version: 66.02
glider: 102
mission: 4
dive: 29
start: 11 17 107 8 31 39
data:
$ID,102
$MISSION,4
$DIVE,29
$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,-76756.891
$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,21
$R_STBD_OVSHOOT,28
$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
$GPS1,082701,6132.368,-816.695,35,1.7,41,-8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-55.7
$GPS2,083044,6132.389,-816.653,10,2.0,15,-8.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.159,-0.205
$KALMAN_X,14425.8,-699.8,-708.9,-1173.4,13792.7
$KALMAN_Y,91633.7,-1737.1,-1301.8,-89916.7,22821.7
$MHEAD_RNG_PITCHd_Wd,226.6,8601,-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,-81.70,0.000,6,0.000,0.000,30,1891,3478
$GC,103,-1.46,-146.6,5.5,-7.8,4,124,11.45,2.60,0.00,0.000,4,0.143,0.046,2171,3305,3479
$GC,191,-1.46,-146.6,26.6,-13.4,8,196,0.00,2.53,0.00,0.000,6,0.000,0.043,2171,1899,3479
$GC,517,-1.46,-146.6,67.2,-11.7,24,521,0.00,2.53,0.00,0.000,4,0.000,0.047,2171,3303,3479
$GC,559,-1.46,-146.6,72.3,-12.0,26,564,0.00,2.55,0.00,0.000,6,0.000,0.042,2171,1898,3479
$GC,886,-1.46,-146.6,108.4,-10.9,42,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1898,3480
$GC,1196,-1.46,-146.6,141.2,-10.4,57,1200,0.00,2.53,0.00,0.000,4,0.000,0.048,2171,3303,3479
$GC,1250,-1.46,-146.6,146.8,-9.9,59,1257,0.00,2.55,0.00,0.000,6,0.000,0.043,2171,1898,3479
$GC,1565,-1.46,-146.6,177.2,-9.8,75,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1898,3480
$GC,1875,-1.46,-146.6,206.6,-9.9,90,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1898,3479
$GC,2184,-1.46,-146.6,236.9,-10.0,105,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1898,3479
$GC,2493,-1.46,-146.6,269.2,-10.4,120,2497,0.00,2.53,0.00,0.000,4,0.000,0.048,2171,3302,3480
$GC,2549,-1.46,-146.6,275.3,-11.1,122,2555,0.00,2.50,0.00,0.000,6,0.000,0.044,2171,1900,3480
$GC,2863,-1.46,-146.6,314.0,-11.7,138,2868,0.00,2.53,0.00,0.000,4,0.000,0.049,2171,3303,3480
$GC,2918,-1.46,-146.6,319.8,-9.7,140,2926,0.00,2.55,0.00,0.000,6,0.000,0.045,2171,1898,3480
$GC,3234,-1.46,-146.6,354.5,-12.1,156,3238,0.00,2.60,0.00,0.000,4,0.000,0.071,2171,496,3480
$GC,3265,-1.46,-146.6,358.9,-14.8,157,3272,0.00,2.50,0.00,0.000,6,0.000,0.045,2171,1896,3480
$GC,3580,-1.46,-146.6,401.3,-15.0,173,3584,0.00,2.53,0.00,0.000,4,0.000,0.051,2171,3304,3479
$GC,3760,-1.46,-146.6,422.9,-12.4,181,3765,0.00,2.55,0.00,0.000,6,0.000,0.049,2171,1898,3480
$STATE,4043,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4043,begin apogee
$GC,4047,-0.36,0.0,452.6,9.3,195,4171,1.17,0.00,120.30,1.073,6,0.089,0.000,2415,2252,2878
$STATE,4171,end apogee,CONTROL_FINISHED_OK
$STATE,4172,begin climb
$GC,4173,1.46,146.6,457.3,0.0,201,4299,1.80,2.62,117.68,1.031,4,0.057,0.058,2813,3651,2280
$GC,4455,1.46,146.6,434.5,11.5,214,4460,0.00,2.55,0.00,0.000,6,0.000,0.044,2813,2249,2280
$GC,4781,1.46,146.6,399.0,11.7,230,4786,0.00,2.62,0.00,0.000,4,0.000,0.067,2812,839,2280
$GC,5038,1.51,185.6,376.2,8.2,241,5075,0.00,2.53,31.70,1.037,6,0.000,0.044,2813,2246,2121
$GC,5390,1.56,227.0,348.2,8.1,259,5432,0.00,2.70,33.70,1.025,4,0.000,0.063,2813,839,1952
$GC,5499,1.56,227.7,337.8,10.0,264,5504,0.00,2.53,0.00,0.000,6,0.000,0.044,2813,2258,1952
$GC,5825,1.62,275.2,308.7,7.8,280,5867,0.15,0.00,38.97,0.992,6,0.052,0.000,2857,2263,1756
$GC,6174,1.62,275.2,270.2,10.5,297,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2264,1756
$GC,6483,1.62,275.2,236.1,12.6,312,6487,0.00,2.53,0.00,0.000,4,0.000,0.053,2857,3653,1755
$GC,6611,1.62,275.2,217.1,15.3,317,6618,0.00,2.53,0.00,0.000,6,0.000,0.042,2857,2244,1756
$GC,6926,1.62,275.2,172.9,13.2,333,6930,0.00,2.53,0.00,0.000,4,0.000,0.051,2857,3653,1756
$GC,6980,1.62,275.2,165.3,14.5,335,6988,0.00,2.50,0.00,0.000,6,0.000,0.041,2857,2251,1756
$GC,7296,1.62,275.2,124.2,13.0,351,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2251,1755
$GC,7606,1.62,275.2,83.4,13.0,366,7610,0.00,2.53,0.00,0.000,4,0.000,0.049,2857,3652,1756
$GC,7693,1.62,275.2,71.3,13.7,370,7698,0.00,2.47,0.00,0.000,6,0.000,0.039,2857,2258,1756
$GC,8020,1.62,275.2,26.9,14.4,386,8024,0.00,2.53,0.00,0.000,4,0.000,0.048,2857,3660,1756
$GC,8090,1.62,275.2,17.4,11.9,389,8095,0.00,2.50,0.00,0.000,6,0.000,0.041,2857,2256,1756
$STATE,8227,end climb,SURFACE_DEPTH_REACHED
$STATE,8227,begin surface coast
$FINISH,-0.8,1.027313
$STATE,8247,end surface coast,CONTROL_FINISHED_OK
$STATE,8247,begin surface
$SM_CCo,8266,22.08,0.831,3,0,1654,300.00
$SM_GC,0.09,0.00,0.00,22.08,0.000,0.000,0.831,28,1890,1654,-11.35,-0.28,300.00
$IRIDIUM_FIX,6108.28,-822.48,171107,090959
$TT8_MAMPS,0.026845
$HUMID,2060
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,16.80
$XPDR_PINGS,260
$ALTIM_BOTTOM_PING,376.9,83.6
$24V_AH,23.5,16.296
$10V_AH,10.1,6.722
$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,26.750,72.450,342.350,22.075,0.000,37.500,25.697,84.557,67.750,0.000,0.000,16.522,772.624,6055.260,481.132,1024.018,210.683,33.354,1011.382,0.000,1001.684,0.000,20.121
$DEVICE_MAMPS,143.429,70.564,1073.033,831.428,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,286.755,265.532,296.605,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19063,397
$CFSIZE,260165632,256626688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,3,0
$GPS,171107,105126,6132.437,-816.041,50,1.2,50,-8.8