version: 66.02
glider: 102
mission: 4
dive: 43
start: 11 18 107 23 41 25
data:
$ID,102
$MISSION,4
$DIVE,43
$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,-77093.023
$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,26
$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
$GPS1,233255,6128.575,-829.896,40,1.0,57,-8.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-56.4
$GPS2,234032,6128.497,-829.882,16,1.0,33,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.070,-0.158
$KALMAN_X,26450.2,-134.5,-720.3,-25419.7,3185.3
$KALMAN_Y,94644.5,-342.4,40.4,-102934.2,5254.2
$MHEAD_RNG_PITCHd_Wd,165.1,5134,-27.6,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-2.05,-61.8,0.0,0.0,0,91,0.00,0.00,-70.65,0.000,6,0.000,0.000,29,1886,3131
$GC,93,-2.12,-121.2,1.7,-3.5,3,116,10.62,2.60,-6.47,0.000,4,0.142,0.077,2026,499,3374
$GC,265,-2.12,-121.2,42.7,-19.2,10,273,0.00,2.50,0.00,0.000,6,0.000,0.041,2026,1905,3375
$GC,583,-2.12,-121.2,112.1,-21.6,26,587,0.00,2.50,0.00,0.000,4,0.000,0.048,2026,3297,3375
$GC,793,-2.12,-121.2,153.1,-18.2,35,801,0.00,2.55,0.00,0.000,6,0.000,0.046,2026,1904,3375
$GC,1109,-2.12,-121.2,212.2,-19.2,51,1113,0.00,2.50,0.00,0.000,4,0.000,0.047,2026,3298,3375
$GC,1187,-2.12,-121.2,227.3,-19.3,54,1193,0.00,2.53,0.00,0.000,6,0.000,0.046,2026,1899,3375
$GC,1501,-2.12,-121.2,291.2,-19.9,70,1506,0.00,2.53,0.00,0.000,4,0.000,0.048,2026,3298,3375
$GC,1691,-2.12,-121.2,327.3,-19.1,78,1698,0.00,2.55,0.00,0.000,6,0.000,0.047,2026,1904,3375
$GC,2006,-2.12,-121.2,387.4,-19.1,94,2010,0.00,2.53,0.00,0.000,4,0.000,0.049,2026,3301,3375
$GC,2123,-2.12,-121.2,409.9,-19.1,99,2127,0.00,2.55,0.00,0.000,6,0.000,0.048,2026,1907,3375
$GC,2443,-2.12,-121.2,470.4,-18.7,115,2448,0.00,2.53,0.00,0.000,4,0.000,0.051,2026,3300,3375
$GC,2509,-2.12,-121.2,482.7,-17.8,118,2514,0.00,2.55,0.00,0.000,6,0.000,0.048,2026,1905,3375
$GC,2836,-2.12,-121.2,544.2,-19.1,134,2840,0.00,2.53,0.00,0.000,4,0.000,0.052,2026,3295,3374
$GC,3014,-2.12,-121.2,577.2,-18.1,142,3019,0.00,2.53,0.00,0.000,6,0.000,0.049,2026,1905,3375
$GC,3341,-2.12,-121.2,638.0,-18.2,158,3345,0.00,2.55,0.00,0.000,4,0.000,0.055,2026,3301,3375
$GC,3417,-2.12,-121.2,651.8,-17.5,161,3424,0.00,2.58,0.00,0.000,6,0.000,0.051,2026,1903,3375
$GC,3733,-2.12,-121.2,705.8,-17.7,177,3737,0.00,2.55,0.00,0.000,4,0.000,0.056,2026,3298,3375
$GC,3989,-2.12,-121.2,743.1,-15.0,188,3996,0.00,2.58,0.00,0.000,6,0.000,0.053,2026,1904,3375
$GC,4304,-2.12,-121.2,786.8,-13.2,204,4308,0.00,2.58,0.00,0.000,4,0.000,0.061,2026,3296,3375
$STATE,4532,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4532,begin apogee
$GC,4538,-0.36,0.0,826.9,19.3,214,4649,1.90,0.00,104.28,1.359,6,0.110,0.000,2415,2250,2878
$STATE,4650,end apogee,CONTROL_FINISHED_OK
$STATE,4650,begin climb
$GC,4651,2.12,121.2,832.0,0.0,220,4762,2.40,2.78,101.47,1.342,4,0.052,0.081,2961,847,2383
$GC,5013,2.12,121.2,811.8,11.1,236,5020,0.00,2.58,0.00,0.000,6,0.000,0.058,2961,2228,2382
