version: 66.02
glider: 102
mission: 4
dive: 327
start: 1 22 108 11 12 43
data:
$ID,102
$MISSION,4
$DIVE,327
$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,-83668.625
$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,32
$R_STBD_OVSHOOT,31
$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
$GPS1,110525,6313.005,-1253.850,35,1.5,35,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-56.7
$GPS2,111137,6313.030,-1253.876,11,1.4,27,-12.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.074,-0.226
$KALMAN_X,445921.4,-1300.5,1215.5,-678572.9,3482.8
$KALMAN_Y,62185.7,74.2,1529.1,121193.2,-1740.3
$MHEAD_RNG_PITCHd_Wd,210.0,43677,-14.7,-8.000
$D_GRID,584
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,105,0.00,0.00,-79.45,0.000,2,0.000,0.000,28,1881,2728
$GC,109,-1.23,-146.6,3.1,-2.1,4,156,11.65,2.55,-28.88,0.000,4,0.141,0.057,2226,3299,3477
$GC,247,-1.23,-146.6,15.6,-11.8,10,251,0.00,2.50,0.00,0.000,6,0.000,0.044,2226,1907,3478
$GC,562,-1.23,-146.6,62.6,-12.2,25,566,0.00,2.53,0.00,0.000,4,0.000,0.048,2226,3308,3478
$GC,624,-1.23,-146.6,70.9,-13.7,28,628,0.00,2.53,0.00,0.000,6,0.000,0.043,2226,1900,3478
$GC,950,-1.23,-146.6,122.1,-17.5,44,955,0.00,2.62,0.00,0.000,4,0.000,0.069,2226,491,3477
$GC,990,-1.23,-146.6,129.6,-19.6,46,995,0.00,2.47,0.00,0.000,6,0.000,0.040,2226,1911,3477
$GC,1316,-1.23,-146.6,154.2,-7.5,62,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1914,3478
$GC,1626,-1.23,-146.6,179.8,-8.5,77,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1914,3478
$GC,1935,-1.23,-146.6,210.6,-9.3,92,1939,0.00,2.47,0.00,0.000,4,0.000,0.049,2226,3294,3477
$GC,1997,-1.23,-146.6,216.2,-9.4,95,2001,0.00,2.50,0.00,0.000,6,0.000,0.044,2226,1898,3478
$GC,2324,-1.23,-146.6,246.2,-10.1,111,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1898,3478
$GC,2633,-1.23,-146.6,278.1,-9.4,126,2637,0.00,2.53,0.00,0.000,4,0.000,0.048,2226,3303,3477
$GC,2705,-1.23,-146.6,285.4,-10.9,129,2709,0.00,2.50,0.00,0.000,6,0.000,0.044,2226,1900,3477
$GC,3020,-1.23,-146.6,323.3,-10.9,144,3024,0.00,2.60,0.00,0.000,4,0.000,0.071,2226,495,3477
$GC,3063,-1.23,-146.6,328.5,-12.1,146,3068,0.00,2.45,0.00,0.000,6,0.000,0.040,2226,1905,3477
$GC,3384,-1.23,-146.6,359.2,-9.5,162,3389,0.00,2.50,0.00,0.000,4,0.000,0.051,2226,3304,3477
$GC,3451,-1.23,-146.6,364.8,-7.6,165,3456,0.00,2.53,0.00,0.000,6,0.000,0.045,2226,1898,3478
$GC,3773,-1.23,-146.6,390.9,-9.3,181,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1897,3477
$GC,4082,-1.23,-146.6,421.1,-11.7,196,4086,0.00,2.53,0.00,0.000,4,0.000,0.049,2226,3302,3478
$GC,4159,-1.23,-146.6,429.1,-9.7,199,4165,0.00,2.53,0.00,0.000,6,0.000,0.045,2226,1894,3477
$GC,4475,-1.23,-146.6,458.4,-9.0,215,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1894,3477
$GC,4784,-1.23,-146.6,490.8,-10.3,230,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1894,3477
$GC,5093,-1.23,-146.6,524.4,-10.8,245,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1891,3477
$GC,5403,-1.23,-146.6,555.8,-10.2,260,5407,0.00,2.53,0.00,0.000,4,0.000,0.053,2226,3297,3477
$GC,5621,-1.23,-146.6,577.1,-8.8,270,5626,0.00,2.53,0.00,0.000,6,0.000,0.047,2226,1896,3477
