version: 66.02
glider: 102
mission: 4
dive: 36
start: 11 17 107 23 8 26
data:
$ID,102
$MISSION,4
$DIVE,36
$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,-76930.945
$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,24
$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
$GPS1,230325,6129.414,-814.563,39,1.2,39,-8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-62.6
$GPS2,230732,6129.421,-814.548,14,1.2,32,-8.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.253,-0.060
$KALMAN_X,28113.4,-1148.1,-1484.9,-11757.3,22425.4
$KALMAN_Y,89559.7,-1705.4,-564.3,-94157.0,8565.9
$MHEAD_RNG_PITCHd_Wd,265.5,9299,-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,-81.90,0.000,2,0.000,0.000,36,1887,3471
$GC,102,-1.46,-146.6,4.8,-7.2,4,124,11.45,2.60,0.00,0.000,4,0.146,0.044,2168,3311,3472
$GC,240,-1.46,-146.6,33.1,-13.4,10,245,0.00,2.55,0.00,0.000,6,0.000,0.043,2168,1901,3473
$GC,567,-1.46,-146.6,75.3,-13.1,26,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,1901,3473
$GC,876,-1.46,-146.6,117.1,-13.3,41,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,1901,3473
$GC,1186,-1.46,-146.6,158.2,-13.5,56,1190,0.00,2.53,0.00,0.000,4,0.000,0.047,2168,3311,3473
$GC,1246,-1.46,-146.6,166.0,-12.7,59,1250,0.00,2.50,0.00,0.000,6,0.000,0.043,2168,1901,3473
$GC,1572,-1.46,-146.6,208.1,-12.5,75,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,1901,3473
$GC,1881,-1.46,-146.6,247.0,-12.5,90,1885,0.00,2.50,0.00,0.000,4,0.000,0.048,2168,3302,3473
$GC,1935,-1.46,-146.6,254.0,-12.3,92,1943,0.00,2.53,0.00,0.000,6,0.000,0.044,2168,1904,3473
$GC,2251,-1.46,-146.6,292.7,-12.2,108,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,1904,3473
$GC,2560,-1.46,-146.6,329.5,-11.9,123,2564,0.00,2.50,0.00,0.000,4,0.000,0.050,2168,3303,3473
$GC,2637,-1.46,-146.6,338.8,-11.3,126,2642,0.00,2.53,0.00,0.000,6,0.000,0.045,2168,1906,3473
$GC,2958,-1.46,-146.6,379.1,-12.8,142,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,1906,3473
$GC,3267,-1.46,-146.6,419.2,-13.6,157,3272,0.00,2.53,0.00,0.000,4,0.000,0.051,2167,3309,3473
$GC,3524,-1.46,-146.6,453.1,-14.6,168,3531,0.00,2.55,0.00,0.000,6,0.000,0.048,2168,1903,3473
$GC,3840,-1.46,-146.6,495.0,-12.2,184,3844,0.00,2.53,0.00,0.000,4,0.000,0.053,2168,3303,3473
$GC,3940,-1.46,-146.6,506.8,-11.6,188,3946,0.00,2.53,0.00,0.000,6,0.000,0.050,2167,1900,3473
$GC,4255,-1.46,-146.6,539.7,-9.6,204,4259,0.00,2.55,0.00,0.000,4,0.000,0.055,2168,3307,3473
$GC,4326,-1.46,-146.6,547.3,-11.4,207,4330,0.00,2.58,0.00,0.000,6,0.000,0.052,2168,1901,3473
$STATE,4460,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4460,begin apogee
$GC,4464,-0.36,0.0,562.0,10.6,214,4587,1.17,0.00,119.38,1.175,6,0.088,0.000,2413,2242,2878
$STATE,4588,end apogee,CONTROL_FINISHED_OK
$STATE,4588,begin climb
$GC,4589,1.46,146.6,564.4,0.0,220,4716,1.80,2.70,118.78,1.118,4,0.054,0.067,2812,839,2280
