version: 66.02
glider: 102
mission: 4
dive: 339
start: 1 24 108 8 52 35
data:
$ID,102
$MISSION,4
$DIVE,339
$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,-83891.867
$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,23
$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
$GPS1,084508,6255.518,-1247.906,31,1.2,31,-11.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-60.4
$GPS2,085051,6255.529,-1247.617,10,1.3,10,-11.9
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.209,-0.112
$KALMAN_X,459340.0,175.0,703.6,-687485.1,3025.4
$KALMAN_Y,72564.1,-654.2,452.7,80221.5,1563.8
$MHEAD_RNG_PITCHd_Wd,253.7,17914,-14.7,-8.000
$D_GRID,662
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.23,-146.6,0.0,0.0,0,88,0.00,0.00,-61.55,0.000,2,0.000,0.000,35,1885,2836
$GC,92,-1.23,-146.6,3.1,-3.8,3,134,11.60,2.60,-23.00,0.000,4,0.141,0.062,2221,3305,3477
$GC,242,-1.23,-146.6,16.6,-11.0,9,249,0.00,2.53,0.00,0.000,6,0.000,0.043,2221,1901,3477
$GC,559,-1.23,-146.6,51.0,-12.0,25,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3477
$GC,868,-1.23,-146.6,89.9,-10.7,40,872,0.00,2.55,0.00,0.000,4,0.000,0.047,2221,3310,3477
$GC,931,-1.23,-146.6,95.7,-8.3,43,936,0.00,2.55,0.00,0.000,6,0.000,0.044,2221,1895,3477
$GC,1258,-1.23,-146.6,126.8,-11.1,59,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1895,3478
$GC,1567,-1.23,-146.6,163.5,-11.2,74,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1895,3478
$GC,1876,-1.23,-146.6,196.7,-10.9,89,1880,0.00,2.58,0.00,0.000,4,0.000,0.048,2221,3315,3478
$GC,1976,-1.23,-146.6,207.1,-10.4,93,1982,0.00,2.55,0.00,0.000,6,0.000,0.044,2221,1894,3478
$GC,2292,-1.23,-146.6,238.6,-10.3,109,2296,0.00,2.55,0.00,0.000,4,0.000,0.049,2221,3308,3478
$GC,2363,-1.23,-146.6,246.4,-10.5,112,2368,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1899,3478
$GC,2679,-1.23,-146.6,279.0,-10.6,127,2683,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3308,3478
$GC,2751,-1.23,-146.6,286.8,-10.4,130,2755,0.00,2.53,0.00,0.000,6,0.000,0.045,2221,1900,3478
$GC,3066,-1.23,-146.6,318.8,-9.9,145,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3477
$GC,3375,-1.23,-146.6,349.6,-10.0,160,3380,0.00,2.55,0.00,0.000,4,0.000,0.050,2221,3309,3478
$GC,3465,-1.23,-146.6,358.6,-9.8,164,3469,0.00,2.55,0.00,0.000,6,0.000,0.046,2221,1895,3478
$GC,3791,-1.23,-146.6,391.8,-10.0,180,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1895,3478
$GC,4100,-1.23,-146.6,423.1,-9.7,195,4105,0.00,2.58,0.00,0.000,4,0.000,0.051,2221,3314,3478
$GC,4201,-1.23,-146.6,432.8,-9.5,199,4207,0.00,2.55,0.00,0.000,6,0.000,0.045,2221,1897,3478
$GC,4516,-1.23,-146.6,461.0,-9.3,215,4520,0.00,2.55,0.00,0.000,4,0.000,0.051,2221,3312,3478
$GC,4579,-1.23,-146.6,466.8,-9.8,218,4583,0.00,2.55,0.00,0.000,6,0.000,0.048,2221,1902,3478
$GC,4904,-1.23,-146.6,495.7,-9.3,234,4909,0.00,2.55,0.00,0.000,4,0.000,0.053,2221,3306,3478
$GC,4993,-1.23,-146.6,504.7,-9.6,238,4998,0.00,2.55,0.00,0.000,6,0.000,0.050,2221,1900,3478
$GC,5315,-1.23,-146.6,534.5,-8.5,254,5319,0.00,2.58,0.00,0.000,4,0.000,0.054,2221,3313,3478
$GC,5450,-1.23,-146.6,545.2,-8.2,260,5454,0.00,2.55,0.00,0.000,6,0.000,0.048,2221,1899,3478
$GC,5771,-1.23,-146.6,570.8,-7.9,276,5776,0.00,2.58,0.00,0.000,4,0.000,0.058,2221,3313,3478
$GC,5838,-1.23,-146.6,576.7,-9.3,279,5842,0.00,2.58,0.00,0.000,6,0.000,0.051,2221,1901,3478
$GC,6159,-1.23,-146.6,603.2,-7.7,295,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3478
$GC,6468,-1.23,-146.6,611.3,0.0,310,6473,0.00,2.67,0.00,0.000,4,0.000,0.083,2221,496,3477
$STATE,6648,end dive,NO_VERTICAL_VELOCITY
$STATE,6648,begin apogee
$GC,6658,-0.36,0.0,611.4,0.0,318,6785,0.88,0.00,124.22,1.210,6,0.065,0.000,2418,2106,2878
