version: 66.02
glider: 102
mission: 4
dive: 24
start: 11 16 107 18 9 30
data:
$ID,102
$MISSION,4
$DIVE,24
$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,-76685.344
$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
$GPS1,180225,6131.974,-821.060,43,1.6,43,-8.9
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,2
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-60.4
$GPS2,180837,6131.974,-820.994,15,1.3,32,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.041,-0.256
$KALMAN_X,1699.8,70.1,525.0,5685.1,40.9
$KALMAN_Y,76270.8,-1853.2,-1311.3,-75200.1,18491.4
$MHEAD_RNG_PITCHd_Wd,198.0,5089,-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,16,begin dive
$GC,17,-1.46,-146.6,0.0,0.0,0,101,0.00,0.00,-81.18,0.000,6,0.000,0.000,34,1890,3477
$GC,103,-1.46,-146.6,5.8,-8.6,4,124,11.48,2.58,0.00,0.000,4,0.146,0.044,2174,3308,3479
$GC,358,-1.46,-146.6,51.1,-14.5,15,363,0.00,2.58,0.00,0.000,6,0.000,0.044,2174,1897,3479
$GC,680,-1.46,-146.6,96.0,-14.7,31,684,0.00,2.55,0.00,0.000,4,0.000,0.048,2174,3307,3479
$GC,718,-1.46,-146.6,101.6,-15.0,33,722,0.00,2.53,0.00,0.000,6,0.000,0.044,2174,1900,3479
$GC,1043,-1.46,-146.6,146.2,-13.2,49,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,1900,3479
$GC,1352,-1.46,-146.6,182.8,-11.4,64,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,1900,3479
$GC,1661,-1.46,-146.6,216.8,-11.8,79,1666,0.00,2.55,0.00,0.000,4,0.000,0.049,2174,3311,3480
$GC,1700,-1.46,-146.6,221.6,-12.3,81,1705,0.00,2.53,0.00,0.000,6,0.000,0.044,2174,1900,3480
$GC,2026,-1.46,-146.6,264.8,-13.7,97,2030,0.00,2.53,0.00,0.000,4,0.000,0.049,2174,3304,3480
$GC,2119,-1.46,-146.6,276.5,-11.7,101,2124,0.00,2.55,0.00,0.000,6,0.000,0.045,2174,1903,3480
$GC,2440,-1.46,-146.6,313.4,-11.5,117,2445,0.00,2.62,0.00,0.000,4,0.000,0.071,2174,488,3480
$GC,2500,-1.46,-146.6,321.4,-13.7,119,2508,0.00,2.53,0.00,0.000,6,0.000,0.042,2174,1910,3480
$GC,2816,-1.46,-146.6,358.8,-11.4,135,2820,0.00,2.50,0.00,0.000,4,0.000,0.051,2174,3301,3480
$GC,2870,-1.46,-146.6,365.3,-11.7,137,2875,0.00,2.55,0.00,0.000,6,0.000,0.048,2174,1902,3479
$GC,3192,-1.46,-146.6,408.3,-14.7,153,3196,0.00,2.53,0.00,0.000,4,0.000,0.050,2174,3304,3480
$GC,3285,-1.46,-146.6,423.0,-16.6,157,3290,0.00,2.55,0.00,0.000,6,0.000,0.049,2174,1908,3480
$GC,3606,-1.46,-146.6,468.7,-14.0,173,3611,0.00,2.65,0.00,0.000,4,0.000,0.071,2174,488,3480
$GC,3645,-1.46,-146.6,474.3,-14.3,175,3650,0.00,2.47,0.00,0.000,6,0.000,0.046,2174,1898,3479
$GC,3976,-1.46,-146.6,519.9,-13.6,191,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,1899,3480
$GC,4285,-1.46,-146.6,562.9,-14.8,206,4290,0.00,2.65,0.00,0.000,4,0.000,0.074,2174,492,3480
$GC,4441,-1.46,-146.6,584.3,-12.1,213,4446,0.00,2.50,0.00,0.000,6,0.000,0.049,2174,1889,3480
$GC,4767,-1.46,-146.6,615.3,-11.5,229,4772,0.00,2.60,0.00,0.000,4,0.000,0.061,2174,3302,3480
$STATE,4828,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4828,begin apogee
$GC,4833,-0.36,0.0,622.8,13.0,232,4959,1.17,0.00,122.18,1.220,6,0.093,0.000,2417,2248,2878
$STATE,4960,end apogee,CONTROL_FINISHED_OK
$STATE,4960,begin climb
