version: 66.02
glider: 102
mission: 4
dive: 332
start: 1 23 108 4 18 21
data:
$ID,102
$MISSION,4
$DIVE,332
$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,-83777.703
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,041202,6306.320,-1253.324,82,1.4,82,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-64.5
$GPS2,041714,6306.298,-1253.550,12,1.8,16,-12.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.178,-0.157
$KALMAN_X,455054.5,-486.2,-1715.9,-685280.2,2743.1
$KALMAN_Y,68798.0,-774.8,-1573.4,106101.2,2662.9
$MHEAD_RNG_PITCHd_Wd,240.5,31699,-14.7,-8.000
$D_GRID,591
$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,-146.3,0.0,0.0,0,85,0.00,0.00,-60.65,0.000,2,0.000,0.000,34,1890,2777
$GC,88,-1.23,-146.6,3.3,-2.7,3,131,11.48,2.58,-23.88,0.000,4,0.137,0.061,2221,3302,3476
$GC,290,-1.23,-146.6,25.6,-12.4,12,294,0.00,2.50,0.00,0.000,6,0.000,0.043,2221,1902,3476
$GC,616,-1.23,-146.6,56.5,-9.4,28,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3476
$GC,925,-1.23,-146.6,93.6,-11.6,43,929,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3302,3476
$GC,997,-1.23,-146.6,101.7,-11.8,46,1001,0.00,2.50,0.00,0.000,6,0.000,0.043,2221,1899,3476
$GC,1314,-1.23,-146.6,138.3,-14.0,61,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3476
$GC,1623,-1.23,-146.6,177.1,-13.1,76,1627,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3303,3476
$GC,1707,-1.23,-146.6,186.5,-11.7,80,1711,0.00,2.50,0.00,0.000,6,0.000,0.043,2221,1899,3476
$GC,2033,-1.23,-146.6,221.1,-9.6,96,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3476
$GC,2343,-1.23,-146.6,253.5,-11.3,111,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1899,3476
$GC,2652,-1.23,-146.6,286.2,-10.5,126,2656,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3302,3476
$GC,2729,-1.23,-146.6,294.6,-10.7,129,2735,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1893,3476
$GC,3045,-1.23,-146.6,326.0,-10.5,145,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1893,3476
$GC,3354,-1.23,-146.6,357.9,-10.7,160,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1893,3476
$GC,3663,-1.23,-146.6,392.3,-11.8,175,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1894,3476
$GC,3973,-1.23,-146.6,427.3,-10.9,190,3977,0.00,2.55,0.00,0.000,4,0.000,0.051,2221,3306,3476
$GC,4067,-1.23,-146.6,438.1,-11.6,194,4071,0.00,2.53,0.00,0.000,6,0.000,0.046,2221,1902,3476
$GC,4389,-1.23,-146.6,475.5,-11.6,210,4393,0.00,2.53,0.00,0.000,4,0.000,0.051,2221,3302,3476
$GC,4438,-1.23,-146.6,481.4,-10.8,212,4443,0.00,2.53,0.00,0.000,6,0.000,0.046,2221,1895,3476
$GC,4754,-1.23,-146.6,514.7,-11.2,227,4758,0.00,2.55,0.00,0.000,4,0.000,0.052,2221,3302,3476
$GC,4848,-1.23,-146.6,524.5,-10.2,231,4852,0.00,2.53,0.00,0.000,6,0.000,0.048,2221,1900,3476
$GC,5164,-1.23,-146.6,552.4,-8.1,246,5168,0.00,2.62,0.00,0.000,4,0.000,0.074,2221,492,3476
$GC,5213,-1.23,-146.6,556.6,-9.0,248,5217,0.00,2.47,0.00,0.000,6,0.000,0.044,2221,1909,3476
$GC,5529,-1.23,-146.6,580.0,-8.5,263,5533,0.00,2.53,0.00,0.000,4,0.000,0.057,2221,3298,3476
$STATE,5626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5626,begin apogee
$GC,5634,-0.36,0.0,591.3,12.4,267,5761,0.90,0.00,123.47,1.157,6,0.085,0.000,2412,2099,2878
$STATE,5762,end apogee,CONTROL_FINISHED_OK
$STATE,5762,begin climb
$GC,5764,1.23,146.6,597.9,0.0,274,5895,1.60,2.70,121.70,1.127,4,0.052,0.062,2767,3494,2280
