version: 66.02
glider: 102
mission: 4
dive: 443
start: 2 11 108 19 51 45
data:
$ID,102
$MISSION,4
$DIVE,443
$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,-87266.625
$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,39
$R_STBD_OVSHOOT,31
$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
$GPS1,194037,6130.138,-815.368,30,1.0,30,-8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-60.2
$GPS2,195003,6130.309,-815.379,9,1.5,9,-8.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FP_US
$TGT_LATLONG,6130.000,-810.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,0.212,-0.108
$KALMAN_X,648708.5,-2381.6,-991.2,-632380.2,1695.1
$KALMAN_Y,110798.6,2636.1,-560.5,-118131.9,697.5
$MHEAD_RNG_PITCHd_Wd,125.8,4788,-14.7,-8.000
$D_GRID,432
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,86,0.00,0.00,-60.60,0.000,2,0.000,0.000,35,1879,2802
$GC,90,-1.23,-146.6,3.1,-3.5,3,133,11.68,2.62,-20.95,0.000,4,0.142,0.058,2221,3299,3477
$GC,211,-1.23,-146.6,17.6,-12.7,8,216,0.00,2.47,0.00,0.000,6,0.000,0.039,2221,1914,3477
$GC,529,-1.23,-146.6,50.1,-9.5,23,533,0.00,2.50,0.00,0.000,4,0.000,0.046,2221,3300,3477
$GC,584,-1.23,-146.6,54.9,-7.8,25,591,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1901,3477
$GC,900,-1.23,-146.6,85.3,-12.1,41,905,0.00,2.60,0.00,0.000,4,0.000,0.070,2221,499,3477
$GC,922,-1.23,-146.6,88.8,-14.7,42,927,0.00,2.45,0.00,0.000,6,0.000,0.038,2221,1908,3477
$GC,1244,-1.23,-146.6,129.0,-11.7,58,1249,0.00,2.47,0.00,0.000,4,0.000,0.046,2221,3292,3477
$GC,1311,-1.23,-146.6,136.6,-11.0,61,1315,0.00,2.47,0.00,0.000,6,0.000,0.040,2221,1899,3477
$GC,1632,-1.23,-146.6,160.8,-6.6,77,1636,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,492,3477
$GC,1654,-1.23,-146.6,162.3,-7.0,78,1658,0.00,2.45,0.00,0.000,6,0.000,0.038,2221,1899,3477
$GC,1974,-1.23,-146.6,187.0,-9.0,94,1979,0.00,2.50,0.00,0.000,4,0.000,0.047,2221,3291,3477
$GC,2037,-1.23,-146.6,193.1,-9.8,97,2041,0.00,2.50,0.00,0.000,6,0.000,0.040,2221,1893,3477
$GC,2364,-1.23,-146.6,225.1,-9.7,113,2369,0.00,2.53,0.00,0.000,4,0.000,0.046,2221,3295,3477
$GC,2388,-1.23,-146.6,227.5,-9.9,114,2392,0.00,2.47,0.00,0.000,6,0.000,0.040,2221,1900,3477
$GC,2708,-1.23,-146.6,255.4,-8.8,130,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3477
$GC,3018,-1.23,-146.6,283.9,-10.0,145,3022,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3296,3477
$GC,3085,-1.23,-146.6,290.6,-9.6,148,3089,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1896,3477
$GC,3406,-1.23,-146.6,322.4,-10.1,164,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3477
$GC,3715,-1.23,-146.6,353.9,-10.0,179,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3477
$GC,4024,-1.23,-146.6,387.7,-11.1,194,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3477
$GC,4334,-1.23,-146.6,422.5,-10.8,209,4338,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3294,3477
$STATE,4403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4403,begin apogee
