version: 66.02
glider: 102
mission: 4
dive: 451
start: 2 13 108 0 18 32
data:
$ID,102
$MISSION,4
$DIVE,451
$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,-87445.859
$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,29
$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
$GPS1,235902,6125.110,-827.583,39,1.6,39,-8.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-56.1
$GPS2,001650,6125.059,-827.640,13,1.4,13,-8.9
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FB_DS
$TGT_LATLONG,6127.000,-840.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,-0.223,0.083
$KALMAN_X,649772.9,2.6,208.3,-647874.8,2669.1
$KALMAN_Y,118764.9,80.4,-34.9,-133744.7,-991.2
$MHEAD_RNG_PITCHd_Wd,299.3,11516,-14.7,-8.000
$D_GRID,464
$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,20,begin dive
$GC,26,-1.23,-146.6,0.0,0.0,0,127,0.00,0.00,-98.32,0.000,2,0.000,0.000,31,1888,2662
$GC,130,-1.23,-146.6,3.1,-1.4,5,181,11.62,2.55,-30.73,0.000,4,0.138,0.059,2224,3296,3476
$GC,434,-1.23,-146.6,32.3,-10.1,18,440,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1905,3476
$GC,751,-1.23,-146.6,67.1,-11.9,34,755,0.00,2.53,0.00,0.000,4,0.000,0.045,2224,3300,3476
$GC,801,-1.23,-146.6,73.0,-11.1,36,806,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1897,3476
$GC,1119,-1.23,-146.6,106.4,-10.3,51,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3476
$GC,1427,-1.23,-146.6,139.3,-10.4,66,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3476
$GC,1736,-1.23,-146.6,171.5,-9.6,81,1740,0.00,2.53,0.00,0.000,4,0.000,0.045,2224,3299,3476
$GC,1837,-1.23,-146.6,181.1,-8.9,85,1843,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1896,3476
$GC,2153,-1.23,-146.6,212.8,-10.0,101,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3476
$GC,2462,-1.23,-146.6,243.1,-9.8,116,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3476
$GC,2772,-1.23,-146.6,271.6,-8.6,131,2776,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3298,3476
$GC,2844,-1.23,-146.6,278.3,-9.3,134,2848,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1896,3476
$GC,3159,-1.23,-146.6,308.3,-10.0,149,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3476
$GC,3469,-1.23,-146.6,336.0,-8.4,164,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3476
$GC,3778,-1.23,-146.6,363.3,-8.8,179,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3476
$GC,4087,-1.23,-146.6,390.3,-9.3,194,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3476
$GC,4397,-1.23,-146.6,419.9,-10.0,209,4401,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3299,3476
$GC,4491,-1.23,-146.6,429.0,-9.5,213,4496,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1900,3476
$GC,4807,-1.23,-146.6,459.5,-10.0,228,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3476
$STATE,4866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4866,begin apogee
$GC,4874,-0.36,0.0,465.5,9.8,231,5000,0.90,0.00,122.57,1.060,6,0.079,0.000,2415,2098,2878
$STATE,5001,end apogee,CONTROL_FINISHED_OK
$STATE,5001,begin climb
$GC,5004,1.23,146.6,470.3,0.0,237,5131,1.58,0.00,122.15,1.027,6,0.054,0.000,2763,2098,2280
$GC,5441,1.28,186.2,447.6,6.5,259,5483,0.00,2.62,33.47,1.025,4,0.000,0.051,2763,3488,2118
$GC,5562,1.29,198.3,438.6,7.5,264,5580,0.00,2.50,11.00,1.017,6,0.000,0.040,2763,2100,2069
$GC,5903,1.31,214.1,413.4,7.4,281,5921,0.00,0.00,13.95,1.023,6,0.000,0.000,2763,2100,2005
$GC,6231,1.31,214.1,386.5,8.9,297,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2100,2004
$GC,6541,1.31,214.1,358.5,8.8,312,6545,0.00,2.53,0.00,0.000,4,0.000,0.048,2763,3497,2004
$GC,6626,1.31,214.1,350.7,9.5,316,6630,0.00,2.50,0.00,0.000,6,0.000,0.038,2763,2098,2004
$GC,6952,1.31,214.1,320.8,9.3,332,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2098,2004
$GC,7261,1.31,214.1,293.2,8.5,347,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2098,2004
$GC,7571,1.31,214.1,266.0,9.0,362,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2098,2003
$GC,7880,1.31,214.1,236.7,9.5,377,7884,0.00,2.55,0.00,0.000,4,0.000,0.048,2763,3498,2003
$GC,7965,1.31,214.1,228.5,9.3,381,7969,0.00,2.47,0.00,0.000,6,0.000,0.038,2763,2096,2003
$GC,8292,1.31,214.1,197.4,8.7,397,8293,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2097,2003
$GC,8600,1.31,214.1,168.3,9.2,412,8605,0.00,2.55,0.00,0.000,4,0.000,0.048,2763,3500,2003
$GC,8686,1.31,214.1,160.0,10.3,416,8690,0.00,2.47,0.00,0.000,6,0.000,0.037,2763,2093,2003
$GC,9015,1.31,214.1,129.3,9.4,432,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2093,2003
$GC,9322,1.31,214.1,100.7,8.7,447,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2093,2003
$GC,9631,1.33,225.1,76.9,7.6,462,9646,0.00,2.58,9.50,0.881,4,0.000,0.048,2763,3497,1960
$GC,9731,1.33,225.1,68.1,9.6,465,9737,0.00,2.47,0.00,0.000,6,0.000,0.036,2763,2100,1960
$GC,10047,1.33,225.1,40.0,8.6,481,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2100,1960
$GC,10356,1.33,225.1,15.6,8.6,496,10360,0.00,2.55,0.00,0.000,4,0.000,0.048,2763,3501,1960
$GC,10424,1.33,225.1,9.4,9.8,499,10428,0.00,2.47,0.00,0.000,6,0.000,0.036,2763,2101,1960
$STATE,10516,end climb,SURFACE_DEPTH_REACHED
$STATE,10516,begin surface coast
$FINISH,1.3,1.015129
$STATE,10539,end surface coast,CONTROL_FINISHED_OK
$STATE,10539,begin surface
$SM_CCo,10562,69.53,0.772,9,0,1655,300.00
$SM_GC,1.86,0.00,0.00,69.53,0.000,0.000,0.772,35,1883,1655,-11.32,-0.48,300.00
$IRIDIUM_FIX,6059.36,-829.40,090597,000053
$TT8_MAMPS,0.026845
$HUMID,2030
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,23.1,86.395
$10V_AH,10.1,41.390
$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,25.875,56.125,312.650,69.525,0.000,151.358,222.215,376.235,4.500,0.000,0.000,14.987,940.965,8145.956,578.316,1115.704,1015.890,33.363,1131.955,0.000,1101.587,0.000,23.603
$DEVICE_MAMPS,138.060,59.059,1059.994,771.602,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,375.251,339.235,383.943,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25319,505
$CFSIZE,260165632,232087552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,9,0
$GPS,130208,031737,6124.934,-829.314,27,1.5,27,-8.9