version: 66.02
glider: 102
mission: 4
dive: 440
start: 2 11 108 8 4 34
data:
$ID,102
$MISSION,4
$DIVE,440
$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,-87205.273
$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,30
$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
$GPS1,074802,6120.668,-815.704,38,1.5,38,-8.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-58.5
$GPS2,080253,6120.766,-815.586,10,2.1,29,-8.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FP_US
$TGT_LATLONG,6130.000,-810.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,-0.025,0.236
$KALMAN_X,646962.4,741.1,-1579.9,-633343.3,6759.0
$KALMAN_Y,105711.2,-233.3,-839.1,-127554.6,-193.7
$MHEAD_RNG_PITCHd_Wd,2.7,17800,-14.7,-8.000
$D_GRID,579
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.23,-146.6,0.0,0.0,0,88,0.00,0.00,-61.10,0.000,2,0.000,0.000,28,1886,2879
$GC,92,-1.23,-146.6,3.5,-3.5,3,129,11.60,2.60,-19.30,0.000,4,0.137,0.075,2224,504,3476
$GC,381,-1.23,-146.6,33.9,-8.6,15,386,0.00,2.45,0.00,0.000,6,0.000,0.037,2224,1907,3476
$GC,703,-1.23,-146.6,68.5,-11.8,31,708,0.00,2.65,0.00,0.000,4,0.000,0.067,2224,496,3476
$GC,748,-1.23,-146.6,73.4,-9.2,33,752,0.00,2.45,0.00,0.000,6,0.000,0.037,2224,1900,3476
$GC,1069,-1.23,-146.6,108.9,-9.8,49,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1903,3476
$GC,1380,-1.23,-146.6,149.9,-14.6,64,1385,0.00,2.50,0.00,0.000,4,0.000,0.046,2224,3295,3476
$GC,1430,-1.23,-146.6,155.5,-9.0,66,1434,0.00,2.47,0.00,0.000,6,0.000,0.041,2224,1907,3476
$GC,1750,-1.23,-146.6,190.3,-10.4,82,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1907,3476
$GC,2060,-1.23,-146.6,220.8,-11.2,97,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1907,3476
$GC,2369,-1.23,-146.6,249.1,-8.9,112,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1907,3476
$GC,2678,-1.23,-146.6,277.8,-8.7,127,2682,0.00,2.50,0.00,0.000,4,0.000,0.046,2224,3296,3476
$GC,2763,-1.23,-146.6,285.1,-9.5,131,2768,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1897,3476
$GC,3090,-1.23,-146.6,312.5,-8.3,147,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3476
$GC,3400,-1.23,-146.6,340.7,-9.1,162,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3476
$GC,3709,-1.23,-146.6,367.9,-8.8,177,3713,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3297,3476
$GC,3778,-1.23,-146.6,373.9,-8.9,180,3782,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1895,3476
$GC,4100,-1.23,-146.6,400.0,-7.6,196,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3476
$GC,4409,-1.23,-146.6,424.4,-8.9,211,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3475
$GC,4718,-1.23,-146.6,456.1,-10.9,226,4722,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3294,3476
$GC,4795,-1.23,-146.6,464.8,-11.8,229,4801,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1894,3476
$GC,5111,-1.23,-146.6,496.7,-9.5,245,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3475
$GC,5420,-1.23,-146.6,531.1,-11.5,260,5424,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3298,3475
$GC,5465,-1.23,-146.6,535.3,-9.1,262,5469,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1899,3475
$GC,5786,-1.23,-146.6,563.5,-11.2,278,5790,0.00,2.53,0.00,0.000,4,0.000,0.050,2224,3293,3475
$GC,5819,-1.23,-146.6,567.1,-10.0,279,5825,0.00,2.47,0.00,0.000,6,0.000,0.041,2224,1898,3475
$STATE,5947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5947,begin apogee
$GC,5954,-0.36,0.0,579.5,10.0,286,6082,0.90,0.00,124.38,1.141,6,0.077,0.000,2416,2110,2878
$STATE,6083,end apogee,CONTROL_FINISHED_OK
