version: 66.02
glider: 102
mission: 4
dive: 329
start: 1 22 108 18 14 57
data:
$ID,102
$MISSION,4
$DIVE,329
$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,-83700.039
$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,29
$R_STBD_OVSHOOT,34
$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
$GPS1,175807,6310.353,-1252.972,28,1.5,28,-12.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-50.1
$GPS2,181350,6310.485,-1252.556,10,1.9,15,-12.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.096,-0.217
$KALMAN_X,451133.0,-274.0,-1754.3,-680676.2,7304.3
$KALMAN_Y,66082.7,541.1,-866.3,114514.1,3506.2
$MHEAD_RNG_PITCHd_Wd,215.8,39370,-14.7,-8.000
$D_GRID,575
$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,20,begin dive
$GC,22,-1.23,-146.6,0.0,0.0,0,85,0.00,0.00,-60.88,0.000,2,0.000,0.000,29,1886,2844
$GC,89,-1.23,-146.6,3.4,-2.4,3,131,11.50,2.60,-22.65,0.000,4,0.135,0.062,2229,3289,3476
$GC,339,-1.23,-146.6,23.8,-14.7,14,343,0.00,2.47,0.00,0.000,6,0.000,0.043,2229,1907,3476
$GC,660,-1.23,-146.6,66.0,-14.6,30,664,0.00,2.50,0.00,0.000,4,0.000,0.048,2229,3298,3476
$GC,776,-1.23,-146.6,79.7,-10.2,35,780,0.00,2.50,0.00,0.000,6,0.000,0.044,2229,1899,3476
$GC,1094,-1.23,-146.6,116.1,-12.1,50,1098,0.00,2.53,0.00,0.000,4,0.000,0.046,2228,3305,3476
$GC,1161,-1.23,-146.6,124.9,-12.3,53,1165,0.00,2.53,0.00,0.000,6,0.000,0.043,2229,1894,3476
$GC,1482,-1.23,-146.6,148.2,-6.6,69,1486,0.00,2.53,0.00,0.000,4,0.000,0.048,2229,3298,3476
$GC,1515,-1.23,-146.6,150.7,-7.7,70,1521,0.00,2.50,0.00,0.000,6,0.000,0.044,2229,1899,3476
$GC,1830,-1.23,-146.6,180.7,-11.4,86,1834,0.00,2.50,0.00,0.000,4,0.000,0.047,2228,3298,3476
$GC,1874,-1.23,-146.6,184.9,-9.0,88,1878,0.00,2.50,0.00,0.000,6,0.000,0.044,2229,1900,3476
$GC,2196,-1.23,-146.6,225.4,-12.6,104,2200,0.00,2.53,0.00,0.000,4,0.000,0.048,2229,3305,3476
$GC,2257,-1.23,-146.6,233.6,-12.0,107,2262,0.00,2.53,0.00,0.000,6,0.000,0.044,2229,1895,3476
$GC,2584,-1.23,-146.6,270.8,-11.2,123,2588,0.00,2.53,0.00,0.000,4,0.000,0.048,2229,3299,3476
$GC,2633,-1.23,-146.6,276.7,-11.6,125,2638,0.00,2.50,0.00,0.000,6,0.000,0.044,2229,1897,3476
$GC,2949,-1.23,-146.6,313.2,-11.5,140,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1897,3476
$GC,3258,-1.23,-146.6,347.7,-10.9,155,3262,0.00,2.53,0.00,0.000,4,0.000,0.049,2229,3301,3476
$GC,3297,-1.23,-146.6,352.4,-11.8,157,3301,0.00,2.50,0.00,0.000,6,0.000,0.045,2229,1900,3476
$GC,3624,-1.23,-146.6,386.9,-10.7,173,3628,0.00,2.53,0.00,0.000,4,0.000,0.049,2229,3305,3476
$GC,3663,-1.23,-146.6,391.1,-11.1,175,3667,0.00,2.53,0.00,0.000,6,0.000,0.045,2229,1899,3476
$GC,3990,-1.23,-146.6,425.1,-10.8,191,3995,0.00,2.53,0.00,0.000,4,0.000,0.049,2229,3298,3476
$GC,4030,-1.23,-146.6,429.5,-10.6,193,4034,0.00,2.53,0.00,0.000,6,0.000,0.045,2229,1894,3476
$GC,4356,-1.23,-146.6,463.8,-9.8,209,4360,0.00,2.62,0.00,0.000,4,0.000,0.074,2229,494,3476
$GC,4411,-1.23,-146.6,469.5,-10.2,211,4417,0.00,2.45,0.00,0.000,6,0.000,0.041,2229,1908,3476
$GC,4726,-1.23,-146.6,498.7,-9.3,227,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1913,3476
$GC,5036,-1.23,-146.6,526.1,-8.6,242,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,1913,3476
$GC,5345,-1.23,-146.6,552.9,-8.3,257,5349,0.00,2.53,0.00,0.000,4,0.000,0.055,2229,3296,3476
$GC,5451,-1.23,-146.6,562.5,-8.0,262,5456,0.00,2.55,0.00,0.000,6,0.000,0.051,2229,1896,3476
$GC,5778,-1.23,-146.6,566.1,-0.0,278,5783,0.00,2.55,0.00,0.000,4,0.000,0.060,2229,3292,3476
$STATE,5871,end dive,NO_VERTICAL_VELOCITY
