version: 66.02
glider: 102
mission: 4
dive: 264
start: 1 11 108 7 25 40
data:
$ID,102
$MISSION,4
$DIVE,264
$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,0
$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,-81679.484
$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,25
$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,0
$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,2
$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
$GPS1,072002,6354.904,-1341.990,9,2.0,27,-12.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-51.5
$GPS2,072445,6354.824,-1342.188,12,1.1,12,-12.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.238,-0.003
$KALMAN_X,299421.1,-660.6,183.0,-574337.6,-43378.6
$KALMAN_Y,-36462.9,-129.0,1026.8,297973.0,-8032.5
$MHEAD_RNG_PITCHd_Wd,103.5,27765,-14.7,-8.000
$D_GRID,990
$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,19,begin dive
$GC,22,-1.23,-146.6,0.0,0.0,0,105,0.00,0.00,-81.38,0.000,2,0.000,0.000,28,1890,2200
$GC,108,-1.23,-146.6,3.1,-0.7,4,184,11.38,2.62,-56.70,0.000,4,0.130,0.074,2221,496,3477
$GC,223,-1.23,-146.6,14.0,-14.5,9,227,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1904,3477
$GC,539,-1.23,-146.6,50.9,-8.8,24,543,0.00,2.53,0.00,0.000,4,0.000,0.050,2221,3295,3477
$GC,610,-1.23,-146.6,61.3,-15.0,27,614,0.00,2.53,0.00,0.000,6,0.000,0.046,2221,1901,3477
$GC,933,-1.23,-146.6,99.7,-9.8,43,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3477
$GC,1241,-1.23,-146.6,131.5,-11.1,58,1246,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3293,3477
$GC,1291,-1.23,-146.6,137.1,-10.2,60,1295,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1893,3477
$GC,1612,-1.23,-146.6,165.0,-8.5,76,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1893,3477
$GC,1922,-1.23,-146.6,189.4,-7.4,91,1926,0.00,2.55,0.00,0.000,4,0.000,0.050,2221,3294,3477
$GC,2029,-1.23,-146.6,198.5,-9.4,96,2033,0.00,2.50,0.00,0.000,6,0.000,0.045,2221,1897,3477
$GC,2354,-1.23,-146.6,229.2,-9.7,112,2359,0.00,2.53,0.00,0.000,4,0.000,0.050,2221,3293,3476
$GC,2398,-1.23,-146.6,234.6,-12.5,114,2402,0.00,2.50,0.00,0.000,6,0.000,0.045,2221,1901,3476
$GC,2725,-1.23,-146.6,269.0,-7.6,130,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3476
$GC,3035,-1.23,-146.6,298.7,-12.7,145,3039,0.00,2.62,0.00,0.000,4,0.000,0.068,2221,493,3476
$GC,3067,-1.23,-146.6,303.1,-13.9,146,3073,0.00,2.47,0.00,0.000,6,0.000,0.043,2221,1907,3476
$GC,3382,-1.23,-146.6,347.3,-15.5,162,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1907,3476
$GC,3692,-1.23,-146.6,391.2,-8.7,177,3696,0.00,2.55,0.00,0.000,4,0.000,0.054,2221,3300,3476
$GC,3791,-1.23,-146.6,404.0,-12.1,181,3797,0.00,2.53,0.00,0.000,6,0.000,0.048,2221,1894,3476
