version: 66.02
glider: 102
mission: 4
dive: 450
start: 2 12 108 19 43 43
data:
$ID,102
$MISSION,4
$DIVE,450
$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,558.0575
$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,-87430.25
$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,28
$R_STBD_OVSHOOT,23
$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
$GPS1,185838,6128.617,-829.177,25,1.7,25,-8.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-65.6
$GPS2,194202,6128.241,-829.529,15,1.8,33,-8.9
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FB_DS
$TGT_LATLONG,6127.000,-840.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,-0.129,-0.199
$KALMAN_X,646746.9,-706.1,-210.1,-645393.5,855.7
$KALMAN_Y,122190.8,534.9,-1262.6,-130520.2,3181.9
$MHEAD_RNG_PITCHd_Wd,221.9,9549,-14.7,-8.000
$D_GRID,711
$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,-60.60,0.000,2,0.000,0.000,35,1884,2803
$GC,92,-1.23,-146.6,3.2,-3.4,3,135,11.60,2.62,-22.88,0.000,4,0.137,0.060,2223,3303,3477
$GC,388,-1.23,-146.6,35.2,-11.2,16,392,0.00,2.50,0.00,0.000,6,0.000,0.039,2223,1905,3478
$GC,709,-1.23,-146.6,65.1,-9.1,32,714,0.00,2.55,0.00,0.000,4,0.000,0.045,2223,3314,3478
$GC,924,-1.23,-146.6,83.5,-9.8,41,930,0.00,2.53,0.00,0.000,6,0.000,0.040,2223,1899,3478
$GC,1240,-1.23,-146.6,117.6,-10.5,57,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3478
$GC,1549,-1.23,-146.6,152.7,-11.0,72,1553,0.00,2.55,0.00,0.000,4,0.000,0.044,2223,3312,3478
$GC,1604,-1.23,-146.6,158.8,-10.9,74,1610,0.00,2.53,0.00,0.000,6,0.000,0.040,2223,1899,3478
$GC,1920,-1.23,-146.6,192.6,-10.1,90,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3478
$GC,2230,-1.23,-146.6,227.0,-10.8,105,2234,0.00,2.55,0.00,0.000,4,0.000,0.046,2223,3310,3478
$GC,2296,-1.23,-146.6,234.1,-8.7,108,2300,0.00,2.53,0.00,0.000,6,0.000,0.040,2224,1895,3478
$GC,2617,-1.23,-146.6,266.4,-9.4,124,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3477
$GC,2926,-1.23,-146.6,296.6,-10.6,139,2930,0.00,2.55,0.00,0.000,4,0.000,0.046,2223,3311,3478
$GC,3004,-1.23,-146.6,305.1,-10.8,142,3010,0.00,2.53,0.00,0.000,6,0.000,0.041,2223,1895,3478
$GC,3320,-1.23,-146.6,342.2,-12.3,158,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3478
$GC,3629,-1.23,-146.6,377.0,-10.7,173,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3478
$GC,3940,-1.23,-146.6,405.7,-10.5,188,3944,0.00,2.58,0.00,0.000,4,0.000,0.047,2223,3313,3478
$GC,4002,-1.23,-146.6,411.3,-8.3,191,4006,0.00,2.53,0.00,0.000,6,0.000,0.041,2223,1899,3478
$GC,4328,-1.23,-146.6,438.0,-8.1,207,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3477
$GC,4638,-1.23,-146.6,464.6,-8.9,222,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3477
$GC,4947,-1.23,-146.6,493.0,-9.1,237,4951,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3307,3478
$GC,4991,-1.23,-146.6,497.4,-9.5,239,4995,0.00,2.53,0.00,0.000,6,0.000,0.042,2223,1896,3478
$GC,5312,-1.23,-146.6,529.4,-10.5,255,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3478
$GC,5621,-1.23,-146.6,557.4,-9.6,270,5625,0.00,2.55,0.00,0.000,4,0.000,0.049,2223,3308,3478
$GC,5670,-1.23,-146.6,562.1,-9.5,272,5675,0.00,2.53,0.00,0.000,6,0.000,0.042,2223,1896,3477
$GC,5987,-1.23,-146.6,587.8,-8.0,287,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1896,3478
$GC,6295,-1.23,-146.6,615.5,-9.6,302,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1896,3478
$GC,6605,-1.23,-146.6,640.9,-7.4,317,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1896,3477
$GC,6914,-1.23,-146.6,663.9,-8.0,332,6918,0.00,2.62,0.00,0.000,4,0.000,0.074,2223,498,3477
$GC,6958,-1.23,-146.6,667.5,-9.2,334,6962,0.00,2.47,0.00,0.000,6,0.000,0.039,2223,1910,3477
$GC,7279,-1.23,-146.6,689.2,-6.7,350,7283,0.00,2.53,0.00,0.000,4,0.000,0.054,2223,3301,3477
$GC,7402,-1.23,-146.6,699.6,-10.0,355,7413,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1899,3477
$STATE,7529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7529,begin apogee
$GC,7537,-0.36,0.0,711.2,9.3,362,7667,0.93,0.00,127.00,1.230,6,0.081,0.000,2419,2110,2879
$STATE,7668,end apogee,CONTROL_FINISHED_OK
$STATE,7668,begin climb
