version: 66.02
glider: 102
mission: 4
dive: 336
start: 1 23 108 20 45 35
data:
$ID,102
$MISSION,4
$DIVE,336
$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,-2
$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,-83845.586
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,203038,6258.503,-1303.353,36,0.9,36,-12.0
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-61.4
$GPS2,204351,6258.522,-1302.877,14,1.4,14,-12.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.158,-0.171
$KALMAN_X,442861.7,2737.6,872.7,-687173.8,-3507.2
$KALMAN_Y,63598.4,1527.3,1308.8,91683.1,-2775.6
$MHEAD_RNG_PITCHd_Wd,149.3,15886,-15.1,-8.000
$D_GRID,713
$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,-1.25,-139.9,0.0,0.0,0,86,0.00,0.00,-61.08,0.000,2,0.000,0.000,36,1883,2811
$GC,90,-1.26,-146.6,3.3,-4.2,3,132,11.57,2.62,-22.00,0.000,4,0.141,0.063,2216,3299,3477
$GC,384,-1.26,-146.6,37.3,-11.4,16,389,0.00,2.50,0.00,0.000,6,0.000,0.043,2217,1905,3478
$GC,706,-1.26,-146.6,69.8,-12.6,32,711,0.00,2.53,0.00,0.000,4,0.000,0.048,2217,3302,3477
$GC,851,-1.26,-146.6,88.4,-9.9,38,858,0.00,2.53,0.00,0.000,6,0.000,0.044,2217,1894,3478
$GC,1169,-1.26,-146.6,121.7,-11.2,54,1174,0.00,2.55,0.00,0.000,4,0.000,0.048,2217,3305,3478
$GC,1202,-1.26,-146.6,125.9,-11.7,55,1209,0.00,2.53,0.00,0.000,6,0.000,0.044,2217,1900,3478
$GC,1518,-1.26,-146.6,156.3,-9.0,71,1522,0.00,2.53,0.00,0.000,4,0.000,0.048,2217,3303,3478
$GC,1544,-1.26,-146.6,158.9,-9.6,72,1549,0.00,2.53,0.00,0.000,6,0.000,0.043,2217,1895,3478
$GC,1860,-1.26,-146.6,191.1,-10.5,87,1865,0.00,2.55,0.00,0.000,4,0.000,0.048,2216,3305,3478
$GC,1922,-1.26,-146.6,197.4,-9.8,90,1927,0.00,2.53,0.00,0.000,6,0.000,0.044,2217,1895,3478
$GC,2250,-1.26,-146.6,233.2,-11.8,106,2254,0.00,2.53,0.00,0.000,4,0.000,0.048,2217,3303,3478
$GC,2266,-1.26,-146.6,235.2,-11.5,107,2271,0.00,2.53,0.00,0.000,6,0.000,0.044,2217,1898,3478
$GC,2593,-1.26,-146.6,270.1,-12.0,123,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1898,3478
$GC,2903,-1.26,-146.6,306.6,-11.4,138,2907,0.00,2.55,0.00,0.000,4,0.000,0.049,2217,3305,3478
$GC,2941,-1.26,-146.6,310.8,-11.1,140,2946,0.00,2.53,0.00,0.000,6,0.000,0.044,2217,1901,3478
$GC,3268,-1.26,-146.6,345.9,-10.5,156,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1901,3478
$GC,3578,-1.26,-146.6,378.5,-10.7,171,3582,0.00,2.53,0.00,0.000,4,0.000,0.050,2217,3305,3478
$GC,3629,-1.26,-146.6,383.9,-10.0,173,3633,0.00,2.53,0.00,0.000,6,0.000,0.046,2217,1900,3478
$GC,3949,-1.26,-146.6,416.5,-9.8,189,3954,0.00,2.53,0.00,0.000,4,0.000,0.051,2217,3302,3478
