version: 66.02
glider: 102
mission: 4
dive: 439
start: 2 11 108 4 41 9
data:
$ID,102
$MISSION,4
$DIVE,439
$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,-87172.586
$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,38
$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
$GPS1,041838,6120.470,-818.455,37,1.3,37,-8.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-60.7
$GPS2,043927,6120.350,-818.254,11,1.8,11,-8.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FP_US
$TGT_LATLONG,6130.000,-810.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,0.025,0.236
$KALMAN_X,645700.1,-1354.2,-166.8,-633765.9,5220.7
$KALMAN_Y,108128.7,-452.5,-855.0,-130509.9,-1858.5
$MHEAD_RNG_PITCHd_Wd,14.7,19303,-14.7,-8.000
$D_GRID,498
$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,-146.6,0.0,0.0,0,89,0.00,0.00,-61.10,0.000,2,0.000,0.000,27,1880,2818
$GC,93,-1.23,-146.6,3.3,-3.2,3,136,11.68,2.60,-23.75,0.000,4,0.140,0.060,2223,3302,3476
$GC,142,-1.23,-146.6,7.0,-8.2,5,146,0.00,2.50,0.00,0.000,6,0.000,0.039,2223,1906,3477
$GC,463,-1.23,-146.6,40.8,-11.4,21,467,0.00,2.53,0.00,0.000,4,0.000,0.045,2224,3303,3476
$GC,473,-1.23,-146.6,42.2,-11.0,21,480,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1903,3477
$GC,789,-1.23,-146.6,74.6,-10.7,37,794,0.00,2.62,0.00,0.000,4,0.000,0.068,2224,498,3476
$GC,1047,-1.23,-146.6,103.9,-11.7,48,1053,0.00,2.45,0.00,0.000,6,0.000,0.038,2224,1913,3476
$GC,1363,-1.23,-146.6,142.2,-12.6,64,1367,0.00,2.65,0.00,0.000,4,0.000,0.067,2224,497,3476
$GC,1503,-1.23,-146.6,158.8,-13.5,70,1507,0.00,2.45,0.00,0.000,6,0.000,0.037,2224,1906,3476
$GC,1818,-1.23,-146.6,195.9,-10.8,85,1822,0.00,2.50,0.00,0.000,4,0.000,0.048,2224,3295,3476
$GC,1864,-1.23,-146.6,200.9,-11.5,87,1868,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1894,3476
$GC,2185,-1.23,-146.6,236.1,-11.2,103,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3476
$GC,2494,-1.23,-146.6,267.7,-9.5,118,2498,0.00,2.53,0.00,0.000,4,0.000,0.045,2224,3299,3476
$GC,2538,-1.23,-146.6,271.9,-9.4,120,2542,0.00,2.50,0.00,0.000,6,0.000,0.040,2223,1895,3476
$GC,2860,-1.23,-146.6,299.5,-8.8,136,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3476
$GC,3169,-1.23,-146.6,326.7,-8.7,151,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3476
$GC,3477,-1.23,-146.6,354.1,-8.9,166,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3476
$GC,3787,-1.23,-146.6,381.8,-8.8,181,3792,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3293,3476
$GC,3843,-1.23,-146.6,386.7,-8.5,183,3849,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1894,3476
$GC,4159,-1.23,-146.6,416.6,-10.1,199,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3476
$GC,4468,-1.23,-146.6,444.6,-8.9,214,4473,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3292,3476
$GC,4532,-1.23,-146.6,450.1,-8.1,217,4536,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1895,3476
$GC,4858,-1.23,-146.6,478.7,-10.0,233,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3476
$STATE,5084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5084,begin apogee
$GC,5091,-0.36,0.0,500.0,10.7,244,5218,0.90,0.00,122.72,1.089,6,0.079,0.000,2414,2098,2878
$STATE,5218,end apogee,CONTROL_FINISHED_OK
