version: 66.02
glider: 102
mission: 4
dive: 263
start: 1 11 108 5 29 9
data:
$ID,102
$MISSION,4
$DIVE,263
$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,-81664.531
$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,24
$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,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
$GPS1,052337,6356.776,-1339.488,38,1.3,39,-12.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-51.6
$GPS2,052815,6356.685,-1339.708,13,1.5,13,-12.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.223,-0.083
$KALMAN_X,303696.8,-477.6,1042.3,-577471.9,-52951.3
$KALMAN_Y,-31266.0,-181.6,-1767.5,299051.4,16994.7
$MHEAD_RNG_PITCHd_Wd,123.1,27239,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.23,-146.6,0.0,0.0,0,106,0.00,0.00,-81.80,0.000,2,0.000,0.000,28,1887,2235
$GC,109,-1.23,-146.6,3.2,-1.0,4,194,11.43,2.65,-66.28,0.000,4,0.132,0.076,2219,493,3476
$GC,397,-1.23,-146.6,28.5,-11.1,17,402,0.00,2.50,0.00,0.000,6,0.000,0.041,2219,1910,3476
$GC,723,-1.23,-146.6,62.0,-10.9,33,727,0.00,2.53,0.00,0.000,4,0.000,0.051,2219,3300,3476
$GC,785,-1.23,-146.6,69.3,-11.8,36,789,0.00,2.53,0.00,0.000,6,0.000,0.044,2219,1899,3476
$GC,1111,-1.23,-146.6,105.1,-10.4,52,1115,0.00,2.53,0.00,0.000,4,0.000,0.047,2219,3297,3476
$GC,1137,-1.23,-146.6,107.7,-8.8,53,1141,0.00,2.53,0.00,0.000,6,0.000,0.044,2219,1896,3476
$GC,1461,-1.23,-146.6,134.7,-7.7,69,1465,0.00,2.55,0.00,0.000,4,0.000,0.048,2219,3301,3476
$GC,1538,-1.23,-146.6,142.8,-11.8,72,1544,0.00,2.53,0.00,0.000,6,0.000,0.044,2219,1894,3476
$GC,1853,-1.23,-146.6,181.7,-15.2,88,1857,0.00,2.55,0.00,0.000,4,0.000,0.051,2219,3299,3476
$GC,1959,-1.23,-146.6,193.7,-10.6,93,1963,0.00,2.53,0.00,0.000,6,0.000,0.045,2219,1901,3476
$GC,2285,-1.23,-146.6,233.8,-12.0,109,2289,0.00,2.55,0.00,0.000,4,0.000,0.049,2219,3301,3476
$GC,2306,-1.23,-146.6,237.0,-13.9,110,2310,0.00,2.53,0.00,0.000,6,0.000,0.045,2219,1901,3476
$GC,2634,-1.23,-146.6,272.2,-6.5,126,2638,0.00,2.62,0.00,0.000,4,0.000,0.069,2219,495,3476
$GC,2891,-1.23,-146.6,272.8,-0.4,137,2897,0.00,2.47,0.00,0.000,6,0.000,0.042,2219,1896,3476
$STATE,3019,end dive,NO_VERTICAL_VELOCITY
$STATE,3019,begin apogee
$GC,3025,-0.36,0.0,272.8,0.0,144,3146,0.90,0.00,118.18,0.966,6,0.053,0.000,2426,2112,2878
$STATE,3147,end apogee,CONTROL_FINISHED_OK
$STATE,3147,begin climb
$GC,3149,1.23,146.6,272.5,0.0,150,3274,1.50,2.75,116.35,0.923,4,0.052,0.063,2760,692,2280
$GC,3301,1.27,182.8,266.5,6.6,157,3338,0.00,2.53,29.50,0.917,6,0.000,0.041,2760,2111,2132
$GC,3647,1.27,182.8,225.9,16.9,174,3652,0.00,2.62,0.00,0.000,4,0.000,0.061,2760,691,2132
$GC,3894,1.27,182.8,177.8,19.4,185,3898,0.00,2.47,0.00,0.000,6,0.000,0.039,2760,2103,2132
$GC,4215,1.45,322.9,161.4,2.7,201,4331,0.17,2.60,109.35,0.874,4,0.042,0.051,2820,3497,1561
$GC,4414,1.45,322.9,142.7,11.1,210,4418,0.00,2.53,0.00,0.000,6,0.000,0.044,2820,2094,1560
$GC,4736,1.45,322.9,106.3,11.6,226,4740,0.00,2.60,0.00,0.000,4,0.000,0.065,2820,694,1561
$GC,4775,1.45,322.9,102.1,10.2,228,4779,0.00,2.50,0.00,0.000,6,0.000,0.041,2820,2110,1561
$GC,5101,1.45,322.9,77.8,8.2,244,5105,0.00,2.50,0.00,0.000,4,0.000,0.050,2819,3495,1560
$GC,5133,1.45,322.9,74.3,9.8,245,5140,0.00,2.50,0.00,0.000,6,0.000,0.041,2820,2102,1560
$GC,5450,1.45,322.9,32.7,13.0,261,5455,0.00,2.55,0.00,0.000,4,0.000,0.048,2820,3501,1560
$GC,5468,1.45,322.9,30.1,14.8,262,5472,0.00,2.50,0.00,0.000,6,0.000,0.041,2820,2100,1560
$GC,5794,1.70,530.0,2.0,0.1,278,5840,0.17,0.00,42.45,0.801,2,0.062,0.000,2867,2095,1254
$STATE,5840,end climb,SURFACE_DEPTH_REACHED
$STATE,5840,begin surface coast
$FINISH,2.1,1.006914
$STATE,6084,end surface coast,NO_VERTICAL_VELOCITY
$STATE,6084,begin surface
$SM_CCo,6087,81.35,0.770,0,0,602,558.06
$SM_GC,2.76,12.20,0.00,0.00,0.027,0.000,0.000,28,1896,604,-11.27,-0.08,558.06
$IRIDIUM_FIX,6332.30,-1336.03,110108,080813
$TT8_MAMPS,0.026845
$HUMID,2048
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,14.90
$XPDR_PINGS,1
$24V_AH,23.5,56.592
$10V_AH,10.1,27.617
$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,26.375,66.925,415.825,81.350,0.000,38.971,36.052,101.811,1.500,0.000,0.000,14.581,604.182,4492.839,588.959,886.907,312.692,33.358,1089.131,0.000,872.753,0.000,9.006
$DEVICE_MAMPS,131.924,75.933,966.420,770.068,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,216.796,194.251,320.213,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15931,292
$CFSIZE,260165632,242130944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,110108,072002,6354.904,-1341.990,9,2.0,27,-12.8