version: 66.02
glider: 102
mission: 4
dive: 40
start: 11 18 107 12 41 27
data:
$ID,102
$MISSION,4
$DIVE,40
$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,-77018.016
$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,25
$R_STBD_OVSHOOT,19
$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
$GPS1,123607,6129.624,-828.436,40,1.3,46,-8.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-50.5
$GPS2,124033,6129.573,-828.421,11,1.3,11,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.254,-0.051
$KALMAN_X,27011.1,-2018.0,-952.5,-22542.7,9669.9
$KALMAN_Y,89165.4,209.3,29.6,-95997.3,2237.1
$MHEAD_RNG_PITCHd_Wd,267.5,3125,-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,16,begin dive
$GC,17,-1.46,-146.6,0.0,0.0,0,101,0.00,0.00,-82.03,0.000,2,0.000,0.000,35,1880,3251
$GC,103,-1.46,-146.6,3.4,-5.9,4,126,11.45,2.58,-5.15,0.000,4,0.146,0.056,2169,3315,3476
$GC,377,-1.46,-146.6,50.7,-16.6,16,382,0.00,2.55,0.00,0.000,6,0.000,0.041,2170,1904,3476
$GC,704,-1.46,-146.6,95.4,-12.6,32,708,0.00,2.55,0.00,0.000,4,0.000,0.048,2170,3317,3476
$GC,810,-1.46,-146.6,109.7,-15.0,37,814,0.00,2.55,0.00,0.000,6,0.000,0.043,2170,1892,3476
$GC,1134,-1.46,-146.6,159.1,-14.0,53,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1892,3476
$GC,1444,-1.46,-146.6,195.7,-12.0,68,1448,0.00,2.55,0.00,0.000,4,0.000,0.048,2169,3312,3477
$GC,1492,-1.46,-146.6,201.6,-11.0,70,1497,0.00,2.55,0.00,0.000,6,0.000,0.044,2170,1900,3477
$GC,1813,-1.46,-146.6,240.4,-12.1,86,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1900,3477
$GC,2123,-1.46,-146.6,277.8,-11.8,101,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1900,3477
$GC,2432,-1.46,-146.6,316.9,-13.1,116,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1900,3477
$GC,2741,-1.46,-146.6,355.8,-12.1,131,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1900,3477
$GC,3051,-1.46,-146.6,392.5,-11.5,146,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1900,3477
$GC,3360,-1.46,-146.6,431.3,-13.3,161,3364,0.00,2.55,0.00,0.000,4,0.000,0.049,2170,3316,3477
$GC,3413,-1.46,-146.6,438.6,-12.8,163,3421,0.00,2.55,0.00,0.000,6,0.000,0.044,2170,1906,3477
$GC,3730,-1.46,-146.6,476.3,-11.6,179,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1906,3477
$GC,4038,-1.46,-146.6,512.0,-11.9,194,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1906,3477
$GC,4348,-1.46,-146.6,553.2,-13.4,209,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1906,3477
$GC,4657,-1.46,-146.6,585.2,-8.9,224,4662,0.00,2.55,0.00,0.000,4,0.000,0.055,2169,3310,3477
$GC,4729,-1.46,-146.6,591.8,-9.0,227,4733,0.00,2.58,0.00,0.000,6,0.000,0.050,2170,1904,3477
$GC,5050,-1.46,-146.6,619.8,-9.2,243,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1904,3477
$GC,5359,-1.46,-146.6,639.9,-8.6,258,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1904,3477
$GC,5668,-1.46,-146.6,687.0,-17.0,273,5672,0.00,2.58,0.00,0.000,4,0.000,0.058,2169,3310,3477
$GC,5762,-1.46,-146.6,699.5,-8.0,277,5767,0.00,2.58,0.00,0.000,6,0.000,0.049,2170,1900,3477
$GC,6083,-1.46,-146.6,721.7,-3.7,293,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1895,3477
$GC,6392,-1.46,-146.6,752.0,-4.7,308,6397,0.00,2.60,0.00,0.000,4,0.000,0.058,2170,3315,3477
$GC,6649,-1.46,-146.6,770.8,-12.4,319,6656,0.00,2.60,0.00,0.000,6,0.000,0.055,2170,1903,3477
$GC,6964,-1.46,-146.6,800.5,-10.8,335,6968,0.00,2.60,0.00,0.000,4,0.000,0.066,2169,3308,3477
$GC,7036,-1.46,-146.6,810.1,-13.1,338,7040,0.00,2.60,0.00,0.000,6,0.000,0.061,2170,1906,3477
$GC,7362,-1.46,-146.6,846.7,-10.2,354,7367,0.00,2.72,0.00,0.000,4,0.000,0.090,2170,493,3475
$STATE,7378,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7378,begin apogee
$GC,7384,-0.36,0.0,848.8,11.9,355,7513,1.15,0.00,124.97,1.407,6,0.081,0.000,2413,2256,2878