$GC,7671,1.23,146.6,715.2,0.0,368,7805,1.55,2.62,125.43,1.193,4,0.049,0.054,2767,3493,2279
$GC,7997,1.23,146.6,700.6,9.3,384,8001,0.00,2.53,0.00,0.000,6,0.000,0.043,2767,2091,2278
$GC,8324,1.23,146.6,672.2,8.2,400,8328,0.00,2.58,0.00,0.000,4,0.000,0.052,2767,3496,2278
$GC,8513,1.26,171.4,656.3,7.1,408,8540,0.00,2.53,21.52,1.193,6,0.000,0.041,2767,2093,2179
$GC,8850,1.36,251.7,635.6,4.9,425,8926,0.10,2.70,67.97,1.171,4,0.063,0.051,2797,3499,1851
$GC,9005,1.36,251.7,622.5,9.1,432,9009,0.00,2.55,0.00,0.000,6,0.000,0.044,2797,2101,1851
$GC,9326,1.36,251.7,591.1,10.0,448,9330,0.00,2.58,0.00,0.000,4,0.000,0.051,2797,3499,1851
$GC,9370,1.36,251.7,586.6,10.1,450,9374,0.00,2.53,0.00,0.000,6,0.000,0.042,2797,2098,1851
$GC,9691,1.36,251.7,555.2,10.6,466,9695,0.00,2.58,0.00,0.000,4,0.000,0.050,2797,3501,1850
$GC,9742,1.36,251.7,549.7,10.9,468,9747,0.00,2.53,0.00,0.000,6,0.000,0.041,2796,2097,1850
$GC,10058,1.36,251.7,517.5,9.8,483,10062,0.00,2.55,0.00,0.000,4,0.000,0.050,2797,3494,1850
$GC,10113,1.36,251.7,511.8,10.8,485,10120,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2098,1850
$GC,10430,1.36,251.7,477.1,11.2,501,10434,0.00,2.53,0.00,0.000,4,0.000,0.049,2797,3494,1850
$GC,10514,1.36,251.7,467.3,11.4,505,10518,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2099,1850
$GC,10841,1.36,251.7,431.7,11.1,521,10845,0.00,2.53,0.00,0.000,4,0.000,0.049,2797,3502,1850
$GC,10897,1.36,251.7,425.0,12.0,523,10902,0.00,2.53,0.00,0.000,6,0.000,0.041,2797,2093,1850
$GC,11212,1.36,251.7,387.7,13.3,539,11216,0.00,2.55,0.00,0.000,4,0.000,0.048,2797,3501,1850
$GC,11301,1.36,251.7,374.3,15.5,543,11306,0.00,2.53,0.00,0.000,6,0.000,0.041,2797,2091,1850
$GC,11622,1.36,251.7,336.4,12.5,559,11623,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2091,1850
$GC,11931,1.36,251.7,303.0,10.8,574,11936,0.00,2.55,0.00,0.000,4,0.000,0.049,2797,3501,1850
$GC,12017,1.36,251.7,295.3,9.0,578,12021,0.00,2.50,0.00,0.000,6,0.000,0.040,2797,2093,1850
$GC,12343,1.36,251.7,263.8,12.3,594,12347,0.00,2.55,0.00,0.000,4,0.000,0.048,2796,3497,1850
$GC,12432,1.36,251.7,251.9,12.8,598,12436,0.00,2.50,0.00,0.000,6,0.000,0.038,2797,2091,1850
$GC,12753,1.36,251.7,210.6,11.8,614,12757,0.00,2.55,0.00,0.000,4,0.000,0.048,2797,3497,1850
$GC,12793,1.36,251.7,205.5,12.4,616,12797,0.00,2.50,0.00,0.000,6,0.000,0.038,2797,2090,1850
$GC,13120,1.36,251.7,169.8,10.8,632,13124,0.00,2.55,0.00,0.000,4,0.000,0.048,2797,3498,1850
$GC,13159,1.36,251.7,165.2,11.4,634,13163,0.00,2.47,0.00,0.000,6,0.000,0.038,2797,2094,1850
$GC,13486,1.36,251.7,128.7,10.9,650,13490,0.00,2.55,0.00,0.000,4,0.000,0.048,2797,3499,1850
$GC,13541,1.36,251.7,122.3,11.5,652,13547,0.00,2.50,0.00,0.000,6,0.000,0.038,2796,2090,1850
$GC,13857,1.36,251.7,87.1,11.0,668,13858,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2090,1850
$GC,14168,1.36,251.7,56.6,10.7,683,14172,0.00,2.55,0.00,0.000,4,0.000,0.048,2797,3498,1850
$GC,14257,1.36,251.7,47.2,9.2,687,14261,0.00,2.47,0.00,0.000,6,0.000,0.037,2797,2099,1850
$GC,14578,1.36,251.7,15.4,9.8,703,14579,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2099,1850
$STATE,14721,end climb,SURFACE_DEPTH_REACHED
$STATE,14721,begin surface coast
$FINISH,1.4,1.002944
$STATE,14741,end surface coast,CONTROL_FINISHED_OK
$STATE,14742,begin surface
$SM_CCo,14765,283.85,0.737,38,0,603,558.06
$SM_GC,1.69,0.00,0.00,283.85,0.000,0.000,0.737,32,1888,603,-11.33,-0.34,558.06
$IRIDIUM_FIX,6108.28,-826.94,080597,191931
$TT8_MAMPS,0.026845
$HUMID,1949
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.60
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,22.9,86.251
$10V_AH,10.1,41.328
$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,26.150,127.675,341.925,283.850,0.000,195.556,382.442,1624.789,7.250,0.000,0.000,34.859,1349.524,11328.281,937.642,1739.228,2542.892,33.372,1807.763,0.000,1681.086,0.000,39.787
$DEVICE_MAMPS,137.293,73.632,1230.268,737.087,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,522.178,478.730,437.158,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34776,711
$CFSIZE,260165632,232062976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,10,38,0
$GPS,120208,235902,6125.110,-827.583,39,1.6,39,-8.9