version: 66.02
glider: 102
mission: 4
dive: 446
start: 2 12 108 3 39 52
data:
$ID,102
$MISSION,4
$DIVE,446
$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,-87318.945
$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,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
$GPS1,032458,6133.448,-816.329,71,1.0,71,-8.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-58.3
$GPS2,033808,6133.460,-816.207,9,1.1,14,-8.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FB_DS
$TGT_LATLONG,6127.000,-840.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,-0.228,-0.066
$KALMAN_X,646778.9,-752.2,480.2,-634279.1,1050.4
$KALMAN_Y,120842.0,-259.2,679.4,-120675.1,-87.3
$MHEAD_RNG_PITCHd_Wd,262.6,24221,-14.7,-8.000
$D_GRID,432
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,86,0.00,0.00,-60.38,0.000,2,0.000,0.000,35,1887,2864
$GC,90,-1.23,-146.6,3.2,-3.4,3,124,11.73,0.00,-19.60,0.000,6,0.143,0.000,2221,1888,3477
$GC,422,-1.23,-146.6,39.0,-10.9,19,426,0.00,2.55,0.00,0.000,4,0.000,0.047,2221,3297,3477
$GC,486,-1.23,-146.6,45.6,-10.2,22,490,0.00,2.50,0.00,0.000,6,0.000,0.040,2221,1904,3477
$GC,813,-1.23,-146.6,78.4,-9.9,38,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1904,3477
$GC,1123,-1.23,-146.6,113.6,-10.4,53,1128,0.00,2.53,0.00,0.000,4,0.000,0.045,2221,3301,3477
$GC,1196,-1.23,-146.6,121.8,-10.7,56,1200,0.00,2.50,0.00,0.000,6,0.000,0.039,2221,1899,3477
$GC,1513,-1.23,-146.6,151.3,-9.4,71,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3477
$GC,1821,-1.23,-146.6,179.7,-8.9,86,1825,0.00,2.50,0.00,0.000,4,0.000,0.045,2221,3295,3477
$GC,1884,-1.23,-146.6,185.3,-9.0,89,1888,0.00,2.50,0.00,0.000,6,0.000,0.039,2221,1896,3477
$GC,2211,-1.23,-146.6,218.8,-11.6,105,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3477
$GC,2521,-1.23,-146.6,250.5,-10.6,120,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3477
$GC,2829,-1.23,-146.6,281.7,-10.1,135,2833,0.00,2.53,0.00,0.000,4,0.000,0.046,2221,3298,3477
$GC,2936,-1.23,-146.6,292.7,-10.3,140,2940,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1896,3477
$GC,3263,-1.23,-146.6,324.4,-9.9,156,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3477
$GC,3573,-1.23,-146.6,354.5,-9.6,171,3577,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3298,3477
$GC,3658,-1.23,-146.6,363.2,-10.1,175,3662,0.00,2.50,0.00,0.000,6,0.000,0.042,2221,1902,3477
$GC,3984,-1.23,-146.6,398.7,-11.0,191,3989,0.00,2.50,0.00,0.000,4,0.000,0.046,2221,3299,3477
$GC,4102,-1.23,-146.6,411.6,-11.0,196,4107,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1896,3477
$STATE,4312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4313,begin apogee
$GC,4320,-0.36,0.0,433.8,10.3,206,4446,0.93,0.00,122.40,1.048,6,0.083,0.000,2416,2096,2878
$STATE,4446,end apogee,CONTROL_FINISHED_OK
$STATE,4446,begin climb
$GC,4450,1.23,146.6,438.6,0.0,212,4576,1.58,0.00,120.75,1.025,6,0.054,0.000,2763,2096,2280
