version: 66.02
glider: 102
mission: 4
dive: 28
start: 11 17 107 5 58 16
data:
$ID,102
$MISSION,4
$DIVE,28
$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,-76739.742
$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,34
$R_STBD_OVSHOOT,19
$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
$GPS1,055338,6132.612,-817.638,30,1.8,30,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-60.1
$GPS2,055721,6132.616,-817.564,10,1.8,10,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.132,-0.224
$KALMAN_X,11227.5,-500.9,-312.9,608.7,9652.4
$KALMAN_Y,89926.2,-1523.1,-1333.1,-87969.4,22555.3
$MHEAD_RNG_PITCHd_Wd,219.5,8164,-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,16,-1.46,-146.6,0.0,0.0,0,101,0.00,0.00,-82.88,0.000,2,0.000,0.000,28,1871,3459
$GC,103,-1.46,-146.6,5.0,-7.7,4,125,11.48,2.65,-0.38,0.000,4,0.145,0.056,2169,3318,3479
$GC,237,-1.46,-146.6,32.9,-12.1,10,242,0.00,2.50,0.00,0.000,6,0.000,0.044,2169,1910,3479
$GC,563,-1.46,-146.6,75.2,-14.5,26,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1910,3479
$GC,872,-1.46,-146.6,114.9,-12.9,41,877,0.00,2.53,0.00,0.000,4,0.000,0.048,2169,3313,3479
$GC,915,-1.46,-146.6,120.3,-12.3,43,920,0.00,2.55,0.00,0.000,6,0.000,0.044,2169,1908,3479
$GC,1242,-1.46,-146.6,158.6,-11.1,59,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1908,3479
$GC,1551,-1.46,-146.6,193.7,-11.4,74,1555,0.00,2.53,0.00,0.000,4,0.000,0.048,2169,3312,3479
$GC,1590,-1.46,-146.6,198.2,-11.5,76,1595,0.00,2.53,0.00,0.000,6,0.000,0.045,2169,1900,3479
$GC,1916,-1.46,-146.6,236.4,-12.3,92,1920,0.00,2.55,0.00,0.000,4,0.000,0.048,2169,3318,3479
$GC,1976,-1.46,-146.6,243.3,-11.0,95,1981,0.00,2.53,0.00,0.000,6,0.000,0.044,2169,1893,3479
$GC,2303,-1.46,-146.6,278.5,-9.7,111,2307,0.00,2.55,0.00,0.000,4,0.000,0.049,2169,3312,3479
$GC,2341,-1.46,-146.6,282.0,-8.9,113,2345,0.00,2.53,0.00,0.000,6,0.000,0.045,2169,1900,3479
$GC,2665,-1.46,-146.6,313.1,-10.2,129,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,1900,3479
$GC,2975,-1.46,-146.6,347.3,-12.2,144,2979,0.00,2.55,0.00,0.000,4,0.000,0.049,2169,3317,3479
$GC,3062,-1.46,-146.6,358.0,-12.9,148,3067,0.00,2.55,0.00,0.000,6,0.000,0.045,2169,1898,3479
$GC,3389,-1.46,-146.6,398.5,-12.8,164,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,1898,3479
$GC,3698,-1.46,-146.6,439.9,-13.6,179,3703,0.00,2.55,0.00,0.000,4,0.000,0.051,2169,3311,3479
$GC,3866,-1.46,-146.6,464.4,-15.6,186,3873,0.00,2.53,0.00,0.000,6,0.000,0.047,2169,1902,3479
$STATE,4015,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4015,begin apogee
$GC,4019,-0.36,0.0,484.2,14.6,194,4143,1.17,0.00,120.38,1.103,6,0.092,0.000,2412,2259,2878
$STATE,4144,end apogee,CONTROL_FINISHED_OK
$STATE,4144,begin climb
