version: 66.02
glider: 102
mission: 4
dive: 19
start: 11 16 107 1 46 9
data:
$ID,102
$MISSION,4
$DIVE,19
$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,-76591.664
$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,22
$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
$GPS1,014008,6132.515,-822.779,54,1.4,54,-8.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-62.2
$GPS2,014515,6132.517,-822.729,9,1.4,9,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.045,-0.256
$KALMAN_X,1935.8,-354.1,-440.5,5340.6,2128.3
$KALMAN_Y,60198.0,-1726.6,-1163.4,-58402.9,19098.3
$MHEAD_RNG_PITCHd_Wd,198.8,5074,-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,-81.95,0.000,2,0.000,0.000,31,1888,3421
$GC,103,-1.46,-146.6,4.2,-6.7,4,126,11.45,2.60,-1.10,0.000,4,0.145,0.058,2168,3304,3477
$GC,343,-1.46,-146.6,45.1,-13.4,14,350,0.00,2.55,0.00,0.000,6,0.000,0.044,2168,1904,3478
$GC,659,-1.46,-146.6,88.3,-12.6,30,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,1904,3478
$GC,968,-1.46,-146.6,127.7,-12.4,45,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,1904,3478
$GC,1277,-1.46,-146.6,168.5,-13.4,60,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,1904,3478
$GC,1586,-1.46,-146.6,209.1,-13.2,75,1590,0.00,2.53,0.00,0.000,4,0.000,0.048,2168,3309,3478
$GC,1625,-1.46,-146.6,214.0,-12.6,77,1629,0.00,2.53,0.00,0.000,6,0.000,0.045,2168,1901,3478
$GC,1956,-1.46,-146.6,257.8,-12.3,93,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,1901,3478
$GC,2265,-1.46,-146.6,294.5,-11.6,108,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,1901,3479
$GC,2575,-1.46,-146.6,337.7,-14.3,123,2579,0.00,2.55,0.00,0.000,4,0.000,0.051,2168,3309,3479
$GC,2651,-1.46,-146.6,348.7,-13.8,126,2658,0.00,2.55,0.00,0.000,6,0.000,0.045,2168,1905,3479
$GC,2967,-1.46,-146.6,388.4,-11.5,142,2971,0.00,2.55,0.00,0.000,4,0.000,0.051,2168,3312,3479
$GC,3060,-1.46,-146.6,401.4,-13.5,146,3066,0.00,2.58,0.00,0.000,6,0.000,0.046,2168,1902,3479
$GC,3381,-1.46,-146.6,438.1,-11.4,162,3386,0.00,2.62,0.00,0.000,4,0.000,0.070,2167,491,3479
$GC,3420,-1.46,-146.6,442.7,-12.7,164,3424,0.00,2.50,0.00,0.000,6,0.000,0.045,2168,1908,3479
$GC,3751,-1.46,-146.6,483.8,-12.2,180,3756,0.00,2.67,0.00,0.000,4,0.000,0.071,2168,487,3479
$GC,3828,-1.46,-146.6,493.9,-14.9,183,3835,0.00,2.53,0.00,0.000,6,0.000,0.046,2168,1899,3479
$GC,4143,-1.46,-146.6,535.9,-12.8,199,4148,0.00,2.67,0.00,0.000,4,0.000,0.074,2168,489,3479
$GC,4305,-1.46,-146.6,557.4,-13.5,206,4309,0.00,2.53,0.00,0.000,6,0.000,0.047,2168,1897,3479
$GC,4625,-1.46,-146.6,599.5,-12.7,222,4630,0.00,2.58,0.00,0.000,4,0.000,0.062,2168,3302,3479
$GC,4754,-1.46,-146.6,616.2,-12.6,228,4759,0.00,2.58,0.00,0.000,6,0.000,0.059,2167,1899,3479
$GC,5080,-1.46,-146.6,655.5,-12.9,244,5084,0.00,2.60,0.00,0.000,4,0.000,0.062,2168,3305,3479
$GC,5156,-1.46,-146.6,662.7,-8.8,247,5163,0.00,2.58,0.00,0.000,6,0.000,0.058,2168,1896,3478
$STATE,5223,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5224,begin apogee
$GC,5228,-0.36,0.0,670.4,11.5,251,5353,1.17,0.00,121.95,1.310,6,0.087,0.000,2414,2248,2878
$STATE,5354,end apogee,CONTROL_FINISHED_OK
$STATE,5354,begin climb
$GC,5355,1.46,146.6,677.3,0.0,257,5486,1.83,2.72,120.30,1.253,4,0.059,0.067,2812,3658,2280
$GC,5738,1.46,146.6,644.8,14.2,274,5745,0.00,2.62,0.00,0.000,6,0.000,0.055,2812,2253,2279
