version: 66.02
glider: 102
mission: 4
dive: 32
start: 11 17 107 15 25 25
data:
$ID,102
$MISSION,4
$DIVE,32
$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,-76845.164
$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,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
$GPS1,152015,6132.552,-813.607,10,1.4,10,-8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-59.2
$GPS2,152431,6132.568,-813.502,36,1.3,36,-8.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.192,-0.174
$KALMAN_X,22965.4,-1047.1,-945.0,-6331.2,23910.3
$KALMAN_Y,96091.7,-1957.0,-1368.1,-93760.7,26038.1
$MHEAD_RNG_PITCHd_Wd,236.7,11218,-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,16,-1.46,-146.6,0.0,0.0,0,100,0.00,0.00,-81.97,0.000,2,0.000,0.000,28,1890,3433
$GC,102,-1.46,-146.6,4.6,-6.8,4,125,11.45,2.58,-0.88,0.000,4,0.143,0.057,2169,3307,3477
$GC,286,-1.46,-146.6,40.5,-13.5,12,291,0.00,2.55,0.00,0.000,6,0.000,0.044,2169,1903,3477
$GC,613,-1.46,-146.6,84.1,-13.4,28,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1903,3478
$GC,922,-1.46,-146.6,125.0,-13.0,43,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1903,3478
$GC,1231,-1.46,-146.6,161.4,-12.3,58,1235,0.00,2.53,0.00,0.000,4,0.000,0.047,2170,3310,3478
$GC,1325,-1.46,-146.6,173.6,-13.0,62,1330,0.00,2.55,0.00,0.000,6,0.000,0.043,2169,1900,3478
$GC,1646,-1.46,-146.6,217.0,-13.6,78,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1900,3478
$GC,1955,-1.46,-146.6,259.7,-13.8,93,1959,0.00,2.53,0.00,0.000,4,0.000,0.048,2170,3309,3478
$GC,2084,-1.46,-146.6,277.1,-14.2,99,2088,0.00,2.53,0.00,0.000,6,0.000,0.044,2170,1897,3478
$GC,2415,-1.46,-146.6,300.6,-0.1,115,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1897,3478
$STATE,2476,end dive,NO_VERTICAL_VELOCITY
$STATE,2476,begin apogee
$GC,2480,-0.36,0.0,300.5,0.0,118,2601,1.15,0.00,117.50,0.968,6,0.071,0.000,2418,2257,2878
$STATE,2602,end apogee,CONTROL_FINISHED_OK
$STATE,2602,begin climb
$GC,2603,1.46,146.6,300.3,0.0,124,2728,1.83,2.67,115.68,0.930,4,0.057,0.058,2815,842,2279
$GC,2880,1.53,206.4,287.2,7.2,137,2936,0.00,2.50,47.75,0.930,6,0.000,0.042,2815,2247,2036
$GC,3246,1.58,243.4,254.8,8.3,155,3282,0.10,2.58,29.70,0.925,4,0.063,0.053,2845,3650,1885
$GC,3443,1.58,243.4,230.3,12.8,163,3448,0.00,2.50,0.00,0.000,6,0.000,0.041,2845,2256,1885
$GC,3770,1.58,243.4,188.2,12.3,179,3774,0.00,2.53,0.00,0.000,4,0.000,0.051,2845,3653,1885
$GC,3841,1.58,243.4,179.2,12.4,182,3846,0.00,2.50,0.00,0.000,6,0.000,0.039,2845,2248,1885
$GC,4162,1.58,243.4,141.7,12.3,198,4166,0.00,2.55,0.00,0.000,4,0.000,0.051,2845,3653,1884
$GC,4245,1.58,243.4,131.2,13.3,202,4250,0.00,2.47,0.00,0.000,6,0.000,0.040,2845,2246,1885
$GC,4571,1.58,243.4,92.3,11.8,218,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2247,1885
$GC,4880,1.58,243.4,56.4,11.5,233,4885,0.00,2.55,0.00,0.000,4,0.000,0.051,2845,3653,1885
$GC,4942,1.58,243.4,48.6,12.2,236,4946,0.00,2.47,0.00,0.000,6,0.000,0.040,2845,2247,1884
$GC,5267,1.58,243.4,7.6,13.3,252,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2247,1884
$STATE,5307,end climb,SURFACE_DEPTH_REACHED
$STATE,5307,begin surface coast
$FINISH,-0.7,1.027291
$STATE,5329,end surface coast,CONTROL_FINISHED_OK
$STATE,5329,begin surface
$SM_CCo,5347,42.88,0.796,4,0,1655,300.00
$SM_GC,0.05,0.00,0.00,42.88,0.000,0.000,0.796,34,1889,1655,-11.32,-0.34,300.00
$IRIDIUM_FIX,6108.28,-813.55,171107,171732
$TT8_MAMPS,0.026845
$HUMID,2055
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,16.70
$XPDR_PINGS,241
$24V_AH,23.6,16.649
$10V_AH,10.1,6.845
$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,26.625,41.825,310.625,42.875,0.000,39.294,32.704,92.550,62.000,0.000,0.000,37.893,523.721,3768.556,448.593,732.406,211.172,33.362,823.393,0.000,697.455,0.000,12.238
$DEVICE_MAMPS,143.429,57.525,967.954,796.146,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,182.982,170.230,243.453,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12881,255
$CFSIZE,260165632,256557056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,4,0
$GPS,171107,165638,6131.899,-812.686,28,1.3,29,-8.8