version: 66.02
glider: 102
mission: 4
dive: 326
start: 1 22 108 7 33 17
data:
$ID,102
$MISSION,4
$DIVE,326
$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,-83638.75
$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,38
$R_STBD_OVSHOOT,24
$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
$GPS1,071356,6313.103,-1258.161,84,1.4,84,-12.1
$_CALLS,4
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-55.6
$GPS2,073208,6313.349,-1258.273,9,2.0,14,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.066,-0.228
$KALMAN_X,443109.8,-718.3,-1412.5,-677595.4,6851.5
$KALMAN_Y,60966.3,86.0,-243.5,124788.8,755.5
$MHEAD_RNG_PITCHd_Wd,208.3,43614,-14.7,-8.000
$D_GRID,620
$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,-60.75,0.000,2,0.000,0.000,29,1876,2784
$GC,88,-1.23,-146.6,3.6,-3.9,3,126,11.68,2.60,-20.20,0.000,4,0.137,0.061,2220,3304,3477
$GC,210,-1.23,-146.6,20.0,-8.4,8,217,0.00,2.50,0.00,0.000,6,0.000,0.043,2220,1914,3477
$GC,526,-1.23,-146.6,63.1,-17.4,24,531,0.00,2.53,0.00,0.000,4,0.000,0.048,2220,3312,3477
$GC,559,-1.23,-146.6,68.4,-14.6,25,566,0.00,2.55,0.00,0.000,6,0.000,0.044,2220,1895,3477
$GC,877,-1.23,-146.6,100.2,-10.7,41,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1895,3477
$GC,1185,-1.23,-146.6,132.9,-10.0,56,1189,0.00,2.55,0.00,0.000,4,0.000,0.047,2220,3312,3476
$GC,1228,-1.23,-146.6,137.5,-10.1,58,1233,0.00,2.53,0.00,0.000,6,0.000,0.043,2220,1898,3477
$GC,1549,-1.23,-146.6,171.0,-10.9,74,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1899,3477
$GC,1859,-1.23,-146.6,204.4,-10.1,89,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1899,3477
$GC,2167,-1.23,-146.6,244.4,-16.0,104,2172,0.00,2.53,0.00,0.000,4,0.000,0.047,2220,3308,3477
$GC,2210,-1.23,-146.6,250.4,-15.1,106,2214,0.00,2.53,0.00,0.000,6,0.000,0.044,2220,1901,3476
$GC,2536,-1.23,-146.6,295.7,-12.5,122,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1901,3477
$GC,2845,-1.23,-146.6,331.1,-11.5,137,2849,0.00,2.53,0.00,0.000,4,0.000,0.048,2220,3308,3477
$GC,2899,-1.23,-146.6,337.3,-11.3,139,2906,0.00,2.53,0.00,0.000,6,0.000,0.045,2220,1899,3477
$GC,3215,-1.23,-146.6,373.5,-12.9,155,3219,0.00,2.53,0.00,0.000,4,0.000,0.048,2220,3308,3477
$GC,3283,-1.23,-146.6,381.7,-11.5,158,3287,0.00,2.53,0.00,0.000,6,0.000,0.045,2220,1902,3477
$GC,3609,-1.23,-146.6,414.9,-10.9,174,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1902,3477
$GC,3918,-1.23,-146.6,447.9,-9.8,189,3922,0.00,2.55,0.00,0.000,4,0.000,0.049,2220,3311,3477
$GC,3967,-1.23,-146.6,452.9,-9.5,191,3972,0.00,2.55,0.00,0.000,6,0.000,0.045,2220,1894,3477
$GC,4283,-1.23,-146.6,485.0,-10.6,206,4288,0.00,2.58,0.00,0.000,4,0.000,0.051,2220,3313,3477
$GC,4323,-1.23,-146.6,489.3,-11.6,208,4327,0.00,2.55,0.00,0.000,6,0.000,0.045,2221,1896,3476
$GC,4649,-1.23,-146.6,524.8,-11.1,224,4653,0.00,2.55,0.00,0.000,4,0.000,0.051,2221,3307,3476
$GC,4716,-1.23,-146.6,532.1,-11.0,227,4720,0.00,2.53,0.00,0.000,6,0.000,0.047,2221,1900,3476
$GC,5042,-1.23,-146.6,564.1,-10.1,243,5046,0.00,2.53,0.00,0.000,4,0.000,0.052,2221,3307,3476
$GC,5104,-1.23,-146.6,570.7,-10.8,246,5108,0.00,2.55,0.00,0.000,6,0.000,0.048,2221,1894,3476
$GC,5430,-1.23,-146.6,603.4,-8.9,262,5434,0.00,2.58,0.00,0.000,4,0.000,0.056,2221,3305,3476
$GC,5687,-1.23,-146.6,604.7,-0.1,273,5693,0.00,2.55,0.00,0.000,6,0.000,0.051,2220,1901,3476
$STATE,5773,end dive,NO_VERTICAL_VELOCITY
$STATE,5773,begin apogee
$GC,5780,-0.36,0.0,604.6,0.0,278,5907,0.88,0.00,123.57,1.181,6,0.057,0.000,2418,2107,2878
$STATE,5908,end apogee,CONTROL_FINISHED_OK
$STATE,5908,begin climb
$GC,5910,1.23,146.6,604.3,0.0,284,6041,1.55,2.67,121.28,1.154,4,0.053,0.061,2763,3489,2280