$GC,4886,1.26,169.9,416.0,7.1,234,4911,0.00,2.62,20.05,1.021,4,0.000,0.051,2763,3499,2185
$GC,5058,1.27,181.3,402.6,7.6,242,5073,0.00,2.50,10.15,1.013,6,0.000,0.040,2763,2096,2139
$GC,5384,1.28,190.0,377.8,7.7,257,5398,0.00,2.62,8.57,1.016,4,0.000,0.051,2764,3493,2103
$GC,5490,1.28,190.0,368.2,9.0,261,5496,0.00,2.50,0.00,0.000,6,0.000,0.040,2763,2098,2102
$GC,5805,1.28,190.0,339.9,9.7,277,5810,0.00,2.55,0.00,0.000,4,0.000,0.051,2763,3497,2102
$GC,5872,1.28,190.0,333.5,8.9,280,5877,0.00,2.50,0.00,0.000,6,0.000,0.038,2763,2095,2102
$GC,6194,1.28,190.0,304.2,8.9,296,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2095,2102
$GC,6503,1.28,190.0,275.8,9.4,311,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2095,2102
$GC,6813,1.28,190.0,247.1,9.6,326,6817,0.00,2.55,0.00,0.000,4,0.000,0.050,2763,3496,2101
$GC,6976,1.28,190.0,230.5,9.5,333,6980,0.00,2.47,0.00,0.000,6,0.000,0.038,2763,2099,2101
$GC,7291,1.28,190.0,201.6,9.1,348,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2099,2101
$GC,7601,1.28,190.0,173.6,9.0,363,7605,0.00,2.55,0.00,0.000,4,0.000,0.049,2763,3499,2102
$GC,7713,1.28,190.0,163.4,9.0,368,7717,0.00,2.47,0.00,0.000,6,0.000,0.037,2763,2097,2101
$GC,8034,1.28,190.0,136.7,8.6,384,8038,0.00,2.55,0.00,0.000,4,0.000,0.049,2763,3499,2101
$GC,8106,1.28,190.0,130.1,9.2,387,8111,0.00,2.47,0.00,0.000,6,0.000,0.038,2763,2101,2101
$GC,8423,1.29,192.9,105.0,7.9,402,8432,0.00,2.58,3.50,0.886,4,0.000,0.048,2763,3497,2091
$GC,8494,1.29,192.9,98.5,9.1,405,8498,0.00,2.47,0.00,0.000,6,0.000,0.036,2763,2097,2090
$GC,8816,1.30,202.7,72.5,7.6,421,8826,0.00,0.00,8.77,0.885,6,0.000,0.000,2763,2097,2051
$GC,9126,1.30,202.7,47.1,8.9,436,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2097,2050
$GC,9434,1.30,202.7,22.0,8.0,451,9438,0.00,2.55,0.00,0.000,4,0.000,0.048,2763,3497,2050
$GC,9519,1.30,202.7,15.0,8.4,455,9523,0.00,2.45,0.00,0.000,6,0.000,0.036,2764,2099,2051
$STATE,9698,end climb,SURFACE_DEPTH_REACHED
$STATE,9698,begin surface coast
$FINISH,1.3,1.001711
$STATE,9720,end surface coast,CONTROL_FINISHED_OK
$STATE,9720,begin surface
$SM_CCo,9744,90.50,0.765,12,0,1655,300.00
$SM_GC,1.77,0.00,0.00,90.50,0.000,0.000,0.765,31,1876,1655,-11.33,-0.68,300.00
$IRIDIUM_FIX,6108.28,-809.08,080597,030336
$TT8_MAMPS,0.026845
$HUMID,2024
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.1,85.490
$10V_AH,10.1,41.012
$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,26.075,71.225,294.200,90.500,0.000,119.387,129.535,293.293,4.000,0.000,0.000,16.014,904.748,7388.376,558.377,1105.881,789.398,33.360,1100.132,0.000,1082.721,0.000,21.987
$DEVICE_MAMPS,143.429,50.622,1048.489,764.699,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,344.400,312.759,377.167,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22194,465
$CFSIZE,260165632,232329216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,12,0
$GPS,120208,062607,6132.412,-819.462,40,1.2,40,-8.9