version: 66.02
glider: 102
mission: 4
dive: 438
start: 2 11 108 1 40 3
data:
$ID,102
$MISSION,4
$DIVE,438
$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,-87158.75
$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,40
$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
$GPS1,012425,6121.073,-823.028,35,1.2,35,-8.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-57.5
$GPS2,013821,6121.028,-822.825,12,1.4,12,-8.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FP_US
$TGT_LATLONG,6130.000,-810.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,0.080,0.224
$KALMAN_X,642660.9,-2616.0,1007.3,-634667.3,3963.1
$KALMAN_Y,109947.0,-372.7,933.2,-132944.6,-3814.6
$MHEAD_RNG_PITCHd_Wd,28.6,20113,-14.7,-8.000
$D_GRID,436
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.23,-146.6,0.0,0.0,0,79,0.00,0.00,-51.05,0.000,2,0.000,0.000,29,1874,2691
$GC,83,-1.23,-146.6,3.2,-2.5,3,129,11.70,2.60,-27.67,0.000,4,0.142,0.060,2222,3287,3478
$GC,207,-1.23,-146.6,15.1,-8.4,8,214,0.00,2.47,0.00,0.000,6,0.000,0.040,2222,1905,3478
$GC,523,-1.23,-146.6,47.0,-10.6,24,528,0.00,2.50,0.00,0.000,4,0.000,0.045,2222,3293,3478
$GC,579,-1.23,-146.6,53.0,-11.0,26,586,0.00,2.50,0.00,0.000,6,0.000,0.040,2222,1892,3478
$GC,895,-1.23,-146.6,81.2,-8.5,42,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1893,3477
$GC,1205,-1.23,-146.6,111.6,-9.7,57,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1892,3478
$GC,1514,-1.23,-146.6,141.6,-9.4,72,1519,0.00,2.53,0.00,0.000,4,0.000,0.045,2222,3292,3478
$GC,1554,-1.23,-146.6,145.5,-9.6,74,1559,0.00,2.47,0.00,0.000,6,0.000,0.040,2222,1897,3478
$GC,1880,-1.23,-146.6,177.2,-10.0,90,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3478
$GC,2190,-1.23,-146.6,206.4,-9.5,105,2194,0.00,2.53,0.00,0.000,4,0.000,0.045,2222,3300,3478
$GC,2245,-1.23,-146.6,211.9,-10.0,107,2251,0.00,2.50,0.00,0.000,6,0.000,0.040,2222,1901,3478
$GC,2561,-1.23,-146.6,242.9,-9.8,123,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3477
$GC,2870,-1.23,-146.6,271.3,-8.8,138,2875,0.00,2.50,0.00,0.000,4,0.000,0.046,2222,3292,3478
$GC,2933,-1.23,-146.6,276.7,-8.6,141,2938,0.00,2.47,0.00,0.000,6,0.000,0.040,2222,1898,3478
$GC,3260,-1.23,-146.6,302.2,-7.6,157,3265,0.00,2.53,0.00,0.000,4,0.000,0.046,2222,3299,3478
$GC,3301,-1.23,-146.6,305.1,-7.4,159,3306,0.00,2.50,0.00,0.000,6,0.000,0.041,2222,1899,3478
$GC,3628,-1.23,-146.6,323.8,-5.1,175,3632,0.00,2.53,0.00,0.000,4,0.000,0.046,2222,3299,3477
$GC,3706,-1.23,-146.6,327.1,-3.8,178,3712,0.00,2.50,0.00,0.000,6,0.000,0.041,2222,1897,3478
$GC,4022,-1.23,-146.6,343.3,-7.3,194,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3478
$GC,4330,-1.23,-146.6,369.0,-9.6,209,4335,0.00,2.60,0.00,0.000,4,0.000,0.068,2222,498,3477
$GC,4371,-1.23,-146.6,372.5,-9.5,211,4375,0.00,2.42,0.00,0.000,6,0.000,0.038,2222,1895,3478
$GC,4697,-1.23,-146.6,403.4,-9.9,227,4702,0.00,2.60,0.00,0.000,4,0.000,0.064,2222,496,3478