$GC,4969,1.51,189.6,543.6,8.0,237,5009,0.00,2.53,35.50,1.127,6,0.000,0.048,2812,2249,2105
$GC,5319,1.51,189.6,502.4,14.1,254,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2249,2104
$GC,5628,1.51,189.6,465.9,10.3,269,5632,0.00,2.58,0.00,0.000,4,0.000,0.060,2812,3654,2103
$GC,5786,1.51,190.1,448.6,10.0,276,5790,0.00,2.53,0.00,0.000,6,0.000,0.048,2812,2248,2103
$GC,6110,1.54,212.3,417.0,9.0,292,6135,0.00,2.65,18.70,1.126,4,0.000,0.058,2812,3651,2011
$GC,6280,1.56,228.8,402.3,9.2,299,6301,0.05,2.53,14.15,1.107,6,0.058,0.044,2835,2250,1944
$GC,6616,1.56,228.8,363.9,11.4,316,6620,0.00,2.58,0.00,0.000,4,0.000,0.054,2836,3658,1944
$GC,6731,1.56,228.8,349.1,13.8,321,6736,0.00,2.53,0.00,0.000,6,0.000,0.044,2836,2255,1944
$GC,7052,1.56,228.8,308.5,12.5,337,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2255,1944
$GC,7362,1.56,228.8,271.4,11.3,352,7366,0.00,2.53,0.00,0.000,4,0.000,0.051,2836,3656,1944
$GC,7478,1.56,228.8,257.2,12.3,357,7483,0.00,2.50,0.00,0.000,6,0.000,0.041,2835,2252,1944
$GC,7799,1.56,228.8,220.8,11.5,373,7803,0.00,2.53,0.00,0.000,4,0.000,0.051,2836,3658,1944
$GC,7876,1.56,228.8,211.3,12.2,376,7883,0.00,2.50,0.00,0.000,6,0.000,0.041,2836,2259,1945
$GC,8191,1.56,228.8,176.2,11.0,392,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2258,1945
$GC,8501,1.56,228.8,142.3,10.9,407,8505,0.00,2.53,0.00,0.000,4,0.000,0.049,2835,3660,1945
$GC,8566,1.56,228.8,134.4,12.3,410,8571,0.00,2.50,0.00,0.000,6,0.000,0.040,2836,2247,1946
$GC,8893,1.56,228.8,98.8,10.7,426,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2247,1946
$GC,9202,1.56,228.8,64.0,12.0,441,9206,0.00,2.55,0.00,0.000,4,0.000,0.051,2836,3660,1946
$GC,9285,1.56,228.8,53.8,12.1,445,9290,0.00,2.47,0.00,0.000,6,0.000,0.040,2835,2248,1947
$GC,9611,1.56,228.8,15.8,12.2,461,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2248,1947
$STATE,9733,end climb,SURFACE_DEPTH_REACHED
$STATE,9733,begin surface coast
$FINISH,-0.8,1.027345
$STATE,9755,end surface coast,CONTROL_FINISHED_OK
$STATE,9755,begin surface
$SM_CCo,9774,52.72,0.807,5,0,1654,300.00
$SM_GC,-0.10,0.00,0.00,52.72,0.000,0.000,0.807,31,1895,1654,-11.33,-0.14,300.00
$IRIDIUM_FIX,6108.28,-808.44,181107,000012
$TT8_MAMPS,0.026845
$HUMID,2083
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.80
$XPDR_PINGS,200
$ALTIM_BOTTOM_PING,500.2,70.7
$24V_AH,23.4,17.098
$10V_AH,10.1,7.014
$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,26.675,77.400,306.500,52.725,0.000,37.532,26.757,95.049,54.000,0.000,0.000,33.835,913.343,7243.823,486.690,1248.179,224.728,33.343,1101.667,0.000,1200.460,0.000,28.164
$DEVICE_MAMPS,145.730,66.729,1175.044,806.884,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,337.536,314.504,322.292,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22303,468
$CFSIZE,260165632,256393216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,5,0
$GPS,181107,015357,6129.501,-816.837,24,3.5,43,-8.8