version: 66.02
glider: 102
mission: 4
dive: 27
start: 11 17 107 3 19 44
data:
$ID,102
$MISSION,4
$DIVE,27
$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,-76726.938
$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,33
$R_STBD_OVSHOOT,24
$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
$GPS1,031501,6132.799,-819.210,34,1.2,34,-8.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.19
$_SM_ANGLEo,-58.0
$GPS2,031850,6132.814,-819.109,11,1.2,11,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.087,-0.244
$KALMAN_X,7222.0,-12.0,292.0,2150.3,4503.9
$KALMAN_Y,87665.9,-1514.2,-1268.9,-85426.2,21914.1
$MHEAD_RNG_PITCHd_Wd,208.5,7366,-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,-82.60,0.000,2,0.000,0.000,28,1874,3387
$GC,103,-1.46,-146.6,3.9,-6.0,4,126,11.48,2.60,-1.90,0.000,4,0.145,0.058,2170,3298,3477
$GC,337,-1.46,-146.6,41.7,-13.8,14,342,0.00,2.50,0.00,0.000,6,0.000,0.043,2170,1916,3477
$GC,659,-1.46,-146.6,82.6,-12.1,30,663,0.00,2.50,0.00,0.000,4,0.000,0.047,2170,3309,3478
$GC,697,-1.46,-146.6,87.0,-11.5,32,701,0.00,2.53,0.00,0.000,6,0.000,0.044,2170,1898,3478
$GC,1022,-1.46,-146.6,130.3,-13.8,48,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1898,3478
$GC,1331,-1.46,-146.6,169.5,-13.1,63,1335,0.00,2.53,0.00,0.000,4,0.000,0.048,2169,3313,3477
$GC,1398,-1.46,-146.6,178.0,-12.3,66,1402,0.00,2.53,0.00,0.000,6,0.000,0.042,2170,1895,3478
$GC,1722,-1.46,-146.6,217.7,-11.2,82,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1896,3478
$GC,2032,-1.46,-146.6,250.5,-11.0,97,2037,0.00,2.55,0.00,0.000,4,0.000,0.048,2170,3313,3478
$GC,2071,-1.46,-146.6,255.3,-12.1,99,2075,0.00,2.53,0.00,0.000,6,0.000,0.044,2170,1901,3477
$GC,2402,-1.46,-146.6,293.8,-11.7,115,2406,0.00,2.53,0.00,0.000,4,0.000,0.048,2170,3308,3478
$GC,2490,-1.46,-146.6,304.3,-11.3,119,2495,0.00,2.55,0.00,0.000,6,0.000,0.045,2170,1904,3478
$GC,2817,-1.46,-146.6,340.2,-11.2,135,2821,0.00,2.60,0.00,0.000,4,0.000,0.067,2170,495,3478
$GC,2838,-1.46,-146.6,342.6,-11.4,136,2843,0.00,2.50,0.00,0.000,6,0.000,0.044,2170,1918,3478
$GC,3158,-1.46,-146.6,377.9,-11.3,152,3162,0.00,2.47,0.00,0.000,4,0.000,0.051,2170,3297,3478
$GC,3302,-1.46,-146.6,394.7,-13.3,158,3309,0.00,2.55,0.00,0.000,6,0.000,0.048,2170,1900,3478
$GC,3618,-1.46,-146.6,432.0,-12.4,174,3622,0.00,2.60,0.00,0.000,4,0.000,0.068,2170,491,3478
$GC,3644,-1.46,-146.6,435.5,-13.3,175,3649,0.00,2.50,0.00,0.000,6,0.000,0.045,2170,1900,3478
$GC,3966,-1.46,-146.6,478.8,-13.4,191,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,1902,3478
$GC,4275,-1.46,-146.6,518.1,-11.9,206,4279,0.00,2.53,0.00,0.000,4,0.000,0.056,2170,3298,3478
$GC,4328,-1.46,-146.6,526.5,-15.6,208,4335,0.00,2.58,0.00,0.000,6,0.000,0.053,2170,1901,3478
$STATE,4416,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4416,begin apogee
$GC,4420,-0.36,0.0,537.7,12.7,213,4545,1.17,0.00,121.28,1.146,6,0.091,0.000,2413,2247,2877
