version: 66.02
glider: 102
mission: 4
dive: 337
start: 1 24 108 0 28 28
data:
$ID,102
$MISSION,4
$DIVE,337
$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,-2
$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,-83861.172
$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,32
$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
$GPS1,001437,6258.609,-1256.348,32,1.3,32,-12.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-57.6
$GPS2,002644,6258.592,-1255.912,13,1.7,13,-12.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.037,-0.235
$KALMAN_X,445257.8,3216.8,1802.6,-684870.6,-5784.9
$KALMAN_Y,67322.8,1747.5,964.9,88179.1,-1860.2
$MHEAD_RNG_PITCHd_Wd,200.9,17671,-14.7,-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,-1.23,-146.6,0.0,0.0,0,106,0.00,0.00,-81.12,0.000,2,0.000,0.000,34,1887,3028
$GC,110,-1.23,-146.6,4.1,-4.4,4,140,11.65,2.60,-11.80,0.000,4,0.143,0.061,2223,3293,3478
$GC,392,-1.23,-146.6,37.7,-10.6,16,399,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1907,3478
$GC,708,-1.23,-146.6,73.6,-10.3,32,713,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3303,3478
$GC,758,-1.23,-146.6,79.1,-10.9,34,762,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1899,3478
$GC,1074,-1.23,-146.6,110.2,-10.2,49,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3478
$GC,1383,-1.23,-146.6,138.1,-9.7,64,1388,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3299,3478
$GC,1433,-1.23,-146.6,142.9,-9.1,66,1437,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1894,3478
$GC,1749,-1.23,-146.6,175.2,-10.7,81,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3478
$GC,2058,-1.23,-146.6,208.5,-11.0,96,2062,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3304,3478
$GC,2090,-1.23,-146.6,212.4,-11.5,97,2097,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1897,3478
$GC,2406,-1.23,-146.6,246.2,-10.4,113,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3478
$GC,2715,-1.23,-146.6,277.5,-10.2,128,2720,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3299,3478
$GC,2744,-1.23,-146.6,280.4,-10.3,129,2748,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1898,3478
$GC,3059,-1.23,-146.6,311.3,-9.3,144,3064,0.00,2.53,0.00,0.000,4,0.000,0.049,2222,3299,3478
$GC,3092,-1.23,-146.6,314.6,-9.6,145,3099,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1893,3478
$GC,3408,-1.23,-146.6,345.4,-9.4,161,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1893,3478
$GC,3718,-1.23,-146.6,377.0,-11.0,176,3722,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3298,3478
$GC,3757,-1.23,-146.6,381.2,-10.4,178,3762,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1900,3478
$GC,4084,-1.23,-146.6,414.8,-10.9,194,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3478
$GC,4393,-1.23,-146.6,449.1,-11.4,209,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3478
