version: 66.02
glider: 102
mission: 4
dive: 37
start: 11 18 107 1 58 51
data:
$ID,102
$MISSION,4
$DIVE,37
$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,-76945.75
$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,22
$R_STBD_OVSHOOT,21
$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
$GPS1,015357,6129.501,-816.837,24,3.5,43,-8.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-59.9
$GPS2,015757,6129.507,-816.820,12,1.5,12,-8.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.250,-0.069
$KALMAN_X,30613.4,-3003.3,-1212.8,-14677.6,20707.2
$KALMAN_Y,90436.2,-2220.5,-358.1,-94569.1,8617.3
$MHEAD_RNG_PITCHd_Wd,263.4,7287,-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,-82.45,0.000,6,0.000,0.000,30,1895,3477
$GC,103,-1.46,-146.6,5.0,-7.7,4,124,11.52,2.58,0.00,0.000,4,0.147,0.044,2175,3311,3478
$GC,304,-1.46,-146.6,40.6,-13.4,13,308,0.00,2.53,0.00,0.000,6,0.000,0.043,2175,1898,3478
$GC,631,-1.46,-146.6,85.9,-12.0,29,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,1897,3478
$GC,939,-1.46,-146.6,123.8,-12.0,44,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,1897,3479
$GC,1247,-1.46,-146.6,161.4,-12.1,59,1252,0.00,2.55,0.00,0.000,4,0.000,0.047,2175,3316,3479
$GC,1303,-1.46,-146.6,168.0,-12.0,61,1309,0.00,2.50,0.00,0.000,6,0.000,0.042,2175,1897,3479
$GC,1617,-1.46,-146.6,204.5,-11.7,77,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,1897,3479
$GC,1927,-1.46,-146.6,242.3,-12.5,92,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,1897,3479
$GC,2236,-1.46,-146.6,281.0,-12.6,107,2240,0.00,2.53,0.00,0.000,4,0.000,0.048,2175,3310,3479
$GC,2329,-1.46,-146.6,292.8,-12.1,111,2334,0.00,2.53,0.00,0.000,6,0.000,0.043,2175,1906,3479
$GC,2650,-1.46,-146.6,332.5,-12.6,127,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,1906,3479
$GC,2959,-1.46,-146.6,369.3,-12.8,142,2964,0.00,2.53,0.00,0.000,4,0.000,0.051,2175,3310,3479
$GC,3059,-1.46,-146.6,381.5,-11.7,146,3066,0.00,2.55,0.00,0.000,6,0.000,0.045,2175,1905,3479
$GC,3374,-1.46,-146.6,417.7,-10.5,162,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,1905,3479
$GC,3684,-1.46,-146.6,450.6,-11.9,177,3689,0.00,2.55,0.00,0.000,4,0.000,0.054,2175,3310,3479
$GC,3925,-1.46,-146.6,474.6,-7.3,188,3930,0.00,2.53,0.00,0.000,6,0.000,0.048,2175,1901,3479
$GC,4250,-1.46,-146.6,508.4,-10.6,204,4255,0.00,2.55,0.00,0.000,4,0.000,0.053,2175,3309,3479
$GC,4339,-1.46,-146.6,518.0,-10.7,208,4343,0.00,2.58,0.00,0.000,6,0.000,0.048,2175,1900,3479
$GC,4670,-1.46,-146.6,551.7,-10.7,224,4674,0.00,2.58,0.00,0.000,4,0.000,0.055,2175,3312,3479
$GC,4887,-1.46,-146.6,572.5,-10.4,234,4891,0.00,2.55,0.00,0.000,6,0.000,0.051,2175,1900,3479
$GC,5213,-1.46,-146.6,605.7,-11.1,250,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,1900,3479
$STATE,5501,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5501,begin apogee
$GC,5505,-0.36,0.0,637.1,13.7,264,5630,1.15,0.00,122.28,1.237,6,0.092,0.000,2414,2250,2878
$STATE,5631,end apogee,CONTROL_FINISHED_OK
