version: 66.02
glider: 102
mission: 4
dive: 333
start: 1 23 108 7 49 15
data:
$ID,102
$MISSION,4
$DIVE,333
$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,-83794.891
$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,30
$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
$GPS1,074238,6304.418,-1302.189,36,1.1,36,-12.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-63.3
$GPS2,074808,6304.442,-1302.430,10,1.3,15,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.159,-0.182
$KALMAN_X,450999.5,-1790.1,-1854.7,-687598.5,2553.1
$KALMAN_Y,67013.5,-1341.8,-480.8,103925.6,1804.8
$MHEAD_RNG_PITCHd_Wd,233.3,26836,-14.3,-8.000
$D_GRID,668
$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,-1.20,-146.6,0.0,0.0,0,85,0.00,0.00,-60.80,0.000,2,0.000,0.000,31,1884,2804
$GC,88,-1.20,-146.6,3.1,-3.0,3,130,11.80,2.62,-23.95,0.000,4,0.143,0.081,2225,498,3476
$GC,382,-1.20,-146.6,38.6,-11.4,16,389,0.00,2.45,0.00,0.000,6,0.000,0.040,2225,1908,3476
$GC,698,-1.20,-146.6,71.1,-9.8,32,702,0.00,2.50,0.00,0.000,4,0.000,0.048,2225,3295,3476
$GC,955,-1.20,-146.6,97.3,-8.9,43,962,0.00,2.47,0.00,0.000,6,0.000,0.043,2225,1908,3476
$GC,1271,-1.20,-146.6,128.2,-10.1,59,1275,0.00,2.50,0.00,0.000,4,0.000,0.047,2225,3299,3476
$GC,1337,-1.20,-146.6,135.1,-10.0,62,1342,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1902,3476
$GC,1657,-1.20,-146.6,169.2,-11.0,78,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3476
$GC,1967,-1.20,-146.6,205.4,-12.1,93,1971,0.00,2.50,0.00,0.000,4,0.000,0.047,2225,3297,3476
$GC,2029,-1.20,-146.6,212.8,-11.9,96,2034,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1897,3476
$GC,2356,-1.20,-146.6,250.9,-12.2,112,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1897,3476
$GC,2664,-1.20,-146.6,287.3,-11.7,127,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1897,3476
$GC,2974,-1.20,-146.6,323.6,-11.5,142,2978,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3299,3476
$GC,3035,-1.20,-146.6,330.6,-11.5,145,3040,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1901,3476
$GC,3362,-1.20,-146.6,367.4,-10.8,161,3366,0.00,2.47,0.00,0.000,4,0.000,0.048,2225,3293,3476
$GC,3446,-1.20,-146.6,376.8,-10.7,164,3452,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1898,3476
$GC,3761,-1.20,-146.6,406.4,-8.9,180,3766,0.00,2.60,0.00,0.000,4,0.000,0.071,2225,497,3476
$GC,3801,-1.20,-146.6,409.6,-8.3,182,3806,0.00,2.45,0.00,0.000,6,0.000,0.041,2225,1902,3476
$GC,4127,-1.20,-146.6,433.0,-7.4,198,4131,0.00,2.53,0.00,0.000,4,0.000,0.051,2225,3301,3476
$GC,4177,-1.20,-146.6,437.0,-7.7,200,4182,0.00,2.53,0.00,0.000,6,0.000,0.047,2225,1896,3476
$GC,4493,-1.20,-146.6,461.4,-8.3,215,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1896,3476
$GC,4802,-1.20,-146.6,489.4,-9.0,230,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1896,3477
$GC,5111,-1.20,-146.6,514.9,-7.7,245,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1894,3476
$GC,5421,-1.20,-146.6,544.5,-10.8,260,5425,0.00,2.55,0.00,0.000,4,0.000,0.052,2225,3301,3476
$GC,5531,-1.20,-146.6,556.6,-10.6,265,5536,0.00,2.53,0.00,0.000,6,0.000,0.048,2225,1900,3476
$GC,5853,-1.20,-146.6,588.6,-10.8,281,5858,0.00,2.53,0.00,0.000,4,0.000,0.052,2225,3303,3476
$GC,5897,-1.20,-146.6,593.8,-11.8,283,5902,0.00,2.53,0.00,0.000,6,0.000,0.050,2225,1902,3476
$GC,6224,-1.20,-146.6,633.1,-10.0,299,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1903,3476
$GC,6534,-1.20,-146.6,664.2,-8.3,314,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3476
$STATE,6573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6573,begin apogee
$GC,6579,-0.36,0.0,668.1,9.4,316,6707,0.90,0.00,124.43,1.224,6,0.084,0.000,2415,2103,2878
$STATE,6707,end apogee,CONTROL_FINISHED_OK
$STATE,6708,begin climb
$GC,6710,1.20,146.6,673.7,0.0,322,6841,1.55,2.65,123.25,1.190,4,0.058,0.064,2756,3496,2280
$GC,6853,1.35,262.4,673.8,3.8,330,6957,0.15,2.58,96.32,1.170,6,0.049,0.051,2797,2102,1808
