version: 66.02
glider: 102
mission: 4
dive: 22
start: 11 16 107 11 37 39
data:
$ID,102
$MISSION,4
$DIVE,22
$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,-76637.227
$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,19
$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
$GPS1,113207,6132.758,-823.079,37,0.9,37,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-60.3
$GPS2,113645,6132.778,-823.062,12,0.9,12,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.019,-0.259
$KALMAN_X,228.7,-222.2,-625.2,6799.1,-12.0
$KALMAN_Y,70440.7,-1820.3,-767.2,-68474.8,18502.4
$MHEAD_RNG_PITCHd_Wd,193.0,5422,-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,-146.6,0.0,0.0,0,103,0.00,0.00,-83.18,0.000,6,0.000,0.000,29,1887,3477
$GC,105,-1.46,-146.6,2.7,-4.0,4,127,11.50,2.62,0.00,0.000,4,0.146,0.045,2169,3315,3478
$GC,209,-1.46,-146.6,29.0,-14.1,8,217,0.00,2.58,0.00,0.000,6,0.000,0.042,2169,1896,3479
$GC,525,-1.46,-146.6,74.0,-13.5,24,529,0.00,2.55,0.00,0.000,4,0.000,0.048,2169,3310,3479
$GC,563,-1.46,-146.6,79.1,-13.5,26,567,0.00,2.53,0.00,0.000,6,0.000,0.044,2169,1901,3479
$GC,888,-1.46,-146.6,124.0,-14.0,42,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1901,3479
$GC,1197,-1.46,-146.6,168.1,-14.6,57,1201,0.00,2.55,0.00,0.000,4,0.000,0.048,2169,3314,3479
$GC,1229,-1.46,-146.6,172.9,-14.5,58,1236,0.00,2.55,0.00,0.000,6,0.000,0.043,2169,1903,3479
$GC,1544,-1.46,-146.6,219.2,-15.2,74,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1903,3480
$GC,1854,-1.46,-146.6,263.3,-13.6,89,1858,0.00,2.62,0.00,0.000,4,0.000,0.068,2169,491,3480
$GC,1885,-1.46,-146.6,268.1,-14.9,90,1893,0.00,2.50,0.00,0.000,6,0.000,0.042,2169,1911,3480
$GC,2201,-1.46,-146.6,307.5,-11.8,106,2205,0.00,2.50,0.00,0.000,4,0.000,0.050,2169,3301,3480
$GC,2249,-1.46,-146.6,313.1,-11.1,108,2254,0.00,2.55,0.00,0.000,6,0.000,0.047,2169,1904,3480
$GC,2570,-1.46,-146.6,352.6,-12.3,124,2574,0.00,2.53,0.00,0.000,4,0.000,0.049,2169,3301,3480
$GC,2647,-1.46,-146.6,361.6,-10.9,127,2654,0.00,2.55,0.00,0.000,6,0.000,0.047,2169,1903,3480
$GC,2963,-1.46,-146.6,400.5,-12.1,143,2968,0.00,2.53,0.00,0.000,4,0.000,0.051,2169,3296,3480
$GC,3012,-1.46,-146.6,406.2,-10.4,145,3017,0.00,2.55,0.00,0.000,6,0.000,0.048,2169,1903,3480
$GC,3334,-1.46,-146.6,440.5,-7.7,161,3338,0.00,2.53,0.00,0.000,4,0.000,0.051,2169,3296,3480
$GC,3377,-1.46,-146.6,445.2,-9.0,163,3381,0.00,2.55,0.00,0.000,6,0.000,0.049,2169,1905,3480
$GC,3703,-1.46,-146.6,485.5,-11.7,179,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1905,3480
$GC,4012,-1.46,-146.6,519.4,-10.4,194,4017,0.00,2.65,0.00,0.000,4,0.000,0.075,2169,492,3480
$GC,4111,-1.46,-146.6,530.4,-11.1,198,4119,0.00,2.50,0.00,0.000,6,0.000,0.047,2169,1894,3480
$GC,4427,-1.46,-146.6,567.0,-12.8,214,4431,0.00,2.65,0.00,0.000,4,0.000,0.074,2169,491,3480
$GC,4469,-1.46,-146.6,572.3,-11.7,216,4474,0.00,2.53,0.00,0.000,6,0.000,0.050,2169,1893,3480
$GC,4796,-1.46,-146.6,608.7,-10.4,232,4800,0.00,2.60,0.00,0.000,4,0.000,0.062,2169,3309,3479
$GC,4996,-1.46,-146.6,629.9,-10.0,241,5001,0.00,2.62,0.00,0.000,6,0.000,0.058,2169,1901,3479
$GC,5323,-1.46,-146.6,665.8,-10.6,257,5327,0.00,2.58,0.00,0.000,4,0.000,0.060,2169,3304,3478
$GC,5383,-1.46,-146.6,673.9,-16.7,260,5388,0.00,2.60,0.00,0.000,6,0.000,0.060,2169,1898,3478
$STATE,5440,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5440,begin apogee