$STATE,5871,begin apogee
$GC,5879,-0.36,0.0,566.1,0.0,282,6009,0.82,0.00,123.03,1.152,6,0.054,0.000,2422,2093,2878
$STATE,6010,end apogee,CONTROL_FINISHED_OK
$STATE,6010,begin climb
$GC,6013,1.23,146.6,565.8,0.0,289,6144,1.55,2.75,120.88,1.118,4,0.058,0.073,2763,692,2280
$GC,6218,1.24,154.0,554.0,7.7,298,6232,0.00,2.50,7.20,1.085,6,0.000,0.045,2763,2086,2250
$GC,6555,1.28,190.2,529.5,6.6,315,6591,0.00,2.67,30.88,1.118,4,0.000,0.060,2763,3502,2101
$GC,6716,1.31,213.9,518.5,7.1,321,6742,0.00,2.58,20.08,1.111,6,0.000,0.050,2763,2098,2006
$GC,7052,1.39,281.5,499.5,5.4,337,7112,0.15,0.00,56.08,1.103,6,0.048,0.000,2806,2098,1730
$GC,7421,1.39,281.5,461.5,10.6,355,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2098,1730
$GC,7730,1.39,281.5,430.9,10.0,370,7735,0.00,2.65,0.00,0.000,4,0.000,0.074,2806,687,1730
$GC,7752,1.39,281.5,428.6,10.3,371,7757,0.00,2.53,0.00,0.000,6,0.000,0.042,2806,2107,1730
$GC,8073,1.39,281.5,394.9,11.0,387,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2108,1730
$GC,8382,1.39,281.5,360.7,10.7,402,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2112,1729
$GC,8692,1.39,281.5,325.8,11.6,417,8696,0.00,2.53,0.00,0.000,4,0.000,0.052,2806,3500,1730
$GC,8724,1.39,281.5,321.9,11.8,418,8730,0.00,2.50,0.00,0.000,6,0.000,0.044,2806,2098,1730
$GC,9040,1.39,281.5,288.1,8.5,434,9044,0.00,2.55,0.00,0.000,4,0.000,0.051,2806,3499,1730
$GC,9124,1.39,281.5,279.3,10.3,438,9129,0.00,2.53,0.00,0.000,6,0.000,0.043,2806,2093,1730
$GC,9451,1.39,281.5,239.3,13.3,454,9455,0.00,2.58,0.00,0.000,4,0.000,0.051,2806,3504,1730
$GC,9490,1.39,281.5,234.1,13.5,456,9494,0.00,2.53,0.00,0.000,6,0.000,0.041,2806,2092,1729
$GC,9816,1.39,281.5,191.0,12.2,472,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2092,1730
$GC,10125,1.39,281.5,159.7,8.8,487,10129,0.00,2.58,0.00,0.000,4,0.000,0.051,2806,3507,1730
$GC,10157,1.39,281.5,156.5,9.1,488,10163,0.00,2.50,0.00,0.000,6,0.000,0.041,2806,2094,1730
$GC,10473,1.39,281.5,126.8,9.6,504,10475,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2094,1731
$GC,10782,1.39,281.5,96.7,9.4,519,10787,0.00,2.55,0.00,0.000,4,0.000,0.050,2806,3504,1730
$GC,10905,1.42,298.3,83.1,7.4,524,10924,0.00,2.50,14.48,0.881,6,0.000,0.041,2806,2095,1660
$GC,11242,1.42,298.3,55.6,10.5,541,11246,0.00,2.55,0.00,0.000,4,0.000,0.049,2806,3502,1660
$GC,11252,1.42,298.3,54.5,9.7,541,11259,0.00,2.53,0.00,0.000,6,0.000,0.041,2806,2106,1660
$GC,11568,1.42,298.3,17.6,9.9,557,11569,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2106,1660
$STATE,11730,end climb,SURFACE_DEPTH_REACHED
$STATE,11730,begin surface coast
$FINISH,1.2,1.027397
$STATE,11752,end surface coast,CONTROL_FINISHED_OK
$STATE,11752,begin surface
$SM_CCo,11775,2.15,0.864,0,0,1655,300.00
$SM_GC,2.88,0.00,0.00,2.15,0.000,0.000,0.864,30,1876,1655,-11.34,-0.68,300.00
$IRIDIUM_FIX,6249.28,-1244.66,170497,181836
$TT8_MAMPS,0.026845
$HUMID,2065
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.3,67.081
$10V_AH,10.1,32.425
$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,26.000,111.700,372.600,2.150,0.000,148.008,134.824,353.822,5.250,0.000,0.000,17.214,1074.060,8970.775,482.854,1356.294,857.627,33.374,1185.800,0.000,1324.731,0.000,30.078
$DEVICE_MAMPS,134.992,73.632,1152.034,864.409,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.341,380.529,392.520,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28522,566
$CFSIZE,260165632,238616576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,220108,213231,6310.454,-1249.149,39,1.7,39,-12.0