$STATE,6786,end apogee,CONTROL_FINISHED_OK
$STATE,6786,begin climb
$GC,6789,1.23,146.6,611.1,0.0,324,6920,1.55,2.72,122.65,1.167,4,0.053,0.067,2763,3500,2280
$GC,6973,1.23,146.6,600.9,8.5,332,6979,0.00,2.60,0.00,0.000,6,0.000,0.055,2764,2103,2279
$GC,7289,1.23,151.1,574.6,7.8,348,7299,0.00,2.65,4.75,1.131,4,0.000,0.064,2764,3503,2261
$GC,7552,1.29,198.3,554.7,6.2,360,7598,0.00,2.58,40.17,1.178,6,0.000,0.054,2763,2089,2069
$GC,7921,1.31,212.0,530.2,7.5,378,7943,0.00,2.72,12.32,1.184,4,0.000,0.062,2763,3504,2013
$GC,8150,1.31,212.0,509.4,9.0,388,8154,0.00,2.58,0.00,0.000,6,0.000,0.052,2764,2096,2012
$GC,8477,1.31,212.0,478.5,10.1,404,8481,0.00,2.60,0.00,0.000,4,0.000,0.058,2763,3504,2012
$GC,8629,1.31,212.0,461.8,11.2,411,8633,0.00,2.53,0.00,0.000,6,0.000,0.049,2763,2101,2012
$GC,8955,1.31,212.0,429.2,9.6,427,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2101,2012
$GC,9264,1.31,212.0,400.2,9.6,442,9268,0.00,2.58,0.00,0.000,4,0.000,0.054,2764,3509,2012
$GC,9349,1.31,212.0,391.4,10.4,446,9353,0.00,2.53,0.00,0.000,6,0.000,0.045,2764,2099,2011
$GC,9675,1.31,212.0,359.8,9.5,462,9676,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2099,2011
$GC,9984,1.31,212.0,332.6,8.5,477,9988,0.00,2.58,0.00,0.000,4,0.000,0.053,2764,3510,2012
$GC,10105,1.31,212.0,321.6,8.4,482,10112,0.00,2.53,0.00,0.000,6,0.000,0.043,2764,2093,2012
$GC,10421,1.31,212.0,294.3,9.2,498,10425,0.00,2.58,0.00,0.000,4,0.000,0.053,2764,3509,2013
$GC,10509,1.31,212.0,285.6,9.8,502,10513,0.00,2.47,0.00,0.000,6,0.000,0.042,2764,2099,2013
$GC,10836,1.31,212.0,254.6,9.6,518,10838,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2099,2013
$GC,11145,1.31,212.0,226.5,9.0,533,11149,0.00,2.58,0.00,0.000,4,0.000,0.051,2764,3508,2013
$GC,11256,1.31,212.0,216.4,8.4,538,11261,0.00,2.53,0.00,0.000,6,0.000,0.041,2764,2090,2014
$GC,11577,1.33,229.6,191.4,7.3,554,11599,0.00,2.62,15.40,0.957,4,0.000,0.051,2764,3504,1941
$GC,11656,1.35,248.4,185.4,7.3,557,11678,0.12,2.53,16.00,0.935,6,0.057,0.041,2799,2097,1864
$GC,11995,1.35,248.4,155.3,9.4,574,11996,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2097,1864
$GC,12304,1.35,248.4,123.6,11.1,589,12309,0.00,2.58,0.00,0.000,4,0.000,0.050,2799,3511,1865
$GC,12412,1.35,248.4,109.9,12.0,594,12417,0.00,2.53,0.00,0.000,6,0.000,0.041,2799,2099,1865
$GC,12739,1.35,248.4,68.4,12.3,610,12740,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2099,1865
$GC,13050,1.35,248.4,35.4,8.8,625,13054,0.00,2.55,0.00,0.000,4,0.000,0.050,2799,3505,1865
$GC,13161,1.35,248.4,27.0,8.9,630,13166,0.00,2.50,0.00,0.000,6,0.000,0.041,2799,2102,1865
$STATE,13398,end climb,SURFACE_DEPTH_REACHED
$STATE,13398,begin surface coast
$FINISH,1.0,1.027419
$STATE,13421,end surface coast,CONTROL_FINISHED_OK
$STATE,13421,begin surface
$SM_CCo,13444,48.03,0.794,6,0,1655,300.00
$SM_GC,1.57,0.00,0.00,48.03,0.000,0.000,0.794,28,1882,1655,-11.35,-0.48,300.00
$IRIDIUM_FIX,6230.49,-1251.19,190497,040410
$TT8_MAMPS,0.026845
$HUMID,2067
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,23.2,68.552
$10V_AH,10.1,33.110
$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,26.075,118.775,335.525,48.025,0.000,37.157,35.225,158.453,5.250,0.000,0.000,12.349,1258.295,9971.316,537.618,1654.704,497.677,33.371,1361.092,0.000,1626.149,0.000,33.311
$DEVICE_MAMPS,141.128,82.836,1209.559,793.845,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.594,433.152,406.377,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31819,643
$CFSIZE,260165632,238096384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,6,0
$GPS,240108,123908,6254.760,-1242.680,33,1.4,33,-11.8