$STATE,6083,begin climb
$GC,6086,1.23,146.6,585.8,0.0,292,6217,1.55,2.70,122.78,1.112,4,0.051,0.063,2762,697,2280
$GC,6472,1.24,157.6,570.7,7.6,310,6487,0.00,2.50,10.50,1.109,6,0.000,0.040,2762,2096,2235
$GC,6798,1.28,191.1,544.5,6.7,325,6832,0.00,2.72,28.52,1.111,4,0.000,0.066,2762,697,2099
$GC,6885,1.28,191.1,537.9,8.0,329,6890,0.00,2.50,0.00,0.000,6,0.000,0.040,2762,2106,2098
$GC,7212,1.28,191.1,508.7,9.5,345,7216,0.00,2.55,0.00,0.000,4,0.000,0.053,2762,3501,2098
$GC,7313,1.28,191.1,498.8,10.2,349,7319,0.00,2.53,0.00,0.000,6,0.000,0.041,2762,2096,2098
$GC,7629,1.28,191.1,468.7,10.0,365,7633,0.00,2.58,0.00,0.000,4,0.000,0.051,2762,3504,2098
$GC,7724,1.28,191.1,458.7,10.3,369,7728,0.00,2.50,0.00,0.000,6,0.000,0.040,2762,2100,2097
$GC,8039,1.28,191.1,427.5,9.0,384,8041,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2099,2098
$GC,8348,1.28,191.1,402.8,8.2,399,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2100,2097
$GC,8658,1.28,191.1,368.7,9.8,414,8662,0.00,2.55,0.00,0.000,4,0.000,0.050,2762,3503,2097
$GC,8821,1.28,191.1,354.4,9.2,421,8826,0.00,2.50,0.00,0.000,6,0.000,0.038,2762,2098,2097
$GC,9137,1.28,191.1,327.6,8.2,436,9142,0.00,2.55,0.00,0.000,4,0.000,0.049,2762,3500,2097
$GC,9206,1.28,191.1,322.0,8.1,439,9210,0.00,2.50,0.00,0.000,6,0.000,0.038,2762,2094,2097
$GC,9527,1.33,232.0,300.0,6.4,455,9566,0.10,0.00,33.78,0.994,6,0.056,0.000,2795,2094,1931
$GC,9876,1.34,240.5,270.2,7.7,472,9890,0.00,2.62,7.90,0.985,4,0.000,0.048,2795,3498,1897
$GC,10047,1.35,246.1,256.5,7.8,479,10058,0.00,2.50,5.47,0.966,6,0.000,0.038,2795,2099,1874
$GC,10380,1.35,246.1,231.6,8.2,496,10381,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2098,1874
$GC,10689,1.35,246.1,204.9,9.3,511,10693,0.00,2.55,0.00,0.000,4,0.000,0.048,2795,3498,1873
$GC,10823,1.35,246.1,190.0,12.5,517,10828,0.00,2.50,0.00,0.000,6,0.000,0.038,2795,2088,1873
$GC,11144,1.35,246.1,155.9,10.9,533,11146,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2088,1874
$GC,11455,1.36,253.2,127.3,7.7,548,11464,0.00,0.00,7.07,0.915,6,0.000,0.000,2795,2088,1844
$GC,11765,1.36,253.2,97.8,8.8,563,11769,0.00,2.55,0.00,0.000,4,0.000,0.046,2795,3498,1844
$GC,11894,1.36,253.2,82.1,10.0,569,11899,0.00,2.47,0.00,0.000,6,0.000,0.036,2795,2094,1844
$GC,12222,1.42,299.4,54.7,6.2,585,12265,0.00,2.62,37.22,0.823,4,0.000,0.046,2795,3502,1656
$GC,12321,1.42,299.4,44.7,11.1,589,12325,0.00,2.50,0.00,0.000,6,0.000,0.037,2795,2104,1655
$GC,12637,1.42,299.4,15.9,12.0,604,12638,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2104,1655
$STATE,12778,end climb,SURFACE_DEPTH_REACHED
$STATE,12778,begin surface coast
$FINISH,1.2,1.027421
$STATE,12800,end surface coast,CONTROL_FINISHED_OK
$STATE,12800,begin surface
$SM_CCo,12884,0.00,0.000,0,0,1653,300.49
$SM_GC,2.03,11.98,0.00,0.00,0.032,0.000,0.000,37,1886,1653,-11.26,-0.40,300.49
$IRIDIUM_FIX,6054.92,-800.84,070597,080847
$TT8_MAMPS,0.026845
$HUMID,2062
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,18.7,999.0
$24V_AH,23.1,84.686
$10V_AH,10.1,40.665
$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,26.125,91.925,377.625,0.000,0.000,112.319,132.251,383.008,5.500,0.000,0.000,32.060,1162.084,9787.321,472.455,1497.994,907.620,33.366,1211.567,0.000,1447.155,0.000,31.701
$DEVICE_MAMPS,137.293,75.166,1141.296,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.254,412.251,404.693,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31670,612
$CFSIZE,260165632,232558592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,110208,114031,6123.789,-813.434,37,1.2,37,-8.8