version: 66.02
glider: 102
mission: 4
dive: 434
start: 2 10 108 17 11 38
data:
$ID,102
$MISSION,4
$DIVE,434
$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,-87083.859
$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,29
$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
$GPS1,170407,6120.408,-838.088,8,1.9,26,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-59.1
$GPS2,170956,6120.388,-838.002,13,2.0,13,-9.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FP_US
$TGT_LATLONG,6130.000,-810.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,0.173,0.163
$KALMAN_X,633759.9,-138.0,-1419.7,-639196.6,3452.2
$KALMAN_Y,115014.2,967.1,-921.1,-138679.8,-2121.8
$MHEAD_RNG_PITCHd_Wd,55.8,30483,-14.7,-8.000
$D_GRID,272
$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,-146.6,0.0,0.0,0,88,0.00,0.00,-60.40,0.000,2,0.000,0.000,29,1886,2906
$GC,92,-1.23,-146.6,3.5,-3.1,3,128,11.68,2.58,-18.15,0.000,4,0.140,0.059,2223,3298,3477
$GC,197,-1.23,-146.6,16.0,-10.3,7,202,0.00,2.50,0.00,0.000,6,0.000,0.039,2223,1902,3477
$GC,524,-1.23,-146.6,56.3,-8.9,23,529,0.00,2.53,0.00,0.000,4,0.000,0.044,2223,3301,3477
$GC,574,-1.23,-146.6,61.3,-9.4,25,579,0.00,2.50,0.00,0.000,6,0.000,0.040,2223,1900,3477
$GC,892,-1.23,-146.6,92.7,-9.6,40,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3477
$GC,1199,-1.23,-146.6,123.9,-9.3,55,1204,0.00,2.53,0.00,0.000,4,0.000,0.044,2224,3302,3477
$GC,1227,-1.23,-146.6,126.4,-9.0,56,1231,0.00,2.50,0.00,0.000,6,0.000,0.039,2223,1899,3477
$GC,1543,-1.23,-146.6,156.0,-9.7,71,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3477
$GC,1852,-1.23,-146.6,188.2,-10.1,86,1856,0.00,2.53,0.00,0.000,4,0.000,0.045,2223,3302,3477
$GC,1885,-1.23,-146.6,191.8,-11.0,87,1891,0.00,2.50,0.00,0.000,6,0.000,0.039,2223,1897,3477
$GC,2201,-1.23,-146.6,224.6,-10.7,103,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1897,3477
$GC,2510,-1.23,-146.6,256.1,-9.9,118,2514,0.00,2.53,0.00,0.000,4,0.000,0.046,2223,3299,3477
$GC,2537,-1.23,-146.6,258.7,-9.9,119,2541,0.00,2.47,0.00,0.000,6,0.000,0.038,2224,1904,3477
$STATE,2685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2686,begin apogee
$GC,2693,-0.36,0.0,272.9,9.4,126,2816,0.90,0.00,119.35,0.940,6,0.080,0.000,2413,2106,2878
$STATE,2817,end apogee,CONTROL_FINISHED_OK
$STATE,2817,begin climb
$GC,2820,1.23,146.6,277.4,0.0,132,2945,1.58,2.60,117.43,0.908,4,0.052,0.050,2763,3488,2279
$GC,3014,1.27,179.0,270.5,6.8,141,3050,0.00,2.50,26.80,0.901,6,0.000,0.037,2763,2088,2148
$GC,3360,1.31,213.7,246.5,6.7,158,3391,0.00,0.00,28.80,0.905,6,0.000,0.000,2763,2087,2006
$GC,3689,1.33,227.6,221.5,7.5,174,3710,0.00,2.65,12.15,0.913,4,0.000,0.048,2763,3494,1949
$GC,3762,1.33,227.6,215.5,8.6,177,3767,0.00,2.50,0.00,0.000,6,0.000,0.037,2762,2095,1949
$GC,4084,1.33,227.6,189.3,8.2,193,4088,0.00,2.60,0.00,0.000,4,0.000,0.063,2763,691,1949
$GC,4111,1.33,227.6,186.8,9.0,194,4115,0.00,2.45,0.00,0.000,6,0.000,0.037,2762,2098,1949
$GC,4427,1.35,246.7,163.4,7.3,209,4450,0.12,2.58,15.88,0.897,4,0.049,0.048,2804,3496,1871
$GC,4495,1.35,246.7,157.3,9.3,212,4500,0.00,2.47,0.00,0.000,6,0.000,0.037,2804,2095,1871
$GC,4823,1.35,246.7,125.7,9.5,228,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2095,1871
$GC,5132,1.35,246.7,96.8,10.4,243,5136,0.00,2.55,0.00,0.000,4,0.000,0.048,2804,3497,1871
$GC,5194,1.35,246.7,90.2,10.6,246,5199,0.00,2.50,0.00,0.000,6,0.000,0.036,2804,2090,1871
$GC,5522,1.35,246.7,57.3,8.9,262,5526,0.00,2.55,0.00,0.000,4,0.000,0.047,2803,3497,1871
$GC,5584,1.35,246.7,52.3,8.8,265,5589,0.00,2.47,0.00,0.000,6,0.000,0.036,2804,2098,1871
$GC,5911,1.35,246.7,22.5,10.3,281,5915,0.00,2.55,0.00,0.000,4,0.000,0.048,2804,3502,1871
$GC,5967,1.35,246.7,15.1,14.6,283,5973,0.00,2.47,0.00,0.000,6,0.000,0.038,2804,2103,1871
$STATE,6116,end climb,SURFACE_DEPTH_REACHED
$STATE,6116,begin surface coast
$FINISH,1.3,1.014456
$STATE,6137,end surface coast,CONTROL_FINISHED_OK
$STATE,6137,begin surface
$SM_CCo,6160,49.25,0.775,6,0,1655,300.00
$SM_GC,2.04,0.00,0.00,49.25,0.000,0.000,0.775,33,1878,1655,-11.32,-0.59,300.00
$IRIDIUM_FIX,6059.36,-838.28,060597,151508
$TT8_MAMPS,0.026845
$HUMID,2047
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.3,83.906
$10V_AH,10.1,40.339
$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,26.225,61.275,320.400,49.250,0.000,39.285,37.027,169.559,1.750,0.000,0.000,14.633,587.628,4429.088,478.031,717.386,439.424,33.357,871.502,0.000,704.402,0.000,10.674
$DEVICE_MAMPS,140.361,62.894,939.575,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,214.628,195.019,299.938,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12751,292
$CFSIZE,260165632,232833024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,6,0
$GPS,100208,185655,6120.008,-835.423,38,1.0,39,-8.9