version: 66.02
glider: 102
mission: 4
dive: 340
start: 1 24 108 12 46 16
data:
$ID,102
$MISSION,4
$DIVE,340
$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,-83908.766
$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,30
$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
$GPS1,123908,6254.760,-1242.680,33,1.4,33,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-59.5
$GPS2,124432,6254.724,-1242.438,14,1.8,14,-11.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.229,-0.064
$KALMAN_X,468023.9,-489.0,958.7,-691187.0,6270.1
$KALMAN_Y,74132.4,-1600.2,151.9,78417.7,2169.0
$MHEAD_RNG_PITCHd_Wd,266.1,20988,-14.7,-8.000
$D_GRID,653
$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,-146.6,0.0,0.0,0,106,0.00,0.00,-81.15,0.000,2,0.000,0.000,28,1882,3285
$GC,109,-1.23,-146.6,4.9,-4.8,4,132,11.65,2.60,-4.22,0.000,4,0.141,0.059,2223,3309,3476
$GC,210,-1.23,-146.6,21.9,-9.8,8,215,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1908,3476
$GC,528,-1.23,-146.6,59.4,-12.5,23,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1908,3476
$GC,836,-1.23,-146.6,90.0,-10.1,38,840,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3308,3476
$GC,900,-1.23,-146.6,96.0,-11.4,41,904,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1899,3476
$GC,1226,-1.23,-146.6,130.4,-8.8,57,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3476
$GC,1535,-1.23,-146.6,158.3,-9.6,72,1539,0.00,2.55,0.00,0.000,4,0.000,0.047,2223,3314,3476
$GC,1664,-1.23,-146.6,172.0,-9.1,78,1668,0.00,2.53,0.00,0.000,6,0.000,0.042,2223,1899,3476
$GC,1990,-1.23,-146.6,197.9,-8.0,94,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3476
$GC,2300,-1.23,-146.6,228.1,-10.9,109,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3476
$GC,2609,-1.23,-146.6,266.1,-13.4,124,2613,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3311,3476
$GC,2698,-1.23,-146.6,278.0,-12.7,128,2702,0.00,2.55,0.00,0.000,6,0.000,0.044,2223,1893,3476
$GC,3019,-1.23,-146.6,315.4,-11.7,144,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1893,3476
$GC,3329,-1.23,-146.6,351.0,-11.2,159,3333,0.00,2.58,0.00,0.000,4,0.000,0.050,2223,3312,3476
$GC,3400,-1.23,-146.6,358.8,-10.0,162,3404,0.00,2.55,0.00,0.000,6,0.000,0.045,2223,1896,3477
$GC,3716,-1.23,-146.6,392.0,-10.1,177,3720,0.00,2.55,0.00,0.000,4,0.000,0.050,2223,3308,3476
$GC,3771,-1.23,-146.6,397.5,-9.8,179,3777,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1901,3476
$GC,4086,-1.23,-146.6,428.3,-9.9,195,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3476
$GC,4396,-1.23,-146.6,458.2,-9.5,210,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3476
$GC,4705,-1.23,-146.6,486.9,-9.6,225,4709,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3307,3476
$GC,4804,-1.23,-146.6,497.0,-10.0,229,4811,0.00,2.55,0.00,0.000,6,0.000,0.047,2223,1895,3476
$GC,5120,-1.23,-146.6,528.4,-9.8,245,5125,0.00,2.58,0.00,0.000,4,0.000,0.053,2223,3306,3476
$GC,5227,-1.23,-146.6,538.7,-9.5,250,5232,0.00,2.55,0.00,0.000,6,0.000,0.048,2223,1899,3477
$GC,5555,-1.23,-146.6,568.8,-8.7,266,5559,0.00,2.58,0.00,0.000,4,0.000,0.055,2223,3308,3477
$GC,5649,-1.23,-146.6,576.7,-7.7,270,5654,0.00,2.55,0.00,0.000,6,0.000,0.051,2223,1901,3477
$GC,5965,-1.23,-146.6,601.9,-8.7,285,5969,0.00,2.60,0.00,0.000,4,0.000,0.061,2223,3304,3477
$GC,6049,-1.23,-146.6,609.9,-10.1,289,6054,0.00,2.58,0.00,0.000,6,0.000,0.056,2223,1896,3476
$GC,6375,-1.23,-146.6,640.6,-9.2,305,6379,0.00,2.62,0.00,0.000,4,0.000,0.064,2223,3304,3476
$GC,6464,-1.23,-146.6,648.9,-9.8,309,6468,0.00,2.60,0.00,0.000,6,0.000,0.058,2223,1897,3475
$STATE,6513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6514,begin apogee
$GC,6520,-0.36,0.0,653.0,8.3,312,6648,0.93,0.00,124.75,1.233,6,0.084,0.000,2418,2106,2879
$STATE,6649,end apogee,CONTROL_FINISHED_OK
$STATE,6649,begin climb
$GC,6651,1.23,146.6,657.9,0.0,318,6779,1.55,0.00,123.60,1.199,6,0.056,0.000,2761,2106,2280
