version: 66.02
glider: 102
mission: 4
dive: 46
start: 11 19 107 10 50 45
data:
$ID,102
$MISSION,4
$DIVE,46
$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,-77140.531
$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,19
$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
$GPS1,104438,6129.956,-828.994,34,1.1,34,-8.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-62.3
$GPS2,104951,6129.944,-828.953,14,1.7,14,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.078,-0.248
$KALMAN_X,21660.7,-576.6,-448.4,-19655.1,220.5
$KALMAN_Y,109818.1,-504.2,-282.0,-114935.1,10404.5
$MHEAD_RNG_PITCHd_Wd,171.4,3495,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.46,-146.6,0.0,0.0,0,96,0.00,0.00,-76.93,0.000,2,0.000,0.000,34,1892,3423
$GC,98,-1.46,-146.6,4.9,-6.6,4,121,11.38,2.65,-1.02,0.000,4,0.143,0.078,2168,493,3478
$GC,256,-1.46,-146.6,37.3,-15.0,11,260,0.00,2.50,0.00,0.000,6,0.000,0.041,2168,1918,3479
$GC,581,-1.46,-146.6,80.7,-13.6,27,585,0.00,2.47,0.00,0.000,4,0.000,0.048,2167,3300,3479
$GC,691,-1.46,-146.6,95.4,-12.2,32,696,0.00,2.55,0.00,0.000,6,0.000,0.044,2168,1898,3479
$GC,1018,-1.46,-146.6,138.8,-13.4,48,1022,0.00,2.53,0.00,0.000,4,0.000,0.046,2168,3302,3479
$GC,1038,-1.46,-146.6,141.7,-13.3,49,1043,0.00,2.55,0.00,0.000,6,0.000,0.044,2168,1900,3479
$GC,1365,-1.46,-146.6,185.1,-13.6,65,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,1899,3479
$GC,1675,-1.46,-146.6,225.7,-13.2,80,1679,0.00,2.50,0.00,0.000,4,0.000,0.047,2168,3298,3479
$GC,1729,-1.46,-146.6,233.3,-14.3,82,1736,0.00,2.53,0.00,0.000,6,0.000,0.044,2168,1904,3479
$GC,2045,-1.46,-146.6,276.4,-13.3,98,2049,0.00,2.50,0.00,0.000,4,0.000,0.049,2168,3295,3480
$GC,2094,-1.46,-146.6,283.3,-13.5,100,2099,0.00,2.53,0.00,0.000,6,0.000,0.045,2168,1894,3479
$GC,2415,-1.46,-146.6,324.8,-12.6,116,2422,0.00,2.55,0.00,0.000,4,0.000,0.050,2168,3304,3480
$GC,2448,-1.46,-146.6,329.1,-12.4,117,2453,0.00,2.55,0.00,0.000,6,0.000,0.045,2168,1904,3479
$GC,2770,-1.46,-146.6,368.0,-12.2,133,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,1904,3479
$GC,3079,-1.46,-146.6,402.5,-11.0,148,3083,0.00,2.53,0.00,0.000,4,0.000,0.051,2168,3301,3480
$GC,3133,-1.46,-146.6,408.4,-10.8,150,3141,0.00,2.55,0.00,0.000,6,0.000,0.047,2168,1905,3480
$GC,3449,-1.46,-146.6,445.3,-12.9,166,3454,0.00,2.62,0.00,0.000,4,0.000,0.068,2168,491,3480
$GC,3475,-1.46,-146.6,449.0,-14.0,167,3480,0.00,2.53,0.00,0.000,6,0.000,0.044,2168,1902,3479
$GC,3796,-1.46,-146.6,488.3,-12.3,183,3801,0.00,2.53,0.00,0.000,4,0.000,0.053,2168,3300,3479
$GC,3845,-1.46,-146.6,494.2,-11.7,185,3850,0.00,2.55,0.00,0.000,6,0.000,0.050,2168,1908,3480
$GC,4167,-1.46,-146.6,533.5,-12.6,201,4171,0.00,2.65,0.00,0.000,4,0.000,0.072,2168,488,3480
$GC,4209,-1.46,-146.6,539.1,-12.6,203,4214,0.00,2.53,0.00,0.000,6,0.000,0.048,2168,1895,3480
