version: 66.02
glider: 102
mission: 4
dive: 266
start: 1 11 108 16 38 51
data:
$ID,102
$MISSION,4
$DIVE,266
$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,-81708.891
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,163125,6352.293,-1334.600,58,1.9,58,-12.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-56.0
$GPS2,163757,6352.292,-1334.551,13,1.7,13,-12.7
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.238,0.001
$KALMAN_X,292740.6,4598.3,-467.4,-565560.2,-13620.1
$KALMAN_Y,-40190.8,99.6,572.1,297222.2,-4344.7
$MHEAD_RNG_PITCHd_Wd,102.5,20495,-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,21,-1.23,-146.6,0.0,0.0,0,45,0.00,0.00,-21.88,0.000,2,0.000,0.000,35,1884,2099
$GC,48,-1.23,-146.6,3.1,-0.0,1,152,11.40,2.62,-85.25,0.000,4,0.130,0.080,2223,494,3475
$GC,337,-1.23,-146.6,23.5,-12.3,14,341,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1918,3475
$GC,664,-1.23,-146.6,60.4,-10.6,30,669,0.00,2.50,0.00,0.000,4,0.000,0.048,2223,3301,3475
$GC,727,-1.23,-146.6,66.8,-10.4,33,731,0.00,2.55,0.00,0.000,6,0.000,0.046,2223,1895,3476
$GC,1054,-1.23,-146.6,106.0,-12.2,49,1058,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3298,3475
$GC,1131,-1.23,-146.6,115.5,-11.4,52,1138,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1901,3476
$GC,1446,-1.23,-146.6,154.3,-13.7,68,1451,0.00,2.55,0.00,0.000,4,0.000,0.049,2223,3302,3476
$GC,1468,-1.23,-146.6,157.3,-13.1,69,1472,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1899,3476
$GC,1795,-1.23,-146.6,194.3,-11.1,85,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3476
$GC,2104,-1.23,-146.6,232.6,-12.8,100,2108,0.00,2.55,0.00,0.000,4,0.000,0.049,2223,3301,3475
$GC,2152,-1.23,-146.6,239.0,-11.9,102,2156,0.00,2.55,0.00,0.000,6,0.000,0.046,2223,1892,3476
$GC,2475,-1.23,-146.6,275.4,-10.0,118,2479,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3298,3476
$GC,2501,-1.23,-146.6,278.0,-9.4,119,2506,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1898,3475
$GC,2816,-1.23,-146.6,307.1,-9.3,134,2821,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3300,3475
$GC,2844,-1.23,-146.6,309.6,-9.0,135,2848,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1899,3476
$GC,3159,-1.23,-146.6,337.2,-8.9,150,3163,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3301,3476
$GC,3185,-1.23,-146.6,339.6,-9.0,151,3189,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1900,3476
$GC,3507,-1.23,-146.6,368.6,-10.2,167,3511,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3303,3475
$GC,3527,-1.23,-146.6,371.1,-11.1,168,3531,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1901,3476
$GC,3854,-1.23,-146.6,402.2,-9.4,184,3858,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3302,3475