$GC,4703,-1.23,-146.6,482.6,-10.2,224,4707,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3299,3478
$GC,4787,-1.23,-146.6,491.3,-10.1,228,4791,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1901,3478
$GC,5116,-1.23,-146.6,526.4,-11.3,244,5120,0.00,2.65,0.00,0.000,4,0.000,0.077,2222,497,3478
$GC,5142,-1.23,-146.6,529.7,-11.7,245,5146,0.00,2.45,0.00,0.000,6,0.000,0.044,2223,1901,3478
$GC,5464,-1.23,-146.6,560.5,-8.8,261,5468,0.00,2.55,0.00,0.000,4,0.000,0.059,2222,3295,3478
$GC,5603,-1.23,-146.6,572.3,-8.7,267,5608,0.00,2.55,0.00,0.000,6,0.000,0.053,2222,1900,3478
$GC,5918,-1.23,-146.6,598.3,-8.3,282,5923,0.00,2.60,0.00,0.000,4,0.000,0.062,2223,3303,3478
$GC,5980,-1.23,-146.6,603.6,-8.7,285,5985,0.00,2.60,0.00,0.000,6,0.000,0.057,2222,1896,3478
$GC,6307,-1.23,-146.6,631.6,-8.8,301,6312,0.00,2.62,0.00,0.000,4,0.000,0.064,2223,3301,3477
$GC,6357,-1.23,-146.6,636.3,-8.9,303,6361,0.00,2.58,0.00,0.000,6,0.000,0.058,2223,1899,3477
$GC,6673,-1.23,-146.6,646.4,0.0,318,6677,0.00,2.67,0.00,0.000,4,0.000,0.084,2222,495,3476
$STATE,6851,end dive,NO_VERTICAL_VELOCITY
$STATE,6851,begin apogee
$GC,6860,-0.36,0.0,646.3,0.0,326,6988,0.85,0.00,124.40,1.253,6,0.061,0.000,2416,2100,2878
$STATE,6989,end apogee,CONTROL_FINISHED_OK
$STATE,6989,begin climb
$GC,6991,1.23,146.6,646.3,0.0,332,7123,1.58,2.75,122.70,1.205,4,0.059,0.078,2760,693,2280
$GC,7379,1.23,146.6,627.4,8.0,349,7385,0.00,2.58,0.00,0.000,6,0.000,0.051,2760,2106,2280
$GC,7694,1.26,175.3,605.0,6.9,365,7724,0.00,2.65,24.62,1.233,4,0.000,0.068,2761,3503,2163
$GC,7781,1.26,175.3,597.9,8.2,369,7785,0.00,2.60,0.00,0.000,6,0.000,0.055,2760,2097,2163
$GC,8108,1.31,214.8,575.2,6.5,385,8149,0.00,2.72,33.75,1.220,4,0.000,0.064,2760,3498,2001
$GC,8173,1.32,222.8,570.6,7.7,388,8187,0.00,2.60,7.95,1.174,6,0.000,0.054,2760,2098,1969
$GC,8504,1.32,222.8,544.0,8.3,404,8508,0.00,2.65,0.00,0.000,4,0.000,0.063,2760,3507,1968
$GC,8543,1.32,222.8,540.4,9.8,406,8548,0.00,2.60,0.00,0.000,6,0.000,0.054,2761,2093,1968
$GC,8870,1.32,222.8,512.7,8.5,422,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2093,1967
$GC,9179,1.33,226.8,489.7,7.8,437,9189,0.10,2.65,4.18,1.169,4,0.062,0.061,2790,3508,1953
$GC,9240,1.33,226.8,483.7,10.7,439,9246,0.00,2.60,0.00,0.000,6,0.000,0.051,2790,2093,1953
$GC,9555,1.33,226.8,451.2,10.0,455,9560,0.00,2.62,0.00,0.000,4,0.000,0.058,2790,3508,1953
$GC,9655,1.33,226.8,440.8,10.7,459,9661,0.00,2.55,0.00,0.000,6,0.000,0.048,2789,2098,1953
$GC,9971,1.33,226.8,406.9,11.0,475,9975,0.00,2.58,0.00,0.000,4,0.000,0.056,2790,3507,1953
$GC,10003,1.33,226.8,403.0,11.3,476,10009,0.00,2.53,0.00,0.000,6,0.000,0.047,2790,2098,1953
$GC,10318,1.33,226.8,371.0,9.8,492,10323,0.00,2.60,0.00,0.000,4,0.000,0.054,2790,3512,1953
$GC,10396,1.33,226.8,363.1,10.1,495,10403,0.00,2.55,0.00,0.000,6,0.000,0.046,2790,2100,1953
