version: 66.02
glider: 102
mission: 4
dive: 437
start: 2 10 108 23 15 27
data:
$ID,102
$MISSION,4
$DIVE,437
$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,-87144.32
$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,22
$R_STBD_OVSHOOT,37
$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
$GPS1,230401,6121.069,-828.056,34,1.2,40,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-57.1
$GPS2,231345,6121.090,-827.861,9,1.7,9,-8.9
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FP_US
$TGT_LATLONG,6130.000,-810.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,0.120,0.205
$KALMAN_X,640263.8,-2750.3,223.1,-635782.5,4481.5
$KALMAN_Y,111107.8,-3.1,1370.8,-134804.8,-2692.8
$MHEAD_RNG_PITCHd_Wd,39.3,22834,-14.7,-8.000
$D_GRID,365
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.23,-146.6,0.0,0.0,0,89,0.00,0.00,-60.95,0.000,2,0.000,0.000,35,1892,2913
$GC,93,-1.23,-146.6,3.8,-3.8,3,128,11.65,2.65,-16.05,0.000,4,0.140,0.075,2224,493,3477
$GC,383,-1.23,-146.6,36.7,-10.6,16,387,0.00,2.45,0.00,0.000,6,0.000,0.036,2224,1903,3478
$GC,709,-1.23,-146.6,73.4,-10.4,32,714,0.00,2.65,0.00,0.000,4,0.000,0.065,2224,491,3478
$GC,810,-1.23,-146.6,83.9,-10.1,36,816,0.00,2.45,0.00,0.000,6,0.000,0.037,2224,1901,3478
$GC,1126,-1.23,-146.6,115.1,-9.8,52,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3478
$GC,1435,-1.23,-146.6,146.9,-10.0,67,1439,0.00,2.50,0.00,0.000,4,0.000,0.046,2224,3292,3478
$GC,1469,-1.23,-146.6,150.5,-10.4,68,1475,0.00,2.47,0.00,0.000,6,0.000,0.041,2224,1897,3478
$GC,1785,-1.23,-146.6,182.7,-10.2,84,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3478
$GC,2093,-1.23,-146.6,215.7,-11.1,99,2098,0.00,2.53,0.00,0.000,4,0.000,0.045,2224,3299,3478
$GC,2151,-1.23,-146.6,222.1,-10.8,101,2157,0.00,2.50,0.00,0.000,6,0.000,0.039,2224,1895,3478
$GC,2467,-1.23,-146.6,259.1,-11.5,117,2471,0.00,2.53,0.00,0.000,4,0.000,0.045,2224,3300,3478
$GC,2500,-1.23,-146.6,263.2,-11.7,118,2506,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1894,3478
$GC,2815,-1.23,-146.6,297.9,-10.8,134,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3478
$GC,3125,-1.23,-146.6,331.0,-10.3,149,3129,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3297,3478
$GC,3174,-1.23,-146.6,336.2,-9.8,151,3179,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1894,3478
$STATE,3467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3467,begin apogee
$GC,3474,-0.36,0.0,365.9,10.2,165,3598,0.90,0.00,121.12,1.002,6,0.082,0.000,2414,2099,2878
$STATE,3599,end apogee,CONTROL_FINISHED_OK
$STATE,3599,begin climb
$GC,3602,1.23,146.6,371.5,0.0,171,3731,1.58,2.60,119.53,0.976,4,0.054,0.051,2764,3491,2280
$GC,3759,1.34,237.1,368.7,4.6,179,3840,0.10,2.53,73.43,0.964,6,0.058,0.038,2794,2092,1911
$GC,4167,1.34,237.1,333.3,9.1,199,4172,0.00,2.55,0.00,0.000,4,0.000,0.049,2794,3491,1910
$GC,4257,1.34,237.1,324.6,9.3,203,4261,0.00,2.50,0.00,0.000,6,0.000,0.039,2794,2098,1910
$GC,4578,1.34,237.1,293.9,9.2,219,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2098,1910
$GC,4887,1.34,237.1,265.9,8.9,234,4891,0.00,2.55,0.00,0.000,4,0.000,0.049,2794,3494,1910
$GC,4981,1.34,237.1,256.8,9.2,238,4986,0.00,2.47,0.00,0.000,6,0.000,0.038,2793,2099,1909
$GC,5297,1.34,237.1,228.4,9.1,253,5302,0.00,2.53,0.00,0.000,4,0.000,0.049,2794,3488,1910
$GC,5347,1.34,237.1,223.3,9.9,255,5352,0.00,2.47,0.00,0.000,6,0.000,0.038,2794,2096,1910
$GC,5663,1.34,237.1,190.5,10.9,270,5667,0.00,2.55,0.00,0.000,4,0.000,0.049,2794,3494,1910
$GC,5729,1.34,237.1,183.0,10.9,273,5734,0.00,2.47,0.00,0.000,6,0.000,0.038,2793,2098,1910
$GC,6051,1.34,237.1,148.2,11.0,289,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2098,1910
$GC,6362,1.34,237.1,121.2,8.8,304,6366,0.00,2.53,0.00,0.000,4,0.000,0.048,2794,3489,1910
$GC,6470,1.34,237.1,111.7,8.8,309,6474,0.00,2.47,0.00,0.000,6,0.000,0.037,2794,2095,1910
$GC,6796,1.34,237.1,80.7,9.6,325,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2096,1910
$GC,7107,1.34,237.1,47.2,10.8,340,7111,0.00,2.53,0.00,0.000,4,0.000,0.048,2794,3490,1910
$GC,7174,1.34,237.1,39.9,10.1,343,7179,0.00,2.45,0.00,0.000,6,0.000,0.037,2794,2102,1910
$GC,7497,1.34,237.1,7.3,10.9,359,7502,0.00,2.53,0.00,0.000,4,0.000,0.047,2794,3497,1909
$GC,7538,1.34,237.1,2.5,11.7,361,7542,0.00,2.15,0.00,0.000,3,0.000,0.036,2793,2270,1910
$STATE,7542,end climb,SURFACE_DEPTH_REACHED
$STATE,7542,begin surface coast
$FINISH,1.3,1.027400
$STATE,7546,end surface coast,CONTROL_FINISHED_OK
$STATE,7546,begin surface
$SM_CCo,7570,57.83,0.779,7,0,1655,300.00
$SM_GC,1.81,0.00,0.00,57.83,0.000,0.000,0.779,30,1873,1655,-11.34,-0.76,300.00
$IRIDIUM_FIX,6054.92,-814.78,060597,232332
$TT8_MAMPS,0.026845
$HUMID,2053
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,18.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.3,999.0
$24V_AH,23.2,84.246
$10V_AH,10.1,40.474
$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,26.250,71.100,314.075,57.825,0.000,78.165,74.776,263.524,3.000,0.000,0.000,10.882,717.688,5556.247,501.895,897.918,636.022,33.365,972.752,0.000,887.613,0.000,17.138
$DEVICE_MAMPS,139.594,75.166,1001.702,779.272,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,268.514,241.459,317.082,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15979,361
$CFSIZE,260165632,232722432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,7,0
$GPS,110208,012425,6121.073,-823.028,35,1.2,35,-8.8