version: 66.02
glider: 102
mission: 4
dive: 433
start: 2 10 108 15 13 41
data:
$ID,102
$MISSION,4
$DIVE,433
$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,-87068.602
$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,30
$R_STBD_OVSHOOT,41
$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
$GPS1,150636,6121.885,-837.911,38,1.8,38,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-57.4
$GPS2,151157,6121.825,-837.777,15,1.1,15,-9.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.238,-0.006
$KALMAN_X,629644.6,919.0,76.1,-637465.1,3217.8
$KALMAN_Y,117237.1,899.5,-444.4,-138642.1,-2818.8
$MHEAD_RNG_PITCHd_Wd,277.6,20031,-14.7,-8.000
$D_GRID,285
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,87,0.00,0.00,-61.10,0.000,2,0.000,0.000,35,1888,2928
$GC,91,-1.23,-146.6,4.3,-5.0,3,121,11.62,0.00,-16.08,0.000,6,0.140,0.000,2226,1889,3476
$GC,423,-1.23,-146.6,37.5,-11.0,19,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1889,3476
$GC,732,-1.23,-146.6,72.6,-10.3,34,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1889,3477
$GC,1040,-1.23,-146.6,107.5,-9.3,49,1045,0.00,2.53,0.00,0.000,4,0.000,0.046,2226,3291,3477
$GC,1107,-1.23,-146.6,114.5,-10.8,52,1112,0.00,2.47,0.00,0.000,6,0.000,0.038,2226,1898,3476
$GC,1429,-1.23,-146.6,148.8,-10.3,68,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1898,3476
$GC,1737,-1.23,-146.6,182.3,-12.0,83,1741,0.00,2.50,0.00,0.000,4,0.000,0.045,2226,3293,3476
$GC,1805,-1.23,-146.6,190.4,-11.8,86,1809,0.00,2.47,0.00,0.000,6,0.000,0.038,2226,1898,3476
$GC,2127,-1.23,-146.6,225.5,-10.5,102,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1899,3476
$GC,2435,-1.23,-146.6,254.1,-9.4,117,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1898,3477
$STATE,2721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2721,begin apogee
$GC,2728,-0.36,0.0,285.4,11.6,131,2851,0.90,0.00,119.15,0.956,6,0.077,0.000,2418,2101,2878
$STATE,2852,end apogee,CONTROL_FINISHED_OK
$STATE,2852,begin climb
$GC,2855,1.23,146.6,289.6,0.0,137,2980,1.55,2.65,117.50,0.920,4,0.053,0.058,2763,694,2280
$GC,3024,1.25,165.7,286.2,7.3,145,3046,0.00,2.47,16.33,0.916,6,0.000,0.037,2763,2097,2202
$GC,3355,1.29,195.8,264.6,6.9,161,3385,0.00,2.60,25.25,0.924,4,0.000,0.050,2763,3496,2078
$GC,3482,1.29,195.8,253.8,9.2,167,3486,0.00,2.47,0.00,0.000,6,0.000,0.037,2763,2096,2078
$GC,3808,1.29,195.8,225.1,8.8,183,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2096,2078
$GC,4118,1.29,195.8,199.5,8.0,198,4122,0.00,2.55,0.00,0.000,4,0.000,0.049,2763,3496,2077
$GC,4196,1.29,199.9,192.9,7.8,201,4205,0.00,2.50,4.22,0.910,6,0.000,0.037,2763,2094,2062
$GC,4534,1.29,199.9,165.5,8.6,218,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2094,2061
$GC,4844,1.30,203.5,141.5,7.9,233,4853,0.00,2.58,3.92,0.897,4,0.000,0.048,2763,3499,2047
$GC,4966,1.30,203.5,131.8,8.4,238,4971,0.00,2.47,0.00,0.000,6,0.000,0.037,2763,2100,2048
$GC,5283,1.30,203.5,106.5,8.4,253,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2100,2048
$GC,5592,1.33,230.4,85.2,7.0,268,5621,0.00,2.60,21.90,0.854,4,0.000,0.048,2763,3496,1938
$GC,5690,1.37,263.7,77.0,6.7,272,5723,0.15,2.47,27.05,0.828,6,0.051,0.035,2805,2098,1802
$GC,6033,1.37,263.7,45.3,8.9,289,6037,0.00,2.55,0.00,0.000,4,0.000,0.047,2805,3497,1802
$GC,6118,1.37,263.7,36.6,10.5,293,6123,0.00,2.50,0.00,0.000,6,0.000,0.037,2804,2096,1802
$GC,6445,1.37,263.7,4.3,12.4,309,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2095,1802
$STATE,6463,end climb,SURFACE_DEPTH_REACHED
$STATE,6463,begin surface coast
$FINISH,1.3,1.027404
$STATE,6485,end surface coast,CONTROL_FINISHED_OK
$STATE,6485,begin surface
$SM_CCo,6508,33.47,0.783,4,0,1655,300.00
$SM_GC,2.26,0.00,0.00,33.47,0.000,0.000,0.783,30,1889,1655,-11.34,-0.31,300.00
$IRIDIUM_FIX,6059.36,-838.96,060597,131328
$TT8_MAMPS,0.026845
$HUMID,2062
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.3,83.799
$10V_AH,10.1,40.299
$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,26.200,41.075,335.325,33.475,0.000,40.046,38.223,134.727,2.000,0.000,0.000,17.261,613.422,4737.318,436.670,757.978,400.978,33.365,837.707,0.000,743.070,0.000,12.294
$DEVICE_MAMPS,139.594,57.525,956.449,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,228.164,207.954,315.362,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15945,311
$CFSIZE,260165632,232865792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,4,0
$GPS,100208,170407,6120.408,-838.088,8,1.9,26,-9.0