version: 66.02
glider: 102
mission: 4
dive: 429
start: 2 10 108 5 49 32
data:
$ID,102
$MISSION,4
$DIVE,429
$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,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-3
$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,-86996.836
$T_RSLEEP,57
$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,28
$R_STBD_OVSHOOT,38
$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,20
$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,5
$ALTIM_SENSITIVITY,1
$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
$GPS1,053437,6129.031,-900.305,40,1.4,40,-9.2
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-55.2
$GPS2,054750,6128.886,-859.805,13,1.7,13,-9.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.024,-0.228
$KALMAN_X,603249.8,2369.5,148.1,-632066.8,234.8
$KALMAN_Y,128145.5,-1402.4,-1229.6,-133367.7,727.5
$MHEAD_RNG_PITCHd_Wd,195.1,16458,-15.4,-8.000
$D_GRID,415
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.26,-134.8,0.0,0.0,0,87,0.00,0.00,-60.65,0.000,2,0.000,0.000,34,1885,2770
$GC,91,-1.28,-146.6,3.4,-3.0,3,134,11.48,2.60,-25.85,0.000,4,0.136,0.058,2216,3292,3477
$GC,386,-1.28,-146.6,38.7,-10.4,16,391,0.00,2.47,0.00,0.000,6,0.000,0.039,2215,1905,3477
$GC,708,-1.28,-146.6,72.8,-13.0,32,712,0.00,2.50,0.00,0.000,4,0.000,0.044,2216,3295,3477
$GC,741,-1.28,-146.6,77.4,-13.7,33,747,0.00,2.50,0.00,0.000,6,0.000,0.041,2216,1896,3477
$GC,1058,-1.28,-146.6,121.2,-11.0,49,1062,0.00,2.53,0.00,0.000,4,0.000,0.045,2216,3298,3477
$GC,1091,-1.28,-146.6,125.1,-12.0,50,1097,0.00,2.50,0.00,0.000,6,0.000,0.040,2216,1898,3477
$GC,1407,-1.28,-146.6,156.7,-11.0,66,1412,0.00,2.50,0.00,0.000,4,0.000,0.044,2216,3295,3476
$GC,1470,-1.28,-146.6,163.3,-9.2,69,1474,0.00,2.50,0.00,0.000,6,0.000,0.040,2216,1892,3477
$GC,1796,-1.28,-146.6,196.6,-9.2,85,1800,0.00,2.53,0.00,0.000,4,0.000,0.046,2215,3295,3476
$GC,1823,-1.28,-146.6,199.4,-10.3,86,1827,0.00,2.50,0.00,0.000,6,0.000,0.041,2216,1892,3476
$GC,2139,-1.28,-146.6,232.3,-9.7,101,2143,0.00,2.53,0.00,0.000,4,0.000,0.046,2216,3294,3476
$GC,2166,-1.28,-146.6,235.2,-10.0,102,2171,0.00,2.47,0.00,0.000,6,0.000,0.040,2215,1898,3476
$GC,2483,-1.28,-146.6,265.9,-7.7,117,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1898,3477
$GC,2791,-1.28,-146.6,291.0,-9.7,132,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1898,3477
$GC,3101,-1.28,-146.6,314.6,-6.8,147,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1898,3477
$GC,3410,-1.28,-146.6,337.9,-8.2,162,3414,0.00,2.53,0.00,0.000,4,0.000,0.047,2215,3296,3476
$GC,3478,-1.28,-146.6,343.8,-8.8,165,3482,0.00,2.50,0.00,0.000,6,0.000,0.041,2215,1896,3476
$GC,3799,-1.28,-146.6,372.1,-8.3,181,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1896,3476
$GC,4110,-1.28,-146.6,400.6,-9.5,196,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,1896,3476
$STATE,4249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4249,begin apogee