$STATE,7514,end apogee,CONTROL_FINISHED_OK
$STATE,7514,begin climb
$GC,7515,1.46,146.6,848.0,0.0,361,7647,1.83,2.78,123.43,1.360,4,0.056,0.081,2812,838,2280
$GC,7901,1.46,146.6,802.1,19.9,379,7905,0.00,2.62,0.00,0.000,6,0.000,0.059,2812,2255,2279
$GC,8226,1.47,152.2,762.9,9.7,395,8236,0.00,2.67,5.45,1.317,4,0.000,0.071,2812,3654,2257
$GC,8488,1.49,166.2,749.9,9.3,407,8510,0.00,2.60,12.73,1.348,6,0.000,0.060,2812,2243,2199
$GC,8818,1.49,166.2,715.4,12.7,423,8822,0.00,2.67,0.00,0.000,4,0.000,0.080,2811,834,2198
$GC,9075,1.58,242.6,684.1,6.4,434,9148,0.08,2.60,63.33,1.338,6,0.057,0.051,2840,2255,1889
$GC,9455,1.58,242.6,644.1,12.3,453,9460,0.00,2.65,0.00,0.000,4,0.000,0.070,2840,834,1889
$GC,9684,1.58,242.6,613.3,13.9,463,9689,0.00,2.55,0.00,0.000,6,0.000,0.045,2840,2248,1888
$GC,10005,1.58,242.6,571.7,13.1,479,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2250,1889
$GC,10314,1.58,242.6,532.7,12.2,494,10318,0.00,2.55,0.00,0.000,4,0.000,0.054,2840,3660,1889
$GC,10430,1.58,242.6,518.1,12.4,499,10436,0.00,2.55,0.00,0.000,6,0.000,0.044,2840,2246,1890
$GC,10757,1.58,242.6,478.2,12.7,515,10761,0.00,2.55,0.00,0.000,4,0.000,0.053,2841,3656,1891
$GC,10903,1.58,242.6,458.8,13.9,521,10907,0.00,2.50,0.00,0.000,6,0.000,0.042,2840,2247,1891
$GC,11218,1.58,242.6,419.7,12.2,536,11222,0.00,2.58,0.00,0.000,4,0.000,0.051,2840,3661,1891
$GC,11288,1.58,242.6,410.7,13.2,539,11293,0.00,2.53,0.00,0.000,6,0.000,0.041,2840,2253,1892
$GC,11609,1.58,242.6,370.5,12.8,555,11610,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2253,1892
$GC,11918,1.58,242.6,331.5,12.2,570,11923,0.00,2.53,0.00,0.000,4,0.000,0.051,2840,3656,1893
$GC,12074,1.58,242.6,311.9,11.9,577,12079,0.00,2.50,0.00,0.000,6,0.000,0.039,2840,2250,1893
$GC,12401,1.58,242.6,273.8,11.9,593,12402,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2250,1894
$GC,12710,1.58,242.6,237.1,11.8,608,12714,0.00,2.53,0.00,0.000,4,0.000,0.052,2840,3659,1894
$GC,12900,1.58,242.6,214.1,11.7,616,12904,0.00,2.50,0.00,0.000,6,0.000,0.040,2840,2250,1894
$GC,13220,1.58,242.6,177.9,10.9,632,13225,0.00,2.55,0.00,0.000,4,0.000,0.051,2840,3660,1894
$GC,13331,1.58,242.6,163.9,13.0,637,13336,0.00,2.50,0.00,0.000,6,0.000,0.040,2840,2254,1895
$GC,13658,1.58,242.6,123.5,11.2,653,13659,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2253,1895
$GC,13967,1.58,242.6,87.4,10.5,668,13971,0.00,2.53,0.00,0.000,4,0.000,0.050,2840,3657,1895
$GC,14167,1.58,242.6,65.1,11.6,677,14172,0.00,2.47,0.00,0.000,6,0.000,0.038,2840,2254,1896
$GC,14495,1.58,242.6,25.6,14.6,693,14499,0.00,2.53,0.00,0.000,4,0.000,0.049,2840,3658,1896
$GC,14633,1.58,242.6,4.3,18.2,699,14638,0.00,2.47,0.00,0.000,6,0.000,0.038,2840,2258,1896
$STATE,14664,end climb,SURFACE_DEPTH_REACHED
$STATE,14665,begin surface coast
$FINISH,-0.8,1.016234
$STATE,14688,end surface coast,CONTROL_FINISHED_OK
$STATE,14688,begin surface
$SM_CCo,14707,54.25,0.810,7,0,1655,300.00
$SM_GC,-0.15,0.00,0.00,54.25,0.000,0.000,0.810,32,1885,1655,-11.33,-0.42,300.00
$IRIDIUM_FIX,6103.81,-825.62,181107,121213
$TT8_MAMPS,0.026845
$HUMID,2042
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.90
$XPDR_PINGS,419
$ALTIM_BOTTOM_PING,750.9,107.6
$24V_AH,23.3,17.741
$10V_AH,10.1,7.269
$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,26.725,109.250,329.900,54.250,0.000,37.594,35.061,119.234,111.250,0.000,0.000,13.268,1360.225,11013.088,541.939,1871.364,288.292,33.357,1451.624,0.000,1829.854,0.000,44.431
$DEVICE_MAMPS,145.730,89.739,1406.678,809.952,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,516.121,474.532,390.941,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34751,702
$CFSIZE,260165632,256167936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,20,7,0
$GPS,181107,164952,6129.395,-831.275,74,1.5,74,-9.0