version: 66.02
glider: 102
mission: 4
dive: 41
start: 11 18 107 17 4 58
data:
$ID,102
$MISSION,4
$DIVE,41
$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,-77033.156
$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,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
$GPS1,164952,6129.395,-831.275,74,1.5,74,-9.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-52.4
$GPS2,170404,6129.251,-831.099,13,1.6,13,-9.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.062,-0.162
$KALMAN_X,26557.6,-551.2,-257.1,-26640.1,5451.7
$KALMAN_Y,89866.5,-159.8,-126.0,-96773.3,1650.7
$MHEAD_RNG_PITCHd_Wd,210.0,5565,-27.6,-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,-2.05,-61.8,0.0,0.0,0,89,0.00,0.00,-68.75,0.000,6,0.000,0.000,31,1885,3131
$GC,91,-2.11,-109.9,2.0,-4.7,3,113,10.70,2.58,-4.70,0.000,4,0.145,0.077,2027,498,3325
$GC,117,-2.11,-109.9,11.1,-27.0,4,122,0.00,2.53,0.00,0.000,6,0.000,0.041,2027,1910,3326
$GC,444,-2.11,-109.9,79.1,-18.9,20,448,0.00,2.62,0.00,0.000,4,0.000,0.066,2026,499,3326
$GC,482,-2.11,-109.9,86.7,-19.7,22,487,0.00,2.47,0.00,0.000,6,0.000,0.043,2027,1900,3325
$GC,809,-2.11,-109.9,150.7,-19.1,38,813,0.00,2.50,0.00,0.000,4,0.000,0.048,2027,3297,3326
$GC,942,-2.11,-109.9,175.9,-19.0,44,946,0.00,2.50,0.00,0.000,6,0.000,0.046,2027,1904,3326
$GC,1268,-2.11,-109.9,235.3,-18.0,60,1272,0.00,2.50,0.00,0.000,4,0.000,0.047,2027,3298,3326
$GC,1378,-2.11,-109.9,255.7,-18.0,65,1384,0.00,2.53,0.00,0.000,6,0.000,0.045,2027,1905,3326
$GC,1706,-2.11,-109.9,312.8,-17.2,81,1710,0.00,2.50,0.00,0.000,4,0.000,0.048,2027,3298,3326
$GC,1933,-2.11,-109.9,353.6,-17.7,91,1938,0.00,2.55,0.00,0.000,6,0.000,0.047,2027,1898,3326
$GC,2255,-2.11,-109.9,409.6,-18.5,107,2259,0.00,2.53,0.00,0.000,4,0.000,0.048,2027,3302,3326
$GC,2361,-2.11,-109.9,428.6,-17.6,112,2365,0.00,2.53,0.00,0.000,6,0.000,0.048,2027,1901,3326
$GC,2692,-2.11,-109.9,486.0,-18.0,128,2696,0.00,2.53,0.00,0.000,4,0.000,0.050,2027,3297,3326
$GC,2920,-2.11,-109.9,529.4,-19.5,138,2925,0.00,2.55,0.00,0.000,6,0.000,0.048,2027,1900,3326
$GC,3242,-2.11,-109.9,586.7,-17.3,154,3246,0.00,2.53,0.00,0.000,4,0.000,0.053,2026,3295,3326
$GC,3370,-2.11,-109.9,608.2,-16.0,160,3374,0.00,2.53,0.00,0.000,6,0.000,0.050,2027,1899,3326
$GC,3701,-2.11,-109.9,666.1,-18.8,176,3706,0.00,2.55,0.00,0.000,4,0.000,0.054,2027,3299,3326
$GC,3958,-2.11,-109.9,713.7,-17.0,187,3965,0.00,2.58,0.00,0.000,6,0.000,0.052,2027,1901,3326
$GC,4273,-2.11,-109.9,764.7,-15.1,203,4278,0.00,2.55,0.00,0.000,4,0.000,0.057,2027,3295,3326
$GC,4530,-2.11,-109.9,801.0,-13.1,214,4537,0.00,2.55,0.00,0.000,6,0.000,0.057,2027,1907,3326
$STATE,4741,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4741,begin apogee
$GC,4745,-0.36,0.0,830.8,10.9,225,4844,1.92,0.00,93.88,1.354,6,0.107,0.000,2417,2247,2878
$STATE,4845,end apogee,CONTROL_FINISHED_OK
$STATE,4845,begin climb
$GC,4846,2.11,109.9,832.5,0.0,230,4949,2.50,2.75,92.05,1.330,4,0.063,0.074,2953,842,2430
$GC,5200,2.13,124.3,799.9,8.4,246,5220,0.00,2.60,12.95,1.318,6,0.000,0.057,2953,2240,2371
$GC,5541,2.13,124.3,758.2,11.5,263,5545,0.00,2.67,0.00,0.000,4,0.000,0.071,2953,3656,2369
$GC,5573,2.13,124.3,754.3,11.3,264,5580,0.00,2.60,0.00,0.000,6,0.000,0.059,2953,2248,2369
