version: 66.02
glider: 102
mission: 4
dive: 330
start: 1 22 108 21 49 57
data:
$ID,102
$MISSION,4
$DIVE,330
$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,-83716.07
$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,28
$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
$GPS1,213231,6310.454,-1249.149,39,1.7,39,-12.0
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-56.6
$GPS2,214850,6310.554,-1248.729,8,2.0,13,-12.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.101,-0.215
$KALMAN_X,452970.1,346.3,476.6,-681984.0,3758.6
$KALMAN_Y,67608.5,444.9,963.5,111394.8,553.9
$MHEAD_RNG_PITCHd_Wd,217.1,40476,-14.7,-8.000
$D_GRID,548
$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,23,-1.23,-146.6,0.0,0.0,0,85,0.00,0.00,-60.75,0.000,2,0.000,0.000,28,1878,2826
$GC,88,-1.23,-146.6,3.4,-3.6,3,131,11.65,2.65,-20.73,0.000,4,0.143,0.061,2224,3300,3477
$GC,350,-1.23,-146.6,28.4,-10.4,14,356,0.00,2.50,0.00,0.000,6,0.000,0.043,2225,1905,3477
$GC,666,-1.23,-146.6,52.6,-5.8,30,670,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3306,3477
$GC,755,-1.23,-146.6,60.6,-8.6,34,759,0.00,2.53,0.00,0.000,6,0.000,0.042,2225,1894,3477
$GC,1076,-1.23,-146.6,99.8,-14.0,50,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3477
$GC,1387,-1.23,-146.6,145.8,-13.3,65,1391,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3309,3477
$GC,1431,-1.23,-146.6,149.6,-7.3,67,1435,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1900,3477
$GC,1751,-1.23,-146.6,181.2,-10.4,83,1755,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3303,3477
$GC,1806,-1.23,-146.6,187.5,-12.9,85,1812,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1893,3477
$GC,2122,-1.23,-146.6,230.7,-14.2,101,2126,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3309,3477
$GC,2161,-1.23,-146.6,237.4,-17.6,103,2165,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1901,3477
$GC,2487,-1.23,-146.6,284.5,-12.4,119,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1901,3477
$GC,2796,-1.23,-146.6,319.2,-11.0,134,2801,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3303,3476
$GC,2881,-1.23,-146.6,328.7,-10.7,138,2885,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1897,3477
$GC,3207,-1.23,-146.6,366.6,-11.6,154,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1898,3477
$GC,3517,-1.23,-146.6,400.2,-10.0,169,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1897,3477
$GC,3826,-1.23,-146.6,434.9,-11.8,184,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1898,3477
$GC,4135,-1.23,-146.6,468.0,-10.1,199,4139,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3303,3477
$GC,4196,-1.23,-146.6,474.6,-10.7,202,4201,0.00,2.53,0.00,0.000,6,0.000,0.046,2225,1900,3477
$GC,4528,-1.23,-146.6,503.3,-7.8,218,4532,0.00,2.55,0.00,0.000,4,0.000,0.052,2225,3303,3477
$GC,4606,-1.23,-146.6,509.4,-7.7,221,4612,0.00,2.53,0.00,0.000,6,0.000,0.048,2225,1901,3477
$GC,4921,-1.23,-146.6,538.3,-9.3,237,4925,0.00,2.55,0.00,0.000,4,0.000,0.054,2225,3302,3476
$GC,4993,-1.23,-146.6,543.0,0.5,240,4998,0.00,2.55,0.00,0.000,6,0.000,0.050,2225,1893,3477
$STATE,5306,end dive,NO_VERTICAL_VELOCITY
$STATE,5306,begin apogee
$GC,5313,-0.36,0.0,543.1,0.0,255,5439,0.88,0.00,122.57,1.137,6,0.061,0.000,2418,2113,2878
$STATE,5440,end apogee,CONTROL_FINISHED_OK
$STATE,5440,begin climb
$GC,5442,1.23,146.6,542.9,0.0,261,5573,1.55,2.78,120.90,1.097,4,0.055,0.070,2763,694,2280
