version: 66.02
glider: 102
mission: 4
dive: 26
start: 11 17 107 0 30 3
data:
$ID,102
$MISSION,4
$DIVE,26
$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,-76713.312
$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,25
$R_STBD_OVSHOOT,21
$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
$GPS1,002108,6132.526,-820.817,35,1.0,35,-8.9
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-58.7
$GPS2,002909,6132.596,-820.692,13,1.0,13,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.066,-0.251
$KALMAN_X,4347.2,492.5,-58.3,3479.7,2426.9
$KALMAN_Y,83865.8,-1695.4,-1000.1,-82123.1,19022.4
$MHEAD_RNG_PITCHd_Wd,203.5,6133,-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,-146.6,0.0,0.0,0,102,0.00,0.00,-82.70,0.000,2,0.000,0.000,31,1883,3462
$GC,104,-1.46,-146.6,5.1,-8.2,4,126,11.48,2.62,-0.32,0.000,4,0.145,0.060,2169,3311,3478
$GC,153,-1.46,-146.6,20.1,-15.7,6,158,0.00,2.55,0.00,0.000,6,0.000,0.044,2169,1910,3478
$GC,480,-1.46,-146.6,63.7,-14.0,22,484,0.00,2.53,0.00,0.000,4,0.000,0.048,2169,3310,3478
$GC,518,-1.46,-146.6,69.0,-14.6,24,522,0.00,2.55,0.00,0.000,6,0.000,0.045,2169,1898,3478
$GC,843,-1.46,-146.6,113.7,-13.0,40,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1898,3479
$GC,1153,-1.46,-146.6,152.3,-12.1,55,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1898,3479
$GC,1461,-1.46,-146.6,189.3,-11.5,70,1466,0.00,2.55,0.00,0.000,4,0.000,0.048,2169,3313,3479
$GC,1517,-1.46,-146.6,196.0,-11.9,72,1523,0.00,2.53,0.00,0.000,6,0.000,0.042,2169,1898,3479
$GC,1831,-1.46,-146.6,237.3,-14.1,88,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1898,3479
$GC,2140,-1.46,-146.6,278.3,-14.0,103,2145,0.00,2.55,0.00,0.000,4,0.000,0.048,2168,3314,3479
$GC,2273,-1.46,-146.6,297.2,-13.2,109,2279,0.00,2.55,0.00,0.000,6,0.000,0.043,2169,1906,3479
$GC,2600,-1.46,-146.6,341.2,-12.5,125,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1906,3479
$GC,2909,-1.46,-146.6,374.8,-10.2,140,2915,0.00,2.55,0.00,0.000,4,0.000,0.051,2169,3312,3479
$GC,2964,-1.46,-146.6,380.3,-9.5,142,2968,0.00,2.55,0.00,0.000,6,0.000,0.046,2169,1910,3479
$GC,3285,-1.46,-146.6,412.2,-10.2,158,3289,0.00,2.65,0.00,0.000,4,0.000,0.071,2169,488,3479
$GC,3338,-1.46,-146.6,418.1,-11.2,160,3346,0.00,2.53,0.00,0.000,6,0.000,0.046,2169,1912,3479
$GC,3655,-1.46,-146.6,451.7,-10.5,176,3660,0.00,2.65,0.00,0.000,4,0.000,0.071,2169,495,3479
$GC,3721,-1.46,-146.6,459.7,-13.7,179,3726,0.00,2.50,0.00,0.000,6,0.000,0.046,2169,1897,3479
$GC,4047,-1.46,-146.6,499.7,-12.7,195,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1898,3479
$GC,4357,-1.46,-146.6,540.7,-15.0,210,4361,0.00,2.55,0.00,0.000,4,0.000,0.057,2169,3298,3479
$GC,4545,-1.46,-146.6,572.8,-18.0,218,4552,0.00,2.58,0.00,0.000,6,0.000,0.055,2169,1908,3479
$STATE,4654,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4654,begin apogee
$GC,4658,-0.36,0.0,589.5,15.5,224,4783,1.20,0.00,122.07,1.199,6,0.093,0.000,2417,2249,2878
$STATE,4784,end apogee,CONTROL_FINISHED_OK
$STATE,4784,begin climb
$GC,4785,1.46,146.6,598.3,0.0,230,4913,1.77,2.72,119.57,1.158,4,0.051,0.065,2813,836,2280
