version: 66.02
glider: 102
mission: 4
dive: 452
start: 2 13 108 3 28 40
data:
$ID,102
$MISSION,4
$DIVE,452
$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,-87462.875
$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,32
$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
$GPS1,031737,6124.934,-829.314,27,1.5,27,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-62.2
$GPS2,032656,6124.878,-829.349,9,1.5,14,-8.9
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FB_DS
$TGT_LATLONG,6127.000,-840.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,-0.114,0.208
$KALMAN_X,649828.0,616.3,609.5,-650419.2,-73.8
$KALMAN_Y,117827.9,-784.6,431.2,-132772.9,-1715.4
$MHEAD_RNG_PITCHd_Wd,340.1,10214,-14.7,-8.000
$D_GRID,435
$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,21,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,-60.30,0.000,2,0.000,0.000,35,1883,2925
$GC,90,-1.23,-146.6,4.0,-4.7,3,125,11.65,2.60,-16.52,0.000,4,0.140,0.059,2225,3292,3478
$GC,260,-1.23,-146.6,22.2,-11.1,10,266,0.00,2.47,0.00,0.000,6,0.000,0.040,2225,1910,3478
$GC,577,-1.23,-146.6,54.1,-9.4,26,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1909,3478
$GC,886,-1.23,-146.6,83.4,-9.4,41,890,0.00,2.53,0.00,0.000,4,0.000,0.045,2225,3307,3478
$GC,936,-1.23,-146.6,87.9,-8.3,43,940,0.00,2.50,0.00,0.000,6,0.000,0.041,2225,1902,3477
$GC,1252,-1.23,-146.6,116.8,-9.1,58,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3478
$GC,1561,-1.23,-146.6,147.1,-10.3,73,1566,0.00,2.53,0.00,0.000,4,0.000,0.044,2225,3305,3478
$GC,1606,-1.23,-146.6,152.2,-11.5,75,1610,0.00,2.50,0.00,0.000,6,0.000,0.039,2225,1898,3478
$GC,1927,-1.23,-146.6,186.3,-10.3,91,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1898,3478
$GC,2237,-1.23,-146.6,219.2,-10.2,106,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1898,3478
$GC,2545,-1.23,-146.6,253.3,-11.1,121,2549,0.00,2.53,0.00,0.000,4,0.000,0.045,2225,3301,3478
$GC,2608,-1.23,-146.6,260.3,-10.9,124,2612,0.00,2.50,0.00,0.000,6,0.000,0.040,2225,1899,3478
$GC,2934,-1.23,-146.6,293.8,-9.7,140,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3478
$GC,3243,-1.23,-146.6,322.2,-8.4,155,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3477
$GC,3553,-1.23,-146.6,349.0,-9.1,170,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3477
$GC,3862,-1.23,-146.6,381.4,-10.7,185,3866,0.00,2.55,0.00,0.000,4,0.000,0.047,2225,3305,3478
$GC,3934,-1.23,-146.6,389.0,-10.0,188,3938,0.00,2.53,0.00,0.000,6,0.000,0.041,2225,1895,3478
$GC,4250,-1.23,-146.6,418.4,-9.6,203,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3477
$STATE,4432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4432,begin apogee
$GC,4439,-0.36,0.0,437.0,10.1,212,4566,0.90,0.00,122.78,1.038,6,0.079,0.000,2416,2109,2878
$STATE,4566,end apogee,CONTROL_FINISHED_OK
$STATE,4566,begin climb
$GC,4569,1.23,146.6,441.2,0.0,218,4696,1.55,0.00,121.50,1.006,6,0.054,0.000,2760,2110,2280
$GC,5006,1.27,177.6,417.3,6.8,240,5035,0.00,0.00,26.27,1.011,6,0.000,0.000,2760,2109,2154
$GC,5335,1.30,201.3,393.2,7.1,256,5358,0.00,0.00,20.55,1.006,6,0.000,0.000,2759,2109,2057
$GC,5664,1.30,201.3,367.0,8.3,272,5668,0.00,2.53,0.00,0.000,4,0.000,0.051,2760,3492,2056
$GC,5767,1.30,201.3,358.2,8.2,276,5771,0.00,2.50,0.00,0.000,6,0.000,0.038,2759,2095,2056
$GC,6083,1.30,201.3,331.6,8.4,291,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2094,2057
$GC,6392,1.30,201.3,306.1,8.6,306,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2095,2056
$GC,6701,1.30,207.3,282.3,7.8,321,6713,0.00,2.58,6.10,0.976,4,0.000,0.049,2760,3491,2031
$GC,6814,1.30,207.3,272.6,8.3,326,6818,0.00,2.47,0.00,0.000,6,0.000,0.038,2759,2095,2031
$GC,7135,1.30,207.3,246.0,8.5,342,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2095,2031
$GC,7443,1.30,207.3,219.0,8.7,357,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2095,2031
$GC,7753,1.30,207.3,191.9,8.9,372,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2095,2031
$GC,8063,1.30,207.3,164.8,8.5,387,8067,0.00,2.55,0.00,0.000,4,0.000,0.048,2760,3495,2031
$GC,8135,1.30,207.3,158.2,8.5,390,8139,0.00,2.47,0.00,0.000,6,0.000,0.037,2760,2099,2031
$GC,8451,1.32,220.4,133.0,7.5,405,8465,0.10,0.00,11.43,0.910,6,0.055,0.000,2793,2099,1979
$GC,8763,1.32,220.4,104.0,9.7,420,8767,0.00,2.55,0.00,0.000,4,0.000,0.048,2794,3498,1979
$GC,8830,1.32,220.4,96.9,10.2,423,8834,0.00,2.47,0.00,0.000,6,0.000,0.037,2793,2101,1978
$GC,9151,1.32,220.4,65.6,9.2,439,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2101,1978
$GC,9463,1.32,220.4,35.9,10.4,454,9467,0.00,2.53,0.00,0.000,4,0.000,0.048,2794,3493,1978
$GC,9557,1.32,220.4,26.2,10.5,458,9561,0.00,2.47,0.00,0.000,6,0.000,0.036,2793,2093,1979
$STATE,9829,end climb,SURFACE_DEPTH_REACHED
$STATE,9829,begin surface coast
$FINISH,1.2,1.010549
$STATE,9851,end surface coast,CONTROL_FINISHED_OK
$STATE,9851,begin surface
$SM_CCo,9875,73.05,0.772,9,0,1655,300.00
$SM_GC,1.85,0.00,0.00,73.05,0.000,0.000,0.772,30,1877,1655,-11.34,-0.65,300.00
$IRIDIUM_FIX,6059.36,-851.59,090597,030324
$TT8_MAMPS,0.026845
$HUMID,2041
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,999.0
$24V_AH,23.1,86.518
$10V_AH,10.1,41.444
$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,26.150,51.050,308.625,73.050,0.000,73.007,103.585,199.908,3.750,0.000,0.000,16.387,879.889,7589.841,534.616,992.392,616.361,33.365,1017.524,0.000,977.568,0.000,21.987
$DEVICE_MAMPS,139.594,59.059,1037.751,771.602,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.439,317.101,370.214,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22182,472
$CFSIZE,260165632,232067072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,9,0
$GPS,130208,061632,6124.740,-828.731,39,1.2,39,-8.9