version: 66.02
glider: 102
mission: 4
dive: 449
start: 2 12 108 14 46 38
data:
$ID,102
$MISSION,4
$DIVE,449
$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,-87394.766
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,143838,6130.810,-825.847,37,1.2,37,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-65.8
$GPS2,144456,6130.715,-825.882,15,1.7,15,-8.9
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FB_DS
$TGT_LATLONG,6127.000,-840.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,-0.139,-0.193
$KALMAN_X,643891.3,831.4,1268.6,-642324.6,-5510.7
$KALMAN_Y,122960.4,-1181.0,475.9,-126724.5,2706.0
$MHEAD_RNG_PITCHd_Wd,224.7,14265,-14.7,-8.000
$D_GRID,818
$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,-61.08,0.000,2,0.000,0.000,32,1876,2925
$GC,93,-1.23,-146.6,3.6,-4.3,3,128,11.68,2.65,-15.90,0.000,4,0.140,0.058,2223,3305,3477
$GC,382,-1.23,-146.6,35.7,-10.4,16,387,0.00,2.50,0.00,0.000,6,0.000,0.039,2224,1907,3477
$GC,710,-1.23,-146.6,75.1,-13.3,32,714,0.00,2.53,0.00,0.000,4,0.000,0.045,2224,3305,3477
$GC,795,-1.23,-146.6,86.0,-13.0,36,800,0.00,2.53,0.00,0.000,6,0.000,0.040,2224,1895,3477
$GC,1123,-1.23,-146.6,127.2,-12.1,52,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3478
$GC,1431,-1.23,-146.6,165.3,-12.0,67,1436,0.00,2.55,0.00,0.000,4,0.000,0.046,2224,3309,3477
$GC,1494,-1.23,-146.6,172.5,-12.4,70,1498,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1900,3477
$GC,1820,-1.23,-146.6,211.3,-12.3,86,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3477
$GC,2130,-1.23,-146.6,247.7,-11.2,101,2134,0.00,2.55,0.00,0.000,4,0.000,0.046,2224,3312,3477
$GC,2174,-1.23,-146.6,252.6,-10.7,103,2178,0.00,2.53,0.00,0.000,6,0.000,0.040,2224,1898,3477
$GC,2495,-1.23,-146.6,286.1,-10.8,119,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,2804,-1.23,-146.6,323.2,-11.5,134,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,3113,-1.23,-146.6,359.6,-12.1,149,3117,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3309,3477
$GC,3203,-1.23,-146.6,370.4,-11.7,153,3207,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1895,3477
$GC,3524,-1.23,-146.6,408.7,-11.7,169,3529,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3310,3477
$GC,3580,-1.23,-146.6,415.2,-11.1,171,3586,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1898,3477
$GC,3898,-1.23,-146.6,451.8,-11.5,187,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,4205,-1.23,-146.6,486.8,-11.2,202,4210,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3305,3477
$GC,4272,-1.23,-146.6,494.7,-11.3,205,4277,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1895,3477
$GC,4594,-1.23,-146.6,528.6,-10.0,221,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3477
$GC,4903,-1.23,-146.6,555.7,-8.8,236,4908,0.00,2.58,0.00,0.000,4,0.000,0.049,2224,3309,3477
$GC,5021,-1.23,-146.6,568.2,-11.2,241,5025,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1900,3477
$GC,5338,-1.23,-146.6,600.8,-9.9,256,5342,0.00,2.62,0.00,0.000,4,0.000,0.073,2224,493,3477
$GC,5506,-1.23,-146.6,618.9,-11.3,263,5512,0.00,2.47,0.00,0.000,6,0.000,0.039,2224,1909,3477
$GC,5823,-1.23,-146.6,651.7,-10.4,279,5827,0.00,2.53,0.00,0.000,4,0.000,0.060,2224,3293,3477
$GC,6041,-1.23,-146.6,678.7,-16.7,289,6046,0.00,2.53,0.00,0.000,6,0.000,0.049,2224,1903,3477
$GC,6369,-1.23,-146.6,710.7,-11.3,305,6373,0.00,2.55,0.00,0.000,4,0.000,0.056,2224,3296,3477
$GC,6620,-1.23,-146.6,741.4,-12.3,316,6624,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1896,3477
$GC,6937,-1.23,-146.6,763.8,-4.9,331,6941,0.00,2.60,0.00,0.000,4,0.000,0.061,2224,3301,3477
$GC,7015,-1.23,-146.6,771.3,-8.4,334,7021,0.00,2.58,0.00,0.000,6,0.000,0.058,2223,1904,3477
$GC,7331,-1.23,-146.6,803.8,-11.8,350,7335,0.00,2.60,0.00,0.000,4,0.000,0.064,2224,3300,3476
$GC,7393,-1.23,-146.6,809.1,-7.2,353,7397,0.00,2.60,0.00,0.000,6,0.000,0.060,2224,1898,3475
$STATE,7490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7490,begin apogee