$STATE,5631,begin climb
$GC,5633,1.46,146.6,646.1,0.0,270,5765,1.85,2.78,120.40,1.200,4,0.058,0.071,2816,839,2280
$GC,6016,1.54,207.8,622.5,7.1,288,6075,0.00,2.60,50.70,1.203,6,0.000,0.054,2815,2250,2030
$GC,6385,1.58,242.4,588.0,8.4,306,6419,0.10,2.75,28.58,1.208,4,0.064,0.077,2845,840,1889
$GC,6502,1.58,242.4,573.1,12.6,311,6507,0.00,2.60,0.00,0.000,6,0.000,0.053,2845,2250,1889
$GC,6823,1.58,242.4,533.3,12.5,327,6827,0.00,2.60,0.00,0.000,4,0.000,0.064,2845,3656,1887
$GC,7024,1.58,242.4,505.9,14.4,336,7029,0.00,2.58,0.00,0.000,6,0.000,0.051,2845,2251,1886
$GC,7350,1.58,242.4,464.0,12.6,352,7355,0.00,2.58,0.00,0.000,4,0.000,0.058,2845,3656,1886
$GC,7597,1.58,242.4,426.2,14.5,363,7601,0.00,2.53,0.00,0.000,6,0.000,0.045,2845,2241,1886
$GC,7922,1.58,242.4,379.7,14.2,379,7927,0.00,2.58,0.00,0.000,4,0.000,0.052,2845,3662,1885
$GC,7994,1.58,242.4,368.9,15.1,382,7999,0.00,2.53,0.00,0.000,6,0.000,0.044,2845,2258,1886
$GC,8315,1.58,242.4,324.0,14.0,398,8316,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2258,1886
$GC,8624,1.58,242.4,280.5,13.7,413,8628,0.00,2.53,0.00,0.000,4,0.000,0.051,2845,3662,1887
$GC,8712,1.58,242.4,268.0,14.2,417,8717,0.00,2.53,0.00,0.000,6,0.000,0.042,2845,2249,1887
$GC,9039,1.58,242.4,225.2,13.1,433,9043,0.00,2.55,0.00,0.000,4,0.000,0.051,2845,3663,1888
$GC,9178,1.58,242.4,206.5,13.1,439,9183,0.00,2.53,0.00,0.000,6,0.000,0.041,2845,2249,1888
$GC,9499,1.58,242.4,165.7,12.6,455,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2249,1888
$GC,9809,1.58,242.4,128.4,12.1,470,9813,0.00,2.55,0.00,0.000,4,0.000,0.051,2845,3659,1889
$GC,9941,1.58,242.4,111.0,12.9,476,9946,0.00,2.50,0.00,0.000,6,0.000,0.041,2845,2251,1889
$GC,10268,1.58,242.4,71.2,12.4,492,10269,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2251,1890
$GC,10578,1.60,261.9,34.3,9.1,507,10599,0.00,0.00,16.30,0.869,6,0.000,0.000,2845,2252,1809
$STATE,10823,end climb,SURFACE_DEPTH_REACHED
$STATE,10823,begin surface coast
$FINISH,-0.6,1.027282
$STATE,10846,end surface coast,CONTROL_FINISHED_OK
$STATE,10847,begin surface
$SM_CCo,10865,34.65,0.811,4,0,1654,300.00
$SM_GC,-0.24,0.00,0.00,34.65,0.000,0.000,0.811,32,1893,1654,-11.33,-0.20,300.00
$IRIDIUM_FIX,6103.81,-812.90,181107,030345
$TT8_MAMPS,0.026078
$HUMID,2093
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.80
$XPDR_PINGS,338
$ALTIM_BOTTOM_PING,551.7,95.1
$24V_AH,23.4,17.239
$10V_AH,10.1,7.069
$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,26.825,78.150,338.250,34.650,0.000,37.845,24.625,107.557,89.000,0.000,0.000,14.179,1012.324,8032.277,505.385,1383.640,242.809,33.350,1183.686,0.000,1357.251,0.000,31.465
$DEVICE_MAMPS,147.264,76.700,1237.171,810.719,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,382.517,349.922,334.289,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25358,520
$CFSIZE,260165632,256344064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,17,4,0
$GPS,181107,050207,6129.583,-819.785,36,2.0,41,-8.9