$GC,10712,1.33,226.8,333.8,9.3,511,10716,0.00,2.58,0.00,0.000,4,0.000,0.054,2790,3511,1954
$GC,10773,1.33,226.8,328.1,9.6,514,10778,0.00,2.53,0.00,0.000,6,0.000,0.045,2790,2097,1954
$GC,11100,1.33,226.8,298.5,9.1,530,11105,0.00,2.58,0.00,0.000,4,0.000,0.053,2789,3505,1954
$GC,11185,1.33,226.8,290.5,9.5,534,11189,0.00,2.53,0.00,0.000,6,0.000,0.044,2790,2092,1954
$GC,11511,1.33,226.8,263.2,8.2,550,11515,0.00,2.60,0.00,0.000,4,0.000,0.054,2790,3511,1955
$GC,11555,1.33,226.8,259.5,8.2,552,11559,0.00,2.55,0.00,0.000,6,0.000,0.044,2790,2093,1955
$GC,11875,1.33,226.8,233.0,8.5,568,11879,0.00,2.58,0.00,0.000,4,0.000,0.054,2790,3506,1955
$GC,11970,1.33,226.8,224.2,9.3,572,11974,0.00,2.53,0.00,0.000,6,0.000,0.043,2790,2095,1955
$GC,12285,1.33,226.8,196.6,8.9,587,12289,0.00,2.58,0.00,0.000,4,0.000,0.052,2790,3505,1956
$GC,12351,1.33,226.8,190.1,10.1,590,12355,0.00,2.50,0.00,0.000,6,0.000,0.043,2790,2094,1956
$GC,12672,1.33,226.8,161.2,8.6,606,12676,0.00,2.58,0.00,0.000,4,0.000,0.052,2790,3509,1956
$GC,12756,1.33,226.8,152.3,10.8,610,12760,0.00,2.50,0.00,0.000,6,0.000,0.041,2790,2099,1956
$GC,13083,1.33,226.8,120.3,9.7,626,13087,0.00,2.58,0.00,0.000,4,0.000,0.051,2790,3512,1957
$GC,13182,1.33,226.8,109.6,11.1,630,13189,0.00,2.55,0.00,0.000,6,0.000,0.041,2790,2097,1957
$GC,13498,1.33,226.8,79.4,10.1,646,13503,0.00,2.58,0.00,0.000,4,0.000,0.051,2790,3513,1957
$GC,13562,1.33,231.5,73.1,7.8,649,13573,0.00,2.50,5.85,0.914,6,0.000,0.041,2790,2098,1934
$GC,13889,1.33,231.5,42.8,10.5,665,13893,0.00,2.55,0.00,0.000,4,0.000,0.050,2790,3508,1934
$GC,13973,1.33,231.5,35.6,8.3,669,13977,0.00,2.53,0.00,0.000,6,0.000,0.041,2790,2093,1934
$GC,14300,1.39,280.9,8.0,6.1,685,14345,0.00,2.65,38.83,0.818,4,0.000,0.051,2790,3504,1733
$STATE,14388,end climb,SURFACE_DEPTH_REACHED
$STATE,14388,begin surface coast
$FINISH,0.7,1.027425
$STATE,14413,end surface coast,CONTROL_FINISHED_OK
$STATE,14413,begin surface
$SM_CCo,14438,17.88,0.811,2,0,1655,300.00
$SM_GC,1.62,0.00,0.00,17.88,0.000,0.000,0.811,30,1897,1655,-11.34,-0.06,300.00
$IRIDIUM_FIX,6230.49,-1256.84,190497,000033
$TT8_MAMPS,0.026845
$HUMID,2066
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,18.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,23.2,68.269
$10V_AH,10.1,32.968
$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,26.175,159.975,362.275,17.875,0.000,114.891,108.843,263.254,6.000,0.000,0.000,14.955,1343.210,10852.621,529.043,1756.294,770.564,33.366,1429.859,0.000,1713.806,0.000,34.921
$DEVICE_MAMPS,143.429,83.603,1252.511,810.719,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,509.562,464.926,440.698,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34729,690
$CFSIZE,260165632,238190592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,2,0
$GPS,240108,043055,6256.650,-1252.567,24,1.4,42,-11.9