$STATE,5218,begin climb
$GC,5221,1.23,146.6,504.1,0.0,250,5348,1.58,0.00,122.05,1.058,6,0.054,0.000,2764,2098,2280
$GC,5658,1.24,158.4,478.0,7.6,272,5670,0.00,0.00,10.68,1.057,6,0.000,0.000,2764,2098,2232
$GC,5966,1.28,190.1,455.9,6.8,287,6001,0.00,2.65,27.15,1.051,4,0.000,0.052,2764,3492,2103
$GC,6243,1.28,190.1,429.5,11.3,299,6247,0.00,2.50,0.00,0.000,6,0.000,0.040,2764,2099,2103
$GC,6559,1.28,190.1,403.1,8.9,314,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2099,2102
$GC,6869,1.31,214.3,378.0,7.1,329,6894,0.00,2.60,20.83,1.029,4,0.000,0.049,2764,3490,2003
$GC,6979,1.31,214.3,368.7,8.9,334,6983,0.00,2.50,0.00,0.000,6,0.000,0.039,2764,2094,2003
$GC,7300,1.32,222.3,343.4,7.7,350,7309,0.00,0.00,7.45,1.015,6,0.000,0.000,2764,2094,1971
$GC,7610,1.35,248.6,320.9,7.0,365,7638,0.12,2.60,22.40,0.994,4,0.051,0.049,2803,3492,1863
$GC,7688,1.35,248.6,313.6,9.5,368,7695,0.00,2.47,0.00,0.000,6,0.000,0.039,2804,2106,1863
$GC,8004,1.35,248.6,285.5,8.2,384,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2106,1863
$GC,8314,1.35,248.6,255.9,10.3,399,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2106,1863
$GC,8622,1.35,248.6,226.8,10.1,414,8627,0.00,2.53,0.00,0.000,4,0.000,0.048,2804,3491,1863
$GC,8712,1.35,248.6,217.9,9.5,418,8716,0.00,2.50,0.00,0.000,6,0.000,0.038,2803,2090,1862
$GC,9033,1.36,250.1,189.8,7.9,434,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2090,1863
$GC,9342,1.36,257.0,164.4,7.7,449,9356,0.00,2.60,7.78,0.936,4,0.000,0.048,2804,3490,1830
$GC,9464,1.36,257.0,153.3,9.6,454,9468,0.00,2.47,0.00,0.000,6,0.000,0.037,2803,2098,1830
$GC,9780,1.36,257.0,124.6,9.7,469,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2098,1830
$GC,10089,1.39,277.1,98.3,7.2,484,10112,0.00,2.60,16.83,0.878,4,0.000,0.047,2804,3499,1747
$GC,10185,1.39,277.1,90.9,8.0,488,10189,0.00,2.47,0.00,0.000,6,0.000,0.037,2804,2101,1747
$GC,10507,1.39,277.1,61.9,11.1,504,10511,0.00,2.53,0.00,0.000,4,0.000,0.047,2804,3492,1746
$GC,10573,1.39,277.1,54.3,9.6,507,10577,0.00,2.47,0.00,0.000,6,0.000,0.038,2803,2097,1747
$GC,10895,1.39,277.1,18.8,13.3,523,10897,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2097,1747
$STATE,11056,end climb,SURFACE_DEPTH_REACHED
$STATE,11056,begin surface coast
$FINISH,1.3,1.015068
$STATE,11080,end surface coast,CONTROL_FINISHED_OK
$STATE,11080,begin surface
$SM_CCo,11103,20.95,0.813,2,0,1655,300.00
$SM_GC,2.00,0.00,0.00,20.95,0.000,0.000,0.813,29,1887,1655,-11.34,-0.37,300.00
$IRIDIUM_FIX,6054.92,-814.78,070597,040458
$TT8_MAMPS,0.026845
$HUMID,2060
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.50
$XPDR_PINGS,5
$ALTIM_TOP_PING,18.8,999.0
$24V_AH,23.1,84.538
$10V_AH,10.1,40.595
$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,26.300,76.525,357.875,20.950,0.000,190.838,336.632,362.142,5.250,0.000,0.000,13.214,1000.650,8571.385,503.647,1216.933,1151.528,33.373,1111.348,0.000,1199.078,0.000,26.840
$DEVICE_MAMPS,139.594,68.263,1089.140,813.020,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.163,357.611,380.521,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25410,532
$CFSIZE,260165632,232611840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,2,0
$GPS,110208,074802,6120.668,-815.704,38,1.5,38,-8.8