version: 66.02
glider: 102
mission: 4
dive: 441
start: 2 11 108 11 49 3
data:
$ID,102
$MISSION,4
$DIVE,441
$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,-87219.406
$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,34
$R_STBD_OVSHOOT,30
$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
$GPS1,114031,6123.789,-813.434,37,1.2,37,-8.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-56.5
$GPS2,114721,6123.875,-813.367,12,1.2,12,-8.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FP_US
$TGT_LATLONG,6130.000,-810.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,-0.091,0.220
$KALMAN_X,646894.7,1532.0,-145.1,-633541.0,1639.8
$KALMAN_Y,105037.8,444.6,1576.0,-124228.6,-4771.7
$MHEAD_RNG_PITCHd_Wd,346.4,11726,-14.7,-8.000
$D_GRID,779
$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,-146.6,0.0,0.0,0,88,0.00,0.00,-60.62,0.000,2,0.000,0.000,37,1881,2878
$GC,92,-1.23,-146.6,3.2,-2.7,3,128,11.57,2.58,-18.88,0.000,4,0.137,0.073,2223,506,3476
$GC,380,-1.23,-146.6,36.9,-12.4,15,385,0.00,2.45,0.00,0.000,6,0.000,0.037,2223,1908,3476
$GC,702,-1.23,-146.6,73.1,-9.9,31,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1911,3476
$GC,1012,-1.23,-146.6,106.6,-10.6,46,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1911,3476
$GC,1320,-1.23,-146.6,140.1,-10.2,61,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1911,3476
$GC,1629,-1.23,-146.6,171.7,-10.0,76,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1911,3476
$GC,1938,-1.23,-146.6,202.8,-9.4,91,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1911,3476
$GC,2248,-1.23,-146.6,234.7,-10.3,106,2252,0.00,2.50,0.00,0.000,4,0.000,0.047,2223,3298,3476
$GC,2310,-1.23,-146.6,241.5,-11.0,109,2314,0.00,2.47,0.00,0.000,6,0.000,0.040,2223,1909,3476
$GC,2637,-1.23,-146.6,275.5,-9.8,125,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1908,3476
$GC,2946,-1.23,-146.6,306.3,-9.8,140,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1908,3476
$GC,3255,-1.23,-146.6,336.8,-9.6,155,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1908,3476
$GC,3564,-1.23,-146.6,367.1,-9.7,170,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1908,3476
$GC,3873,-1.23,-146.6,395.6,-9.4,185,3878,0.00,2.50,0.00,0.000,4,0.000,0.048,2223,3294,3476
$GC,3946,-1.23,-146.6,402.5,-8.3,188,3951,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1894,3476
$GC,4262,-1.23,-146.6,431.7,-9.8,203,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3476
$GC,4571,-1.23,-146.6,461.5,-8.9,218,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1893,3476
$GC,4881,-1.23,-146.6,485.4,-7.4,233,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3476
$GC,5190,-1.23,-146.6,509.2,-7.2,248,5194,0.00,2.60,0.00,0.000,4,0.000,0.069,2223,492,3476
$GC,5308,-1.23,-146.6,520.2,-10.1,253,5312,0.00,2.45,0.00,0.000,6,0.000,0.039,2223,1898,3476
$GC,5625,-1.23,-146.6,550.8,-10.0,268,5630,0.00,2.65,0.00,0.000,4,0.000,0.072,2223,497,3476
$GC,5710,-1.23,-146.6,560.4,-10.6,272,5714,0.00,2.45,0.00,0.000,6,0.000,0.041,2223,1898,3476
$GC,6036,-1.23,-146.6,587.6,-9.6,288,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1902,3476
$GC,6345,-1.23,-146.6,612.4,-8.2,303,6349,0.00,2.58,0.00,0.000,4,0.000,0.061,2224,3293,3476
$GC,6412,-1.23,-146.6,619.0,-10.0,306,6417,0.00,2.55,0.00,0.000,6,0.000,0.054,2223,1900,3476
$GC,6733,-1.23,-146.6,650.0,-9.7,322,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3475
$GC,7042,-1.23,-146.6,681.1,-12.0,337,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1897,3473
$GC,7351,-1.23,-146.6,715.6,-11.2,352,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3471
$GC,7661,-1.23,-146.6,734.0,-0.2,367,7666,0.00,2.58,0.00,0.000,4,0.000,0.060,2223,3297,3470