$GC,7265,1.35,262.4,632.3,10.8,350,7269,0.00,2.60,0.00,0.000,4,0.000,0.061,2796,3501,1808
$GC,7399,1.35,262.4,617.1,11.3,356,7403,0.00,2.58,0.00,0.000,6,0.000,0.052,2796,2097,1808
$GC,7719,1.35,262.4,585.7,9.1,372,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2097,1808
$GC,8028,1.35,262.4,558.2,8.4,387,8032,0.00,2.60,0.00,0.000,4,0.000,0.058,2796,3498,1806
$GC,8090,1.35,262.4,551.9,10.7,390,8094,0.00,2.55,0.00,0.000,6,0.000,0.049,2796,2094,1806
$GC,8416,1.35,262.4,521.0,9.7,406,8420,0.00,2.60,0.00,0.000,4,0.000,0.057,2796,3503,1806
$GC,8455,1.35,262.4,516.9,10.2,408,8459,0.00,2.55,0.00,0.000,6,0.000,0.048,2796,2095,1806
$GC,8781,1.35,262.4,485.1,9.2,424,8786,0.00,2.55,0.00,0.000,4,0.000,0.055,2796,3497,1805
$GC,8843,1.35,262.4,479.4,9.2,427,8848,0.00,2.53,0.00,0.000,6,0.000,0.046,2796,2101,1805
$GC,9170,1.35,262.4,450.2,9.4,443,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2101,1804
$GC,9479,1.35,262.4,418.9,10.4,458,9484,0.00,2.55,0.00,0.000,4,0.000,0.052,2797,3502,1805
$GC,9546,1.35,262.4,411.7,11.5,461,9550,0.00,2.50,0.00,0.000,6,0.000,0.044,2796,2099,1805
$GC,9866,1.35,262.4,378.9,10.3,477,9871,0.00,2.55,0.00,0.000,4,0.000,0.052,2796,3498,1805
$GC,9894,1.35,262.4,376.0,10.9,478,9898,0.00,2.53,0.00,0.000,6,0.000,0.043,2796,2094,1805
$GC,10209,1.35,262.4,342.3,10.4,493,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2094,1805
$GC,10518,1.35,262.4,312.5,9.7,508,10519,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2094,1805
$GC,10828,1.35,262.4,284.4,8.7,523,10832,0.00,2.55,0.00,0.000,4,0.000,0.051,2797,3498,1806
$GC,10883,1.35,262.4,279.4,8.9,525,10889,0.00,2.53,0.00,0.000,6,0.000,0.042,2796,2088,1805
$GC,11198,1.35,262.4,249.6,10.0,541,11203,0.00,2.58,0.00,0.000,4,0.000,0.051,2797,3504,1806
$GC,11260,1.35,262.4,243.1,11.0,544,11265,0.00,2.50,0.00,0.000,6,0.000,0.042,2796,2102,1806
$GC,11587,1.35,262.4,210.7,9.7,560,11591,0.00,2.53,0.00,0.000,4,0.000,0.050,2797,3498,1806
$GC,11626,1.35,262.4,206.6,10.2,562,11630,0.00,2.50,0.00,0.000,6,0.000,0.041,2796,2095,1807
$GC,11952,1.35,262.4,175.1,8.5,578,11957,0.00,2.55,0.00,0.000,4,0.000,0.051,2797,3501,1808
$GC,11992,1.35,262.4,171.4,8.9,580,11996,0.00,2.50,0.00,0.000,6,0.000,0.041,2796,2098,1807
$GC,12318,1.35,262.4,139.5,10.8,596,12322,0.00,2.53,0.00,0.000,4,0.000,0.049,2797,3499,1808
$GC,12358,1.35,262.4,134.9,12.2,598,12362,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2093,1808
$GC,12684,1.35,262.4,93.1,12.7,614,12689,0.00,2.55,0.00,0.000,4,0.000,0.051,2797,3499,1808
$GC,12747,1.35,262.4,85.0,13.6,617,12751,0.00,2.47,0.00,0.000,6,0.000,0.041,2797,2097,1808
$GC,13074,1.35,262.4,50.2,10.9,633,13078,0.00,2.55,0.00,0.000,4,0.000,0.050,2796,3506,1808
$GC,13135,1.35,262.4,42.8,12.5,636,13140,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2101,1808
$GC,13463,1.35,262.4,5.8,9.8,652,13464,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2101,1808
$STATE,13501,end climb,SURFACE_DEPTH_REACHED
$STATE,13501,begin surface coast
$FINISH,1.0,1.003917
$STATE,13523,end surface coast,CONTROL_FINISHED_OK
$STATE,13523,begin surface
$SM_CCo,13545,34.78,0.808,4,0,1655,300.00
$SM_GC,1.55,0.00,0.00,34.78,0.000,0.000,0.808,35,1890,1655,-11.31,-0.28,300.00
$IRIDIUM_FIX,6239.86,-1250.78,180497,040433
$TT8_MAMPS,0.026845
$HUMID,2064
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,999.0
$24V_AH,23.2,67.639
$10V_AH,10.1,32.671
$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,26.400,122.200,344.000,34.775,0.000,38.371,38.100,146.563,5.750,0.000,0.000,16.564,1233.759,10210.125,534.565,1528.955,445.424,33.371,1302.007,0.000,1495.798,0.000,36.542
$DEVICE_MAMPS,142.662,80.535,1224.132,807.651,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,480.427,441.160,408.038,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31690,655
$CFSIZE,260165632,238428160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,4,0
$GPS,230108,113726,6302.814,-1306.622,53,0.9,53,-12.1