version: 66.02
glider: 102
mission: 4
dive: 23
start: 11 16 107 14 59 44
data:
$ID,102
$MISSION,4
$DIVE,23
$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,-76650.867
$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,20
$R_STBD_OVSHOOT,25
$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
$GPS1,144637,6132.458,-822.641,30,1.9,30,-8.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-58.6
$GPS2,145850,6132.453,-822.421,11,1.7,11,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.018,-0.259
$KALMAN_X,228.2,-186.9,374.9,6310.7,-691.4
$KALMAN_Y,73867.2,-1890.1,-1360.6,-71825.7,18693.8
$MHEAD_RNG_PITCHd_Wd,192.8,5083,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.46,-146.6,0.0,0.0,0,97,0.00,0.00,-77.60,0.000,2,0.000,0.000,29,1888,3399
$GC,99,-1.46,-146.6,5.1,-7.3,4,122,11.50,2.65,-1.50,0.000,4,0.146,0.080,2174,495,3478
$GC,261,-1.46,-146.6,36.8,-13.2,11,265,0.00,2.53,0.00,0.000,6,0.000,0.041,2174,1909,3478
$GC,589,-1.46,-146.6,79.9,-13.2,27,593,0.00,2.50,0.00,0.000,4,0.000,0.048,2174,3304,3478
$GC,614,-1.46,-146.6,83.6,-13.4,28,620,0.00,2.55,0.00,0.000,6,0.000,0.045,2174,1906,3478
$GC,936,-1.46,-146.6,125.6,-12.2,44,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,1907,3478
$GC,1245,-1.46,-146.6,164.7,-13.0,59,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,1907,3478
$GC,1554,-1.46,-146.6,203.7,-12.4,74,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,1907,3479
$GC,1863,-1.46,-146.6,245.2,-14.3,89,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,1907,3479
$GC,2172,-1.46,-146.6,285.7,-11.5,104,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,1907,3479
$GC,2482,-1.46,-146.6,324.1,-13.9,119,2486,0.00,2.60,0.00,0.000,4,0.000,0.067,2174,491,3479
$GC,2564,-1.46,-146.6,340.5,-20.6,122,2572,0.00,2.50,0.00,0.000,6,0.000,0.044,2174,1895,3479
$GC,2880,-1.46,-146.6,385.1,-13.8,138,2884,0.00,2.53,0.00,0.000,4,0.000,0.050,2174,3294,3479
$GC,3030,-1.46,-146.6,406.0,-12.4,145,3034,0.00,2.53,0.00,0.000,6,0.000,0.048,2174,1894,3479
$GC,3356,-1.46,-146.6,440.2,-9.4,161,3361,0.00,2.60,0.00,0.000,4,0.000,0.069,2173,494,3478
$GC,3465,-1.46,-146.6,450.4,-8.6,166,3470,0.00,2.47,0.00,0.000,6,0.000,0.044,2173,1904,3479
$GC,3791,-1.46,-146.6,482.0,-9.9,182,3795,0.00,2.53,0.00,0.000,4,0.000,0.056,2174,3298,3479
$GC,3834,-1.46,-146.6,487.0,-12.2,184,3839,0.00,2.58,0.00,0.000,6,0.000,0.055,2174,1904,3479
$GC,4161,-1.46,-146.6,522.1,-9.2,200,4166,0.00,2.65,0.00,0.000,4,0.000,0.075,2173,490,3479
$GC,4379,-1.46,-146.6,550.8,-12.8,210,4384,0.00,2.50,0.00,0.000,6,0.000,0.049,2174,1902,3479
$GC,4706,-1.46,-146.6,587.0,-9.9,226,4710,0.00,2.55,0.00,0.000,4,0.000,0.061,2173,3300,3479
$GC,4846,-1.46,-146.6,600.9,-7.3,232,4850,0.00,2.58,0.00,0.000,6,0.000,0.058,2173,1899,3479
$GC,5160,-1.46,-146.6,639.9,-12.3,247,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,1900,3479
$STATE,5282,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5282,begin apogee
$GC,5286,-0.36,0.0,654.4,10.5,253,5413,1.15,0.00,122.50,1.269,6,0.089,0.000,2414,2248,2878
$STATE,5413,end apogee,CONTROL_FINISHED_OK
$STATE,5413,begin climb
$GC,5415,1.46,146.6,662.8,0.0,259,5546,1.83,2.78,120.47,1.220,4,0.061,0.070,2810,838,2280