$GC,4536,-1.46,-146.6,578.2,-11.9,219,4540,0.00,2.55,0.00,0.000,4,0.000,0.054,2168,3298,3479
$GC,4568,-1.46,-146.6,582.1,-11.2,220,4575,0.00,2.58,0.00,0.000,6,0.000,0.051,2168,1901,3479
$GC,4884,-1.46,-146.6,621.2,-11.9,236,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,1900,3479
$GC,5193,-1.46,-146.6,661.5,-13.0,251,5197,0.00,2.55,0.00,0.000,4,0.000,0.054,2168,3300,3479
$GC,5241,-1.46,-146.6,667.7,-12.6,253,5246,0.00,2.58,0.00,0.000,6,0.000,0.051,2168,1903,3479
$GC,5562,-1.46,-146.6,704.0,-11.6,269,5566,0.00,2.58,0.00,0.000,4,0.000,0.058,2168,3302,3479
$GC,5818,-1.46,-146.6,732.4,-11.0,280,5825,0.00,2.62,0.00,0.000,6,0.000,0.058,2168,1897,3479
$GC,6134,-1.46,-146.6,762.2,-10.6,296,6138,0.00,2.62,0.00,0.000,4,0.000,0.067,2168,3302,3479
$GC,6312,-1.46,-146.6,778.5,-6.7,304,6317,0.00,2.60,0.00,0.000,6,0.000,0.064,2168,1898,3479
$GC,6633,-1.46,-146.6,809.3,-9.4,320,6637,0.00,2.65,0.00,0.000,4,0.000,0.073,2168,3301,3478
$GC,6698,-1.46,-146.6,813.4,-0.8,323,6703,0.00,2.62,0.00,0.000,6,0.000,0.067,2168,1904,3478
$STATE,7023,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7023,begin apogee
$GC,7028,-0.36,0.0,848.6,10.4,339,7157,1.20,0.00,125.85,1.424,6,0.100,0.000,2413,2250,2878
$STATE,7158,end apogee,CONTROL_FINISHED_OK
$STATE,7158,begin climb
$GC,7159,1.46,146.6,852.3,0.0,345,7292,1.83,2.75,123.75,1.383,4,0.064,0.073,2808,831,2280
$GC,7297,1.46,146.6,845.7,12.0,352,7302,0.00,2.67,0.00,0.000,6,0.000,0.063,2809,2251,2280
$GC,7623,1.46,146.6,818.8,11.2,368,7627,0.00,2.72,0.00,0.000,4,0.000,0.081,2809,837,2279
$GC,7880,1.46,146.6,790.0,12.7,379,7887,0.00,2.62,0.00,0.000,6,0.000,0.061,2809,2242,2277
$GC,8195,1.56,224.3,758.3,6.4,395,8267,0.12,2.78,65.55,1.380,4,0.065,0.081,2842,838,1962
$GC,8407,1.56,224.3,729.3,13.9,405,8412,0.00,2.62,0.00,0.000,6,0.000,0.061,2842,2257,1961
$GC,8733,1.56,224.3,688.4,11.6,421,8734,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2261,1960
$GC,9043,1.56,224.3,656.3,11.1,436,9047,0.00,2.70,0.00,0.000,4,0.000,0.077,2842,838,1958
$GC,9068,1.56,224.3,653.1,12.2,437,9073,0.00,2.60,0.00,0.000,6,0.000,0.054,2842,2249,1958
$GC,9389,1.57,233.2,620.2,9.6,453,9403,0.00,2.65,7.65,1.321,4,0.000,0.061,2842,3655,1927
$GC,9448,1.57,233.2,614.1,10.8,455,9456,0.00,2.60,0.00,0.000,6,0.000,0.050,2842,2242,1927
$GC,9764,1.57,233.2,577.6,12.0,471,9768,0.00,2.60,0.00,0.000,4,0.000,0.055,2842,3656,1927
$GC,9790,1.57,233.2,573.9,13.8,472,9794,0.00,2.55,0.00,0.000,6,0.000,0.047,2842,2254,1928
$GC,10110,1.57,233.2,528.3,14.5,488,10115,0.00,2.55,0.00,0.000,4,0.000,0.056,2842,3656,1928
$GC,10194,1.57,233.2,515.8,15.2,492,10199,0.00,2.53,0.00,0.000,6,0.000,0.044,2843,2242,1928
$GC,10520,1.57,233.2,471.3,13.6,508,10524,0.00,2.58,0.00,0.000,4,0.000,0.054,2842,3663,1929