$GC,7695,-1.23,-146.6,734.0,0.2,368,7701,0.00,2.58,0.00,0.000,6,0.000,0.059,2224,1903,3470
$STATE,7905,end dive,NO_VERTICAL_VELOCITY
$STATE,7905,begin apogee
$GC,7912,-0.36,0.0,734.1,0.0,379,8047,0.90,0.00,126.60,1.333,6,0.068,0.000,2421,2103,2878
$STATE,8048,end apogee,CONTROL_FINISHED_OK
$STATE,8048,begin climb
$GC,8051,1.23,146.6,733.3,0.0,386,8186,1.52,2.75,125.75,1.291,4,0.045,0.067,2766,3495,2279
$GC,8445,1.31,212.5,716.2,5.5,404,8508,0.00,2.58,56.35,1.295,6,0.000,0.054,2765,2097,2011
$GC,8820,1.31,212.5,688.3,8.0,422,8825,0.00,2.65,0.00,0.000,4,0.000,0.066,2766,3498,2010
$GC,9078,1.31,212.5,665.1,9.7,433,9084,0.00,2.60,0.00,0.000,6,0.000,0.055,2766,2097,2009
$GC,9394,1.31,212.5,631.7,8.6,449,9395,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2097,2008
$GC,9703,1.31,212.5,601.4,11.2,464,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2098,2007
$GC,10012,1.31,212.5,570.2,9.0,479,10017,0.00,2.62,0.00,0.000,4,0.000,0.063,2766,3499,2007
$GC,10143,1.37,264.9,561.1,6.0,485,10194,0.12,2.55,44.15,1.288,6,0.058,0.052,2799,2102,1797
$GC,10515,1.43,307.1,534.1,6.4,503,10558,0.00,2.78,36.12,1.255,4,0.000,0.079,2799,693,1624
$GC,10748,1.43,307.1,509.7,12.2,513,10752,0.00,2.53,0.00,0.000,6,0.000,0.044,2799,2098,1624
$GC,11063,1.43,307.1,472.3,12.3,528,11065,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2103,1623
$GC,11373,1.43,307.1,435.6,11.4,543,11374,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2103,1623
$GC,11682,1.43,307.1,398.9,11.9,558,11683,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2103,1625
$GC,11991,1.43,307.1,361.6,12.1,573,11992,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2103,1626
$GC,12301,1.43,307.1,325.8,11.3,588,12302,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2103,1626
$GC,12610,1.43,307.1,291.4,11.0,603,12611,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2103,1627
$GC,12919,1.43,307.1,256.2,11.4,618,12920,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2103,1627
$GC,13229,1.43,307.1,221.3,10.9,633,13230,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2103,1628
$GC,13537,1.43,307.1,185.1,11.8,648,13539,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2103,1628
$GC,13847,1.43,307.1,148.8,11.8,663,13848,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2102,1629
$GC,14158,1.43,307.1,114.0,10.8,678,14159,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2103,1629
$GC,14466,1.43,307.1,82.2,9.6,693,14467,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2103,1630
$GC,14775,1.43,307.1,50.1,9.7,708,14776,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2103,1630
$GC,15084,1.43,307.1,13.8,12.2,723,15085,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2103,1630
$STATE,15184,end climb,SURFACE_DEPTH_REACHED
$STATE,15185,begin surface coast
$FINISH,0.8,1.020934
$STATE,15208,end surface coast,CONTROL_FINISHED_OK
$STATE,15208,begin surface
$SM_CCo,15292,0.00,0.000,0,0,1630,306.13
$SM_GC,1.58,11.95,0.00,0.00,0.031,0.000,0.000,29,1870,1630,-11.27,-0.82,306.13
$IRIDIUM_FIX,6059.36,-824.96,070597,080822
$TT8_MAMPS,0.026845
$HUMID,2114
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,22.9,84.845
$10V_AH,10.1,40.736
$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,26.075,57.200,388.975,0.000,0.000,38.699,42.694,213.311,6.500,0.000,0.000,13.506,1317.254,11815.700,449.802,1587.941,583.387,33.376,1235.924,0.000,1560.209,0.000,41.388
$DEVICE_MAMPS,137.293,79.001,1333.046,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,548.146,491.541,430.417,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34906,729
$CFSIZE,260165632,232505344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,110208,160507,6128.202,-816.269,36,1.3,36,-8.8