version: 66.02
glider: 102
mission: 4
dive: 328
start: 1 22 108 14 28 39
data:
$ID,102
$MISSION,4
$DIVE,328
$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,-1
$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,-83682.203
$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,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
$GPS1,142108,6311.239,-1253.501,37,1.2,37,-12.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-55.9
$GPS2,142732,6311.222,-1253.464,11,1.3,11,-12.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.079,-0.224
$KALMAN_X,448416.5,-1050.9,-149.6,-679586.4,3835.3
$KALMAN_Y,63786.7,260.3,-254.8,117842.6,350.2
$MHEAD_RNG_PITCHd_Wd,211.5,40495,-14.7,-8.000
$D_GRID,584
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,105,0.00,0.00,-79.30,0.000,2,0.000,0.000,32,1884,2908
$GC,109,-1.23,-146.6,3.3,-2.4,4,140,11.60,0.00,-17.10,0.000,6,0.140,0.000,2226,1886,3477
$GC,456,-1.23,-146.6,44.4,-9.6,21,461,0.00,2.55,0.00,0.000,4,0.000,0.049,2226,3298,3478
$GC,596,-1.23,-146.6,60.0,-11.0,27,600,0.00,2.50,0.00,0.000,6,0.000,0.043,2226,1904,3477
$GC,914,-1.23,-146.6,93.6,-10.3,42,918,0.00,2.53,0.00,0.000,4,0.000,0.047,2226,3308,3477
$GC,957,-1.23,-146.6,98.8,-10.7,44,962,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1897,3477
$GC,1279,-1.23,-146.6,129.7,-10.2,60,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1898,3478
$GC,1588,-1.23,-146.6,163.9,-12.2,75,1592,0.00,2.53,0.00,0.000,4,0.000,0.047,2226,3303,3477
$GC,1632,-1.23,-146.6,168.8,-10.9,77,1636,0.00,2.50,0.00,0.000,6,0.000,0.044,2226,1899,3477
$GC,1952,-1.23,-146.6,198.4,-9.0,93,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1899,3477
$GC,2261,-1.23,-146.6,228.0,-9.6,108,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1899,3478
$GC,2571,-1.23,-146.6,263.6,-9.8,123,2575,0.00,2.53,0.00,0.000,4,0.000,0.047,2226,3303,3478
$GC,2642,-1.23,-146.6,270.9,-9.9,126,2647,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1896,3478
$GC,2964,-1.23,-146.6,303.5,-10.3,142,2968,0.00,2.53,0.00,0.000,4,0.000,0.048,2226,3301,3478
$GC,3013,-1.23,-146.6,309.0,-10.9,144,3017,0.00,2.53,0.00,0.000,6,0.000,0.045,2227,1896,3478
$GC,3329,-1.23,-146.6,345.4,-12.4,159,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1895,3478
$GC,3639,-1.23,-146.6,376.3,-9.2,174,3643,0.00,2.53,0.00,0.000,4,0.000,0.048,2226,3301,3477
$GC,3682,-1.23,-146.6,380.4,-8.9,176,3687,0.00,2.53,0.00,0.000,6,0.000,0.045,2226,1896,3477
$GC,4009,-1.23,-146.6,409.4,-9.4,192,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1895,3477
$GC,4319,-1.23,-146.6,441.3,-9.7,207,4323,0.00,2.53,0.00,0.000,4,0.000,0.050,2226,3300,3477
$GC,4369,-1.23,-146.6,446.1,-9.8,209,4374,0.00,2.53,0.00,0.000,6,0.000,0.045,2226,1892,3477
$GC,4684,-1.23,-146.6,472.4,-8.5,224,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1892,3478
$GC,4994,-1.23,-146.6,498.1,-9.1,239,4998,0.00,2.55,0.00,0.000,4,0.000,0.051,2226,3299,3478
$GC,5088,-1.23,-146.6,506.9,-9.2,243,5092,0.00,2.53,0.00,0.000,6,0.000,0.047,2226,1897,3477
$GC,5404,-1.23,-146.6,538.6,-9.5,258,5408,0.00,2.62,0.00,0.000,4,0.000,0.074,2226,495,3478
$GC,5453,-1.23,-146.6,543.3,-9.5,260,5457,0.00,2.47,0.00,0.000,6,0.000,0.043,2226,1905,3478
$GC,5768,-1.23,-146.6,573.0,-9.2,275,5772,0.00,2.53,0.00,0.000,4,0.000,0.057,2227,3298,3477
$GC,5840,-1.23,-146.6,578.3,-7.5,278,5844,0.00,2.53,0.00,0.000,6,0.000,0.050,2227,1898,3477
$STATE,5926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5926,begin apogee
$GC,5932,-0.36,0.0,585.4,8.2,282,6059,0.85,0.00,123.28,1.162,6,0.056,0.000,2421,2102,2878
$STATE,6060,end apogee,CONTROL_FINISHED_OK
$STATE,6060,begin climb