$GC,5165,1.46,146.6,596.0,11.9,247,5172,0.00,2.58,0.00,0.000,6,0.000,0.048,2813,2247,2279
$GC,5481,1.52,197.9,572.3,7.6,263,5530,0.00,2.75,42.45,1.201,4,0.000,0.071,2813,844,2071
$GC,5553,1.58,239.4,567.0,8.1,266,5594,0.08,2.58,34.75,1.157,6,0.052,0.050,2840,2250,1901
$GC,5914,1.58,239.4,524.7,13.6,284,5918,0.00,2.60,0.00,0.000,4,0.000,0.060,2840,3653,1900
$GC,6057,1.58,239.4,501.0,18.3,290,6065,0.00,2.58,0.00,0.000,6,0.000,0.050,2841,2251,1900
$GC,6373,1.58,239.4,448.9,15.5,306,6378,0.00,2.67,0.00,0.000,4,0.000,0.074,2840,836,1899
$GC,6399,1.58,239.4,444.4,17.5,307,6404,0.00,2.55,0.00,0.000,6,0.000,0.047,2840,2244,1899
$GC,6720,1.58,239.4,394.3,15.8,323,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2245,1899
$GC,7030,1.58,239.4,354.4,11.1,338,7034,0.00,2.58,0.00,0.000,4,0.000,0.056,2840,3655,1898
$GC,7140,1.58,239.4,341.0,12.7,343,7145,0.00,2.55,0.00,0.000,6,0.000,0.046,2840,2250,1898
$GC,7467,1.63,282.0,314.7,8.0,359,7509,0.00,2.62,34.08,1.058,4,0.000,0.052,2840,3644,1728
$GC,7586,1.63,282.0,300.7,12.9,364,7591,0.00,2.53,0.00,0.000,6,0.000,0.044,2840,2254,1728
$GC,7907,1.63,282.0,256.0,13.1,380,7911,0.00,2.53,0.00,0.000,4,0.000,0.051,2841,3653,1728
$GC,7934,1.63,282.0,252.0,15.2,381,7939,0.00,2.53,0.00,0.000,6,0.000,0.042,2841,2247,1728
$GC,8255,1.63,282.0,208.1,12.6,397,8259,0.00,2.55,0.00,0.000,4,0.000,0.051,2840,3658,1729
$GC,8287,1.63,282.0,203.8,13.5,398,8292,0.00,2.53,0.00,0.000,6,0.000,0.042,2840,2253,1729
$GC,8608,1.63,282.0,160.0,14.1,414,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2253,1730
$GC,8917,1.63,282.0,116.1,14.2,429,8919,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2254,1730
$GC,9227,1.63,282.0,74.2,13.1,444,9231,0.00,2.53,0.00,0.000,4,0.000,0.048,2841,3653,1730
$GC,9275,1.63,282.0,67.8,13.5,446,9280,0.00,2.50,0.00,0.000,6,0.000,0.039,2840,2248,1730
$GC,9596,1.63,282.0,24.5,14.7,462,9600,0.00,2.53,0.00,0.000,4,0.000,0.048,2840,3653,1731
$GC,9666,1.63,282.0,14.5,16.0,465,9671,0.00,2.50,0.00,0.000,6,0.000,0.039,2841,2250,1730
$STATE,9760,end climb,SURFACE_DEPTH_REACHED
$STATE,9760,begin surface coast
$FINISH,-0.8,1.027160
$STATE,9783,end surface coast,CONTROL_FINISHED_OK
$STATE,9783,begin surface
$SM_CCo,9802,17.45,0.837,2,0,1655,300.00
$SM_GC,-0.11,0.00,0.00,17.45,0.000,0.000,0.837,29,1875,1655,-11.34,-0.71,300.00
$IRIDIUM_FIX,6108.28,-813.55,171107,040440
$TT8_MAMPS,0.026845
$HUMID,2071
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,502.3,94.5
$24V_AH,23.4,15.939
$10V_AH,10.1,6.584
$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,26.725,93.700,352.925,17.450,0.000,79.940,61.075,197.049,4.000,0.000,0.000,15.116,910.802,7324.730,488.887,1186.036,413.165,33.357,1109.406,0.000,1157.009,0.000,28.242
$DEVICE_MAMPS,144.963,73.632,1201.122,836.797,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,341.102,316.439,310.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22296,471
$CFSIZE,260165632,256716800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,2,0
$GPS,171107,031501,6132.799,-819.210,34,1.2,34,-8.9