$GC,5329,2.12,121.2,761.7,10.5,252,5333,0.00,2.70,0.00,0.000,4,0.000,0.071,2961,3657,2380
$GC,5372,2.20,181.1,759.6,3.4,254,5430,0.00,2.62,50.15,1.354,6,0.000,0.058,2961,2251,2139
$GC,5737,2.20,181.1,708.4,23.0,272,5742,0.00,2.67,0.00,0.000,4,0.000,0.077,2961,834,2137
$GC,5763,2.20,181.1,698.5,37.1,273,5768,0.00,2.62,0.00,0.000,6,0.000,0.055,2961,2250,2137
$GC,6084,2.20,181.1,650.9,10.3,289,6089,0.00,2.62,0.00,0.000,4,0.000,0.066,2961,3657,2135
$GC,6341,2.20,181.1,612.0,14.9,300,6349,0.00,2.58,0.00,0.000,6,0.000,0.050,2961,2249,2133
$GC,6657,2.20,181.1,569.7,13.3,316,6661,0.00,2.60,0.00,0.000,4,0.000,0.058,2961,3657,2133
$GC,6913,2.20,181.1,525.9,17.7,327,6920,0.00,2.55,0.00,0.000,6,0.000,0.044,2961,2245,2133
$GC,7228,2.20,181.1,474.3,16.8,343,7232,0.00,2.58,0.00,0.000,4,0.000,0.065,2961,841,2134
$GC,7485,2.20,181.1,432.2,15.5,354,7490,0.00,2.50,0.00,0.000,6,0.000,0.042,2960,2246,2134
$GC,7806,2.20,181.1,386.1,14.5,370,7810,0.00,2.55,0.00,0.000,4,0.000,0.054,2961,3656,2135
$GC,8063,2.20,181.1,346.8,14.7,381,8070,0.00,2.53,0.00,0.000,6,0.000,0.041,2961,2246,2136
$GC,8378,2.20,181.1,303.2,14.1,397,8383,0.00,2.55,0.00,0.000,4,0.000,0.061,2961,844,2137
$GC,8635,2.20,181.1,264.8,14.5,408,8640,0.00,2.50,0.00,0.000,6,0.000,0.041,2961,2247,2137
$GC,8956,2.20,181.1,221.6,13.4,424,8960,0.00,2.53,0.00,0.000,4,0.000,0.051,2961,3653,2138
$GC,9146,2.20,181.1,193.3,15.4,432,9153,0.00,2.47,0.00,0.000,6,0.000,0.038,2961,2251,2138
$GC,9461,2.20,181.1,146.4,15.0,448,9466,0.00,2.55,0.00,0.000,4,0.000,0.051,2961,3658,2138
$GC,9718,2.20,181.1,105.3,18.0,459,9725,0.00,2.50,0.00,0.000,6,0.000,0.038,2961,2247,2138
$GC,10034,2.20,181.1,55.4,15.7,475,10038,0.00,2.55,0.00,0.000,4,0.000,0.059,2961,848,2139
$GC,10042,2.20,181.1,53.5,15.2,475,10050,0.00,2.50,0.00,0.000,6,0.000,0.040,2961,2250,2139
$GC,10358,2.20,181.1,4.0,19.0,491,10362,0.00,2.58,0.00,0.000,4,0.000,0.057,2961,840,2139
$STATE,10366,end climb,SURFACE_DEPTH_REACHED
$STATE,10366,begin surface coast
$FINISH,0.9,1.027262
$STATE,10374,end surface coast,CONTROL_FINISHED_OK
$STATE,10374,begin surface
$SM_CCo,10395,83.28,0.791,7,0,1655,300.00
$SM_GC,-0.10,0.00,0.00,83.28,0.000,0.000,0.791,30,1909,1655,-11.34,0.25,300.00
$IRIDIUM_FIX,6103.81,-830.07,191107,030320
$TT8_MAMPS,0.027612
$HUMID,2034
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.90
$XPDR_PINGS,363
$ALTIM_BOTTOM_PING,752.3,83.7
$24V_AH,23.3,18.158
$10V_AH,10.1,7.458
$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,27.550,111.300,255.900,83.275,0.000,76.630,55.832,163.625,97.250,0.000,0.000,34.454,1032.557,7406.924,525.216,1638.650,379.688,33.350,1314.238,0.000,1570.833,0.000,44.361
$DEVICE_MAMPS,141.895,80.535,1359.124,790.777,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,356.654,330.878,279.488,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25414,492
$CFSIZE,260165632,256045056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,7,0
$GPS,191107,023758,6129.126,-829.818,25,2.3,44,-8.9