version: 66.02
glider: 102
mission: 4
dive: 31
start: 11 17 107 13 17 19
data:
$ID,102
$MISSION,4
$DIVE,31
$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,-76806.648
$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,27
$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
$GPS1,130855,6132.673,-815.003,25,1.1,42,-8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-59.1
$GPS2,131626,6132.746,-814.854,14,1.2,32,-8.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.174,-0.192
$KALMAN_X,19821.8,-848.5,-714.6,-4815.0,19167.2
$KALMAN_Y,95731.0,-2257.3,-1196.5,-92944.4,25882.0
$MHEAD_RNG_PITCHd_Wd,231.0,10308,-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,-146.6,0.0,0.0,0,101,0.00,0.00,-80.32,0.000,6,0.000,0.000,35,1886,3477
$GC,103,-1.46,-146.6,6.3,-9.7,4,124,11.45,2.58,0.00,0.000,4,0.146,0.043,2171,3310,3478
$GC,286,-1.46,-146.6,40.8,-13.0,12,290,0.00,2.55,0.00,0.000,6,0.000,0.044,2171,1905,3479
$GC,612,-1.46,-146.6,79.4,-11.5,28,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1905,3479
$GC,922,-1.46,-146.6,114.1,-11.3,43,926,0.00,2.53,0.00,0.000,4,0.000,0.048,2171,3311,3478
$GC,969,-1.46,-146.6,119.8,-11.8,45,975,0.00,2.55,0.00,0.000,6,0.000,0.044,2171,1904,3479
$GC,1291,-1.46,-146.6,153.9,-10.3,61,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1904,3479
$GC,1600,-1.46,-146.6,185.7,-10.9,76,1605,0.00,2.53,0.00,0.000,4,0.000,0.048,2171,3312,3479
$GC,1666,-1.46,-146.6,193.1,-11.4,79,1671,0.00,2.55,0.00,0.000,6,0.000,0.044,2172,1900,3479
$GC,1992,-1.46,-146.6,229.8,-11.6,95,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,1900,3479
$GC,2302,-1.46,-146.6,267.1,-12.2,110,2306,0.00,2.53,0.00,0.000,4,0.000,0.049,2171,3306,3479
$GC,2390,-1.46,-146.6,278.0,-12.0,114,2395,0.00,2.55,0.00,0.000,6,0.000,0.046,2171,1898,3479
$GC,2717,-1.46,-146.6,319.7,-12.2,130,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,1898,3479
$GC,3026,-1.46,-146.6,357.7,-11.5,145,3030,0.00,2.53,0.00,0.000,4,0.000,0.050,2171,3305,3479
$GC,3105,-1.46,-146.6,366.1,-8.4,148,3110,0.00,2.53,0.00,0.000,6,0.000,0.045,2171,1894,3478
$STATE,3253,end dive,NO_VERTICAL_VELOCITY
$STATE,3253,begin apogee
$GC,3257,-0.36,0.0,366.1,0.0,156,3379,1.12,0.00,118.60,1.016,6,0.068,0.000,2417,2267,2878
$STATE,3380,end apogee,CONTROL_FINISHED_OK
$STATE,3380,begin climb
$GC,3381,1.46,146.6,365.4,0.0,162,3507,1.77,2.70,116.62,0.969,4,0.051,0.061,2814,848,2280
$GC,3759,1.48,161.5,352.0,9.3,179,3779,0.00,2.47,12.93,0.994,6,0.000,0.041,2814,2252,2219
$GC,4100,1.48,161.5,318.3,10.2,196,4105,0.00,2.60,0.00,0.000,4,0.000,0.060,2814,836,2219
$GC,4244,1.48,161.5,304.4,10.5,202,4252,0.00,2.55,0.00,0.000,6,0.000,0.042,2814,2250,2219
$GC,4560,1.52,198.0,275.8,8.3,218,4595,0.00,2.58,29.48,0.977,4,0.000,0.054,2813,3651,2070
$GC,4842,1.52,198.0,247.4,11.2,230,4846,0.00,2.47,0.00,0.000,6,0.000,0.041,2814,2243,2069
$GC,5174,1.53,202.2,215.6,9.8,246,5183,0.00,2.58,4.60,0.958,4,0.000,0.052,2814,3653,2053
$GC,5239,1.53,202.2,209.1,10.7,249,5244,0.00,2.47,0.00,0.000,6,0.000,0.040,2813,2249,2053
$GC,5559,1.54,214.5,177.6,9.4,265,5575,0.00,2.60,10.60,0.946,4,0.000,0.051,2814,3656,2002
$GC,5697,1.54,214.5,163.1,10.3,270,5702,0.00,2.50,0.00,0.000,6,0.000,0.039,2813,2256,2002
$GC,6019,1.56,223.8,131.4,9.6,286,6029,0.00,0.00,8.20,0.921,6,0.000,0.000,2814,2256,1965
$GC,6329,1.57,238.7,102.4,9.3,301,6352,0.10,2.58,12.30,0.894,4,0.064,0.050,2845,3645,1904
$GC,6389,1.57,238.7,95.4,12.1,303,6398,0.00,2.50,0.00,0.000,6,0.000,0.040,2845,2249,1904
$GC,6705,1.57,238.7,60.1,11.1,319,6706,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2249,1904
$GC,7015,1.57,238.7,25.2,12.6,334,7019,0.00,2.55,0.00,0.000,4,0.000,0.051,2845,3656,1904
$GC,7068,1.57,238.7,18.0,13.0,336,7076,0.00,2.50,0.00,0.000,6,0.000,0.040,2844,2249,1904
$STATE,7218,end climb,SURFACE_DEPTH_REACHED
$STATE,7218,begin surface coast
$FINISH,-0.7,1.002852
$STATE,7240,end surface coast,CONTROL_FINISHED_OK
$STATE,7240,begin surface
$SM_CCo,7259,47.45,0.793,5,0,1655,300.00
$SM_GC,-0.05,0.00,0.00,47.45,0.000,0.000,0.793,29,1891,1655,-11.34,-0.25,300.00
$IRIDIUM_FIX,6108.28,-817.36,171107,171727
$TT8_MAMPS,0.026845
$HUMID,2047
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,15.70
$XPDR_PINGS,383
$24V_AH,23.5,16.541
$10V_AH,10.1,6.811
$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,26.675,62.300,313.325,47.450,0.000,69.954,76.209,154.086,98.000,0.000,0.000,33.719,695.907,5287.688,481.954,975.781,359.045,33.348,974.117,0.000,939.340,0.000,15.471
$DEVICE_MAMPS,145.730,61.360,1015.508,793.078,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,252.153,231.014,294.923,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15960,345
$CFSIZE,260165632,256573440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,5,0
$GPS,171107,152015,6132.552,-813.607,10,1.4,10,-8.8