$GC,4256,-0.36,0.0,415.0,11.9,203,4381,0.95,0.00,121.35,1.046,6,0.081,0.000,2416,2096,2878
$STATE,4382,end apogee,CONTROL_FINISHED_OK
$STATE,4382,begin climb
$GC,4385,1.28,146.6,419.2,0.0,209,4513,1.58,0.00,120.38,1.013,6,0.046,0.000,2773,2096,2279
$GC,4827,1.32,179.4,395.1,6.6,231,4861,0.00,2.62,27.30,1.009,4,0.000,0.050,2773,3487,2146
$GC,4913,1.32,179.4,387.6,9.9,235,4918,0.00,2.50,0.00,0.000,6,0.000,0.038,2773,2098,2146
$GC,5241,1.44,279.1,367.4,3.9,251,5330,0.15,2.62,81.10,0.989,4,0.052,0.048,2815,3497,1739
$GC,5379,1.44,279.1,356.4,8.6,257,5383,0.00,2.53,0.00,0.000,6,0.000,0.041,2815,2101,1738
$GC,5695,1.46,292.8,330.8,7.4,272,5716,0.00,2.62,12.23,0.994,4,0.000,0.048,2815,3494,1684
$GC,5823,1.46,292.8,320.6,8.4,277,5829,0.00,2.50,0.00,0.000,6,0.000,0.040,2815,2100,1683
$GC,6139,1.47,305.6,299.9,7.5,293,6155,0.00,2.60,11.25,0.988,4,0.000,0.048,2815,3498,1631
$GC,6206,1.47,305.6,293.2,10.4,295,6210,0.00,2.50,0.00,0.000,6,0.000,0.039,2815,2099,1631
$GC,6527,1.47,305.6,259.7,9.9,311,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2100,1632
$GC,6837,1.47,305.6,224.1,11.6,326,6838,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2100,1631
$GC,7145,1.47,305.6,187.0,12.1,341,7150,0.00,2.55,0.00,0.000,4,0.000,0.049,2815,3498,1631
$GC,7185,1.47,305.6,181.8,13.5,343,7190,0.00,2.50,0.00,0.000,6,0.000,0.038,2815,2095,1631
$GC,7513,1.47,305.6,140.0,13.3,359,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2095,1631
$GC,7822,1.47,305.6,99.0,12.5,374,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2095,1631
$GC,8133,1.47,305.6,60.1,12.1,389,8137,0.00,2.55,0.00,0.000,4,0.000,0.048,2815,3498,1631
$GC,8166,1.47,305.6,56.2,10.5,390,8172,0.00,2.50,0.00,0.000,6,0.000,0.038,2815,2096,1631
$GC,8482,1.47,305.6,28.5,10.7,406,8486,0.00,2.55,0.00,0.000,4,0.000,0.048,2815,3499,1631
$GC,8522,1.47,305.6,22.9,15.1,408,8526,0.00,2.47,0.00,0.000,6,0.000,0.038,2815,2100,1631
$STATE,8681,end climb,SURFACE_DEPTH_REACHED
$STATE,8681,begin surface coast
$FINISH,1.3,1.013733
$STATE,8703,end surface coast,CONTROL_FINISHED_OK
$STATE,8703,begin surface
$SM_CCo,8787,0.00,0.000,0,0,1629,306.13
$SM_GC,2.14,12.02,0.00,0.00,0.031,0.000,0.000,35,1885,1629,-11.26,-0.31,306.13
$IRIDIUM_FIX,6103.81,-858.12,060597,050548
$TT8_MAMPS,0.026845
$HUMID,2072
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,17.5,999.0
$24V_AH,23.2,83.349
$10V_AH,10.1,40.124
$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,26.175,71.425,373.600,0.000,0.000,106.620,121.894,305.712,3.750,0.000,0.000,15.153,803.682,6615.244,458.689,974.244,779.579,33.365,979.395,0.000,953.645,0.000,20.374
$DEVICE_MAMPS,135.759,58.292,1046.188,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,305.702,279.356,315.405,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19142,417
$CFSIZE,260165632,232968192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,100208,081727,6127.100,-852.610,51,1.5,52,-9.1