$GC,4107,-1.23,-146.6,445.1,-11.1,197,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1894,3476
$GC,4416,-1.23,-146.6,485.1,-14.4,212,4420,0.00,2.55,0.00,0.000,4,0.000,0.054,2221,3294,3475
$GC,4510,-1.23,-146.6,495.1,-10.4,216,4514,0.00,2.53,0.00,0.000,6,0.000,0.048,2221,1901,3475
$GC,4832,-1.23,-146.6,525.6,-9.4,232,4836,0.00,2.58,0.00,0.000,4,0.000,0.055,2221,3301,3475
$GC,4921,-1.23,-146.6,533.2,-7.7,236,4926,0.00,2.55,0.00,0.000,6,0.000,0.050,2221,1897,3475
$GC,5242,-1.23,-146.6,558.3,-5.6,252,5247,0.00,2.58,0.00,0.000,4,0.000,0.057,2221,3294,3475
$GC,5270,-1.23,-146.6,561.3,-10.9,253,5274,0.00,2.53,0.00,0.000,6,0.000,0.049,2221,1900,3475
$GC,5585,-1.23,-146.6,566.8,-1.2,268,5589,0.00,2.65,0.00,0.000,4,0.000,0.073,2221,488,3475
$GC,5640,-1.23,-146.6,568.7,-3.8,270,5647,0.00,2.53,0.00,0.000,6,0.000,0.048,2221,1898,3475
$GC,5956,-1.23,-146.6,593.5,-8.6,286,5960,0.00,2.60,0.00,0.000,4,0.000,0.062,2221,3300,3475
$GC,6134,-1.23,-146.6,608.4,-6.6,294,6138,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,1897,3475
$GC,6454,-1.23,-146.6,632.9,-10.5,310,6459,0.00,2.58,0.00,0.000,4,0.000,0.063,2221,3297,3474
$GC,6571,-1.23,-146.6,640.4,-4.8,315,6576,0.00,2.58,0.00,0.000,6,0.000,0.057,2221,1899,3473
$GC,6887,-1.23,-146.6,659.3,-4.9,330,6892,0.00,2.58,0.00,0.000,4,0.000,0.062,2220,3297,3473
$GC,6927,-1.23,-146.6,661.8,-7.4,332,6931,0.00,2.58,0.00,0.000,6,0.000,0.056,2221,1901,3473
$GC,7253,-1.23,-146.6,682.7,-8.5,348,7257,0.00,2.60,0.00,0.000,4,0.000,0.061,2221,3299,3472
$GC,7341,-1.23,-146.6,688.9,-7.1,352,7346,0.00,2.58,0.00,0.000,6,0.000,0.058,2221,1902,3472
$GC,7662,-1.23,-146.6,701.8,1.0,368,7666,0.00,2.60,0.00,0.000,4,0.000,0.064,2221,3300,3472
$GC,7919,-1.23,-146.6,700.2,0.6,379,7925,0.00,2.58,0.00,0.000,6,0.000,0.056,2221,1898,3471
$STATE,8108,end dive,NO_VERTICAL_VELOCITY
$STATE,8108,begin apogee
$GC,8114,-0.36,0.0,699.3,0.0,389,8241,0.90,0.00,123.88,1.302,6,0.073,0.000,2415,2092,2878
$STATE,8242,end apogee,CONTROL_FINISHED_OK
$STATE,8242,begin climb
$GC,8245,1.23,146.6,698.8,0.0,395,8376,1.60,2.78,122.60,1.253,4,0.065,0.075,2761,690,2280
$GC,8517,1.41,297.8,697.9,2.2,407,8650,0.17,2.58,125.53,1.239,6,0.046,0.051,2807,2108,1663
$GC,8978,1.41,297.8,643.2,11.4,430,8982,0.00,2.60,0.00,0.000,4,0.000,0.062,2807,3501,1663
$GC,9235,1.41,297.8,612.6,9.7,441,9241,0.00,2.60,0.00,0.000,6,0.000,0.057,2807,2099,1662
$GC,9550,1.41,297.8,583.2,10.8,457,9554,0.00,2.62,0.00,0.000,4,0.000,0.061,2807,3506,1662
$GC,9773,1.41,297.8,557.9,12.2,467,9777,0.00,2.58,0.00,0.000,6,0.000,0.053,2808,2102,1662
$GC,10100,1.41,297.8,519.3,12.1,483,10104,0.00,2.67,0.00,0.000,4,0.000,0.076,2807,686,1662
$GC,10132,1.41,297.8,515.2,12.1,484,10138,0.00,2.55,0.00,0.000,6,0.000,0.048,2808,2109,1662