$GC,7497,-0.36,0.0,818.9,10.2,358,7633,0.90,0.00,129.05,1.358,6,0.074,0.000,2418,2096,2878
$STATE,7633,end apogee,CONTROL_FINISHED_OK
$STATE,7633,begin climb
$GC,7637,1.23,146.6,827.6,0.0,365,7769,1.58,0.00,127.60,1.327,6,0.057,0.000,2764,2100,2280
$GC,8069,1.23,146.6,802.4,10.9,386,8074,0.00,2.72,0.00,0.000,4,0.000,0.081,2764,685,2278
$GC,8170,1.23,146.6,786.2,18.5,390,8177,0.00,2.58,0.00,0.000,6,0.000,0.054,2763,2092,2278
$GC,8486,1.23,146.6,757.6,11.4,406,8491,0.00,2.72,0.00,0.000,4,0.000,0.081,2764,685,2277
$GC,8745,1.45,323.9,737.4,1.2,417,8906,0.20,2.60,150.95,1.319,6,0.048,0.053,2814,2107,1557
$GC,9222,1.45,323.9,679.8,16.1,441,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2112,1555
$GC,9532,1.45,323.9,647.7,11.7,456,9533,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2113,1554
$GC,9840,1.45,323.9,613.2,11.0,471,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2113,1554
$GC,10150,1.45,323.9,574.0,12.3,486,10154,0.00,2.55,0.00,0.000,4,0.000,0.053,2814,3504,1554
$GC,10217,1.45,323.9,566.0,11.4,489,10221,0.00,2.55,0.00,0.000,6,0.000,0.046,2814,2096,1554
$GC,10538,1.45,323.9,529.3,11.3,505,10539,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2097,1554
$GC,10847,1.45,323.9,495.4,10.8,520,10851,0.00,2.58,0.00,0.000,4,0.000,0.050,2814,3508,1555
$GC,10887,1.45,323.9,490.6,13.0,522,10891,0.00,2.55,0.00,0.000,6,0.000,0.042,2814,2094,1555
$GC,11213,1.45,323.9,453.7,11.6,538,11214,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2094,1555
$GC,11522,1.45,323.9,416.0,12.2,553,11527,0.00,2.58,0.00,0.000,4,0.000,0.048,2814,3507,1556
$GC,11556,1.45,323.9,411.8,12.4,554,11562,0.00,2.53,0.00,0.000,6,0.000,0.041,2814,2100,1556
$GC,11872,1.45,323.9,373.6,12.2,570,11873,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2100,1557
$GC,12181,1.45,323.9,338.2,11.4,585,12182,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2100,1558
$GC,12490,1.45,323.9,303.6,11.5,600,12491,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2100,1559
$GC,12799,1.45,323.9,268.0,11.6,615,12800,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2100,1559
$GC,13109,1.45,323.9,232.3,11.2,630,13113,0.00,2.55,0.00,0.000,4,0.000,0.048,2814,3505,1559
$GC,13136,1.45,323.9,229.1,10.9,631,13141,0.00,2.50,0.00,0.000,6,0.000,0.038,2814,2097,1559
$GC,13452,1.45,323.9,192.6,11.7,646,13453,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2097,1558
$GC,13761,1.45,323.9,155.2,12.3,661,13766,0.00,2.55,0.00,0.000,4,0.000,0.047,2815,3505,1559
$GC,13825,1.45,323.9,147.2,11.7,664,13829,0.00,2.50,0.00,0.000,6,0.000,0.038,2815,2093,1559
$GC,14152,1.45,323.9,107.0,12.5,680,14153,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2093,1560
$GC,14461,1.45,323.9,66.3,12.7,695,14462,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2093,1560
$GC,14770,1.45,323.9,24.6,13.1,710,14772,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2093,1560
$STATE,14952,end climb,SURFACE_DEPTH_REACHED
$STATE,14953,begin surface coast
$FINISH,1.2,1.009199
$STATE,14976,end surface coast,CONTROL_FINISHED_OK
$STATE,14976,begin surface
$SM_CCo,15059,0.00,0.000,0,0,1559,323.31
$SM_GC,1.91,11.98,0.00,0.00,0.030,0.000,0.000,36,1893,1559,-11.25,-0.20,323.31
$IRIDIUM_FIX,6108.28,-817.36,080597,101044
$TT8_MAMPS,0.026845
$HUMID,2090
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,15.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,22.8,85.952
$10V_AH,10.1,41.226
$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,26.325,103.050,407.600,0.000,0.000,36.299,36.874,173.603,7.250,0.000,0.000,17.029,1341.175,11371.894,483.552,1725.523,562.385,33.366,1350.359,0.000,1680.863,0.000,46.237
$DEVICE_MAMPS,140.361,81.302,1357.590,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,529.492,484.934,408.026,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37890,720
$CFSIZE,260165632,232153088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,120208,185838,6128.617,-829.177,25,1.7,25,-8.9