version: 66.02
glider: 102
mission: 4
dive: 254
start: 1 8 108 23 8 33
data:
$ID,102
$MISSION,4
$DIVE,254
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$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,558.0575
$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,-81087.977
$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,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,29
$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
$GPS1,224956,6356.131,-1332.479,38,1.6,38,-12.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-56.0
$GPS2,230741,6356.417,-1332.167,13,2.1,32,-12.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.074,-0.073
$KALMAN_X,339707.2,-132.0,-626.5,-605470.2,3075.1
$KALMAN_Y,-26326.0,-585.9,-520.8,292813.2,7762.9
$MHEAD_RNG_PITCHd_Wd,238.0,6864,-26.9,-6.000
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.96,-29.1,0.0,0.0,0,127,0.00,0.00,-101.65,0.000,2,0.000,0.000,26,1886,2592
$GC,129,-2.00,-62.1,3.8,-1.4,5,171,10.73,0.00,-24.25,0.000,6,0.140,0.000,2051,1887,3132
$GC,481,-2.00,-62.1,54.7,-16.7,22,486,0.00,2.55,0.00,0.000,4,0.000,0.049,2051,3300,3131
$GC,738,-2.00,-62.1,96.6,-14.1,33,745,0.00,2.55,0.00,0.000,6,0.000,0.044,2051,1905,3131
$GC,1056,-2.00,-62.1,143.0,-15.5,49,1060,0.00,2.55,0.00,0.000,4,0.000,0.048,2051,3307,3131
$GC,1306,-2.00,-62.1,181.8,-14.1,60,1310,0.00,2.50,0.00,0.000,6,0.000,0.044,2051,1902,3131
$GC,1628,-2.00,-62.1,226.8,-13.9,76,1632,0.00,2.55,0.00,0.000,4,0.000,0.048,2051,3305,3131
$GC,1799,-2.00,-62.1,250.1,-13.7,83,1805,0.00,2.53,0.00,0.000,6,0.000,0.044,2051,1900,3131
$GC,2114,-2.00,-62.1,296.3,-14.4,99,2118,0.00,2.55,0.00,0.000,4,0.000,0.050,2051,3301,3131
$GC,2224,-2.00,-62.1,312.2,-13.0,104,2229,0.00,2.53,0.00,0.000,6,0.000,0.044,2051,1897,3131
$GC,2545,-2.00,-62.1,356.0,-14.0,120,2550,0.00,2.55,0.00,0.000,4,0.000,0.051,2051,3302,3131
$GC,2656,-2.00,-62.1,371.5,-13.7,125,2661,0.00,2.50,0.00,0.000,6,0.000,0.044,2051,1900,3131
$GC,2984,-2.00,-62.1,417.6,-14.4,141,2988,0.00,2.55,0.00,0.000,4,0.000,0.051,2051,3301,3130
$GC,3240,-2.00,-62.1,454.6,-13.6,152,3246,0.00,2.55,0.00,0.000,6,0.000,0.048,2051,1897,3130
$GC,3555,-2.00,-62.1,498.9,-15.1,168,3559,0.00,2.58,0.00,0.000,4,0.000,0.053,2051,3304,3130
$GC,3811,-2.00,-62.1,534.8,-14.5,179,3818,0.00,2.55,0.00,0.000,6,0.000,0.049,2051,1900,3130
$GC,4127,-2.00,-62.1,580.0,-12.7,195,4131,0.00,2.58,0.00,0.000,4,0.000,0.056,2051,3302,3130
$GC,4384,-2.00,-62.1,606.9,-9.4,206,4390,0.00,2.55,0.00,0.000,6,0.000,0.051,2051,1900,3130
$GC,4699,-2.00,-62.1,641.5,-11.1,222,4704,0.00,2.60,0.00,0.000,4,0.000,0.059,2051,3305,3129
$GC,4928,-2.00,-62.1,663.5,-8.2,232,4932,0.00,2.60,0.00,0.000,6,0.000,0.054,2051,1907,3129
$GC,5249,-2.00,-62.1,688.2,-7.0,248,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1907,3129
$GC,5559,-2.00,-62.1,733.8,-19.6,263,5563,0.00,2.60,0.00,0.000,4,0.000,0.064,2051,3301,3128
$GC,5815,-2.06,-109.4,754.2,0.6,274,5821,0.00,2.58,0.00,0.000,6,0.000,0.058,2051,1900,3127
$STATE,6004,end dive,NO_VERTICAL_VELOCITY
$STATE,6005,begin apogee
$GC,6011,-0.36,0.0,754.4,0.0,284,6068,1.65,0.00,52.83,1.348,6,0.062,0.000,2417,2103,2878
$STATE,6068,end apogee,CONTROL_FINISHED_OK
$STATE,6068,begin climb