$GC,10448,1.41,297.8,465.1,16.4,500,10452,0.00,2.55,0.00,0.000,4,0.000,0.057,2808,3501,1662
$GC,10480,1.41,297.8,459.1,18.1,501,10487,0.00,2.55,0.00,0.000,6,0.000,0.050,2808,2098,1662
$GC,10795,1.41,297.8,416.7,11.7,517,10800,0.00,2.58,0.00,0.000,4,0.000,0.055,2808,3500,1662
$GC,10880,1.41,297.8,407.1,10.7,521,10885,0.00,2.55,0.00,0.000,6,0.000,0.048,2808,2094,1662
$GC,11206,1.41,297.8,368.7,11.9,537,11210,0.00,2.58,0.00,0.000,4,0.000,0.054,2807,3500,1662
$GC,11335,1.41,297.8,349.5,16.2,543,11339,0.00,2.53,0.00,0.000,6,0.000,0.048,2808,2100,1662
$GC,11661,1.41,297.8,298.1,15.9,559,11665,0.00,2.58,0.00,0.000,4,0.000,0.052,2807,3506,1662
$GC,11744,1.41,297.8,284.3,16.0,563,11749,0.00,2.53,0.00,0.000,6,0.000,0.045,2808,2099,1662
$GC,12071,1.41,297.8,231.1,15.4,579,12072,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2099,1662
$GC,12380,1.41,297.8,191.2,11.2,594,12381,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2099,1663
$GC,12689,1.41,297.8,159.2,9.4,609,12693,0.00,2.58,0.00,0.000,4,0.000,0.052,2808,3506,1664
$GC,12732,1.41,297.8,153.8,12.7,611,12737,0.00,2.53,0.00,0.000,6,0.000,0.044,2808,2092,1664
$GC,13054,1.41,297.8,109.0,12.8,627,13058,0.00,2.58,0.00,0.000,4,0.000,0.050,2808,3504,1664
$GC,13148,1.41,297.8,94.2,17.7,631,13152,0.00,2.50,0.00,0.000,6,0.000,0.041,2808,2095,1664
$GC,13471,1.41,297.8,61.8,8.8,647,13475,0.00,2.58,0.00,0.000,4,0.000,0.050,2808,3504,1664
$GC,13514,1.41,297.8,57.0,10.5,649,13519,0.00,2.50,0.00,0.000,6,0.000,0.043,2808,2099,1664
$GC,13842,1.41,297.8,25.2,8.2,665,13846,0.00,2.55,0.00,0.000,4,0.000,0.050,2808,3501,1665
$GC,13881,1.43,313.3,22.0,7.4,667,13903,0.00,2.50,13.65,0.889,6,0.000,0.041,2808,2098,1599
$STATE,14127,end climb,SURFACE_DEPTH_REACHED
$STATE,14127,begin surface coast
$FINISH,1.9,1.018141
$STATE,14151,end surface coast,CONTROL_FINISHED_OK
$STATE,14151,begin surface
$SM_CCo,14232,0.00,0.000,0,0,1598,313.98
$SM_GC,2.96,12.00,0.00,0.00,0.031,0.000,0.000,33,1893,1598,-11.27,-0.20,313.98
$IRIDIUM_FIX,6332.30,-1340.79,110108,090911
$TT8_MAMPS,0.026845
$HUMID,2088
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.10
$XPDR_PINGS,1
$24V_AH,23.2,56.739
$10V_AH,10.1,27.687
$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,26.050,144.175,385.650,0.000,0.000,31.750,47.902,112.645,6.000,0.000,0.000,14.328,1314.024,10509.051,537.781,1782.149,386.533,33.360,1453.777,0.000,1740.014,0.000,38.429
$DEVICE_MAMPS,129.623,75.933,1302.366,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,501.697,458.746,416.562,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34902,680
$CFSIZE,260165632,242020352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,110108,112402,6353.147,-1340.010,36,1.4,36,-12.8