$GC,6053,1.46,146.6,609.2,13.6,290,6057,0.00,2.60,0.00,0.000,4,0.000,0.062,2812,3655,2278
$GC,6068,1.46,146.6,606.7,15.1,290,6076,0.00,2.60,0.00,0.000,6,0.000,0.053,2813,2249,2278
$GC,6384,1.46,146.6,567.4,12.4,306,6389,0.00,2.62,0.00,0.000,4,0.000,0.064,2812,3656,2278
$GC,6546,1.49,172.4,550.5,8.8,313,6573,0.00,2.58,21.52,1.259,6,0.000,0.052,2812,2246,2174
$GC,6881,1.49,172.4,520.6,11.3,329,6885,0.00,2.60,0.00,0.000,4,0.000,0.060,2812,3656,2174
$GC,6952,1.49,172.4,512.8,12.3,332,6957,0.00,2.58,0.00,0.000,6,0.000,0.051,2812,2258,2174
$GC,7279,1.52,194.6,476.2,9.0,348,7303,0.00,2.75,18.52,1.231,4,0.000,0.074,2812,845,2084
$GC,7381,1.52,194.6,465.0,11.3,352,7389,0.00,2.55,0.00,0.000,6,0.000,0.048,2812,2249,2083
$GC,7697,1.53,204.9,432.8,9.5,368,7712,0.00,2.62,9.68,1.206,4,0.000,0.058,2812,3661,2042
$GC,7963,1.59,247.9,407.7,8.0,379,8005,0.08,2.58,35.12,1.154,6,0.050,0.048,2841,2255,1867
$GC,8331,1.59,247.9,365.1,12.7,397,8335,0.00,2.55,0.00,0.000,4,0.000,0.054,2841,3657,1867
$GC,8414,1.59,247.9,353.7,13.5,401,8419,0.00,2.53,0.00,0.000,6,0.000,0.044,2841,2247,1866
$GC,8740,1.59,247.9,313.5,11.7,417,8744,0.00,2.55,0.00,0.000,4,0.000,0.052,2841,3657,1867
$GC,8771,1.59,247.9,309.4,11.8,418,8778,0.00,2.55,0.00,0.000,6,0.000,0.044,2841,2251,1867
$GC,9086,1.59,247.9,271.9,12.4,434,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2252,1868
$GC,9396,1.59,247.9,237.0,11.0,449,9400,0.00,2.55,0.00,0.000,4,0.000,0.051,2841,3660,1868
$GC,9479,1.59,247.9,227.5,12.0,453,9483,0.00,2.50,0.00,0.000,6,0.000,0.042,2841,2248,1869
$GC,9810,1.59,247.9,185.0,13.1,469,9814,0.00,2.55,0.00,0.000,4,0.000,0.051,2841,3660,1869
$GC,9909,1.59,247.9,171.3,13.9,473,9917,0.00,2.53,0.00,0.000,6,0.000,0.041,2841,2250,1869
$GC,10225,1.59,247.9,130.4,13.0,489,10230,0.00,2.55,0.00,0.000,4,0.000,0.050,2841,3657,1870
$GC,10257,1.59,247.9,125.9,14.0,490,10264,0.00,2.50,0.00,0.000,6,0.000,0.041,2841,2258,1870
$GC,10574,1.59,247.9,84.0,13.1,506,10578,0.00,2.53,0.00,0.000,4,0.000,0.048,2841,3658,1870
$GC,10606,1.59,247.9,79.2,14.4,507,10613,0.00,2.50,0.00,0.000,6,0.000,0.040,2841,2254,1871
$GC,10922,1.59,247.9,39.7,12.9,523,10926,0.00,2.53,0.00,0.000,4,0.000,0.049,2841,3659,1871
$GC,10992,1.59,247.9,30.0,13.0,526,10997,0.00,2.50,0.00,0.000,6,0.000,0.040,2841,2255,1871
$STATE,11231,end climb,SURFACE_DEPTH_REACHED
$STATE,11231,begin surface coast
$FINISH,-0.7,1.014726
$STATE,11252,end surface coast,CONTROL_FINISHED_OK
$STATE,11252,begin surface
$SM_CCo,11271,47.33,0.825,6,0,1655,300.00
$SM_GC,0.03,0.00,0.00,47.33,0.000,0.000,0.825,34,1894,1655,-11.32,-0.17,300.00
$IRIDIUM_FIX,6108.28,-826.94,161107,020233
$TT8_MAMPS,0.026845
$HUMID,2081
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.1,104.4
$24V_AH,23.3,14.928
$10V_AH,10.1,6.185
$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,26.675,114.375,327.100,47.325,0.000,36.643,33.537,164.337,4.750,0.000,0.000,10.656,1059.561,8321.202,547.941,1426.693,313.034,33.359,1276.332,0.000,1401.188,0.000,33.101
$DEVICE_MAMPS,144.963,74.399,1310.036,824.525,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.393,362.048,337.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28575,539
$CFSIZE,260165632,257015808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,6,0
$GPS,161107,045632,6132.257,-822.515,40,1.2,40,-8.9