version: 66.02
glider: 102
mission: 4
dive: 34
start: 11 17 107 18 40 9
data:
$ID,102
$MISSION,4
$DIVE,34
$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,-76881.102
$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,29
$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
$GPS1,183537,6131.039,-812.434,29,1.4,30,-8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-61.7
$GPS2,183914,6131.017,-812.370,11,1.0,16,-8.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.233,-0.115
$KALMAN_X,25741.9,-584.9,-1344.1,-8164.3,34421.8
$KALMAN_Y,91811.6,-789.0,-1152.2,-93757.8,20562.7
$MHEAD_RNG_PITCHd_Wd,252.6,11319,-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,-82.82,0.000,2,0.000,0.000,33,1886,3456
$GC,103,-1.46,-146.6,4.5,-6.1,4,121,11.62,0.00,-0.38,0.000,6,0.146,0.000,2171,1887,3477
$GC,430,-1.46,-146.6,56.9,-12.0,20,434,0.00,2.55,0.00,0.000,4,0.000,0.048,2171,3307,3477
$GC,546,-1.46,-146.6,72.2,-13.7,25,551,0.00,2.55,0.00,0.000,6,0.000,0.044,2172,1905,3477
$GC,869,-1.46,-146.6,114.9,-13.1,41,873,0.00,2.53,0.00,0.000,4,0.000,0.048,2172,3307,3477
$GC,917,-1.46,-146.6,121.5,-12.4,43,922,0.00,2.55,0.00,0.000,6,0.000,0.044,2172,1901,3477
$GC,1238,-1.46,-146.6,160.3,-11.8,59,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,1901,3477
$GC,1547,-1.46,-146.6,199.4,-11.8,74,1551,0.00,2.53,0.00,0.000,4,0.000,0.048,2172,3307,3477
$GC,1624,-1.46,-146.6,208.9,-11.9,77,1629,0.00,2.55,0.00,0.000,6,0.000,0.044,2172,1899,3477
$GC,1945,-1.46,-146.6,246.9,-12.0,93,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,1899,3477
$GC,2254,-1.46,-146.6,284.7,-12.6,108,2259,0.00,2.53,0.00,0.000,4,0.000,0.048,2172,3307,3476
$GC,2338,-1.46,-146.6,295.2,-11.9,112,2342,0.00,2.53,0.00,0.000,6,0.000,0.045,2172,1900,3477
$GC,2669,-1.46,-146.6,335.4,-11.8,128,2674,0.00,2.55,0.00,0.000,4,0.000,0.050,2172,3314,3477
$GC,2735,-1.46,-146.6,343.6,-11.9,131,2740,0.00,2.55,0.00,0.000,6,0.000,0.044,2171,1905,3477
$STATE,2896,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2896,begin apogee
$GC,2900,-0.36,0.0,364.8,13.9,139,3022,1.17,0.00,118.28,1.009,6,0.089,0.000,2416,2258,2879
$STATE,3023,end apogee,CONTROL_FINISHED_OK
$STATE,3023,begin climb
$GC,3024,1.46,146.6,369.5,0.0,145,3150,1.80,2.62,116.43,0.974,4,0.057,0.056,2813,3650,2280
$GC,3212,1.53,199.4,362.9,7.5,154,3262,0.00,2.53,42.62,0.966,6,0.000,0.044,2813,2249,2065
$GC,3583,1.53,199.4,325.1,11.2,172,3588,0.00,2.55,0.00,0.000,4,0.000,0.054,2813,3650,2064
$GC,3682,1.53,199.4,313.6,10.8,176,3690,0.00,2.53,0.00,0.000,6,0.000,0.041,2813,2252,2065
$GC,3998,1.53,199.4,280.3,10.4,192,4002,0.00,2.53,0.00,0.000,4,0.000,0.053,2813,3650,2065
$GC,4082,1.53,199.4,271.6,10.0,196,4086,0.00,2.50,0.00,0.000,6,0.000,0.041,2813,2244,2064
$GC,4407,1.55,217.5,240.4,9.2,212,4428,0.00,0.00,15.02,0.972,6,0.000,0.000,2813,2244,1991
$GC,4736,1.57,231.1,209.2,9.4,228,4758,0.10,2.60,11.75,0.960,4,0.061,0.051,2845,3650,1935
$GC,4863,1.57,231.1,193.9,12.1,233,4870,0.00,2.50,0.00,0.000,6,0.000,0.040,2845,2259,1935
$GC,5178,1.57,231.1,156.9,11.7,249,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2258,1935
$GC,5489,1.57,231.1,121.2,11.6,264,5494,0.00,2.53,0.00,0.000,4,0.000,0.050,2845,3654,1935
$GC,5588,1.57,231.1,109.1,11.8,268,5596,0.00,2.50,0.00,0.000,6,0.000,0.038,2846,2246,1935
$GC,5904,1.57,231.1,71.4,12.9,284,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2246,1935
$GC,6214,1.57,231.1,33.0,12.3,299,6218,0.00,2.55,0.00,0.000,4,0.000,0.051,2845,3653,1935
$GC,6329,1.57,231.1,17.0,13.6,304,6334,0.00,2.47,0.00,0.000,6,0.000,0.039,2845,2260,1935
$STATE,6464,end climb,SURFACE_DEPTH_REACHED
$STATE,6465,begin surface coast
$FINISH,-0.6,1.022988
$STATE,6486,end surface coast,CONTROL_FINISHED_OK
$STATE,6486,begin surface
$SM_CCo,6505,50.65,0.795,5,0,1654,300.00
$SM_GC,0.08,0.00,0.00,50.65,0.000,0.000,0.795,34,1883,1654,-11.32,-0.48,300.00
$IRIDIUM_FIX,6108.28,-812.90,171107,202054
$TT8_MAMPS,0.027612
$HUMID,2032
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,16.70
$XPDR_PINGS,90
$ALTIM_BOTTOM_PING,276.9,95.8
$24V_AH,23.5,16.857
$10V_AH,10.1,6.917
$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,26.850,57.050,304.100,50.650,0.000,37.104,31.972,78.743,24.250,0.000,0.000,18.083,623.839,4708.920,479.604,807.100,200.152,33.345,906.608,0.000,790.744,0.000,13.685
$DEVICE_MAMPS,146.497,55.991,1009.372,795.379,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,229.261,208.547,265.706,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15980,312
$CFSIZE,260165632,256491520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,5,0
$GPS,171107,203056,6130.008,-812.899,32,1.9,33,-8.8