version: 66.02
glider: 102
mission: 4
dive: 262
start: 1 11 108 4 17 29
data:
$ID,102
$MISSION,4
$DIVE,262
$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,0
$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,-81649.328
$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,23
$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,0
$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,2
$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
$GPS1,040008,6358.318,-1338.201,11,1.9,11,-12.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-51.1
$GPS2,041637,6357.965,-1338.712,11,1.6,27,-12.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.233,-0.047
$KALMAN_X,310366.8,-1073.9,1349.8,-582931.1,-20013.6
$KALMAN_Y,-34576.3,-424.1,2896.1,300311.7,-5650.2
$MHEAD_RNG_PITCHd_Wd,114.1,27703,-14.7,-8.000
$D_GRID,990
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.23,-146.6,0.0,0.0,0,105,0.00,0.00,-81.47,0.000,2,0.000,0.000,26,1887,2192
$GC,108,-1.23,-146.6,3.1,-0.8,4,200,11.43,2.62,-72.78,0.000,4,0.130,0.074,2222,492,3477
$GC,414,-1.23,-146.6,36.8,-12.9,18,419,0.00,2.47,0.00,0.000,6,0.000,0.041,2222,1904,3477
$GC,741,-1.23,-146.6,74.3,-10.5,34,745,0.00,2.53,0.00,0.000,4,0.000,0.049,2222,3300,3477
$GC,803,-1.23,-146.6,78.8,-7.6,37,807,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1897,3477
$GC,1129,-1.23,-146.6,116.8,-13.2,53,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3477
$GC,1439,-1.23,-146.6,151.2,-11.0,68,1443,0.00,2.60,0.00,0.000,4,0.000,0.066,2222,498,3477
$GC,1466,-1.23,-146.6,151.3,0.1,69,1470,0.00,2.45,0.00,0.000,6,0.000,0.041,2222,1895,3477
$STATE,1779,end dive,NO_VERTICAL_VELOCITY
$STATE,1779,begin apogee
$GC,1785,-0.36,0.0,151.5,0.0,84,1906,0.88,0.00,116.97,0.882,6,0.055,0.000,2421,2099,2878
$STATE,1906,end apogee,CONTROL_FINISHED_OK
$STATE,1906,begin climb
$GC,1909,1.23,146.6,151.3,0.0,90,2033,1.50,2.62,114.68,0.843,4,0.047,0.053,2763,3497,2280
$GC,2056,1.26,172.9,144.2,7.0,97,2086,0.00,2.53,21.40,0.843,6,0.000,0.040,2763,2092,2173
$GC,2408,1.37,258.4,123.3,4.7,114,2484,0.15,2.65,67.03,0.838,4,0.048,0.062,2811,697,1823
$GC,2547,1.37,258.4,112.4,8.3,120,2552,0.00,2.50,0.00,0.000,6,0.000,0.040,2810,2101,1823
$GC,2864,1.37,258.4,83.0,10.7,135,2868,0.00,2.55,0.00,0.000,4,0.000,0.051,2811,3498,1823
$GC,2986,1.37,258.4,69.9,11.4,140,2993,0.00,2.47,0.00,0.000,6,0.000,0.042,2811,2104,1822
$GC,3303,1.37,258.4,32.3,11.1,156,3308,0.00,2.53,0.00,0.000,4,0.000,0.047,2811,3498,1822
$GC,3443,1.37,258.4,14.4,12.6,162,3447,0.00,2.50,0.00,0.000,6,0.000,0.042,2811,2097,1822
$STATE,3591,end climb,SURFACE_DEPTH_REACHED
$STATE,3592,begin surface coast
$FINISH,2.0,1.027381
$STATE,3613,end surface coast,CONTROL_FINISHED_OK
$STATE,3614,begin surface
$SM_CCo,3617,156.55,0.752,2,0,603,558.06
$SM_GC,2.56,12.10,0.00,0.00,0.029,0.000,0.000,29,1891,602,-11.27,-0.25,558.30
$IRIDIUM_FIX,6332.30,-1326.50,110108,060609
$TT8_MAMPS,0.026845
$HUMID,1999
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,16.30
$XPDR_PINGS,4
$24V_AH,23.5,56.458
$10V_AH,10.1,27.574
$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,26.050,36.250,320.075,156.550,0.000,150.187,271.029,245.931,1.250,0.000,0.000,28.451,367.575,2579.449,595.938,558.734,792.633,33.358,913.600,0.000,539.404,0.000,2.541
$DEVICE_MAMPS,130.390,73.632,882.050,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,125.835,112.488,259.821,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6529,170
$CFSIZE,260165632,242176000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,2,0
$GPS,110108,052337,6356.776,-1339.488,38,1.3,39,-12.8