$GC,3983,-1.26,-146.6,419.9,-10.0,190,3989,0.00,2.53,0.00,0.000,6,0.000,0.047,2217,1899,3478
$GC,4299,-1.26,-146.6,451.0,-9.7,206,4304,0.00,2.55,0.00,0.000,4,0.000,0.051,2217,3303,3478
$GC,4339,-1.26,-146.6,454.8,-9.6,208,4343,0.00,2.53,0.00,0.000,6,0.000,0.048,2217,1900,3478
$GC,4665,-1.26,-146.6,488.1,-11.0,224,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1900,3478
$GC,4974,-1.26,-146.6,517.9,-8.7,239,4978,0.00,2.55,0.00,0.000,4,0.000,0.052,2217,3302,3477
$GC,5014,-1.26,-146.6,521.1,-8.6,241,5018,0.00,2.55,0.00,0.000,6,0.000,0.048,2217,1895,3477
$GC,5340,-1.26,-146.6,547.5,-8.7,257,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1895,3477
$GC,5649,-1.26,-146.6,573.4,-8.7,272,5653,0.00,2.58,0.00,0.000,4,0.000,0.057,2217,3299,3477
$GC,5704,-1.26,-146.6,578.2,-8.8,274,5710,0.00,2.55,0.00,0.000,6,0.000,0.051,2217,1896,3477
$GC,6020,-1.26,-146.6,604.1,-8.3,290,6024,0.00,2.60,0.00,0.000,4,0.000,0.060,2217,3301,3477
$GC,6119,-1.26,-146.6,613.4,-9.0,294,6126,0.00,2.58,0.00,0.000,6,0.000,0.055,2216,1896,3477
$GC,6435,-1.26,-146.6,643.4,-9.7,310,6439,0.00,2.60,0.00,0.000,4,0.000,0.063,2217,3299,3477
$GC,6503,-1.26,-146.6,650.1,-9.7,313,6508,0.00,2.58,0.00,0.000,6,0.000,0.058,2217,1903,3476
$GC,6824,-1.26,-146.6,669.7,-0.2,329,6828,0.00,2.60,0.00,0.000,4,0.000,0.065,2217,3303,3475
$GC,7081,-1.26,-146.6,669.6,-0.2,340,7088,0.00,2.60,0.00,0.000,6,0.000,0.059,2217,1898,3474
$STATE,7106,end dive,NO_VERTICAL_VELOCITY
$STATE,7106,begin apogee
$GC,7112,-0.36,0.0,669.6,0.0,342,7241,0.93,0.00,125.12,1.260,6,0.070,0.000,2418,2098,2878
$STATE,7241,end apogee,CONTROL_FINISHED_OK
$STATE,7241,begin climb
$GC,7244,1.26,146.6,669.2,0.0,348,7376,1.60,2.75,123.60,1.213,4,0.059,0.074,2768,691,2280
$GC,7490,1.51,351.1,669.3,-0.2,359,7670,0.25,2.55,169.20,1.207,6,0.039,0.051,2839,2094,1445
$GC,7991,1.51,351.1,619.6,14.0,384,7996,0.00,2.65,0.00,0.000,4,0.000,0.064,2839,3510,1445
$GC,8233,1.51,351.1,585.3,14.3,395,8238,0.00,2.62,0.00,0.000,6,0.000,0.058,2840,2098,1444
$GC,8560,1.51,351.1,540.3,14.1,411,8564,0.00,2.72,0.00,0.000,4,0.000,0.085,2839,691,1443
$GC,8581,1.51,351.1,536.9,15.2,412,8585,0.00,2.55,0.00,0.000,6,0.000,0.051,2840,2108,1443
$GC,8902,1.51,351.1,492.0,13.9,428,8906,0.00,2.58,0.00,0.000,4,0.000,0.058,2840,3508,1442
$GC,8951,1.51,351.1,484.8,15.0,430,8955,0.00,2.58,0.00,0.000,6,0.000,0.053,2840,2099,1442
$GC,9266,1.51,351.1,442.9,12.9,445,9271,0.00,2.67,0.00,0.000,4,0.000,0.079,2840,692,1442
$GC,9287,1.51,351.1,440.0,13.7,446,9292,0.00,2.53,0.00,0.000,6,0.000,0.045,2840,2105,1442