$GC,3999,-1.23,-146.6,415.6,-8.7,190,4005,0.00,2.55,0.00,0.000,6,0.000,0.049,2223,1899,3476
$GC,4315,-1.23,-146.6,447.8,-10.8,206,4319,0.00,2.55,0.00,0.000,4,0.000,0.052,2223,3297,3476
$GC,4380,-1.23,-146.6,454.4,-10.4,209,4384,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1901,3476
$GC,4707,-1.23,-146.6,487.9,-10.5,225,4712,0.00,2.55,0.00,0.000,4,0.000,0.053,2223,3296,3476
$GC,4725,-1.23,-146.6,489.7,-10.7,226,4729,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1900,3476
$GC,5053,-1.23,-146.6,525.6,-11.3,242,5057,0.00,2.55,0.00,0.000,4,0.000,0.054,2223,3294,3476
$GC,5096,-1.23,-146.6,530.6,-10.4,244,5101,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1899,3476
$GC,5417,-1.23,-146.6,566.6,-10.9,260,5421,0.00,2.58,0.00,0.000,4,0.000,0.056,2223,3300,3476
$GC,5483,-1.23,-146.6,573.4,-10.0,263,5487,0.00,2.55,0.00,0.000,6,0.000,0.050,2223,1901,3476
$GC,5810,-1.23,-146.6,604.8,-9.9,279,5814,0.00,2.58,0.00,0.000,4,0.000,0.058,2223,3297,3475
$GC,5864,-1.23,-146.6,610.7,-10.4,281,5871,0.00,2.53,0.00,0.000,6,0.000,0.051,2223,1902,3475
$GC,6180,-1.23,-146.6,645.9,-11.2,297,6184,0.00,2.58,0.00,0.000,4,0.000,0.061,2223,3294,3476
$GC,6229,-1.23,-146.6,651.5,-11.5,299,6233,0.00,2.53,0.00,0.000,6,0.000,0.053,2222,1900,3475
$GC,6544,-1.23,-146.6,681.6,-9.7,314,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3476
$GC,6854,-1.23,-146.6,717.1,-11.4,329,6858,0.00,2.65,0.00,0.000,4,0.000,0.074,2223,494,3475
$GC,6908,-1.23,-146.6,723.7,-11.7,331,6915,0.00,2.53,0.00,0.000,6,0.000,0.053,2223,1901,3475
$GC,7223,-1.23,-146.6,755.6,-9.5,347,7228,0.00,2.60,0.00,0.000,4,0.000,0.064,2223,3300,3474
$GC,7263,-1.23,-146.6,759.3,-9.7,349,7267,0.00,2.58,0.00,0.000,6,0.000,0.058,2223,1901,3474
$GC,7589,-1.23,-146.6,791.6,-9.6,365,7593,0.00,2.60,0.00,0.000,4,0.000,0.065,2223,3303,3475
$GC,7620,-1.23,-146.6,795.0,-10.3,366,7627,0.00,2.60,0.00,0.000,6,0.000,0.058,2223,1898,3474
$GC,7937,-1.23,-146.6,825.3,-9.8,382,7942,0.00,2.62,0.00,0.000,4,0.000,0.067,2223,3301,3474
$GC,7976,-1.23,-146.6,829.1,-9.9,384,7981,0.00,2.60,0.00,0.000,6,0.000,0.060,2223,1894,3474
$GC,8303,-1.23,-146.6,858.0,-8.7,400,8307,0.00,2.65,0.00,0.000,4,0.000,0.068,2223,3303,3473
$GC,8419,-1.23,-146.6,868.3,-8.7,405,8423,0.00,2.60,0.00,0.000,6,0.000,0.061,2223,1895,3473
$GC,8735,-1.23,-146.6,888.9,-1.0,420,8739,0.00,2.67,0.00,0.000,4,0.000,0.084,2223,493,3472
$GC,8992,-1.23,-146.6,889.0,0.1,431,8998,0.00,2.55,0.00,0.000,6,0.000,0.058,2223,1903,3471
$STATE,9057,end dive,NO_VERTICAL_VELOCITY
$STATE,9057,begin apogee
$GC,9063,-0.36,0.0,889.1,0.0,435,9193,0.88,0.00,126.43,1.418,6,0.062,0.000,2418,2105,2878
$STATE,9194,end apogee,CONTROL_FINISHED_OK
