version: 66.02
glider: 102
mission: 4
dive: 30
start: 11 17 107 10 59 15
data:
$ID,102
$MISSION,4
$DIVE,30
$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,-76772.305
$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,26
$R_STBD_OVSHOOT,24
$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
$GPS1,105126,6132.437,-816.041,50,1.2,50,-8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-56.1
$GPS2,105821,6132.507,-815.969,13,1.2,13,-8.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.167,-0.199
$KALMAN_X,16801.8,-675.1,-690.2,-2978.3,15470.9
$KALMAN_Y,93581.6,-2036.1,-1161.8,-91492.1,23163.8
$MHEAD_RNG_PITCHd_Wd,228.9,9233,-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,-82.12,0.000,6,0.000,0.000,28,1888,3476
$GC,104,-1.46,-146.6,5.5,-8.6,4,125,11.48,2.58,0.00,0.000,4,0.145,0.043,2177,3310,3478
$GC,293,-1.46,-146.6,41.8,-16.8,12,297,0.00,2.55,0.00,0.000,6,0.000,0.044,2177,1903,3478
$GC,614,-1.46,-146.6,92.2,-16.0,28,618,0.00,2.53,0.00,0.000,4,0.000,0.047,2177,3308,3478
$GC,690,-1.46,-146.6,103.7,-14.2,31,697,0.00,2.55,0.00,0.000,6,0.000,0.044,2177,1901,3478
$GC,1007,-1.46,-146.6,148.8,-13.9,47,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1901,3478
$GC,1314,-1.46,-146.6,193.0,-14.7,62,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1901,3478
$GC,1624,-1.46,-146.6,239.7,-15.1,77,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1901,3478
$GC,1933,-1.46,-146.6,285.8,-13.5,92,1937,0.00,2.53,0.00,0.000,4,0.000,0.049,2177,3305,3478
$GC,2027,-1.46,-146.6,298.3,-13.0,96,2032,0.00,2.55,0.00,0.000,6,0.000,0.045,2177,1903,3478
$GC,2348,-1.46,-146.6,342.9,-13.9,112,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1903,3478
$GC,2657,-1.46,-146.6,381.6,-11.9,127,2661,0.00,2.53,0.00,0.000,4,0.000,0.050,2177,3306,3479
$GC,2779,-1.46,-146.6,397.7,-13.1,132,2786,0.00,2.58,0.00,0.000,6,0.000,0.048,2177,1902,3479
$GC,3095,-1.46,-146.6,430.2,-2.9,148,3099,0.00,2.60,0.00,0.000,4,0.000,0.069,2177,493,3479
$STATE,3222,end dive,NO_VERTICAL_VELOCITY
$STATE,3222,begin apogee
$GC,3228,-0.36,0.0,430.2,0.0,154,3352,1.10,0.00,119.65,1.061,6,0.063,0.000,2421,2249,2878
$STATE,3352,end apogee,CONTROL_FINISHED_OK
$STATE,3352,begin climb
$GC,3354,1.46,146.6,430.0,0.0,160,3479,1.75,2.67,117.70,1.015,4,0.053,0.061,2810,835,2280
$GC,3596,1.50,177.2,414.6,8.6,171,3628,0.00,2.55,25.10,1.014,6,0.000,0.042,2810,2252,2156
$GC,3936,1.51,184.1,381.8,9.7,188,3950,0.00,2.62,6.72,1.014,4,0.000,0.055,2810,3654,2127
$GC,4123,1.51,184.1,364.1,10.4,196,4128,0.00,2.55,0.00,0.000,6,0.000,0.044,2810,2244,2127
$GC,4444,1.51,184.1,331.9,10.6,212,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2244,2126
$GC,4754,1.51,184.1,299.3,10.5,227,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2244,2126
$GC,5063,1.51,184.1,266.6,10.2,242,5067,0.00,2.55,0.00,0.000,4,0.000,0.052,2811,3656,2126
$GC,5230,1.51,184.1,248.8,11.5,249,5235,0.00,2.50,0.00,0.000,6,0.000,0.040,2810,2250,2126
$GC,5551,1.51,190.3,216.5,9.7,265,5562,0.00,2.58,5.88,0.976,4,0.000,0.051,2810,3656,2101
$GC,5634,1.51,190.3,207.3,11.0,269,5638,0.00,2.47,0.00,0.000,6,0.000,0.040,2811,2248,2101
$GC,5966,1.51,190.3,171.4,12.5,285,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2248,2101
$GC,6277,1.51,190.3,133.9,12.0,300,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2248,2101
$GC,6585,1.51,190.3,99.0,11.0,315,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2248,2101
$GC,6894,1.51,190.3,66.1,10.2,330,6898,0.00,2.53,0.00,0.000,4,0.000,0.051,2811,3653,2101
$GC,6955,1.51,190.3,59.4,11.3,333,6959,0.00,2.45,0.00,0.000,6,0.000,0.038,2811,2242,2101
$GC,7280,1.51,190.3,27.4,10.4,349,7284,0.00,2.55,0.00,0.000,4,0.000,0.050,2810,3658,2101
$GC,7333,1.51,190.3,22.2,11.0,351,7341,0.00,2.47,0.00,0.000,6,0.000,0.039,2811,2257,2101
$STATE,7565,end climb,SURFACE_DEPTH_REACHED
$STATE,7566,begin surface coast
$FINISH,0.4,1.027283
$STATE,7587,end surface coast,CONTROL_FINISHED_OK
$STATE,7588,begin surface
$SM_CCo,7606,72.62,0.790,5,0,1655,300.00
$SM_GC,-0.23,0.00,0.00,72.62,0.000,0.000,0.790,35,1886,1655,-11.32,-0.40,300.00
$IRIDIUM_FIX,6108.28,-812.90,171107,141446
$TT8_MAMPS,0.026845
$HUMID,2035
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,16.80
$XPDR_PINGS,371
$24V_AH,23.5,16.418
$10V_AH,10.1,6.766
$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,26.550,57.250,275.050,72.625,0.000,76.636,62.299,141.582,95.750,0.000,0.000,14.787,718.257,5666.149,485.231,922.062,344.802,33.347,948.341,0.000,905.939,0.000,20.321
$DEVICE_MAMPS,144.963,69.030,1060.761,790.010,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,268.429,244.198,286.388,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19121,364
$CFSIZE,260165632,256602112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,5,0
$GPS,171107,130855,6132.673,-815.003,25,1.1,42,-8.8