$GC,5573,1.54,207.6,660.3,7.1,266,5629,0.00,2.62,51.03,1.207,6,0.000,0.054,2810,2243,2031
$GC,5944,1.58,244.7,623.1,8.3,285,5981,0.12,2.70,31.00,1.228,4,0.066,0.064,2843,3656,1879
$GC,6232,1.58,244.7,591.3,10.1,297,6237,0.00,2.62,0.00,0.000,6,0.000,0.054,2842,2247,1878
$GC,6559,1.58,244.7,550.0,14.3,313,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2247,1877
$GC,6868,1.58,244.7,506.1,15.4,328,6873,0.00,2.67,0.00,0.000,4,0.000,0.076,2843,836,1877
$GC,6889,1.58,244.7,502.8,15.3,329,6894,0.00,2.58,0.00,0.000,6,0.000,0.048,2843,2254,1876
$GC,7216,1.58,244.7,454.5,14.0,345,7220,0.00,2.58,0.00,0.000,4,0.000,0.058,2843,3658,1875
$GC,7248,1.58,244.7,449.9,14.3,346,7255,0.00,2.58,0.00,0.000,6,0.000,0.049,2843,2254,1875
$GC,7563,1.58,244.7,403.6,14.1,362,7568,0.00,2.55,0.00,0.000,4,0.000,0.055,2843,3655,1875
$GC,7753,1.59,250.3,378.6,9.7,370,7764,0.00,2.55,5.10,1.117,6,0.000,0.045,2843,2247,1857
$GC,8090,1.59,250.3,336.0,12.6,387,8095,0.00,2.58,0.00,0.000,4,0.000,0.054,2843,3661,1857
$GC,8129,1.59,250.3,330.8,13.1,389,8133,0.00,2.53,0.00,0.000,6,0.000,0.045,2843,2252,1857
$GC,8454,1.59,250.3,291.2,12.3,405,8459,0.00,2.62,0.00,0.000,4,0.000,0.066,2843,835,1858
$GC,8481,1.59,250.3,287.5,13.3,406,8486,0.00,2.53,0.00,0.000,6,0.000,0.042,2843,2250,1857
$GC,8802,1.59,250.3,243.8,13.8,422,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2256,1858
$GC,9111,1.59,250.3,204.1,12.8,437,9115,0.00,2.50,0.00,0.000,4,0.000,0.050,2843,3653,1859
$GC,9217,1.59,250.3,190.3,13.2,441,9224,0.00,2.50,0.00,0.000,6,0.000,0.041,2843,2250,1859
$GC,9532,1.59,250.3,154.6,10.7,457,9536,0.00,2.53,0.00,0.000,4,0.000,0.051,2843,3653,1859
$GC,9602,1.59,250.3,145.8,12.7,460,9608,0.00,2.50,0.00,0.000,6,0.000,0.040,2843,2251,1859
$GC,9924,1.59,250.3,107.6,11.7,476,9928,0.00,2.55,0.00,0.000,4,0.000,0.051,2843,3656,1860
$GC,10011,1.59,250.3,95.9,12.3,480,10016,0.00,2.50,0.00,0.000,6,0.000,0.040,2843,2251,1860
$GC,10338,1.59,250.3,55.5,12.5,496,10342,0.00,2.55,0.00,0.000,4,0.000,0.050,2843,3658,1861
$GC,10422,1.59,250.3,44.7,12.7,500,10426,0.00,2.50,0.00,0.000,6,0.000,0.041,2843,2243,1861
$GC,10747,1.59,250.3,6.2,11.7,516,10751,0.00,2.55,0.00,0.000,4,0.000,0.049,2843,3654,1861
$STATE,10777,end climb,SURFACE_DEPTH_REACHED
$STATE,10777,begin surface coast
$FINISH,1.3,1.027295
$STATE,10785,end surface coast,CONTROL_FINISHED_OK
$STATE,10785,begin surface
$SM_CCo,10807,46.30,0.816,6,0,1655,300.00
$SM_GC,-0.07,0.00,0.00,46.30,0.000,0.000,0.816,34,1891,1655,-11.32,-0.23,300.00
$IRIDIUM_FIX,6108.28,-826.94,161107,181854
$TT8_MAMPS,0.026845
$HUMID,2050
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.9,86.4
$24V_AH,23.3,15.510
$10V_AH,10.1,6.416
$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,26.925,103.775,330.100,46.300,0.000,111.831,309.320,117.841,4.750,0.000,0.000,13.016,1019.866,8125.558,510.874,1350.030,623.766,33.356,1201.977,0.000,1323.813,0.000,33.053
$DEVICE_MAMPS,146.497,79.768,1269.385,816.088,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,379.295,348.545,330.949,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25483,518
$CFSIZE,260165632,256831488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,6,0
$GPS,161107,180225,6131.974,-821.060,43,1.6,43,-8.9