00,2.50,0.00,0.000,6,0.000,0.048,2170,1891,3480
$GC,4702,-1.46,-146.6,622.1,-13.3,226,4706,0.00,2.58,0.00,0.000,4,0.000,0.061,2170,3300,3479
$GC,4852,-1.46,-146.6,643.5,-15.1,233,4856,0.00,2.58,0.00,0.000,6,0.000,0.058,2170,1900,3479
$GC,5178,-1.46,-146.6,693.1,-12.8,249,5182,0.00,2.60,0.00,0.000,4,0.000,0.063,2170,3301,3479
$STATE,5220,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5220,begin apogee
$GC,5225,-0.36,0.0,699.4,13.2,251,5351,1.15,0.00,122.32,1.319,6,0.091,0.000,2411,2251,2878
$STATE,5352,end apogee,CONTROL_FINISHED_OK
$STATE,5352,begin climb
$GC,5354,1.46,146.6,705.1,0.0,257,5484,1.83,2.78,121.10,1.249,4,0.059,0.077,2810,847,2280
$GC,5506,1.62,279.6,703.9,3.8,264,5623,0.12,2.60,109.78,1.230,6,0.051,0.055,2849,2236,1737
$GC,5949,1.62,279.6,639.7,17.6,286,5954,0.00,2.67,0.00,0.000,4,0.000,0.067,2849,3657,1736
$GC,6128,1.62,279.6,611.5,17.1,294,6132,0.00,2.60,0.00,0.000,6,0.000,0.057,2849,2251,1735
$GC,6454,1.62,279.6,555.9,16.1,310,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2251,1734
$GC,6763,1.62,279.6,509.7,14.3,325,6767,0.00,2.70,0.00,0.000,4,0.000,0.078,2849,835,1732
$GC,6819,1.62,279.6,501.4,15.4,327,6825,0.00,2.55,0.00,0.000,6,0.000,0.050,2849,2254,1732
$GC,7133,1.62,279.6,460.0,12.5,343,7137,0.00,2.58,0.00,0.000,4,0.000,0.058,2849,3660,1732
$GC,7149,1.62,279.6,457.9,13.1,344,7153,0.00,2.55,0.00,0.000,6,0.000,0.051,2849,2250,1732
$GC,7480,1.62,279.6,419.0,11.8,360,7485,0.00,2.55,0.00,0.000,4,0.000,0.056,2849,3654,1732
$GC,7619,1.62,279.6,402.0,12.1,366,7624,0.00,2.55,0.00,0.000,6,0.000,0.046,2849,2248,1732
$GC,7940,1.62,279.6,360.1,13.6,382,7945,0.00,2.62,0.00,0.000,4,0.000,0.070,2849,839,1732
$GC,7956,1.62,279.6,357.8,14.0,383,7960,0.00,2.53,0.00,0.000,6,0.000,0.044,2850,2250,1732
$GC,8288,1.62,279.6,307.6,15.3,399,8292,0.00,2.55,0.00,0.000,4,0.000,0.052,2849,3661,1732
$GC,8330,1.62,279.6,300.4,17.1,401,8335,0.00,2.55,0.00,0.000,6,0.000,0.044,2849,2249,1732
$GC,8657,1.62,279.6,251.5,15.0,417,8661,0.00,2.55,0.00,0.000,4,0.000,0.052,2849,3659,1733
$GC,8711,1.62,279.6,242.5,16.5,419,8719,0.00,2.53,0.00,0.000,6,0.000,0.043,2849,2253,1733
$GC,9027,1.62,279.6,193.2,15.5,435,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2253,1733
$GC,9337,1.62,279.6,146.0,15.3,450,9341,0.00,2.53,0.00,0.000,4,0.000,0.050,2849,3656,1735
$GC,9368,1.62,279.6,140.9,16.1,451,9376,0.00,2.50,0.00,0.000,6,0.000,0.040,2849,2255,1735
$GC,9684,1.62,279.6,95.7,13.9,467,9688,0.00,2.53,0.00,0.000,4,0.000,0.048,2850,3655,1735
$GC,9715,1.62,279.6,91.1,14.1,468,9723,0.00,2.50,0.00,0.000,6,0.000,0.040,2849,2252,1735
$GC,10032,1.62,279.6,45.9,13.9,484,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2252,1735
$GC,10341,1.62,279.6,7.7,11.4,499,10345,0.00,2.55,0.00,0.000,4,0.000,0.051,2849,3661,1736
$STATE,10382,end climb,SURFACE_DEPTH_REACHED
$STATE,10382,begin surface coast
$FINISH,0.8,1.027294
$STATE,10389,end surface coast,CONTROL_FINISHED_OK
$STATE,10389,begin surface
$SM_CCo,10410,18.45,0.848,2,0,1655,300.00
$SM_GC,0.15,0.00,0.00,18.45,0.000,0.000,0.848,28,1887,1655,-11.35,-0.34,300.00
$IRIDIUM_FIX,6108.28,-821.82,161107,090904
$TT8_MAMPS,0.026078
$HUMID,2081
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.1,109.3
$24V_AH,23.3,15.218
$10V_AH,10.1,6.300
$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,26.850,107.775,353.200,18.450,0.000,36.880,40.113,141.165,5.000,0.000,0.000,15.812,966.578,7719.115,498.084,1271.512,291.171,33.362,1157.944,0.000,1238.021,0.000,34.733
$DEVICE_MAMPS,144.963,78.234,1319.240,848.302,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,363.961,336.347,318.568,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25426,501
$CFSIZE,260165632,256933888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,2,0
$GPS,161107,113207,6132.758,-823.079,37,0.9,37,-8.9