version: 66.02
glider: 102
mission: 4
dive: 16
start: 11 15 107 16 28 58
data:
$ID,102
$MISSION,4
$DIVE,16
$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,-76551.297
$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,23
$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
$GPS1,161937,6132.646,-821.521,34,1.5,34,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-60.9
$GPS2,162803,6132.610,-821.506,10,1.9,10,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.075,-0.248
$KALMAN_X,2482.5,-617.1,-139.7,5815.6,3617.3
$KALMAN_Y,51066.7,-1806.7,-1084.6,-49104.6,17262.7
$MHEAD_RNG_PITCHd_Wd,205.7,5736,-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,-81.12,0.000,6,0.000,0.000,28,1888,3477
$GC,103,-1.46,-146.6,6.0,-9.1,4,124,11.50,2.60,0.00,0.000,4,0.145,0.045,2177,3310,3478
$GC,364,-1.46,-146.6,48.9,-12.2,15,372,0.00,2.55,0.00,0.000,6,0.000,0.043,2177,1906,3478
$GC,680,-1.46,-146.6,88.2,-12.6,31,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1906,3479
$GC,989,-1.46,-146.6,125.5,-12.3,46,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1906,3479
$GC,1299,-1.46,-146.6,166.2,-13.4,61,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1907,3479
$GC,1608,-1.46,-146.6,207.1,-13.4,76,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1906,3479
$GC,1917,-1.46,-146.6,246.7,-13.2,91,1921,0.00,2.53,0.00,0.000,4,0.000,0.048,2177,3306,3479
$GC,1971,-1.46,-146.6,254.1,-13.7,93,1978,0.00,2.55,0.00,0.000,6,0.000,0.044,2177,1905,3479
$GC,2286,-1.46,-146.6,294.3,-12.2,109,2291,0.00,2.62,0.00,0.000,4,0.000,0.067,2177,489,3479
$GC,2397,-1.46,-146.6,308.1,-12.1,114,2402,0.00,2.53,0.00,0.000,6,0.000,0.042,2177,1909,3479
$GC,2724,-1.46,-146.6,349.8,-15.4,130,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1913,3479
$GC,3033,-1.46,-146.6,391.8,-14.3,145,3037,0.00,2.50,0.00,0.000,4,0.000,0.051,2177,3298,3479
$GC,3195,-1.46,-146.6,416.3,-14.5,152,3199,0.00,2.53,0.00,0.000,6,0.000,0.048,2177,1902,3479
$GC,3515,-1.46,-146.6,457.9,-12.4,168,3519,0.00,2.62,0.00,0.000,4,0.000,0.071,2177,495,3479
$GC,3592,-1.46,-146.6,468.4,-13.2,171,3599,0.00,2.50,0.00,0.000,6,0.000,0.044,2177,1905,3480
$GC,3907,-1.46,-146.6,509.6,-12.6,187,3912,0.00,2.65,0.00,0.000,4,0.000,0.072,2178,491,3479
$GC,4098,-1.46,-146.6,534.5,-14.4,195,4104,0.00,2.47,0.00,0.000,6,0.000,0.047,2177,1902,3479
$GC,4416,-1.46,-146.6,576.7,-13.7,211,4421,0.00,2.67,0.00,0.000,4,0.000,0.076,2177,489,3479
$GC,4471,-1.46,-146.6,586.0,-16.1,213,4478,0.00,2.53,0.00,0.000,6,0.000,0.049,2177,1897,3479
$GC,4786,-1.46,-146.6,638.9,-16.6,229,4790,0.00,2.58,0.00,0.000,4,0.000,0.061,2177,3302,3479
$STATE,4817,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4817,begin apogee
$GC,4823,-0.36,0.0,644.9,18.7,230,4950,1.10,0.00,122.43,1.251,6,0.088,0.000,2410,2247,2878
$STATE,4950,end apogee,CONTROL_FINISHED_OK
$STATE,4950,begin climb
$GC,4952,1.46,146.6,655.3,0.0,237,5081,1.83,2.75,119.72,1.219,4,0.058,0.066,2811,3653,2280
$GC,5092,1.59,251.5,653.3,5.1,244,5185,0.12,2.60,86.05,1.199,6,0.065,0.053,2842,2253,1852