$GC,9608,1.51,351.1,395.7,14.4,462,9612,0.00,2.55,0.00,0.000,4,0.000,0.054,2840,3502,1442
$GC,9635,1.51,351.1,391.5,15.9,463,9640,0.00,2.55,0.00,0.000,6,0.000,0.050,2840,2096,1442
$GC,9951,1.51,351.1,344.9,14.8,478,9955,0.00,2.55,0.00,0.000,4,0.000,0.052,2840,3498,1442
$GC,9977,1.51,351.1,340.9,14.8,479,9982,0.00,2.55,0.00,0.000,6,0.000,0.047,2840,2095,1442
$GC,10293,1.51,351.1,295.0,14.5,494,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2095,1442
$GC,10603,1.51,351.1,249.9,14.3,509,10607,0.00,2.55,0.00,0.000,4,0.000,0.051,2839,3504,1443
$GC,10643,1.51,351.1,243.9,16.0,511,10648,0.00,2.53,0.00,0.000,6,0.000,0.044,2839,2100,1443
$GC,10970,1.51,351.1,196.1,14.6,527,10974,0.00,2.62,0.00,0.000,4,0.000,0.071,2840,695,1444
$GC,10980,1.51,351.1,194.5,15.1,527,10986,0.00,2.47,0.00,0.000,6,0.000,0.041,2840,2103,1444
$GC,11295,1.51,351.1,150.0,14.0,543,11300,0.00,2.53,0.00,0.000,4,0.000,0.050,2840,3499,1444
$GC,11317,1.51,351.1,146.8,14.4,544,11321,0.00,2.50,0.00,0.000,6,0.000,0.043,2839,2095,1444
$GC,11639,1.51,351.1,101.0,14.4,560,11643,0.00,2.55,0.00,0.000,4,0.000,0.049,2840,3498,1444
$GC,11656,1.51,351.1,98.4,14.8,561,11660,0.00,2.53,0.00,0.000,6,0.000,0.042,2840,2092,1444
$GC,11982,1.51,351.1,52.9,12.6,577,11986,0.00,2.55,0.00,0.000,4,0.000,0.049,2840,3498,1445
$GC,12004,1.51,351.1,50.1,12.3,578,12008,0.00,2.50,0.00,0.000,6,0.000,0.041,2840,2091,1444
$GC,12330,1.51,351.1,7.3,13.8,594,12331,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2091,1446
$STATE,12369,end climb,SURFACE_DEPTH_REACHED
$STATE,12369,begin surface coast
$FINISH,0.7,1.014676
$STATE,12393,end surface coast,CONTROL_FINISHED_OK
$STATE,12393,begin surface
$SM_CCo,12475,0.00,0.000,0,0,1445,351.51
$SM_GC,1.54,12.10,0.00,0.00,0.031,0.000,0.000,35,1890,1445,-11.26,-0.28,351.51
$IRIDIUM_FIX,6235.17,-1308.20,180497,202054
$TT8_MAMPS,0.026078
$HUMID,2103
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,18.8,999.0
$24V_AH,23.2,68.118
$10V_AH,10.1,32.892
$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,26.450,138.850,417.925,0.000,0.000,120.257,112.405,303.111,6.250,0.000,0.000,15.642,1156.193,9339.469,512.308,1492.589,818.470,33.368,1306.827,0.000,1456.572,0.000,36.543
$DEVICE_MAMPS,141.128,85.137,1260.181,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.240,401.360,370.441,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31658,597
$CFSIZE,260165632,238260224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,240108,001437,6258.609,-1256.348,32,1.3,32,-12.0