version: 66.02
glider: 102
mission: 4
dive: 454
start: 2 13 108 9 14 33
data:
$ID,102
$MISSION,4
$DIVE,454
$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,-87495.703
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,090708,6124.208,-829.577,35,1.1,35,-8.9
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-56.8
$GPS2,091251,6124.158,-829.565,14,0.9,14,-8.9
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FB_DS
$TGT_LATLONG,6127.000,-840.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,-0.227,0.069
$KALMAN_X,653474.7,913.9,-327.6,-653636.4,1337.0
$KALMAN_Y,114374.3,-1384.6,-816.8,-128794.0,-161.5
$MHEAD_RNG_PITCHd_Wd,295.8,10630,-14.7,-8.000
$D_GRID,397
$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,-146.6,0.0,0.0,0,106,0.00,0.00,-78.32,0.000,2,0.000,0.000,32,1886,3109
$GC,110,-1.23,-146.6,4.0,-3.4,4,140,11.68,2.62,-9.62,0.000,4,0.141,0.075,2225,497,3475
$GC,392,-1.23,-146.6,41.3,-10.4,16,398,0.00,2.47,0.00,0.000,6,0.000,0.038,2225,1913,3475
$GC,708,-1.23,-146.6,76.9,-12.7,32,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1914,3475
$GC,1019,-1.23,-146.6,116.0,-12.6,47,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1914,3475
$GC,1326,-1.23,-146.6,154.2,-12.7,62,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1914,3475
$GC,1635,-1.23,-146.6,195.1,-12.8,77,1640,0.00,2.47,0.00,0.000,4,0.000,0.046,2225,3291,3475
$GC,1702,-1.23,-146.6,203.1,-10.0,80,1707,0.00,2.47,0.00,0.000,6,0.000,0.039,2225,1900,3476
$GC,2024,-1.23,-146.6,241.5,-12.5,96,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1901,3475
$GC,2333,-1.23,-146.6,280.8,-12.4,111,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1901,3475
$GC,2643,-1.23,-146.6,314.6,-11.7,126,2647,0.00,2.50,0.00,0.000,4,0.000,0.045,2225,3297,3475
$GC,2721,-1.23,-146.6,324.7,-13.0,129,2729,0.00,2.50,0.00,0.000,6,0.000,0.041,2225,1895,3475
$GC,3038,-1.23,-146.6,365.3,-11.1,145,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1896,3476
$GC,3346,-1.23,-146.6,394.7,-8.8,160,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3475
$STATE,3385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3385,begin apogee
$GC,3392,-0.36,0.0,398.6,9.3,162,3517,0.90,0.00,121.72,1.022,6,0.079,0.000,2416,2100,2878
$STATE,3518,end apogee,CONTROL_FINISHED_OK
$STATE,3518,begin climb
$GC,3521,1.23,146.6,400.9,0.0,168,3648,1.58,0.00,120.78,0.987,6,0.054,0.000,2764,2100,2280
$GC,3957,1.23,146.6,371.0,8.2,190,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2100,2279
$GC,4267,1.27,182.0,350.1,6.7,205,4301,0.00,2.60,29.45,0.992,4,0.000,0.051,2763,3494,2136
$GC,4435,1.28,185.9,336.0,7.9,212,4446,0.00,2.50,4.47,0.953,6,0.000,0.038,2764,2096,2119
$GC,4756,1.32,220.8,312.6,6.7,228,4790,0.00,2.62,29.10,0.970,4,0.000,0.050,2763,3498,1977
$GC,4858,1.32,220.8,304.2,8.1,232,4864,0.00,2.50,0.00,0.000,6,0.000,0.038,2763,2101,1976
$GC,5174,1.35,245.6,281.6,7.1,248,5197,0.12,0.00,20.75,0.964,6,0.052,0.000,2801,2102,1876
$GC,5504,1.36,254.6,254.5,7.7,264,5518,0.00,2.60,8.35,0.957,4,0.000,0.048,2801,3491,1839
$GC,5643,1.36,254.6,241.9,9.9,270,5647,0.00,2.50,0.00,0.000,6,0.000,0.038,2801,2095,1839
$GC,5964,1.36,254.6,212.9,9.3,286,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2095,1839
$GC,6274,1.36,254.6,182.2,10.2,301,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2095,1839
$GC,6583,1.36,254.6,149.4,10.6,316,6587,0.00,2.55,0.00,0.000,4,0.000,0.048,2801,3490,1839
$GC,6672,1.36,254.6,139.3,11.4,320,6676,0.00,2.47,0.00,0.000,6,0.000,0.038,2801,2098,1839
$GC,6994,1.36,254.6,108.9,8.8,336,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2099,1839
$GC,7303,1.36,254.6,79.6,9.7,351,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2098,1839
$GC,7612,1.36,254.6,44.3,12.7,366,7613,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2098,1839
$GC,7922,1.36,254.6,18.0,10.6,381,7927,0.00,2.53,0.00,0.000,4,0.000,0.048,2801,3490,1839
$GC,8053,1.36,254.6,3.5,9.2,387,8057,0.00,2.47,0.00,0.000,6,0.000,0.037,2802,2096,1839
$STATE,8089,end climb,SURFACE_DEPTH_REACHED
$STATE,8089,begin surface coast
$FINISH,1.1,1.013322
$STATE,8110,end surface coast,CONTROL_FINISHED_OK
$STATE,8110,begin surface
$SM_CCo,8134,42.03,0.792,5,0,1655,300.00
$SM_GC,1.93,0.00,0.00,42.03,0.000,0.000,0.792,34,1878,1655,-11.32,-0.59,300.00
$IRIDIUM_FIX,6059.36,-830.07,090597,060605
$TT8_MAMPS,0.026845
$HUMID,2055
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.0,999.0
$24V_AH,23.1,86.758
$10V_AH,10.1,41.541
$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,26.250,41.050,334.625,42.025,0.000,36.319,39.308,159.479,3.000,0.000,0.000,16.258,743.419,6015.716,502.891,899.003,443.964,33.366,951.067,0.000,883.949,0.000,18.768
$DEVICE_MAMPS,141.128,75.166,1022.411,791.544,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,288.328,261.151,318.797,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19080,390
$CFSIZE,260165632,232013824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,5,0
$GPS,130208,113203,6123.380,-830.216,9,1.4,9,-8.9