version: 66.02
glider: 102
mission: 4
dive: 453
start: 2 13 108 6 23 10
data:
$ID,102
$MISSION,4
$DIVE,453
$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,-87478.82
$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,34
$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
$GPS1,061632,6124.740,-828.731,39,1.2,39,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-58.7
$GPS2,062126,6124.699,-828.745,13,1.0,13,-8.9
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FB_DS
$TGT_LATLONG,6127.000,-840.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,-0.179,0.157
$KALMAN_X,651889.7,1140.4,-201.7,-651695.2,806.0
$KALMAN_Y,116447.7,-1431.5,-147.0,-130492.3,-1217.4
$MHEAD_RNG_PITCHd_Wd,320.2,10835,-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,-60.28,0.000,2,0.000,0.000,30,1876,2924
$GC,90,-1.23,-146.6,3.5,-3.6,3,125,11.60,2.62,-16.77,0.000,4,0.137,0.058,2224,3293,3478
$GC,379,-1.23,-146.6,36.2,-9.5,16,383,0.00,2.47,0.00,0.000,6,0.000,0.040,2224,1908,3478
$GC,705,-1.23,-146.6,70.6,-10.0,32,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1908,3478
$GC,1015,-1.23,-146.6,100.4,-9.1,47,1019,0.00,2.50,0.00,0.000,4,0.000,0.046,2224,3295,3478
$GC,1078,-1.23,-146.6,106.3,-9.2,50,1083,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1896,3477
$GC,1406,-1.23,-146.6,136.5,-9.9,66,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3478
$GC,1716,-1.23,-146.6,165.5,-9.5,81,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3478
$GC,2024,-1.23,-146.6,197.9,-11.0,96,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3478
$GC,2333,-1.23,-146.6,229.3,-9.8,111,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3478
$GC,2643,-1.23,-146.6,260.2,-10.0,126,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3478
$GC,2952,-1.23,-146.6,289.5,-9.4,141,2956,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3298,3478
$GC,3020,-1.23,-146.6,295.4,-8.9,144,3024,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1895,3478
$GC,3342,-1.23,-146.6,325.8,-9.1,160,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3478
$GC,3650,-1.23,-146.6,355.1,-9.3,175,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3477
$GC,3960,-1.23,-146.6,383.4,-8.9,190,3964,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3301,3478
$GC,4045,-1.23,-146.6,390.1,-8.5,194,4049,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1893,3478
$GC,4371,-1.23,-146.6,417.9,-9.5,210,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1893,3478
$STATE,4554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4554,begin apogee
$GC,4561,-0.36,0.0,436.1,10.1,219,4687,0.90,0.00,122.47,1.042,6,0.084,0.000,2413,2103,2878
$STATE,4688,end apogee,CONTROL_FINISHED_OK
$STATE,4688,begin climb
$GC,4691,1.23,146.6,440.3,0.0,225,4818,1.58,0.00,121.68,1.009,6,0.058,0.000,2760,2103,2280
$GC,5127,1.27,176.8,422.5,6.9,247,5155,0.00,0.00,25.62,1.019,6,0.000,0.000,2760,2103,2157
$GC,5457,1.28,187.5,397.1,7.6,263,5472,0.00,2.60,10.20,1.016,4,0.000,0.050,2760,3497,2112
$GC,5604,1.28,187.5,384.8,9.0,268,5610,0.00,2.53,0.00,0.000,6,0.000,0.038,2760,2092,2112
$GC,5920,1.28,187.5,357.5,8.9,284,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2092,2112
$GC,6229,1.29,192.4,331.4,7.8,299,6239,0.00,2.60,5.12,0.983,4,0.000,0.049,2760,3497,2092
$GC,6403,1.29,192.4,317.0,9.3,307,6407,0.00,2.47,0.00,0.000,6,0.000,0.038,2760,2096,2092
$GC,6730,1.29,192.4,288.5,9.0,323,6734,0.00,2.55,0.00,0.000,4,0.000,0.050,2760,3497,2092
$GC,6814,1.29,192.4,280.6,9.2,327,6819,0.00,2.50,0.00,0.000,6,0.000,0.038,2760,2092,2092
$GC,7142,1.30,203.0,254.6,7.6,343,7153,0.00,0.00,9.30,0.976,6,0.000,0.000,2760,2092,2049
$GC,7451,1.31,216.4,230.7,7.5,358,7465,0.00,0.00,11.98,0.955,6,0.000,0.000,2760,2092,1995
$GC,7762,1.35,243.3,209.3,7.0,373,7792,0.12,2.65,22.33,0.924,4,0.053,0.048,2797,3495,1886
$GC,7916,1.35,243.3,193.2,10.4,380,7921,0.00,2.50,0.00,0.000,6,0.000,0.038,2797,2100,1886
$GC,8244,1.35,243.3,161.1,9.5,396,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2100,1886
$GC,8554,1.48,349.5,138.6,4.0,411,8640,0.00,0.00,84.85,0.848,6,0.000,0.000,2797,2100,1452
$GC,8944,1.48,349.5,83.7,16.3,430,8945,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2100,1453
$GC,9252,1.48,349.5,48.4,10.4,445,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2100,1452
$GC,9561,1.48,349.5,13.1,9.8,460,9562,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2100,1453
$STATE,9661,end climb,SURFACE_DEPTH_REACHED
$STATE,9661,begin surface coast
$FINISH,1.3,1.027401
$STATE,9683,end surface coast,CONTROL_FINISHED_OK
$STATE,9683,begin surface
$SM_CCo,9767,0.00,0.000,0,0,1450,350.29
$SM_GC,1.96,12.02,0.00,0.00,0.034,0.000,0.000,33,1892,1450,-11.27,-0.23,350.29
$IRIDIUM_FIX,6059.36,-824.96,090597,030315
$TT8_MAMPS,0.026078
$HUMID,2064
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.9,999.0
$24V_AH,23.1,86.642
$10V_AH,10.1,41.495
$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,26.225,41.275,413.550,0.000,0.000,37.162,34.981,113.329,3.500,0.000,0.000,15.319,867.326,7317.989,501.251,1019.928,412.808,33.364,1002.068,0.000,1010.540,0.000,21.988
$DEVICE_MAMPS,137.293,58.292,1041.586,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.490,312.750,347.954,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22188,466
$CFSIZE,260165632,232034304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,130208,090708,6124.208,-829.577,35,1.1,35,-8.9