$GC,4961,1.46,146.6,628.8,0.0,238,5091,1.80,2.70,119.82,1.178,4,0.056,0.066,2813,3652,2280
$GC,5103,1.55,217.6,622.7,6.7,245,5168,0.00,2.60,58.58,1.161,6,0.000,0.052,2813,2245,1989
$GC,5495,1.57,237.7,585.8,9.1,264,5518,0.10,2.78,16.88,1.206,4,0.073,0.077,2839,841,1908
$GC,5769,1.57,237.7,549.7,13.4,276,5774,0.00,2.58,0.00,0.000,6,0.000,0.052,2839,2243,1908
$GC,6096,1.57,237.7,505.4,15.0,292,6100,0.00,2.65,0.00,0.000,4,0.000,0.073,2840,840,1906
$GC,6127,1.57,237.7,500.0,16.5,293,6134,0.00,2.58,0.00,0.000,6,0.000,0.050,2839,2255,1906
$GC,6443,1.57,237.7,453.0,14.5,309,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2256,1905
$GC,6752,1.57,237.7,410.8,13.7,324,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2257,1904
$GC,7061,1.57,237.7,361.3,16.0,339,7065,0.00,2.55,0.00,0.000,4,0.000,0.056,2840,3653,1904
$GC,7190,1.57,237.7,341.5,15.2,345,7194,0.00,2.50,0.00,0.000,6,0.000,0.044,2840,2247,1904
$GC,7522,1.59,249.9,296.8,9.4,361,7534,0.00,0.00,10.25,1.080,6,0.000,0.000,2840,2247,1859
$GC,7831,1.59,249.9,263.0,10.5,376,7835,0.00,2.55,0.00,0.000,4,0.000,0.051,2840,3654,1860
$GC,7868,1.59,249.9,258.5,11.9,378,7873,0.00,2.50,0.00,0.000,6,0.000,0.042,2840,2243,1860
$GC,8200,1.59,249.9,218.0,13.1,394,8204,0.00,2.55,0.00,0.000,4,0.000,0.050,2840,3659,1860
$GC,8260,1.59,249.9,210.0,13.2,397,8265,0.00,2.50,0.00,0.000,6,0.000,0.041,2840,2248,1860
$GC,8586,1.59,249.9,166.1,13.4,413,8590,0.00,2.55,0.00,0.000,4,0.000,0.051,2840,3661,1860
$GC,8635,1.59,249.9,159.2,13.6,415,8640,0.00,2.53,0.00,0.000,6,0.000,0.041,2840,2248,1861
$GC,8956,1.59,249.9,120.4,11.4,431,8961,0.00,2.55,0.00,0.000,4,0.000,0.050,2840,3655,1861
$GC,9040,1.59,249.9,110.3,12.7,435,9044,0.00,2.47,0.00,0.000,6,0.000,0.040,2840,2248,1861
$GC,9365,1.59,249.9,71.5,12.3,451,9370,0.00,2.55,0.00,0.000,4,0.000,0.051,2840,3656,1861
$GC,9414,1.59,249.9,64.5,14.0,453,9419,0.00,2.50,0.00,0.000,6,0.000,0.040,2839,2254,1861
$GC,9735,1.59,249.9,23.6,13.4,469,9739,0.00,2.53,0.00,0.000,4,0.000,0.049,2840,3655,1862
$GC,9756,1.59,249.9,20.3,15.3,470,9760,0.00,2.50,0.00,0.000,6,0.000,0.039,2840,2251,1862
$STATE,9917,end climb,SURFACE_DEPTH_REACHED
$STATE,9917,begin surface coast
$FINISH,-0.7,1.014856
$STATE,9938,end surface coast,CONTROL_FINISHED_OK
$STATE,9939,begin surface
$SM_CCo,9957,39.60,0.826,4,0,1655,300.00
$SM_GC,-0.07,0.00,0.00,39.60,0.000,0.000,0.826,30,1889,1655,-11.34,-0.31,300.00
$IRIDIUM_FIX,6108.28,-818.01,161107,181847
$TT8_MAMPS,0.026845
$HUMID,2068
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.5,107.1
$24V_AH,23.3,15.644
$10V_AH,10.1,6.469
$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,26.650,102.300,327.700,39.600,0.000,33.282,38.388,187.373,4.250,0.000,0.000,33.848,940.988,7364.032,507.237,1238.410,350.683,33.358,1135.224,0.000,1193.297,0.000,29.891
$DEVICE_MAMPS,145.730,77.467,1220.297,826.059,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,353.901,322.193,315.494,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25404,479
$CFSIZE,260165632,256794624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,4,0
$GPS,161107,205737,6131.987,-820.977,36,1.0,36,-8.9