version: 66.02
glider: 102
mission: 4
dive: 430
start: 2 10 108 8 24 33
data:
$ID,102
$MISSION,4
$DIVE,430
$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,-87013.516
$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,33
$R_STBD_OVSHOOT,34
$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
$GPS1,081727,6127.100,-852.610,51,1.5,52,-9.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-58.1
$GPS2,082250,6127.095,-852.311,12,1.1,12,-9.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.180,-0.155
$KALMAN_X,608522.1,2760.5,1240.8,-632242.6,1024.8
$KALMAN_Y,125635.7,-819.9,-234.3,-135755.8,189.5
$MHEAD_RNG_PITCHd_Wd,238.4,14810,-14.7,-8.000
$D_GRID,367
$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,-60.28,0.000,2,0.000,0.000,35,1882,2855
$GC,90,-1.23,-146.6,3.7,-3.7,3,132,11.55,2.58,-20.00,0.000,4,0.137,0.059,2221,3299,3475
$GC,242,-1.23,-146.6,20.4,-14.8,9,248,0.00,2.47,0.00,0.000,6,0.000,0.039,2221,1908,3475
$GC,559,-1.23,-146.6,50.1,-9.0,25,563,0.00,2.50,0.00,0.000,4,0.000,0.045,2221,3299,3475
$GC,614,-1.23,-146.6,55.6,-9.5,27,620,0.00,2.50,0.00,0.000,6,0.000,0.039,2221,1897,3475
$GC,932,-1.23,-146.6,87.2,-9.6,43,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1897,3475
$GC,1239,-1.23,-146.6,121.6,-12.0,58,1243,0.00,2.53,0.00,0.000,4,0.000,0.044,2221,3303,3475
$GC,1312,-1.23,-146.6,129.9,-11.3,61,1316,0.00,2.50,0.00,0.000,6,0.000,0.038,2221,1895,3475
$GC,1628,-1.23,-146.6,166.6,-12.9,76,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1895,3475
$GC,1937,-1.23,-146.6,196.5,-8.8,91,1941,0.00,2.53,0.00,0.000,4,0.000,0.045,2221,3298,3475
$GC,2014,-1.23,-146.6,205.8,-11.0,94,2020,0.00,2.47,0.00,0.000,6,0.000,0.039,2221,1901,3475
$GC,2330,-1.23,-146.6,240.2,-11.5,110,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3475
$GC,2639,-1.23,-146.6,281.8,-14.1,125,2643,0.00,2.53,0.00,0.000,4,0.000,0.046,2221,3300,3475
$GC,2694,-1.23,-146.6,289.4,-13.5,127,2700,0.00,2.50,0.00,0.000,6,0.000,0.040,2221,1895,3475
$GC,3011,-1.23,-146.6,326.3,-10.9,143,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1895,3475
$GC,3319,-1.23,-146.6,361.4,-10.5,158,3323,0.00,2.55,0.00,0.000,4,0.000,0.050,2221,3302,3475
$STATE,3371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3371,begin apogee
$GC,3380,-0.36,0.0,367.3,9.9,160,3506,0.90,0.00,120.57,1.006,6,0.081,0.000,2414,2090,2878
$STATE,3507,end apogee,CONTROL_FINISHED_OK
$STATE,3507,begin climb
$GC,3511,1.23,146.6,372.8,0.0,167,3635,1.60,0.00,119.78,0.976,6,0.061,0.000,2763,2090,2279
$GC,3946,1.39,278.3,353.2,3.0,188,4058,0.15,2.65,106.18,0.968,4,0.046,0.049,2806,3498,1742
$GC,4177,1.39,278.3,334.8,9.2,199,4181,0.00,2.53,0.00,0.000,6,0.000,0.041,2806,2104,1743
$GC,4503,1.39,278.3,300.5,10.8,215,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2104,1742
$GC,4813,1.39,278.3,268.8,10.1,230,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2104,1742
$GC,5124,1.39,278.3,235.8,10.8,245,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2104,1743
$GC,5431,1.39,278.3,202.2,9.4,260,5435,0.00,2.55,0.00,0.000,4,0.000,0.049,2806,3502,1742
$GC,5497,1.39,278.3,194.9,11.9,263,5502,0.00,2.50,0.00,0.000,6,0.000,0.038,2806,2095,1742
$GC,5819,1.39,278.3,158.8,11.5,279,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2095,1742
$GC,6128,1.39,278.3,124.8,9.8,294,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2095,1742
$GC,6440,1.39,278.3,89.5,12.1,309,6444,0.00,2.55,0.00,0.000,4,0.000,0.048,2806,3501,1742
$GC,6512,1.39,278.3,79.4,13.1,312,6516,0.00,2.47,0.00,0.000,6,0.000,0.037,2806,2101,1742
$GC,6828,1.39,278.3,39.4,12.8,327,6832,0.00,2.53,0.00,0.000,4,0.000,0.047,2806,3499,1742
$GC,6891,1.39,278.3,30.8,14.1,330,6895,0.00,2.47,0.00,0.000,6,0.000,0.038,2806,2101,1742
$STATE,7154,end climb,SURFACE_DEPTH_REACHED
$STATE,7154,begin surface coast
$FINISH,1.4,1.001895
$STATE,7175,end surface coast,CONTROL_FINISHED_OK
$STATE,7175,begin surface
$SM_CCo,7198,20.00,0.823,2,0,1654,300.00
$SM_GC,2.40,0.00,0.00,20.00,0.000,0.000,0.823,29,1874,1654,-11.34,-0.71,300.00
$IRIDIUM_FIX,6103.81,-902.57,060597,050529
$TT8_MAMPS,0.026845
$HUMID,2062
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,17.7,999.0
$24V_AH,23.2,83.462
$10V_AH,10.1,40.167
$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,26.200,50.425,346.525,20.000,0.000,36.099,37.316,142.343,2.750,0.000,0.000,16.057,662.413,5269.689,456.764,806.290,417.347,33.376,881.502,0.000,795.342,0.000,17.140
$DEVICE_MAMPS,137.293,59.059,1006.304,822.991,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,253.904,229.999,298.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16007,344
$CFSIZE,260165632,232955904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,100208,102608,6125.762,-846.473,26,1.1,27,-9.1