$GC,5949,-1.23,-146.6,581.7,-0.0,286,5953,0.00,2.65,0.00,0.000,4,0.000,0.078,2226,495,3477
$STATE,6063,end dive,NO_VERTICAL_VELOCITY
$STATE,6063,begin apogee
$GC,6072,-0.36,0.0,581.7,0.0,291,6203,0.82,0.00,123.55,1.158,6,0.054,0.000,2419,2097,2878
$STATE,6203,end apogee,CONTROL_FINISHED_OK
$STATE,6204,begin climb
$GC,6206,1.23,146.6,581.6,0.0,298,6337,1.52,2.72,121.50,1.122,4,0.053,0.064,2761,687,2280
$GC,6594,1.50,363.5,581.7,-0.3,315,6785,0.28,2.55,177.25,1.124,6,0.045,0.048,2833,2103,1396
$GC,7091,1.50,363.5,541.4,14.2,340,7095,0.00,2.70,0.00,0.000,4,0.000,0.078,2833,695,1395
$GC,7232,1.50,363.5,520.7,14.6,346,7236,0.00,2.53,0.00,0.000,6,0.000,0.045,2833,2106,1395
$GC,7548,1.50,363.5,476.8,13.4,361,7549,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2112,1395
$GC,7856,1.50,363.5,434.3,14.5,376,7861,0.00,2.67,0.00,0.000,4,0.000,0.074,2833,694,1394
$GC,7896,1.50,363.5,427.9,16.7,378,7901,0.00,2.50,0.00,0.000,6,0.000,0.043,2833,2111,1394
$GC,8223,1.50,363.5,379.4,14.6,394,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2114,1394
$GC,8532,1.50,363.5,335.6,13.7,409,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2114,1394
$GC,8841,1.50,363.5,293.4,13.3,424,8846,0.00,2.67,0.00,0.000,4,0.000,0.070,2833,690,1394
$GC,8868,1.50,363.5,289.4,14.8,425,8872,0.00,2.50,0.00,0.000,6,0.000,0.041,2833,2105,1394
$GC,9183,1.50,363.5,247.2,13.8,440,9185,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2109,1394
$GC,9493,1.50,363.5,206.8,12.7,455,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2109,1394
$GC,9802,1.50,363.5,172.5,12.1,470,9803,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2109,1395
$GC,10112,1.50,363.5,132.0,11.7,485,10116,0.00,2.50,0.00,0.000,4,0.000,0.049,2833,3498,1394
$GC,10139,1.50,363.5,128.8,12.0,486,10143,0.00,2.50,0.00,0.000,6,0.000,0.042,2833,2098,1394
$GC,10456,1.50,363.5,88.0,15.7,501,10457,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2099,1395
$GC,10764,1.50,363.5,48.9,13.3,516,10768,0.00,2.53,0.00,0.000,4,0.000,0.048,2834,3498,1395
$GC,10804,1.50,363.5,42.7,17.6,518,10808,0.00,2.50,0.00,0.000,6,0.000,0.041,2833,2094,1394
$STATE,11128,end climb,SURFACE_DEPTH_REACHED
$STATE,11128,begin surface coast
$FINISH,1.2,1.027372
$STATE,11151,end surface coast,CONTROL_FINISHED_OK
$STATE,11151,begin surface
$SM_CCo,11233,0.00,0.000,0,0,1394,364.03
$SM_GC,1.91,12.20,0.00,0.00,0.038,0.000,0.000,32,1890,1394,-11.27,-0.28,364.03
$IRIDIUM_FIX,6249.28,-1255.03,220108,111146
$TT8_MAMPS,0.026845
$HUMID,2071
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.7,999.0
$24V_AH,23.3,66.794
$10V_AH,10.1,32.297
$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,26.475,82.100,422.300,0.000,0.000,37.138,36.237,176.383,5.000,0.000,0.000,29.248,999.006,8380.961,499.098,1298.717,443.900,33.371,1176.924,0.000,1256.203,0.000,31.688
$DEVICE_MAMPS,141.128,78.234,1158.170,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.880,359.650,344.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25420,535
$CFSIZE,260165632,238714880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,220108,142108,6311.239,-1253.501,37,1.2,37,-12.0