version: 66.02
glider: 102
mission: 4
dive: 444
start: 2 11 108 22 25 55
data:
$ID,102
$MISSION,4
$DIVE,444
$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,-87289.312
$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,37
$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
$GPS1,221507,6131.812,-814.190,43,1.0,43,-8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-55.0
$GPS2,222414,6131.993,-814.085,15,1.7,20,-8.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FB_DS
$TGT_LATLONG,6127.000,-840.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,-0.210,-0.112
$KALMAN_X,647723.2,-2760.1,-837.9,-630013.2,2137.8
$KALMAN_Y,114341.8,2252.2,647.4,-119399.4,1123.6
$MHEAD_RNG_PITCHd_Wd,250.7,24731,-14.7,-8.000
$D_GRID,384
$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,-60.97,0.000,2,0.000,0.000,30,1878,2915
$GC,93,-1.23,-146.6,4.1,-5.6,3,123,11.60,0.00,-15.95,0.000,6,0.138,0.000,2224,1879,3477
$GC,425,-1.23,-146.6,42.4,-9.3,19,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1881,3478
$GC,734,-1.23,-146.6,74.5,-10.8,34,738,0.00,2.55,0.00,0.000,4,0.000,0.045,2224,3295,3478
$GC,841,-1.23,-146.6,86.9,-11.0,39,845,0.00,2.47,0.00,0.000,6,0.000,0.041,2224,1915,3478
$GC,1168,-1.23,-146.6,119.6,-9.8,55,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1914,3478
$GC,1480,-1.23,-146.6,151.3,-9.7,70,1484,0.00,2.50,0.00,0.000,4,0.000,0.045,2224,3298,3478
$GC,1535,-1.23,-146.6,156.9,-9.5,72,1541,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1898,3478
$GC,1851,-1.23,-146.6,187.0,-10.9,88,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3478
$GC,2160,-1.23,-146.6,218.1,-10.8,103,2165,0.00,2.53,0.00,0.000,4,0.000,0.045,2224,3300,3478
$GC,2250,-1.23,-146.6,228.2,-10.8,107,2254,0.00,2.50,0.00,0.000,6,0.000,0.039,2224,1896,3478
$GC,2571,-1.23,-146.6,260.8,-9.5,123,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3478
$GC,2880,-1.23,-146.6,290.4,-9.3,138,2885,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3297,3478
$GC,2930,-1.23,-146.6,295.2,-9.5,140,2935,0.00,2.50,0.00,0.000,6,0.000,0.040,2223,1895,3478
$GC,3246,-1.23,-146.6,321.7,-7.6,155,3251,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3298,3478
$GC,3365,-1.23,-146.6,331.4,-7.4,160,3369,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1897,3478
$GC,3681,-1.23,-146.6,356.6,-7.6,175,3685,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3298,3478
$GC,3725,-1.23,-146.6,359.7,-6.0,177,3730,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1893,3478
$GC,4047,-1.23,-146.6,380.4,0.0,193,4051,0.00,2.62,0.00,0.000,4,0.000,0.071,2224,494,3478
$GC,4183,-1.23,-146.6,380.4,-0.2,199,4187,0.00,2.45,0.00,0.000,6,0.000,0.039,2224,1898,3478
$STATE,4336,end dive,NO_VERTICAL_VELOCITY
$STATE,4336,begin apogee
$GC,4343,-0.36,0.0,380.1,0.0,207,4468,0.88,0.00,121.53,1.018,6,0.060,0.000,2419,2115,2878
$STATE,4469,end apogee,CONTROL_FINISHED_OK
$STATE,4469,begin climb
$GC,4472,1.23,146.6,378.6,0.0,213,4600,1.55,2.75,120.00,0.983,4,0.056,0.068,2760,693,2279
$GC,4858,1.25,167.0,365.5,7.2,230,4884,0.00,2.45,17.38,0.995,6,0.000,0.038,2760,2091,2197
$GC,5194,1.40,283.0,349.1,3.6,247,5297,0.15,2.67,94.05,0.974,4,0.046,0.066,2809,695,1724
$GC,5438,1.40,283.0,325.0,13.6,258,5442,0.00,2.50,0.00,0.000,6,0.000,0.038,2809,2110,1724
$GC,5758,1.40,283.0,289.1,11.2,274,5763,0.00,2.53,0.00,0.000,4,0.000,0.050,2809,3501,1724
$GC,5859,1.40,283.0,277.0,12.3,278,5865,0.00,2.50,0.00,0.000,6,0.000,0.040,2809,2101,1724
$GC,6175,1.40,283.0,239.5,11.6,294,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2101,1724
$GC,6484,1.40,283.0,203.7,11.4,309,6488,0.00,2.53,0.00,0.000,4,0.000,0.048,2809,3496,1724
$GC,6586,1.40,283.0,191.4,12.5,313,6592,0.00,2.50,0.00,0.000,6,0.000,0.038,2809,2091,1724
$GC,6902,1.40,283.0,155.0,11.2,329,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2092,1724
$GC,7211,1.40,283.0,119.1,11.7,344,7215,0.00,2.55,0.00,0.000,4,0.000,0.047,2809,3497,1724
$GC,7260,1.40,283.0,113.9,11.2,346,7265,0.00,2.47,0.00,0.000,6,0.000,0.038,2809,2101,1724
$GC,7577,1.40,283.0,82.3,10.3,361,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2101,1724
$GC,7886,1.40,283.0,47.4,11.3,376,7890,0.00,2.53,0.00,0.000,4,0.000,0.048,2809,3497,1724
$GC,7975,1.40,283.0,36.7,12.5,380,7979,0.00,2.47,0.00,0.000,6,0.000,0.037,2809,2100,1724
$STATE,8252,end climb,SURFACE_DEPTH_REACHED
$STATE,8252,begin surface coast
$FINISH,1.2,1.027406
$STATE,8274,end surface coast,CONTROL_FINISHED_OK
$STATE,8274,begin surface
$SM_CCo,8298,16.40,0.827,2,0,1656,300.00
$SM_GC,1.90,0.00,0.00,16.40,0.000,0.000,0.827,34,1892,1656,-11.32,-0.23,300.00
$IRIDIUM_FIX,6108.28,-817.36,070597,222242
$TT8_MAMPS,0.026845
$HUMID,2058
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,15.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,17.8,999.0
$24V_AH,23.1,85.237
$10V_AH,10.1,40.902
$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,26.150,66.325,352.950,16.400,0.000,76.625,73.566,210.900,3.250,0.000,0.000,22.063,780.914,6081.191,444.583,1033.532,589.558,33.366,979.153,0.000,1005.899,0.000,18.757
$DEVICE_MAMPS,138.060,70.564,1017.809,826.826,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,291.898,264.216,318.986,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19119,395
$CFSIZE,260165632,232415232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,120208,004556,6133.005,-814.815,37,1.5,37,-8.8