$STATE,9194,begin climb
$GC,9196,1.23,146.6,888.7,0.0,441,9331,1.55,2.75,125.12,1.377,4,0.053,0.071,2763,3499,2279
$GC,9588,1.27,182.3,866.9,6.6,459,9624,0.00,2.60,30.83,1.364,6,0.000,0.058,2763,2100,2135
$GC,9933,1.27,183.3,840.5,8.0,475,9938,0.00,2.65,0.00,0.000,4,0.000,0.067,2763,3500,2134
$GC,10169,1.27,183.3,821.7,8.6,485,10175,0.00,2.60,0.00,0.000,6,0.000,0.057,2763,2094,2135
$GC,10484,1.28,190.7,797.1,7.7,501,10498,0.00,2.72,8.18,1.348,4,0.000,0.065,2763,3500,2100
$GC,10557,1.28,190.7,791.4,8.1,504,10561,0.00,2.62,0.00,0.000,6,0.000,0.056,2763,2093,2100
$GC,10877,1.31,209.3,767.9,7.3,520,10900,0.00,2.75,16.88,1.359,4,0.000,0.064,2763,3498,2024
$GC,10967,1.31,209.3,760.6,8.2,524,10972,0.00,2.60,0.00,0.000,6,0.000,0.054,2763,2096,2024
$GC,11293,1.31,209.3,734.7,8.3,540,11298,0.00,2.65,0.00,0.000,4,0.000,0.063,2763,3502,2023
$GC,11332,1.31,209.3,730.8,9.7,542,11337,0.00,2.60,0.00,0.000,6,0.000,0.055,2763,2095,2023
$GC,11658,1.31,209.3,698.9,10.2,558,11663,0.00,2.67,0.00,0.000,4,0.000,0.077,2763,690,2023
$GC,11685,1.31,209.3,696.1,9.4,559,11689,0.00,2.53,0.00,0.000,6,0.000,0.051,2763,2099,2022
$GC,12006,1.31,209.3,664.9,9.2,575,12007,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2099,2022
$GC,12315,1.33,227.1,641.1,7.3,590,12338,0.00,2.67,15.65,1.299,4,0.000,0.060,2764,3500,1951
$GC,12528,1.33,227.1,623.3,8.0,599,12532,0.00,2.58,0.00,0.000,6,0.000,0.052,2763,2092,1951
$GC,12849,1.36,255.3,600.5,6.9,615,12880,0.12,2.70,24.23,1.254,4,0.055,0.058,2798,3499,1837
$GC,13036,1.36,255.3,581.6,11.0,623,13040,0.00,2.55,0.00,0.000,6,0.000,0.049,2798,2099,1837
$GC,13357,1.36,255.3,551.3,8.9,639,13362,0.00,2.60,0.00,0.000,4,0.000,0.055,2798,3502,1837
$GC,13457,1.36,255.3,541.6,9.8,643,13464,0.00,2.55,0.00,0.000,6,0.000,0.049,2798,2095,1837
$GC,13773,1.36,255.5,514.0,8.0,659,13777,0.00,2.62,0.00,0.000,4,0.000,0.056,2798,3508,1837
$GC,13856,1.36,255.5,506.5,9.5,663,13861,0.00,2.55,0.00,0.000,6,0.000,0.048,2798,2101,1837
$GC,14183,1.36,255.5,472.8,9.4,679,14184,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2101,1837
$GC,14492,1.36,255.5,442.3,9.6,694,14496,0.00,2.58,0.00,0.000,4,0.000,0.054,2798,3500,1838
$GC,14580,1.36,255.5,433.4,10.7,698,14584,0.00,2.53,0.00,0.000,6,0.000,0.046,2798,2096,1838
$GC,14907,1.36,255.5,401.8,10.0,714,14911,0.00,2.58,0.00,0.000,4,0.000,0.054,2798,3501,1838
$GC,14963,1.36,255.5,396.0,10.8,716,14969,0.00,2.55,0.00,0.000,6,0.000,0.045,2798,2091,1838
$GC,15278,1.36,255.5,365.6,9.8,732,15282,0.00,2.60,0.00,0.000,4,0.000,0.053,2798,3505,1838
$GC,15333,1.36,255.5,359.9,10.7,734,15339,0.00,2.53,0.00,0.000,6,0.000,0.045,2798,2098,1839
$GC,15648,1.36,255.5,330.5,9.2,750,15652,0.00,2.58,0.00,0.000,4,0.000,0.052,2798,3508,1839