$GC,7086,1.27,182.9,639.5,6.6,339,7127,0.00,2.67,31.12,1.226,4,0.000,0.067,2761,3498,2131
$GC,7295,1.27,182.9,621.8,9.5,348,7299,0.00,2.58,0.00,0.000,6,0.000,0.054,2761,2100,2130
$GC,7611,1.30,202.6,596.5,7.3,363,7633,0.00,2.72,17.15,1.239,4,0.000,0.064,2761,3498,2052
$GC,7770,1.31,212.6,585.0,7.6,370,7785,0.00,2.58,9.55,1.227,6,0.000,0.054,2761,2098,2011
$GC,8102,1.33,231.0,560.6,7.3,386,8125,0.10,2.72,16.40,1.239,4,0.063,0.063,2790,3499,1936
$GC,8378,1.33,231.0,536.5,10.5,398,8382,0.00,2.58,0.00,0.000,6,0.000,0.052,2789,2099,1935
$GC,8698,1.33,231.0,507.6,9.8,414,8702,0.00,2.60,0.00,0.000,4,0.000,0.058,2790,3499,1934
$GC,8904,1.33,231.0,485.1,10.3,423,8908,0.00,2.53,0.00,0.000,6,0.000,0.048,2790,2100,1933
$GC,9220,1.33,231.0,454.8,9.5,438,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2100,1934
$GC,9529,1.33,231.0,426.7,8.7,453,9533,0.00,2.58,0.00,0.000,4,0.000,0.054,2790,3500,1934
$GC,9606,1.33,231.0,419.6,9.1,456,9613,0.00,2.53,0.00,0.000,6,0.000,0.045,2790,2098,1934
$GC,9922,1.33,231.0,390.4,9.5,472,9923,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2098,1934
$GC,10231,1.33,231.0,361.5,9.5,487,10235,0.00,2.58,0.00,0.000,4,0.000,0.053,2790,3507,1935
$GC,10338,1.33,231.0,351.1,9.5,492,10342,0.00,2.55,0.00,0.000,6,0.000,0.044,2789,2090,1935
$GC,10664,1.33,232.5,323.8,7.9,508,10668,0.00,2.58,0.00,0.000,4,0.000,0.052,2790,3501,1935
$GC,10809,1.33,232.5,311.6,8.0,514,10815,0.00,2.50,0.00,0.000,6,0.000,0.043,2790,2100,1935
$GC,11124,1.36,257.0,288.3,7.1,530,11153,0.00,2.62,22.02,1.035,4,0.000,0.051,2790,3500,1830
$GC,11221,1.36,257.0,280.5,9.0,534,11225,0.00,2.53,0.00,0.000,6,0.000,0.042,2790,2101,1830
$GC,11536,1.36,257.0,252.3,9.4,549,11541,0.00,2.55,0.00,0.000,4,0.000,0.050,2790,3501,1830
$GC,11602,1.36,257.0,245.8,10.0,552,11607,0.00,2.53,0.00,0.000,6,0.000,0.041,2790,2094,1830
$GC,11924,1.36,257.0,219.2,8.9,568,11928,0.00,2.58,0.00,0.000,4,0.000,0.051,2790,3508,1830
$GC,11996,1.36,257.0,213.5,8.9,571,12000,0.00,2.53,0.00,0.000,6,0.000,0.042,2790,2096,1830
$GC,12312,1.36,257.0,188.8,8.1,586,12313,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2096,1831
$GC,12622,1.36,257.0,161.8,9.1,601,12626,0.00,2.55,0.00,0.000,4,0.000,0.048,2790,3506,1831
$GC,12751,1.36,257.0,147.7,10.5,607,12755,0.00,2.50,0.00,0.000,6,0.000,0.041,2790,2093,1831
$GC,13077,1.36,257.0,120.3,9.6,623,13082,0.00,2.55,0.00,0.000,4,0.000,0.049,2790,3502,1831
$GC,13150,1.36,257.0,110.7,12.1,626,13154,0.00,2.50,0.00,0.000,6,0.000,0.041,2790,2094,1831
$GC,13465,1.36,257.0,74.0,11.1,641,13467,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2094,1831
$GC,13775,1.36,257.0,40.5,10.8,656,13779,0.00,2.55,0.00,0.000,4,0.000,0.049,2790,3502,1832
$GC,13882,1.36,257.0,27.3,12.9,661,13886,0.00,2.50,0.00,0.000,6,0.000,0.040,2790,2098,1832
$STATE,14123,end climb,SURFACE_DEPTH_REACHED
$STATE,14123,begin surface coast
$FINISH,0.8,1.027339
$STATE,14145,end surface coast,CONTROL_FINISHED_OK
$STATE,14145,begin surface
$SM_CCo,14167,40.47,0.813,5,0,1655,300.00
$SM_GC,1.82,0.00,0.00,40.47,0.000,0.000,0.813,35,1887,1655,-11.32,-0.40,300.00
$IRIDIUM_FIX,6230.49,-1252.24,190497,080848
$TT8_MAMPS,0.026845
$HUMID,2068
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,17.9,999.0
$24V_AH,23.2,68.691
$10V_AH,10.1,33.181
$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,26.050,123.750,344.600,40.475,0.000,40.076,34.347,138.309,5.750,0.000,0.000,16.268,1311.874,10562.368,551.483,1714.555,473.963,33.366,1392.052,0.000,1676.073,0.000,36.536
$DEVICE_MAMPS,141.128,66.729,1239.472,813.020,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,500.804,455.373,418.299,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34819,674
$CFSIZE,260165632,238043136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,5,0
$GPS,240108,164438,6252.159,-1243.686,31,1.3,31,-11.8