$GC,4412,-0.36,0.0,432.6,15.1,212,4538,0.90,0.00,122.32,1.053,6,0.085,0.000,2413,2091,2878
$STATE,4539,end apogee,CONTROL_FINISHED_OK
$STATE,4539,begin climb
$GC,4542,1.23,146.6,439.8,0.0,218,4671,1.60,2.67,120.32,1.023,4,0.061,0.064,2761,698,2280
$GC,4925,1.39,279.7,423.1,2.9,236,5044,0.17,2.47,108.62,1.010,6,0.043,0.038,2809,2099,1737
$GC,5352,1.39,279.7,380.1,10.0,257,5357,0.00,2.62,0.00,0.000,4,0.000,0.067,2810,699,1736
$GC,5397,1.39,279.7,374.8,12.1,259,5401,0.00,2.47,0.00,0.000,6,0.000,0.039,2809,2096,1736
$GC,5718,1.39,279.7,335.2,12.8,275,5722,0.00,2.55,0.00,0.000,4,0.000,0.051,2810,3498,1736
$GC,5739,1.39,279.7,332.1,13.6,276,5744,0.00,2.50,0.00,0.000,6,0.000,0.041,2809,2104,1736
$GC,6061,1.39,279.7,291.9,12.4,292,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2104,1736
$GC,6370,1.39,279.7,251.3,13.4,307,6375,0.00,2.53,0.00,0.000,4,0.000,0.049,2810,3499,1736
$GC,6403,1.39,279.7,246.5,13.7,308,6409,0.00,2.50,0.00,0.000,6,0.000,0.039,2809,2098,1736
$GC,6719,1.39,279.7,207.2,12.8,324,6723,0.00,2.55,0.00,0.000,4,0.000,0.048,2810,3505,1736
$GC,6761,1.39,279.7,202.1,13.3,326,6765,0.00,2.50,0.00,0.000,6,0.000,0.039,2809,2097,1736
$GC,7087,1.39,279.7,160.8,12.7,342,7091,0.00,2.55,0.00,0.000,4,0.000,0.048,2810,3500,1736
$GC,7114,1.39,279.7,157.2,12.8,343,7118,0.00,2.50,0.00,0.000,6,0.000,0.038,2810,2094,1736
$GC,7430,1.39,279.7,119.9,11.6,358,7434,0.00,2.58,0.00,0.000,4,0.000,0.064,2809,697,1736
$GC,7447,1.39,279.7,117.8,11.3,359,7452,0.00,2.47,0.00,0.000,6,0.000,0.038,2809,2106,1736
$GC,7775,1.39,279.7,82.0,12.2,375,7779,0.00,2.50,0.00,0.000,4,0.000,0.048,2810,3495,1736
$GC,7824,1.39,279.7,75.4,13.2,377,7828,0.00,2.47,0.00,0.000,6,0.000,0.038,2810,2098,1736
$GC,8142,1.39,279.7,36.8,9.3,392,8146,0.00,2.53,0.00,0.000,4,0.000,0.048,2810,3494,1736
$GC,8192,1.39,279.7,29.0,15.6,394,8196,0.00,2.47,0.00,0.000,6,0.000,0.038,2810,2099,1736
$STATE,8444,end climb,SURFACE_DEPTH_REACHED
$STATE,8444,begin surface coast
$FINISH,1.0,1.027210
$STATE,8465,end surface coast,CONTROL_FINISHED_OK
$STATE,8466,begin surface
$SM_CCo,8490,18.85,0.828,2,0,1655,300.00
$SM_GC,1.82,0.00,0.00,18.85,0.000,0.000,0.828,31,1880,1655,-11.33,-0.57,300.00
$IRIDIUM_FIX,6103.81,-812.90,070597,191920
$TT8_MAMPS,0.026078
$HUMID,2069
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.2,999.0
$24V_AH,23.1,85.116
$10V_AH,10.1,40.852
$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,26.400,90.700,351.275,18.850,0.000,75.711,74.457,226.855,3.750,0.000,0.000,10.927,801.652,6262.219,457.883,991.664,626.483,33.368,1001.231,0.000,974.830,0.000,21.993
$DEVICE_MAMPS,141.895,69.797,1053.091,827.593,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,300.694,272.358,320.656,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19110,407
$CFSIZE,260165632,232448000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,110208,221507,6131.812,-814.190,43,1.0,43,-8.8