$GC,6071,2.06,109.4,754.0,0.0,287,6174,2.33,2.78,92.35,1.307,4,0.051,0.076,2944,687,2432
$GC,6426,2.06,109.4,718.0,16.4,303,6430,0.00,2.55,0.00,0.000,6,0.000,0.051,2944,2098,2431
$GC,6752,2.06,109.4,669.4,13.4,319,6757,0.00,2.65,0.00,0.000,4,0.000,0.069,2944,690,2430
$GC,6808,2.06,109.4,660.9,15.3,321,6814,0.00,2.53,0.00,0.000,6,0.000,0.050,2943,2102,2430
$GC,7123,2.06,109.4,604.5,14.9,337,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2105,2430
$GC,7432,2.08,125.3,585.6,3.8,352,7454,0.00,2.65,13.95,1.272,4,0.000,0.063,2943,3502,2367
$GC,7706,2.10,147.9,578.7,2.8,364,7731,0.00,2.58,19.70,1.259,6,0.000,0.053,2944,2097,2275
$GC,8048,2.10,147.9,559.0,8.3,381,8052,0.00,2.65,0.00,0.000,4,0.000,0.075,2943,691,2274
$GC,8304,2.10,147.9,534.4,11.2,392,8311,0.00,2.53,0.00,0.000,6,0.000,0.048,2944,2099,2274
$GC,8620,2.10,147.9,504.3,10.0,408,8625,0.00,2.62,0.00,0.000,4,0.000,0.072,2944,691,2274
$GC,8878,2.10,147.9,473.4,12.7,419,8884,0.00,2.53,0.00,0.000,6,0.000,0.047,2944,2104,2274
$GC,9193,2.10,147.9,430.2,12.0,435,9195,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2103,2274
$GC,9502,2.10,147.9,397.3,12.3,450,9507,0.00,2.58,0.00,0.000,4,0.000,0.059,2944,3500,2274
$GC,9760,2.10,147.9,361.8,13.1,461,9766,0.00,2.53,0.00,0.000,6,0.000,0.047,2944,2095,2274
$GC,10075,2.10,147.9,325.6,10.9,477,10079,0.00,2.60,0.00,0.000,4,0.000,0.069,2944,690,2274
$GC,10333,2.10,147.9,297.1,10.9,488,10339,0.00,2.50,0.00,0.000,6,0.000,0.044,2944,2099,2274
$GC,10648,2.10,147.9,263.5,11.2,504,10652,0.00,2.62,0.00,0.000,4,0.000,0.065,2944,691,2275
$GC,10828,2.10,147.9,242.7,12.5,512,10832,0.00,2.50,0.00,0.000,6,0.000,0.043,2943,2104,2274
$GC,11148,2.10,147.9,207.9,10.8,528,11152,0.00,2.53,0.00,0.000,4,0.000,0.054,2944,3499,2275
$GC,11405,2.10,147.9,175.6,13.0,539,11411,0.00,2.50,0.00,0.000,6,0.000,0.043,2944,2086,2275
$GC,11720,2.10,147.9,137.2,12.1,555,11725,0.00,2.55,0.00,0.000,4,0.000,0.063,2944,697,2276
$GC,11978,2.10,147.9,105.2,12.0,566,11985,0.00,2.47,0.00,0.000,6,0.000,0.041,2944,2096,2275
$GC,12295,2.10,147.9,69.0,11.2,582,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2099,2276
$GC,12603,2.10,147.9,35.4,10.3,597,12604,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2099,2276
$STATE,12869,end climb,SURFACE_DEPTH_REACHED
$STATE,12869,begin surface coast
$FINISH,1.9,1.027416
$STATE,12892,end surface coast,CONTROL_FINISHED_OK
$STATE,12892,begin surface
$SM_CCo,12915,228.20,0.769,5,0,603,558.06
$SM_GC,2.37,0.00,0.00,228.20,0.000,0.000,0.769,29,1882,603,-11.34,-0.54,558.06
$IRIDIUM_FIX,6327.46,-1319.47,080108,212133
$TT8_MAMPS,0.026078
$HUMID,2025
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,15.80
$XPDR_PINGS,5
$24V_AH,23.2,54.734
$10V_AH,10.1,26.797
$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,27.225,103.225,178.825,228.200,0.000,192.176,336.538,161.707,7.500,0.000,0.000,35.024,1259.177,9488.657,622.518,1977.282,887.626,33.364,1543.490,0.000,1909.627,0.000,41.326
$DEVICE_MAMPS,139.594,75.933,1347.619,769.301,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.803,412.218,364.147,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31712,611
$CFSIZE,260165632,242581504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,5,0
$GPS,090108,024908,6355.511,-1336.568,29,1.0,29,-12.7