$GC,5444,-0.36,0.0,683.4,17.0,263,5570,1.20,0.00,122.85,1.289,6,0.097,0.000,2414,2250,2878
$STATE,5571,end apogee,CONTROL_FINISHED_OK
$STATE,5571,begin climb
$GC,5573,1.46,146.6,694.0,0.0,269,5703,1.80,2.72,120.88,1.243,4,0.056,0.069,2812,3651,2280
$GC,5955,1.46,146.6,670.9,12.2,286,5962,0.00,2.60,0.00,0.000,6,0.000,0.054,2812,2254,2279
$GC,6271,1.59,249.7,655.8,5.2,302,6363,0.12,2.78,85.30,1.248,4,0.069,0.079,2844,834,1858
$GC,6615,1.60,260.9,618.6,9.5,318,6630,0.00,2.58,9.98,1.236,6,0.000,0.051,2844,2253,1814
$GC,6939,1.60,260.9,578.2,11.7,333,6943,0.00,2.60,0.00,0.000,4,0.000,0.063,2844,3654,1813
$GC,6977,1.60,260.9,572.6,14.4,334,6984,0.00,2.60,0.00,0.000,6,0.000,0.054,2844,2254,1813
$GC,7292,1.60,260.9,524.0,15.5,350,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2254,1812
$GC,7602,1.60,260.9,482.6,12.7,365,7606,0.00,2.65,0.00,0.000,4,0.000,0.075,2843,838,1811
$GC,7656,1.60,260.9,474.9,13.3,367,7661,0.00,2.55,0.00,0.000,6,0.000,0.049,2844,2244,1811
$GC,7977,1.60,260.9,435.1,12.0,383,7982,0.00,2.65,0.00,0.000,4,0.000,0.071,2844,833,1811
$GC,7998,1.60,260.9,432.1,14.3,384,8003,0.00,2.55,0.00,0.000,6,0.000,0.048,2844,2245,1811
$GC,8325,1.60,260.9,391.2,11.5,400,8329,0.00,2.58,0.00,0.000,4,0.000,0.057,2844,3654,1811
$GC,8520,1.60,260.9,366.6,13.0,409,8524,0.00,2.53,0.00,0.000,6,0.000,0.047,2844,2245,1811
$GC,8851,1.60,260.9,321.0,14.9,425,8856,0.00,2.55,0.00,0.000,4,0.000,0.052,2844,3656,1810
$GC,8894,1.60,260.9,314.3,15.7,427,8899,0.00,2.53,0.00,0.000,6,0.000,0.044,2844,2257,1811
$GC,9221,1.60,260.9,265.6,15.9,443,9225,0.00,2.60,0.00,0.000,4,0.000,0.064,2844,842,1811
$GC,9243,1.60,260.9,262.1,16.7,444,9247,0.00,2.47,0.00,0.000,6,0.000,0.042,2844,2250,1812
$GC,9574,1.60,260.9,212.8,14.2,460,9575,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2255,1812
$GC,9884,1.60,260.9,172.0,13.8,475,9885,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2256,1813
$GC,10195,1.60,260.9,131.8,12.9,490,10196,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2255,1814
$GC,10503,1.60,260.9,93.1,13.2,505,10507,0.00,2.50,0.00,0.000,4,0.000,0.049,2844,3653,1815
$GC,10541,1.60,260.9,87.8,14.4,507,10546,0.00,2.50,0.00,0.000,6,0.000,0.040,2844,2242,1814
$GC,10866,1.60,260.9,44.2,14.0,523,10868,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2242,1815
$GC,11176,1.60,260.9,4.6,13.7,538,11180,0.00,2.55,0.00,0.000,4,0.000,0.048,2844,3655,1815
$STATE,11190,end climb,SURFACE_DEPTH_REACHED
$STATE,11190,begin surface coast
$FINISH,1.4,1.027290
$STATE,11195,end surface coast,CONTROL_FINISHED_OK
$STATE,11196,begin surface
$SM_CCo,11217,35.65,0.834,4,0,1655,300.00
$SM_GC,-0.34,0.00,0.00,35.65,0.000,0.000,0.834,30,1890,1655,-11.34,-0.31,300.00
$IRIDIUM_FIX,6108.28,-826.94,161107,121232
$TT8_MAMPS,0.026845
$HUMID,2065
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.5,66.5
$24V_AH,23.3,15.359
$10V_AH,10.1,6.356
$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,27.250,114.425,339.000,35.650,0.000,39.666,39.362,121.686,5.250,0.000,0.000,13.888,1040.915,8360.781,521.382,1359.617,283.230,33.351,1224.638,0.000,1328.957,0.000,36.679
$DEVICE_MAMPS,145.730,79.001,1288.560,834.496,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,393.676,362.592,329.235,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28489,539
$CFSIZE,260165632,256876544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,4,0
$GPS,161107,144637,6132.458,-822.641,30,1.9,30,-8.9