version: 66.02
glider: 102
mission: 4
dive: 35
start: 11 17 107 20 35 22
data:
$ID,102
$MISSION,4
$DIVE,35
$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,-76896.484
$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,31
$R_STBD_OVSHOOT,29
$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
$GPS1,203056,6130.008,-812.899,32,1.9,33,-8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-63.5
$GPS2,203427,6129.993,-812.856,13,1.4,13,-8.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.248,-0.076
$KALMAN_X,26705.9,-478.8,-1447.0,-9564.4,29871.9
$KALMAN_Y,89811.7,-905.8,-816.1,-93887.1,12381.5
$MHEAD_RNG_PITCHd_Wd,261.8,10732,-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,-146.6,0.0,0.0,0,101,0.00,0.00,-81.55,0.000,6,0.000,0.000,34,1883,3477
$GC,103,-1.46,-146.6,5.4,-8.3,4,124,11.48,2.58,0.00,0.000,4,0.146,0.044,2170,3304,3478
$GC,263,-1.46,-146.6,35.1,-13.0,11,268,0.00,2.53,0.00,0.000,6,0.000,0.043,2170,1912,3479
$GC,592,-1.46,-146.6,77.4,-13.1,27,596,0.00,2.50,0.00,0.000,4,0.000,0.048,2170,3302,3479
$GC,652,-1.46,-146.6,85.8,-13.1,30,657,0.00,2.53,0.00,0.000,6,0.000,0.044,2170,1894,3479
$GC,978,-1.46,-146.6,129.5,-13.4,46,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1894,3478
$GC,1288,-1.46,-146.6,171.8,-13.6,61,1292,0.00,2.53,0.00,0.000,4,0.000,0.048,2170,3302,3479
$GC,1341,-1.46,-146.6,179.1,-12.7,63,1348,0.00,2.53,0.00,0.000,6,0.000,0.044,2170,1906,3478
$GC,1657,-1.46,-146.6,219.0,-12.3,79,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1906,3479
$GC,1966,-1.46,-146.6,260.6,-13.5,94,1970,0.00,2.53,0.00,0.000,4,0.000,0.049,2170,3309,3479
$GC,2060,-1.46,-146.6,273.4,-13.8,98,2065,0.00,2.55,0.00,0.000,6,0.000,0.045,2170,1903,3479
$GC,2381,-1.46,-146.6,313.9,-12.1,114,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1902,3479
$GC,2691,-1.46,-146.6,351.9,-12.4,129,2695,0.00,2.53,0.00,0.000,4,0.000,0.050,2170,3302,3479
$GC,2784,-1.46,-146.6,363.4,-12.7,133,2789,0.00,2.55,0.00,0.000,6,0.000,0.046,2170,1901,3479
$GC,3105,-1.46,-146.6,403.1,-12.9,149,3109,0.00,2.53,0.00,0.000,4,0.000,0.050,2170,3301,3479
$GC,3198,-1.46,-146.6,414.2,-11.1,153,3203,0.00,2.55,0.00,0.000,6,0.000,0.047,2170,1901,3479
$GC,3519,-1.46,-146.6,451.3,-12.4,169,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1901,3479
$STATE,3807,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3807,begin apogee
$GC,3811,-0.36,0.0,486.1,11.0,183,3934,1.17,0.00,119.93,1.106,6,0.092,0.000,2414,2252,2878
$STATE,3935,end apogee,CONTROL_FINISHED_OK
$STATE,3935,begin climb
$GC,3936,1.46,146.6,490.1,0.0,189,4063,1.85,2.65,117.50,1.075,4,0.058,0.059,2817,3648,2280
$GC,4316,1.50,180.2,461.9,8.4,207,4351,0.00,2.50,27.60,1.101,6,0.000,0.045,2817,2248,2143
$GC,4666,1.50,180.2,426.6,11.0,224,4670,0.00,2.58,0.00,0.000,4,0.000,0.057,2817,3652,2142
$GC,4743,1.50,180.2,417.1,12.5,227,4750,0.00,2.53,0.00,0.000,6,0.000,0.045,2817,2258,2142
$GC,5059,1.54,208.2,385.5,8.7,243,5088,0.00,2.62,22.83,1.083,4,0.000,0.054,2817,3648,2029
$GC,5238,1.54,208.2,364.8,11.1,251,5244,0.00,2.55,0.00,0.000,6,0.000,0.044,2817,2249,2029
$GC,5566,1.54,208.6,331.5,10.0,267,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2249,2028
$GC,5875,1.54,208.6,299.7,10.3,282,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2249,2028
$GC,6184,1.54,208.6,265.7,11.2,297,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2249,2028
$GC,6493,1.54,208.6,232.8,10.6,312,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2249,2028
$GC,6802,1.54,208.6,198.5,11.1,327,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2248,2028
$GC,7112,1.54,208.6,163.6,11.2,342,7116,0.00,2.53,0.00,0.000,4,0.000,0.051,2817,3653,2029
$GC,7222,1.54,208.6,150.6,11.9,347,7227,0.00,2.50,0.00,0.000,6,0.000,0.038,2817,2245,2029
$GC,7549,1.54,208.6,115.4,10.6,363,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2244,2028
$GC,7858,1.54,208.6,83.2,10.5,378,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2244,2029
$GC,8168,1.54,208.6,51.5,10.4,393,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2244,2029
$GC,8477,1.56,223.4,21.9,9.3,408,8499,0.00,2.58,12.57,0.879,4,0.000,0.049,2817,3643,1966
$GC,8559,1.56,223.4,13.1,11.2,411,8567,0.00,2.47,0.00,0.000,6,0.000,0.039,2817,2250,1967
$STATE,8690,end climb,SURFACE_DEPTH_REACHED
$STATE,8690,begin surface coast
$FINISH,-0.7,1.009478
$STATE,8710,end surface coast,CONTROL_FINISHED_OK
$STATE,8710,begin surface
$SM_CCo,8729,55.00,0.798,5,0,1654,300.00
$SM_GC,0.08,0.00,0.00,55.00,0.000,0.000,0.798,36,1888,1654,-11.32,-0.31,300.00
$IRIDIUM_FIX,6108.28,-809.08,171107,222254
$TT8_MAMPS,0.026845
$HUMID,2060
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,16.80
$XPDR_PINGS,154
$ALTIM_BOTTOM_PING,426.5,68.7
$24V_AH,23.5,16.973
$10V_AH,10.1,6.963
$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,26.450,57.150,300.425,55.000,0.000,36.640,26.945,81.707,41.750,0.000,0.000,14.762,802.285,6528.126,489.890,1017.493,203.078,33.371,1000.149,0.000,998.351,0.000,23.312
$DEVICE_MAMPS,145.730,59.059,1106.014,797.680,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,308.469,281.341,315.418,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19139,419
$CFSIZE,260165632,256438272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,5,0
$GPS,171107,230325,6129.414,-814.563,39,1.2,39,-8.8