$GC,6062,1.23,146.6,585.2,0.0,288,6194,1.52,2.80,121.18,1.126,4,0.051,0.076,2765,694,2280
$GC,6450,1.24,158.9,579.9,7.5,305,6466,0.00,2.50,11.18,1.133,6,0.000,0.044,2765,2094,2229
$GC,6782,1.30,200.5,557.9,6.4,322,6824,0.00,2.72,35.42,1.139,4,0.000,0.072,2765,693,2060
$GC,6992,1.32,223.0,543.0,7.1,331,7017,0.00,2.53,19.02,1.138,6,0.000,0.044,2765,2111,1969
$GC,7334,1.33,226.4,518.3,7.9,348,7343,0.00,2.60,4.18,1.081,4,0.000,0.058,2765,3502,1954
$GC,7405,1.33,226.4,511.6,8.9,351,7410,0.00,2.55,0.00,0.000,6,0.000,0.050,2765,2101,1954
$GC,7727,1.33,226.4,482.8,8.7,367,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2101,1953
$GC,8035,1.33,226.4,456.5,8.3,382,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2101,1953
$GC,8345,1.33,230.6,430.0,7.8,397,8354,0.00,2.58,4.18,1.069,4,0.000,0.053,2765,3499,1938
$GC,8417,1.33,230.6,423.5,9.2,400,8421,0.00,2.53,0.00,0.000,6,0.000,0.044,2765,2097,1937
$GC,8738,1.40,283.8,401.6,6.0,416,8784,0.15,0.00,44.35,1.065,6,0.050,0.000,2808,2097,1719
$GC,9086,1.40,283.8,374.3,9.1,433,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2097,1720
$GC,9396,1.40,283.8,342.9,11.3,448,9400,0.00,2.53,0.00,0.000,4,0.000,0.051,2808,3500,1720
$GC,9428,1.40,283.8,338.9,11.8,449,9434,0.00,2.53,0.00,0.000,6,0.000,0.044,2808,2096,1720
$GC,9744,1.40,283.8,301.1,12.9,465,9748,0.00,2.55,0.00,0.000,4,0.000,0.051,2808,3506,1720
$GC,9788,1.40,283.8,295.6,12.0,467,9792,0.00,2.53,0.00,0.000,6,0.000,0.044,2808,2098,1720
$GC,10108,1.40,283.8,256.3,12.3,483,10109,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2098,1720
$GC,10417,1.40,283.8,217.8,12.2,498,10421,0.00,2.55,0.00,0.000,4,0.000,0.050,2808,3502,1720
$GC,10461,1.40,283.8,212.1,13.3,500,10465,0.00,2.50,0.00,0.000,6,0.000,0.041,2808,2098,1720
$GC,10782,1.40,283.8,175.7,11.4,516,10786,0.00,2.55,0.00,0.000,4,0.000,0.049,2808,3506,1720
$GC,10872,1.40,283.8,165.7,8.5,520,10876,0.00,2.53,0.00,0.000,6,0.000,0.042,2808,2092,1721
$GC,11193,1.40,283.8,133.9,12.5,536,11197,0.00,2.55,0.00,0.000,4,0.000,0.049,2808,3502,1721
$GC,11225,1.40,283.8,129.3,13.5,537,11231,0.00,2.50,0.00,0.000,6,0.000,0.042,2808,2098,1721
$GC,11542,1.40,283.8,92.4,8.9,553,11547,0.00,2.55,0.00,0.000,4,0.000,0.048,2808,3506,1721
$GC,11598,1.40,283.8,87.4,9.2,555,11604,0.00,2.50,0.00,0.000,6,0.000,0.041,2808,2097,1721
$GC,11915,1.41,291.8,58.1,7.7,571,11929,0.00,2.58,7.57,0.889,4,0.000,0.048,2808,3494,1688
$GC,11975,1.41,291.8,52.6,8.8,573,11982,0.00,2.50,0.00,0.000,6,0.000,0.041,2808,2097,1688
$GC,12291,1.41,291.8,16.9,13.2,589,12296,0.00,2.60,0.00,0.000,4,0.000,0.066,2808,691,1688
$GC,12301,1.41,291.8,15.4,13.6,589,12308,0.00,2.47,0.00,0.000,6,0.000,0.039,2808,2112,1688
$STATE,12450,end climb,SURFACE_DEPTH_REACHED
$STATE,12450,begin surface coast
$FINISH,1.1,1.027397
$STATE,12472,end surface coast,CONTROL_FINISHED_OK
$STATE,12472,begin surface
$SM_CCo,12495,7.10,0.875,0,0,1655,300.00
$SM_GC,2.75,0.00,0.00,7.10,0.000,0.000,0.875,31,1883,1655,-11.33,-0.48,300.00
$IRIDIUM_FIX,6249.28,-1250.37,220108,151521
$TT8_MAMPS,0.026845
$HUMID,2078
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.3,66.930
$10V_AH,10.1,32.360
$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,26.125,112.575,370.350,7.100,0.000,40.234,60.091,181.602,5.250,0.000,0.000,12.944,1139.598,9372.407,493.803,1408.189,495.419,33.369,1225.310,0.000,1381.787,0.000,31.693
$DEVICE_MAMPS,140.361,75.933,1162.005,875.147,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.465,402.457,396.005,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28548,598
$CFSIZE,260165632,238657536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,220108,175807,6310.353,-1252.972,28,1.5,28,-12.0