$GC,6036,1.28,186.2,588.5,6.5,287,6077,0.00,2.55,33.83,1.127,6,0.000,0.048,2766,2099,2117
$GC,6387,1.28,188.3,563.3,7.9,304,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2099,2116
$GC,6696,1.35,245.6,543.8,5.8,319,6751,0.10,2.67,48.88,1.138,4,0.061,0.059,2797,3496,1876
$GC,6897,1.35,245.6,528.3,8.0,328,6901,0.00,2.55,0.00,0.000,6,0.000,0.048,2797,2100,1876
$GC,7218,1.37,259.8,506.1,7.5,344,7240,0.00,2.62,12.65,1.141,4,0.000,0.055,2797,3489,1819
$GC,7295,1.37,259.8,499.6,8.4,347,7300,0.00,2.53,0.00,0.000,6,0.000,0.047,2797,2097,1819
$GC,7611,1.39,277.8,475.7,7.3,362,7631,0.00,0.00,15.98,1.121,6,0.000,0.000,2797,2097,1745
$GC,7940,1.39,277.8,447.5,9.3,378,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2097,1745
$GC,8249,1.39,277.8,418.1,9.5,393,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2097,1745
$GC,8559,1.39,277.8,386.1,10.4,408,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2097,1745
$GC,8868,1.39,277.8,351.2,11.6,423,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2097,1744
$GC,9177,1.39,277.8,318.2,9.6,438,9178,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2097,1745
$GC,9487,1.39,277.8,289.3,9.6,453,9491,0.00,2.55,0.00,0.000,4,0.000,0.051,2798,3505,1745
$GC,9530,1.39,277.8,284.9,10.0,455,9534,0.00,2.53,0.00,0.000,6,0.000,0.042,2798,2089,1745
$GC,9857,1.39,277.8,253.7,9.0,471,9858,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2089,1745
$GC,10167,1.39,277.8,223.5,10.8,486,10168,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2089,1745
$GC,10476,1.39,277.8,189.9,11.4,501,10480,0.00,2.55,0.00,0.000,4,0.000,0.051,2798,3504,1745
$GC,10526,1.39,277.8,184.3,11.6,503,10531,0.00,2.50,0.00,0.000,6,0.000,0.040,2797,2098,1745
$GC,10842,1.39,277.8,148.4,11.1,518,10843,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2098,1745
$GC,11151,1.39,277.8,112.5,11.4,533,11155,0.00,2.53,0.00,0.000,4,0.000,0.048,2797,3499,1745
$GC,11196,1.39,277.8,107.3,11.6,535,11200,0.00,2.50,0.00,0.000,6,0.000,0.040,2797,2090,1745
$GC,11517,1.39,277.8,71.5,10.8,551,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2090,1745
$GC,11827,1.39,277.8,35.8,10.3,566,11831,0.00,2.55,0.00,0.000,4,0.000,0.049,2797,3501,1746
$GC,11866,1.39,277.8,31.1,11.4,568,11871,0.00,2.50,0.00,0.000,6,0.000,0.040,2797,2096,1746
$STATE,12109,end climb,SURFACE_DEPTH_REACHED
$STATE,12109,begin surface coast
$FINISH,1.1,1.014477
$STATE,12130,end surface coast,CONTROL_FINISHED_OK
$STATE,12130,begin surface
$SM_CCo,12152,20.70,0.821,2,0,1655,300.00
$SM_GC,1.97,0.00,0.00,20.70,0.000,0.000,0.821,32,1885,1655,-11.33,-0.40,300.00
$IRIDIUM_FIX,6244.56,-1249.31,180497,010151
$TT8_MAMPS,0.026845
$HUMID,2071
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.5,999.0
$24V_AH,23.3,67.502
$10V_AH,10.1,32.605
$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,26.025,81.350,356.500,20.700,0.000,39.821,36.243,128.716,5.000,0.000,0.000,17.629,1079.008,9240.609,482.351,1315.916,402.024,33.376,1147.353,0.000,1285.133,0.000,31.697
$DEVICE_MAMPS,137.293,73.632,1157.403,821.457,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.293,391.123,375.425,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28529,581
$CFSIZE,260165632,238493696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,2,0
$GPS,230108,074238,6304.418,-1302.189,36,1.1,36,-12.1