$GC,6091,1.27,179.1,595.3,6.8,292,6126,0.00,2.55,28.00,1.131,6,0.000,0.050,2763,2102,2147
$GC,6450,1.28,190.4,571.3,7.6,310,6465,0.00,2.65,10.50,1.137,4,0.000,0.058,2763,3498,2100
$GC,6566,1.28,190.4,560.5,10.0,314,6571,0.00,2.55,0.00,0.000,6,0.000,0.048,2763,2098,2100
$GC,6881,1.28,190.4,532.4,8.9,329,6886,0.00,2.58,0.00,0.000,4,0.000,0.057,2763,3499,2098
$GC,6966,1.28,190.4,524.3,9.3,333,6970,0.00,2.53,0.00,0.000,6,0.000,0.046,2763,2099,2098
$GC,7292,1.30,201.0,499.2,7.6,349,7305,0.00,0.00,9.23,1.148,6,0.000,0.000,2763,2099,2058
$GC,7623,1.31,212.6,474.3,7.6,365,7638,0.00,2.62,10.70,1.131,4,0.000,0.053,2763,3502,2010
$GC,7722,1.31,212.6,465.7,8.6,368,7729,0.00,2.55,0.00,0.000,6,0.000,0.044,2763,2092,2009
$GC,8038,1.31,212.6,435.9,9.9,384,8042,0.00,2.55,0.00,0.000,4,0.000,0.054,2763,3496,2010
$GC,8058,1.31,212.6,433.6,10.3,385,8063,0.00,2.50,0.00,0.000,6,0.000,0.044,2763,2096,2010
$GC,8381,1.32,223.4,406.6,7.6,401,8393,0.00,0.00,9.70,1.091,6,0.000,0.000,2763,2096,1967
$GC,8690,1.32,223.5,381.6,8.0,416,8691,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2096,1967
$GC,8999,1.32,223.5,356.0,8.1,431,9003,0.00,2.55,0.00,0.000,4,0.000,0.052,2763,3504,1967
$GC,9020,1.33,225.4,354.3,7.9,432,9025,0.00,2.53,0.00,0.000,6,0.000,0.042,2763,2092,1967
$GC,9341,1.33,225.4,329.5,8.1,448,9345,0.00,2.58,0.00,0.000,4,0.000,0.052,2764,3502,1967
$GC,9403,1.33,225.4,323.9,9.7,451,9407,0.00,2.50,0.00,0.000,6,0.000,0.042,2763,2096,1967
$GC,9729,1.35,248.2,297.8,7.1,467,9756,0.12,2.62,21.02,1.006,4,0.051,0.051,2803,3503,1865
$GC,9823,1.35,248.2,287.3,11.9,471,9827,0.00,2.55,0.00,0.000,6,0.000,0.042,2803,2090,1865
$GC,10139,1.35,248.2,249.7,11.4,486,10143,0.00,2.58,0.00,0.000,4,0.000,0.051,2803,3502,1866
$GC,10216,1.35,248.2,240.2,12.2,489,10222,0.00,2.50,0.00,0.000,6,0.000,0.042,2803,2100,1866
$GC,10531,1.35,248.2,201.3,10.9,505,10536,0.00,2.55,0.00,0.000,4,0.000,0.050,2803,3503,1866
$GC,10564,1.35,248.2,197.1,11.8,506,10570,0.00,2.53,0.00,0.000,6,0.000,0.041,2803,2091,1866
$GC,10880,1.35,248.2,164.3,10.6,522,10884,0.00,2.55,0.00,0.000,4,0.000,0.051,2802,3504,1866
$GC,10952,1.35,248.2,157.4,9.4,525,10956,0.00,2.50,0.00,0.000,6,0.000,0.041,2803,2098,1866
$GC,11268,1.35,248.2,126.7,10.0,540,11272,0.00,2.55,0.00,0.000,4,0.000,0.051,2803,3500,1866
$GC,11432,1.35,248.2,112.4,9.4,547,11436,0.00,2.50,0.00,0.000,6,0.000,0.041,2803,2095,1867
$GC,11749,1.42,303.6,95.8,5.9,562,11795,0.00,0.00,44.45,0.859,6,0.000,0.000,2803,2095,1640
$GC,12099,1.42,303.6,62.4,11.0,579,12103,0.00,2.55,0.00,0.000,4,0.000,0.048,2803,3498,1640
$GC,12210,1.55,404.5,53.2,4.2,584,12296,0.12,2.50,78.38,0.803,6,0.052,0.041,2842,2101,1229
$STATE,12554,end climb,SURFACE_DEPTH_REACHED
$STATE,12554,begin surface coast
$FINISH,1.3,1.027398
$STATE,12576,end surface coast,CONTROL_FINISHED_OK
$STATE,12576,begin surface
$SM_CCo,12658,0.00,0.000,0,0,1227,404.99
$SM_GC,1.96,12.12,0.00,0.00,0.028,0.000,0.000,29,1884,1227,-11.27,-0.45,404.99
$IRIDIUM_FIX,6244.56,-1258.61,220108,111118
$TT8_MAMPS,0.026845
$HUMID,2060
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,15.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,17.9,999.0
$24V_AH,23.2,66.646
$10V_AH,10.1,32.240
$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,26.475,122.975,456.825,0.000,0.000,152.880,144.548,476.179,6.000,0.000,0.000,15.931,1149.448,9562.852,554.866,1473.658,1029.702,33.371,1324.424,0.000,1440.365,0.000,33.320
$DEVICE_MAMPS,137.293,61.360,1181.180,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.054,405.001,396.038,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31767,602
$CFSIZE,260165632,238735360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,220108,110525,6313.005,-1253.850,35,1.5,35,-12.0