$STATE,4546,end apogee,CONTROL_FINISHED_OK
$STATE,4546,begin climb
$GC,4547,1.46,146.6,544.3,0.0,219,4675,1.85,2.70,119.07,1.109,4,0.059,0.063,2815,834,2280
$GC,4926,1.54,210.1,517.9,7.0,236,4984,0.00,2.55,51.92,1.098,6,0.000,0.044,2815,2245,2021
$GC,5292,1.54,210.1,480.2,12.1,254,5296,0.00,2.62,0.00,0.000,4,0.000,0.067,2815,834,2021
$GC,5352,1.54,210.1,473.2,10.5,256,5359,0.00,2.55,0.00,0.000,6,0.000,0.045,2814,2247,2021
$GC,5667,1.54,210.1,437.6,12.7,272,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2247,2020
$GC,5977,1.54,210.1,399.3,11.6,287,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2247,2020
$GC,6286,1.55,221.1,365.3,9.5,302,6298,0.00,0.00,9.82,1.091,6,0.000,0.000,2814,2247,1976
$GC,6595,1.55,221.1,331.3,13.4,317,6599,0.00,2.55,0.00,0.000,4,0.000,0.055,2814,3656,1975
$GC,6707,1.59,252.2,319.6,8.5,322,6739,0.12,2.50,25.45,1.043,6,0.059,0.044,2850,2246,1849
$GC,7053,1.59,252.2,279.1,12.0,339,7058,0.00,2.58,0.00,0.000,4,0.000,0.052,2849,3663,1849
$GC,7124,1.59,252.2,270.1,12.6,342,7130,0.00,2.55,0.00,0.000,6,0.000,0.043,2849,2248,1848
$GC,7446,1.59,252.2,227.4,14.4,358,7450,0.00,2.55,0.00,0.000,4,0.000,0.052,2849,3662,1849
$GC,7533,1.59,252.2,213.1,16.8,362,7538,0.00,2.53,0.00,0.000,6,0.000,0.042,2849,2252,1849
$GC,7860,1.59,252.2,167.3,13.7,378,7864,0.00,2.53,0.00,0.000,4,0.000,0.051,2849,3658,1849
$GC,7981,1.59,252.2,150.1,13.9,383,7988,0.00,2.53,0.00,0.000,6,0.000,0.041,2849,2245,1849
$GC,8297,1.59,252.2,107.5,13.9,399,8301,0.00,2.55,0.00,0.000,4,0.000,0.049,2849,3658,1849
$GC,8367,1.59,252.2,96.9,15.1,402,8372,0.00,2.50,0.00,0.000,6,0.000,0.041,2849,2255,1850
$GC,8689,1.59,252.2,52.0,13.9,418,8693,0.00,2.53,0.00,0.000,4,0.000,0.049,2849,3659,1850
$GC,8753,1.59,252.2,42.5,15.1,421,8758,0.00,2.50,0.00,0.000,6,0.000,0.040,2849,2249,1850
$STATE,9059,end climb,SURFACE_DEPTH_REACHED
$STATE,9059,begin surface coast
$FINISH,-0.8,1.027283
$STATE,9082,end surface coast,CONTROL_FINISHED_OK
$STATE,9082,begin surface
$SM_CCo,9101,43.30,0.814,5,0,1655,300.00
$SM_GC,0.18,0.00,0.00,43.30,0.000,0.000,0.814,28,1870,1655,-11.34,-0.85,300.00
$IRIDIUM_FIX,6112.75,-823.14,171107,040456
$TT8_MAMPS,0.026845
$HUMID,2075
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,450.3,95.8
$24V_AH,23.4,16.061
$10V_AH,10.1,6.632
$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,26.800,87.700,327.550,43.300,0.000,36.898,25.770,97.682,3.750,0.000,0.000,13.002,860.192,6693.935,519.048,1110.611,230.147,33.358,1089.594,0.000,1092.716,0.000,24.996
$DEVICE_MAMPS,144.963,68.263,1145.898,813.787,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,326.624,293.352,298.361,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22273,437
$CFSIZE,260165632,256688128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,15,5,0
$GPS,171107,055338,6132.612,-817.638,30,1.8,30,-8.9