version: 66.02
glider: 102
mission: 4
dive: 432
start: 2 10 108 13 3 38
data:
$ID,102
$MISSION,4
$DIVE,432
$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,-87050.719
$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,31
$R_STBD_OVSHOOT,34
$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
$GPS1,125325,6123.915,-840.146,39,1.1,39,-9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-58.9
$GPS2,130156,6123.860,-839.780,14,1.7,14,-9.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.233,-0.048
$KALMAN_X,623383.8,1887.9,1667.1,-635568.1,2843.0
$KALMAN_Y,120004.9,532.7,521.1,-138237.5,-2903.0
$MHEAD_RNG_PITCHd_Wd,267.4,19334,-14.7,-8.000
$D_GRID,329
$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,24,-1.23,-146.6,0.0,0.0,0,87,0.00,0.00,-61.12,0.000,2,0.000,0.000,30,1886,2914
$GC,91,-1.23,-146.6,3.5,-2.3,3,126,11.60,2.62,-17.62,0.000,4,0.138,0.081,2224,501,3477
$GC,178,-1.23,-146.6,13.8,-12.5,7,183,0.00,2.45,0.00,0.000,6,0.000,0.036,2224,1910,3477
$GC,506,-1.23,-146.6,53.6,-13.0,23,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1913,3477
$GC,815,-1.23,-146.6,88.7,-10.1,38,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1913,3477
$GC,1125,-1.23,-146.6,119.5,-10.5,53,1129,0.00,2.50,0.00,0.000,4,0.000,0.047,2224,3298,3477
$GC,1191,-1.23,-146.6,126.9,-11.5,56,1195,0.00,2.47,0.00,0.000,6,0.000,0.039,2224,1906,3477
$GC,1512,-1.23,-146.6,160.3,-9.6,72,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1906,3476
$GC,1821,-1.23,-146.6,188.6,-8.4,87,1825,0.00,2.50,0.00,0.000,4,0.000,0.045,2224,3296,3476
$GC,1899,-1.23,-146.6,195.3,-8.5,90,1906,0.00,2.47,0.00,0.000,6,0.000,0.039,2224,1895,3477
$GC,2215,-1.23,-146.6,222.0,-8.6,106,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3477
$GC,2525,-1.23,-146.6,247.8,-8.2,121,2529,0.00,2.53,0.00,0.000,4,0.000,0.045,2224,3300,3477
$GC,2587,-1.23,-146.6,253.3,-9.7,124,2591,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1896,3477
$GC,2913,-1.23,-146.6,283.7,-9.9,140,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1896,3477
$GC,3223,-1.23,-146.6,314.9,-9.8,155,3227,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3298,3477
$GC,3289,-1.23,-146.6,321.0,-8.6,158,3293,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1892,3477
$STATE,3380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3380,begin apogee
$GC,3387,-0.36,0.0,329.4,9.0,163,3511,0.90,0.00,120.35,0.978,6,0.081,0.000,2414,2112,2878
$STATE,3512,end apogee,CONTROL_FINISHED_OK
$STATE,3512,begin climb
$GC,3515,1.23,146.6,335.3,0.0,169,3644,1.60,0.00,119.28,0.946,6,0.054,0.000,2764,2112,2279
$GC,3953,1.28,187.4,315.2,6.4,191,3995,0.00,2.60,33.53,0.956,4,0.000,0.050,2764,3478,2113
$GC,4090,1.28,187.4,304.6,8.7,197,4095,0.00,2.47,0.00,0.000,6,0.000,0.037,2764,2094,2113
$GC,4412,1.31,214.2,280.4,7.0,213,4437,0.00,0.00,22.55,0.966,6,0.000,0.000,2764,2094,2004
$GC,4741,1.31,214.2,250.4,9.7,229,4746,0.00,2.55,0.00,0.000,4,0.000,0.049,2764,3487,2003
$GC,4844,1.31,214.2,240.3,9.8,233,4849,0.00,2.47,0.00,0.000,6,0.000,0.038,2764,2101,2003
$GC,5159,1.32,224.2,214.1,7.6,249,5170,0.00,0.00,8.88,0.950,6,0.000,0.000,2764,2101,1964
$GC,5469,1.34,234.4,190.3,7.6,264,5480,0.00,0.00,9.23,0.941,6,0.000,0.000,2764,2101,1922
$GC,5778,1.41,290.5,169.9,5.9,279,5826,0.17,0.00,45.45,0.887,6,0.044,0.000,2814,2101,1693
$GC,6127,1.41,290.5,135.9,11.0,296,6132,0.00,2.55,0.00,0.000,4,0.000,0.048,2813,3495,1692
$GC,6191,1.41,290.5,128.7,11.4,299,6195,0.00,2.50,0.00,0.000,6,0.000,0.037,2814,2095,1692
$GC,6518,1.41,290.5,91.9,11.8,315,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2095,1692
$GC,6827,1.41,290.5,52.7,12.9,330,6831,0.00,2.53,0.00,0.000,4,0.000,0.046,2814,3488,1693
$GC,6912,1.41,290.5,42.1,12.2,334,6916,0.00,2.47,0.00,0.000,6,0.000,0.037,2814,2098,1693
$STATE,7237,end climb,SURFACE_DEPTH_REACHED
$STATE,7237,begin surface coast
$FINISH,1.6,1.027395
$STATE,7262,end surface coast,CONTROL_FINISHED_OK
$STATE,7262,begin surface
$SM_CCo,7286,9.40,0.833,1,0,1655,300.00
$SM_GC,2.22,0.00,0.00,9.40,0.000,0.000,0.833,36,1888,1655,-11.32,-0.34,300.00
$IRIDIUM_FIX,6059.36,-842.72,060597,131301
$TT8_MAMPS,0.026845
$HUMID,2084
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.3,83.694
$10V_AH,10.1,40.259
$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,26.350,45.925,359.250,9.400,0.000,77.449,150.116,114.412,2.750,0.000,0.000,16.267,673.980,5411.150,474.775,774.331,538.434,33.362,869.478,0.000,763.479,0.000,15.522
$DEVICE_MAMPS,138.060,80.535,977.925,832.962,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,263.562,234.869,294.826,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15990,351
$CFSIZE,260165632,232890368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,100208,150636,6121.885,-837.911,38,1.8,38,-9.0