$GC,5830,1.26,172.1,530.3,7.0,278,5857,0.00,2.50,21.83,1.113,6,0.000,0.044,2763,2093,2176
$GC,6166,1.28,189.4,506.5,7.3,295,6188,0.00,2.65,15.27,1.118,4,0.000,0.058,2763,3503,2105
$GC,6251,1.28,189.4,499.6,8.2,298,6256,0.00,2.58,0.00,0.000,6,0.000,0.049,2763,2097,2105
$GC,6566,1.32,217.0,475.9,6.9,314,6595,0.00,2.67,23.42,1.112,4,0.000,0.057,2763,3499,1992
$GC,6669,1.32,223.8,468.1,7.7,318,6682,0.00,2.55,6.68,1.085,6,0.000,0.047,2763,2099,1965
$GC,7005,1.32,223.8,441.5,8.0,335,7009,0.00,2.58,0.00,0.000,4,0.000,0.054,2763,3500,1964
$GC,7049,1.32,223.8,437.6,8.8,337,7053,0.00,2.55,0.00,0.000,6,0.000,0.046,2763,2092,1964
$GC,7369,1.32,223.8,403.6,11.0,353,7373,0.00,2.58,0.00,0.000,4,0.000,0.054,2763,3502,1963
$GC,7423,1.32,223.8,397.6,10.9,355,7430,0.00,2.53,0.00,0.000,6,0.000,0.045,2763,2094,1963
$GC,7740,1.32,223.8,369.6,8.4,371,7744,0.00,2.58,0.00,0.000,4,0.000,0.054,2763,3505,1963
$GC,7794,1.32,223.8,364.3,9.9,373,7801,0.00,2.55,0.00,0.000,6,0.000,0.045,2763,2094,1963
$GC,8110,1.32,223.8,335.3,9.7,389,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2094,1963
$GC,8420,1.46,333.5,313.5,3.8,404,8515,0.20,2.65,87.75,0.988,4,0.044,0.051,2822,3499,1518
$GC,8556,1.46,333.5,301.1,11.7,410,8560,0.00,2.55,0.00,0.000,6,0.000,0.043,2822,2094,1518
$GC,8872,1.46,335.5,274.5,7.9,425,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2094,1518
$GC,9180,1.46,335.5,228.4,16.2,440,9185,0.00,2.55,0.00,0.000,4,0.000,0.051,2822,3502,1518
$GC,9236,1.46,335.5,219.1,14.9,442,9242,0.00,2.53,0.00,0.000,6,0.000,0.044,2822,2100,1518
$GC,9551,1.46,335.5,172.6,15.7,458,9560,0.00,2.58,3.05,0.907,4,0.000,0.050,2822,3502,1510
$GC,9584,1.46,335.5,168.4,13.4,459,9588,0.00,2.53,0.00,0.000,6,0.000,0.042,2822,2094,1510
$GC,9900,1.46,335.5,127.5,14.6,474,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2094,1510
$GC,10210,1.46,335.5,86.7,11.6,489,10215,0.00,2.55,0.00,0.000,4,0.000,0.048,2823,3504,1510
$GC,10244,1.46,335.5,82.0,12.9,490,10250,0.00,2.50,0.00,0.000,6,0.000,0.041,2822,2099,1510
$GC,10559,1.46,335.5,44.2,11.6,506,10560,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2098,1510
$GC,10870,1.46,335.5,9.9,10.8,521,10874,0.00,2.55,0.00,0.000,4,0.000,0.050,2822,3502,1510
$GC,10891,1.46,335.5,7.1,12.2,522,10896,0.00,2.50,0.00,0.000,6,0.000,0.042,2822,2100,1510
$STATE,10942,end climb,SURFACE_DEPTH_REACHED
$STATE,10942,begin surface coast
$FINISH,1.3,1.004016
$STATE,10964,end surface coast,CONTROL_FINISHED_OK
$STATE,10964,begin surface
$SM_CCo,11046,0.00,0.000,0,0,1510,335.57
$SM_GC,1.92,12.00,0.00,0.00,0.031,0.000,0.000,30,1882,1510,-11.27,-0.51,335.57
$IRIDIUM_FIX,6244.56,-1248.26,170497,212106
$TT8_MAMPS,0.026845
$HUMID,2059
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.30
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.0,999.0
$24V_AH,23.3,67.238
$10V_AH,10.1,32.488
$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,26.275,103.000,401.475,0.000,0.000,155.606,152.202,361.136,5.250,0.000,0.000,15.395,1003.590,8372.567,487.566,1291.154,889.090,33.365,1173.711,0.000,1262.471,0.000,28.463
$DEVICE_MAMPS,142.662,69.797,1137.461,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.490,353.342,356.623,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25399,526
$CFSIZE,260165632,238571520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,230108,005509,6309.132,-1247.245,30,1.4,31,-12.0