$GC,4145,1.46,146.6,492.1,0.0,200,4268,1.83,0.00,117.90,1.065,6,0.058,0.000,2814,2260,2280
$GC,4576,1.46,146.6,458.1,10.0,221,4580,0.00,2.55,0.00,0.000,4,0.000,0.057,2814,3650,2280
$GC,4703,1.46,146.6,443.4,11.8,227,4707,0.00,2.53,0.00,0.000,6,0.000,0.044,2814,2249,2279
$GC,5035,1.48,162.7,411.7,9.2,243,5056,0.00,2.60,13.95,1.088,4,0.000,0.055,2814,3650,2214
$GC,5111,1.48,162.7,403.2,12.6,246,5116,0.00,2.55,0.00,0.000,6,0.000,0.044,2814,2249,2214
$GC,5432,1.48,165.5,372.6,9.9,262,5437,0.00,0.00,3.42,1.011,6,0.000,0.000,2814,2249,2202
$GC,5741,1.48,165.5,338.7,11.3,277,5745,0.00,2.53,0.00,0.000,4,0.000,0.053,2814,3650,2202
$GC,5785,1.48,165.5,333.5,12.7,279,5790,0.00,2.50,0.00,0.000,6,0.000,0.042,2814,2243,2202
$GC,6117,1.50,181.9,299.4,9.2,295,6138,0.00,2.62,13.68,1.042,4,0.000,0.052,2814,3649,2136
$GC,6243,1.50,181.9,286.5,11.1,300,6251,0.00,2.53,0.00,0.000,6,0.000,0.042,2814,2254,2136
$GC,6559,1.50,181.9,255.2,10.3,316,6563,0.00,2.55,0.00,0.000,4,0.000,0.051,2814,3656,2136
$GC,6726,1.52,193.0,237.4,9.5,323,6742,0.00,2.50,9.95,1.004,6,0.000,0.040,2814,2240,2091
$GC,7063,1.54,214.1,206.6,9.0,340,7084,0.00,0.00,17.55,0.969,6,0.000,0.000,2814,2240,2005
$GC,7392,1.57,235.0,176.3,9.0,356,7415,0.10,2.60,17.35,0.937,4,0.064,0.049,2845,3656,1918
$GC,7521,1.57,235.0,162.2,10.3,361,7528,0.00,2.50,0.00,0.000,6,0.000,0.039,2845,2257,1918
$GC,7836,1.57,235.0,123.2,13.2,377,7841,0.00,2.53,0.00,0.000,4,0.000,0.048,2845,3654,1918
$GC,7975,1.57,235.0,103.2,14.1,383,7980,0.00,2.50,0.00,0.000,6,0.000,0.039,2845,2250,1918
$GC,8298,1.57,235.0,59.7,12.8,399,8302,0.00,2.53,0.00,0.000,4,0.000,0.049,2845,3651,1918
$GC,8407,1.57,235.0,44.6,13.6,404,8412,0.00,2.50,0.00,0.000,6,0.000,0.039,2845,2255,1918
$STATE,8735,end climb,SURFACE_DEPTH_REACHED
$STATE,8735,begin surface coast
$FINISH,-0.6,1.027282
$STATE,8755,end surface coast,CONTROL_FINISHED_OK
$STATE,8755,begin surface
$SM_CCo,8774,50.25,0.798,5,0,1655,300.00
$SM_GC,0.19,0.00,0.00,50.25,0.000,0.000,0.798,31,1890,1655,-11.33,-0.25,300.00
$IRIDIUM_FIX,6108.28,-818.01,171107,070722
$TT8_MAMPS,0.026845
$HUMID,2055
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.5,92.7
$24V_AH,23.5,16.175
$10V_AH,10.1,6.678
$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,26.700,77.475,314.175,50.250,0.000,37.734,26.047,92.831,3.000,0.000,0.000,12.177,827.836,6466.555,496.350,1079.474,219.665,33.357,1053.011,0.000,1058.146,0.000,22.175
$DEVICE_MAMPS,144.963,56.758,1102.946,797.680,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,309.352,282.497,294.501,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22295,421
$CFSIZE,260165632,256655360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,5,0
$GPS,171107,082701,6132.368,-816.695,35,1.7,41,-8.8