$GC,5888,2.15,139.8,725.1,8.3,280,5910,0.00,2.75,13.45,1.355,4,0.000,0.071,2953,3654,2308
$GC,5981,2.16,153.2,717.1,8.5,284,5999,0.00,2.62,12.27,1.299,6,0.000,0.057,2953,2249,2253
$GC,6306,2.16,153.2,685.5,10.1,300,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2248,2251
$GC,6616,2.16,153.2,649.9,12.8,315,6620,0.00,2.60,0.00,0.000,4,0.000,0.061,2953,3657,2250
$GC,6872,2.16,153.2,615.4,13.3,326,6877,0.00,2.55,0.00,0.000,6,0.000,0.047,2953,2249,2250
$GC,7193,2.16,153.2,572.7,13.6,342,7197,0.00,2.60,0.00,0.000,4,0.000,0.066,2953,839,2249
$GC,7450,2.16,153.2,538.0,12.8,353,7457,0.00,2.53,0.00,0.000,6,0.000,0.043,2953,2252,2250
$GC,7765,2.16,153.2,499.2,12.0,369,7769,0.00,2.60,0.00,0.000,4,0.000,0.061,2953,831,2251
$GC,7870,2.16,153.2,486.1,12.8,373,7877,0.00,2.53,0.00,0.000,6,0.000,0.042,2953,2250,2250
$GC,8186,2.16,153.2,447.9,12.4,389,8190,0.00,2.55,0.00,0.000,4,0.000,0.054,2953,3657,2251
$GC,8442,2.16,153.2,412.8,13.3,400,8450,0.00,2.53,0.00,0.000,6,0.000,0.041,2953,2246,2252
$GC,8758,2.16,153.2,372.9,12.7,416,8762,0.00,2.55,0.00,0.000,4,0.000,0.061,2953,842,2252
$GC,9013,2.16,153.2,339.3,13.2,427,9021,0.00,2.50,0.00,0.000,6,0.000,0.041,2953,2246,2253
$GC,9329,2.16,153.2,302.7,12.0,443,9333,0.00,2.55,0.00,0.000,4,0.000,0.057,2953,840,2253
$GC,9585,2.16,153.2,270.5,12.5,454,9593,0.00,2.50,0.00,0.000,6,0.000,0.041,2953,2243,2254
$GC,9901,2.16,153.2,231.4,12.6,470,9906,0.00,2.53,0.00,0.000,4,0.000,0.052,2953,3651,2254
$GC,10158,2.16,153.2,196.7,13.3,481,10165,0.00,2.47,0.00,0.000,6,0.000,0.037,2954,2243,2255
$GC,10473,2.16,153.2,161.0,11.9,497,10477,0.00,2.53,0.00,0.000,4,0.000,0.057,2953,844,2255
$GC,10730,2.16,153.2,129.6,10.6,508,10735,0.00,2.50,0.00,0.000,6,0.000,0.039,2954,2251,2255
$GC,11052,2.16,153.2,91.9,12.1,524,11056,0.00,2.55,0.00,0.000,4,0.000,0.055,2953,848,2255
$GC,11172,2.16,153.2,76.5,12.8,529,11180,0.00,2.47,0.00,0.000,6,0.000,0.038,2953,2247,2255
$GC,11488,2.16,153.2,40.4,10.2,545,11493,0.00,2.53,0.00,0.000,4,0.000,0.052,2954,3654,2256
$GC,11707,2.16,153.2,15.8,14.7,555,11711,0.00,2.45,0.00,0.000,6,0.000,0.039,2953,2249,2256
$STATE,11866,end climb,SURFACE_DEPTH_REACHED
$STATE,11866,begin surface coast
$FINISH,0.1,1.027256
$STATE,11888,end surface coast,CONTROL_FINISHED_OK
$STATE,11888,begin surface
$SM_CCo,11907,98.90,0.790,7,0,1655,300.00
$SM_GC,-0.30,0.00,0.00,98.90,0.000,0.000,0.790,30,1894,1655,-11.33,-0.14,300.00
$IRIDIUM_FIX,6103.81,-830.73,181107,202037
$TT8_MAMPS,0.026845
$HUMID,2015
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,15.90
$XPDR_PINGS,184
$ALTIM_BOTTOM_PING,728.3,109.5
$24V_AH,23.3,17.883
$10V_AH,10.1,7.339
$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,27.775,118.500,224.600,98.900,0.000,153.865,120.341,292.061,52.250,0.000,0.000,14.513,1182.473,8695.100,516.360,1833.868,675.379,33.349,1389.553,0.000,1783.426,0.000,42.818
$DEVICE_MAMPS,144.963,77.467,1354.522,790.010,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.741,380.481,332.667,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28516,564
$CFSIZE,260165632,256126976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,7,0
$GPS,181107,202655,6128.748,-830.705,24,1.6,41,-8.9