$GC,10725,1.57,233.2,443.2,13.8,517,10730,0.00,2.53,0.00,0.000,6,0.000,0.044,2842,2259,1930
$GC,11046,1.57,233.2,403.6,11.7,533,11051,0.00,2.53,0.00,0.000,4,0.000,0.052,2842,3660,1931
$GC,11134,1.57,233.2,392.4,13.1,537,11139,0.00,2.53,0.00,0.000,6,0.000,0.043,2842,2256,1931
$GC,11461,1.57,233.2,352.4,12.5,553,11466,0.00,2.53,0.00,0.000,4,0.000,0.053,2843,3657,1932
$GC,11527,1.57,233.2,343.6,13.0,556,11532,0.00,2.53,0.00,0.000,6,0.000,0.041,2842,2249,1932
$GC,11854,1.57,233.2,300.4,13.5,572,11858,0.00,2.55,0.00,0.000,4,0.000,0.053,2842,3661,1933
$GC,11892,1.57,233.2,295.2,14.0,574,11896,0.00,2.50,0.00,0.000,6,0.000,0.042,2842,2247,1933
$GC,12217,1.57,233.2,253.7,12.5,590,12221,0.00,2.55,0.00,0.000,4,0.000,0.053,2842,3657,1934
$GC,12327,1.57,233.2,239.2,12.1,595,12332,0.00,2.53,0.00,0.000,6,0.000,0.041,2842,2246,1933
$GC,12654,1.57,233.2,199.5,12.5,611,12658,0.00,2.55,0.00,0.000,4,0.000,0.053,2843,3657,1934
$GC,12737,1.57,233.2,188.8,12.2,615,12741,0.00,2.47,0.00,0.000,6,0.000,0.041,2842,2249,1935
$GC,13062,1.57,233.2,151.5,11.1,631,13066,0.00,2.55,0.00,0.000,4,0.000,0.052,2842,3657,1936
$GC,13161,1.57,233.2,139.9,11.7,635,13170,0.00,2.50,3.00,0.906,6,0.000,0.039,2843,2249,1927
$GC,13479,1.57,233.2,104.6,11.4,651,13483,0.00,2.55,0.00,0.000,4,0.000,0.051,2842,3657,1927
$GC,13577,1.57,233.2,91.7,13.9,655,13585,0.00,2.50,0.00,0.000,6,0.000,0.040,2842,2253,1928
$GC,13893,1.57,233.2,55.9,11.9,671,13897,0.00,2.55,0.00,0.000,4,0.000,0.051,2843,3658,1928
$GC,13941,1.57,233.2,50.2,11.3,673,13946,0.00,2.50,0.00,0.000,6,0.000,0.039,2842,2250,1928
$GC,14263,1.57,233.2,13.3,11.7,689,14264,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2251,1928
$STATE,14365,end climb,SURFACE_DEPTH_REACHED
$STATE,14365,begin surface coast
$FINISH,-0.6,1.027265
$STATE,14386,end surface coast,CONTROL_FINISHED_OK
$STATE,14386,begin surface
$SM_CCo,14405,57.67,0.802,7,0,1655,300.00
$SM_GC,0.06,0.00,0.00,57.67,0.000,0.000,0.802,29,1894,1655,-11.34,-0.17,300.00
$IRIDIUM_FIX,6103.81,-825.62,191107,101030
$TT8_MAMPS,0.026845
$HUMID,2062
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.90
$XPDR_PINGS,367
$ALTIM_BOTTOM_PING,750.2,107.4
$24V_AH,23.2,18.668
$10V_AH,10.1,7.668
$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,26.600,160.550,325.800,57.675,0.000,36.110,32.068,127.695,98.250,0.000,0.000,15.843,1357.617,10766.538,574.419,1786.866,335.545,33.351,1484.251,0.000,1744.776,0.000,44.433
$DEVICE_MAMPS,142.662,80.535,1424.319,802.282,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,513.814,469.100,397.717,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34936,695
$CFSIZE,260165632,255848448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,7,0
$GPS,191107,145353,6130.600,-828.870,55,1.3,55,-8.9