$GC,4764,-1.23,-146.6,409.1,-9.3,230,4769,0.00,2.45,0.00,0.000,6,0.000,0.038,2222,1902,3478
$STATE,5041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5041,begin apogee
$GC,5049,-0.36,0.0,436.8,12.1,244,5175,0.93,0.00,122.05,1.049,6,0.080,0.000,2418,2113,2878
$STATE,5175,end apogee,CONTROL_FINISHED_OK
$STATE,5176,begin climb
$GC,5178,1.23,146.6,444.0,0.0,250,5308,1.55,2.70,120.15,1.021,4,0.052,0.060,2763,696,2279
$GC,5404,1.29,195.9,436.9,6.1,260,5451,0.00,2.45,40.90,1.012,6,0.000,0.038,2763,2093,2079
$GC,5761,1.43,313.2,422.7,3.5,278,5864,0.17,2.62,95.12,1.006,4,0.044,0.051,2814,3498,1601
$GC,5943,1.43,313.2,404.4,13.3,286,5947,0.00,2.53,0.00,0.000,6,0.000,0.041,2815,2102,1601
$GC,6259,1.43,313.2,372.3,9.3,301,6263,0.00,2.62,0.00,0.000,4,0.000,0.067,2814,694,1601
$GC,6309,1.43,313.2,366.7,10.6,303,6313,0.00,2.47,0.00,0.000,6,0.000,0.038,2814,2102,1601
$GC,6624,1.43,313.2,329.9,13.0,318,6629,0.00,2.53,0.00,0.000,4,0.000,0.048,2815,3503,1601
$GC,6742,1.43,313.2,314.8,14.2,323,6746,0.00,2.50,0.00,0.000,6,0.000,0.039,2814,2100,1601
$GC,7058,1.43,313.2,275.2,14.3,338,7062,0.00,2.53,0.00,0.000,4,0.000,0.048,2814,3497,1601
$GC,7109,1.43,313.2,268.1,13.3,340,7113,0.00,2.50,0.00,0.000,6,0.000,0.037,2814,2087,1601
$GC,7424,1.43,313.2,232.1,11.0,355,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2087,1601
$GC,7734,1.43,313.2,199.7,10.7,370,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2087,1601
$GC,8043,1.43,313.2,163.7,12.9,385,8047,0.00,2.55,0.00,0.000,4,0.000,0.047,2814,3495,1601
$GC,8105,1.43,313.2,155.6,12.9,388,8109,0.00,2.47,0.00,0.000,6,0.000,0.038,2815,2102,1601
$GC,8432,1.43,313.2,112.3,13.2,404,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2102,1601
$GC,8741,1.43,313.2,72.5,12.9,419,8742,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2102,1601
$GC,9050,1.43,313.2,34.0,12.4,434,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2102,1601
$STATE,9336,end climb,SURFACE_DEPTH_REACHED
$STATE,9336,begin surface coast
$FINISH,1.4,1.026949
$STATE,9358,end surface coast,CONTROL_FINISHED_OK
$STATE,9358,begin surface
$SM_CCo,9442,0.00,0.000,0,0,1600,313.49
$SM_GC,2.25,11.98,0.00,0.00,0.029,0.000,0.000,29,1883,1600,-11.27,-0.48,313.49
$IRIDIUM_FIX,6054.92,-828.74,070597,010150
$TT8_MAMPS,0.026845
$HUMID,2083
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,15.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.1,999.0
$24V_AH,23.2,84.384
$10V_AH,10.1,40.529
$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,26.325,76.350,378.225,0.000,0.000,115.466,306.156,188.320,4.000,0.000,0.000,13.802,849.050,7148.707,435.133,1063.131,839.371,33.365,1006.603,0.000,1041.950,0.000,22.326
$DEVICE_MAMPS,141.895,68.263,1049.256,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,328.196,300.599,339.449,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22225,449
$CFSIZE,260165632,232669184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,110208,041838,6120.470,-818.455,37,1.3,37,-8.8