$GC,5500,1.59,251.5,603.6,12.2,264,5504,0.00,2.60,0.00,0.000,4,0.000,0.061,2842,3652,1851
$GC,5615,1.59,251.5,586.5,14.1,269,5620,0.00,2.60,0.00,0.000,6,0.000,0.054,2842,2252,1850
$GC,5937,1.59,251.5,544.9,13.5,285,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2253,1849
$GC,6246,1.59,251.5,503.2,14.6,300,6250,0.00,2.67,0.00,0.000,4,0.000,0.075,2842,838,1848
$GC,6272,1.59,251.5,498.9,16.0,301,6276,0.00,2.55,0.00,0.000,6,0.000,0.048,2842,2244,1849
$GC,6593,1.59,251.5,457.0,13.0,317,6597,0.00,2.62,0.00,0.000,4,0.000,0.070,2842,837,1848
$GC,6635,1.59,251.5,451.0,14.3,319,6640,0.00,2.55,0.00,0.000,6,0.000,0.047,2842,2247,1847
$GC,6962,1.59,251.5,408.1,13.4,335,6966,0.00,2.55,0.00,0.000,4,0.000,0.054,2842,3656,1847
$GC,7123,1.59,251.5,384.8,15.0,342,7128,0.00,2.55,0.00,0.000,6,0.000,0.044,2842,2243,1847
$GC,7444,1.59,251.5,339.2,14.5,358,7448,0.00,2.55,0.00,0.000,4,0.000,0.052,2842,3658,1847
$GC,7511,1.59,251.5,329.1,15.7,361,7516,0.00,2.50,0.00,0.000,6,0.000,0.044,2842,2250,1847
$GC,7837,1.59,251.5,282.2,14.0,377,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2250,1848
$GC,8146,1.59,251.5,242.5,12.4,392,8150,0.00,2.53,0.00,0.000,4,0.000,0.051,2842,3659,1849
$GC,8236,1.59,251.5,231.0,13.2,396,8240,0.00,2.50,0.00,0.000,6,0.000,0.041,2842,2247,1849
$GC,8560,1.59,251.5,191.6,12.6,412,8565,0.00,2.53,0.00,0.000,4,0.000,0.051,2842,3656,1849
$GC,8654,1.59,251.5,179.8,12.7,416,8659,0.00,2.50,0.00,0.000,6,0.000,0.041,2842,2257,1849
$GC,8977,1.59,251.5,142.7,11.4,432,8981,0.00,2.53,0.00,0.000,4,0.000,0.049,2842,3656,1850
$GC,9054,1.59,251.5,132.8,13.2,435,9061,0.00,2.50,0.00,0.000,6,0.000,0.040,2842,2254,1850
$GC,9370,1.59,251.5,94.8,11.9,451,9374,0.00,2.53,0.00,0.000,4,0.000,0.049,2842,3656,1850
$GC,9457,1.59,251.5,83.4,11.8,455,9462,0.00,2.50,0.00,0.000,6,0.000,0.040,2842,2253,1850
$GC,9785,1.59,251.5,44.9,11.4,471,9790,0.00,2.53,0.00,0.000,4,0.000,0.049,2842,3656,1850
$GC,9828,1.59,251.5,39.5,13.1,473,9833,0.00,2.50,0.00,0.000,6,0.000,0.040,2842,2250,1850
$STATE,10155,end climb,SURFACE_DEPTH_REACHED
$STATE,10155,begin surface coast
$FINISH,-0.6,1.002828
$STATE,10176,end surface coast,CONTROL_FINISHED_OK
$STATE,10176,begin surface
$SM_CCo,10195,39.20,0.830,4,0,1655,300.00
$SM_GC,0.23,0.00,0.00,39.20,0.000,0.000,0.830,33,1881,1655,-11.33,-0.51,300.00
$IRIDIUM_FIX,6108.28,-818.01,151107,202007
$TT8_MAMPS,0.026078
$HUMID,2075
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.7,78.1
$24V_AH,23.3,14.489
$10V_AH,10.1,6.014
$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,26.700,97.225,328.200,39.200,0.000,72.066,95.559,198.597,5.000,0.000,0.000,12.349,952.288,7611.025,516.516,1249.505,445.625,33.356,1152.246,0.000,1222.311,0.000,35.983
$DEVICE_MAMPS,144.963,75.933,1250.977,829.894,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,361.705,329.064,327.430,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25400,490
$CFSIZE,260165632,257150976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,4,0
$GPS,151107,192101,6132.144,-821.983,35,1.8,35,-8.9