$GC,15713,1.36,255.5,323.9,10.5,753,15718,0.00,2.53,0.00,0.000,6,0.000,0.044,2798,2098,1839
$GC,16040,1.36,255.5,293.5,8.4,769,16044,0.00,2.55,0.00,0.000,4,0.000,0.051,2798,3501,1840
$GC,16106,1.36,255.5,287.8,8.2,772,16110,0.00,2.50,0.00,0.000,6,0.000,0.044,2798,2099,1840
$GC,16433,1.36,255.5,257.0,9.2,788,16437,0.00,2.58,0.00,0.000,4,0.000,0.052,2799,3505,1840
$GC,16504,1.36,255.5,249.5,9.8,791,16508,0.00,2.50,0.00,0.000,6,0.000,0.043,2798,2098,1840
$GC,16825,1.36,255.5,219.1,9.2,807,16829,0.00,2.55,0.00,0.000,4,0.000,0.051,2798,3504,1840
$GC,16914,1.36,255.5,210.0,9.7,811,16918,0.00,2.47,0.00,0.000,6,0.000,0.043,2798,2098,1840
$GC,17240,1.36,255.5,178.3,10.2,827,17244,0.00,2.58,0.00,0.000,4,0.000,0.051,2798,3507,1841
$GC,17317,1.36,255.5,169.8,10.7,830,17324,0.00,2.53,0.00,0.000,6,0.000,0.042,2798,2103,1841
$GC,17633,1.36,255.5,137.7,9.9,846,17638,0.00,2.55,0.00,0.000,4,0.000,0.049,2798,3506,1841
$GC,17666,1.36,255.5,134.2,10.0,847,17673,0.00,2.53,0.00,0.000,6,0.000,0.042,2799,2102,1842
$GC,17983,1.36,255.5,103.4,9.6,863,17987,0.00,2.55,0.00,0.000,4,0.000,0.050,2799,3503,1842
$GC,18027,1.36,255.5,97.8,12.0,865,18032,0.00,2.50,0.00,0.000,6,0.000,0.042,2798,2098,1842
$GC,18349,1.36,255.5,65.5,9.8,881,18353,0.00,2.55,0.00,0.000,4,0.000,0.049,2798,3501,1842
$GC,18403,1.36,255.5,60.0,9.5,883,18410,0.00,2.50,0.00,0.000,6,0.000,0.041,2798,2107,1842
$GC,18719,1.36,255.5,29.7,9.9,899,18724,0.00,2.55,0.00,0.000,4,0.000,0.049,2798,3506,1842
$GC,18827,1.36,255.5,19.9,8.4,904,18831,0.00,2.50,0.00,0.000,6,0.000,0.042,2798,2099,1842
$GC,19153,1.62,463.5,2.2,0.1,920,19178,0.17,0.00,22.10,0.829,2,0.058,0.000,2848,2094,1710
$STATE,19179,end climb,SURFACE_DEPTH_REACHED
$STATE,19179,begin surface coast
$FINISH,2.1,1.027412
$STATE,19401,end surface coast,NO_VERTICAL_VELOCITY
$STATE,19401,begin surface
$SM_CCo,19405,137.38,0.756,0,0,602,558.06
$SM_GC,2.79,12.20,0.00,0.00,0.030,0.000,0.000,30,1887,603,-11.27,-0.37,558.06
$IRIDIUM_FIX,6332.30,-1345.55,110108,151559
$TT8_MAMPS,0.026845
$HUMID,2045
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.40
$XPDR_PINGS,1
$24V_AH,23.1,57.084
$10V_AH,10.1,27.868
$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,26.325,226.825,369.400,137.375,0.000,36.128,35.215,206.614,7.750,0.000,0.000,14.598,1805.984,14855.347,688.592,2404.495,548.670,33.368,1922.342,0.000,2348.689,0.000,49.412
$DEVICE_MAMPS,129.623,84.370,1418.183,756.262,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,692.952,629.732,537.315,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47386,932
$CFSIZE,260165632,241831936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,0,0
$GPS,110108,221156,6352.377,-1328.397,38,1.1,38,-12.6