version: 66.02
glider: 102
mission: 4
dive: 331
start: 1 23 108 1 5 8
data:
$ID,102
$MISSION,4
$DIVE,331
$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,-83759.438
$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,26
$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
$GPS1,005509,6309.132,-1247.245,30,1.4,31,-12.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-61.8
$GPS2,010402,6309.086,-1247.338,41,1.4,41,-12.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.154,-0.181
$KALMAN_X,455236.1,341.9,782.6,-683333.6,1075.6
$KALMAN_Y,69094.8,-36.6,180.6,108456.2,151.5
$MHEAD_RNG_PITCHd_Wd,232.5,38374,-14.7,-8.000
$D_GRID,541
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,107,0.00,0.00,-81.38,0.000,2,0.000,0.000,29,1880,3075
$GC,111,-1.23,-146.6,3.3,-2.4,4,140,11.65,2.62,-11.82,0.000,4,0.143,0.061,2225,3299,3477
$GC,393,-1.23,-146.6,40.1,-8.4,16,400,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1897,3477
$GC,709,-1.23,-146.6,69.6,-13.5,32,713,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3312,3477
$GC,861,-1.23,-146.6,87.5,-9.3,39,865,0.00,2.53,0.00,0.000,6,0.000,0.043,2225,1901,3477
$GC,1187,-1.23,-146.6,121.1,-11.5,55,1191,0.00,2.53,0.00,0.000,4,0.000,0.047,2225,3306,3477
$GC,1231,-1.23,-146.6,126.3,-12.1,57,1235,0.00,2.53,0.00,0.000,6,0.000,0.043,2226,1893,3477
$GC,1551,-1.23,-146.6,170.8,-14.4,73,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1893,3477
$GC,1860,-1.23,-146.6,207.2,-10.9,88,1865,0.00,2.55,0.00,0.000,4,0.000,0.048,2226,3311,3477
$GC,1927,-1.23,-146.6,216.0,-13.4,91,1932,0.00,2.53,0.00,0.000,6,0.000,0.043,2225,1896,3477
$GC,2249,-1.23,-146.6,252.0,-11.8,107,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1896,3477
$GC,2558,-1.23,-146.6,288.0,-12.1,122,2562,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3312,3477
$GC,2652,-1.23,-146.6,298.1,-9.1,126,2656,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1900,3477
$GC,2968,-1.23,-146.6,337.1,-11.6,141,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1900,3477
$GC,3277,-1.23,-146.6,373.2,-11.8,156,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3477
$GC,3587,-1.23,-146.6,408.4,-11.3,171,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1900,3477
$GC,3896,-1.23,-146.6,443.8,-11.7,186,3900,0.00,2.55,0.00,0.000,4,0.000,0.051,2225,3309,3477
$GC,3973,-1.23,-146.6,453.3,-11.6,189,3980,0.00,2.53,0.00,0.000,6,0.000,0.047,2225,1903,3477
$GC,4289,-1.23,-146.6,484.2,-9.9,205,4293,0.00,2.65,0.00,0.000,4,0.000,0.075,2225,491,3477
$GC,4405,-1.23,-146.6,496.9,-10.0,210,4410,0.00,2.50,0.00,0.000,6,0.000,0.042,2226,1913,3477
$GC,4721,-1.23,-146.6,527.2,-9.4,225,4725,0.00,2.53,0.00,0.000,4,0.000,0.056,2226,3299,3477
$GC,4782,-1.23,-146.6,533.0,-10.0,228,4787,0.00,2.55,0.00,0.000,6,0.000,0.051,2226,1897,3477
$STATE,4879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4879,begin apogee
$GC,4886,-0.36,0.0,542.3,9.5,233,5012,0.90,0.00,123.18,1.134,6,0.081,0.000,2417,2101,2878
$STATE,5013,end apogee,CONTROL_FINISHED_OK
$STATE,5013,begin climb
$GC,5016,1.23,146.6,546.6,0.0,239,5143,1.55,0.00,121.57,1.099,6,0.055,0.000,2762,2101,2280
$GC,5452,1.33,227.2,528.1,4.9,261,5526,0.10,2.67,66.97,1.105,4,0.057,0.060,2794,3495,1951
$GC,5555,1.34,234.4,521.3,7.7,266,5570,0.00,2.55,6.95,1.062,6,0.000,0.048,2795,2102,1922
$GC,5886,1.36,250.6,495.5,7.4,282,5906,0.00,0.00,14.18,1.117,6,0.000,0.000,2795,2102,1855
$GC,6216,1.36,250.6,465.8,9.6,298,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2102,1855
$GC,6525,1.36,250.6,435.7,9.1,313,6529,0.00,2.55,0.00,0.000,4,0.000,0.055,2795,3498,1853
$GC,6580,1.36,250.6,430.3,10.5,315,6586,0.00,2.55,0.00,0.000,6,0.000,0.046,2795,2095,1853
$GC,6895,1.36,250.6,402.5,8.8,331,6900,0.00,2.55,0.00,0.000,4,0.000,0.054,2795,3498,1853
$GC,6945,1.36,250.6,397.5,9.8,333,6950,0.00,2.53,0.00,0.000,6,0.000,0.045,2795,2099,1853
$GC,7260,1.36,250.6,365.6,9.2,348,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2098,1853
$GC,7570,1.36,250.6,337.1,9.5,363,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2099,1853
$GC,7879,1.36,250.6,307.0,9.5,378,7881,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2099,1853
$GC,8188,1.36,250.6,278.7,9.3,393,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2098,1853
$GC,8498,1.36,250.6,251.3,8.4,408,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2098,1853
$GC,8807,1.41,291.5,225.3,6.4,423,8849,0.00,2.62,33.35,0.950,4,0.000,0.051,2795,3495,1689
$GC,8927,1.41,291.5,214.4,10.9,428,8931,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2097,1689
$GC,9243,1.41,291.5,179.3,12.8,443,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2097,1689
$GC,9552,1.41,291.5,141.8,12.1,458,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2097,1689
$GC,9861,1.41,291.5,105.1,12.0,473,9862,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2097,1689
$GC,10171,1.41,291.5,76.1,8.2,488,10172,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2097,1690
$GC,10480,1.43,309.1,53.8,7.3,503,10500,0.00,0.00,15.05,0.860,6,0.000,0.000,2795,2097,1617
$GC,10809,1.43,309.1,17.8,11.5,519,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2097,1617
$STATE,10992,end climb,SURFACE_DEPTH_REACHED
$STATE,10992,begin surface coast
$FINISH,1.0,1.014115
$STATE,11014,end surface coast,CONTROL_FINISHED_OK
$STATE,11014,begin surface
$SM_CCo,11097,0.00,0.000,0,0,1615,310.06
$SM_GC,1.85,11.88,0.00,0.00,0.030,0.000,0.000,35,1892,1615,-11.26,-0.17,310.06
$IRIDIUM_FIX,6244.56,-1257.54,180497,010148
$TT8_MAMPS,0.026845
$HUMID,2073
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.3,67.372
$10V_AH,10.1,32.545
$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,26.075,61.950,381.250,0.000,0.000,73.843,127.445,138.113,4.750,0.000,0.000,42.741,966.916,8477.452,502.434,1181.968,519.958,33.371,1075.544,0.000,1133.610,0.000,28.457
$DEVICE_MAMPS,142.662,75.166,1133.626,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.275,355.940,372.001,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25430,529
$CFSIZE,260165632,238542848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,230108,041202,6306.320,-1253.324,82,1.4,82,-12.0