version: 66.02
glider: 102
mission: 4
dive: 267
start: 1 11 108 22 41 3
data:
$ID,102
$MISSION,4
$DIVE,267
$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,558.0575
$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,-81721.398
$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,29
$R_STBD_OVSHOOT,25
$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,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
$GPS1,221156,6352.377,-1328.397,38,1.1,38,-12.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-54.6
$GPS2,224009,6352.891,-1327.896,10,2.0,10,-12.6
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.238,-0.009
$KALMAN_X,290058.0,6065.3,2081.6,-561034.6,-23101.4
$KALMAN_Y,-39814.8,1523.4,384.8,296698.8,-3887.3
$MHEAD_RNG_PITCHd_Wd,104.7,15566,-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,-146.6,0.0,0.0,0,104,0.00,0.00,-80.82,0.000,2,0.000,0.000,28,1881,2220
$GC,107,-1.23,-146.6,3.2,-0.8,4,200,11.50,2.58,-74.38,0.000,4,0.134,0.075,2224,500,3477
$GC,311,-1.23,-146.6,17.6,-11.4,13,318,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1906,3477
$GC,627,-1.23,-146.6,51.6,-10.3,29,631,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3298,3477
$GC,682,-1.23,-146.6,57.5,-11.5,31,689,0.00,2.55,0.00,0.000,6,0.000,0.045,2224,1906,3476
$GC,998,-1.23,-146.6,87.8,-9.1,47,1003,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3296,3476
$GC,1042,-1.23,-146.6,92.0,-8.8,49,1046,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1898,3477
$GC,1369,-1.23,-146.6,123.9,-9.9,65,1374,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3303,3476
$GC,1419,-1.23,-146.6,129.5,-11.2,67,1423,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1901,3476
$GC,1734,-1.23,-146.6,164.4,-10.4,82,1738,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3296,3476
$GC,1773,-1.23,-146.6,168.4,-10.3,84,1778,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1896,3476
$GC,2102,-1.23,-146.6,201.7,-9.9,100,2107,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3298,3476
$GC,2135,-1.23,-146.6,205.4,-10.1,101,2141,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1898,3476
$GC,2450,-1.23,-146.6,239.3,-11.7,117,2455,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3301,3476
$GC,2477,-1.23,-146.6,242.4,-11.4,118,2482,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1901,3476
$GC,2793,-1.23,-146.6,277.7,-11.1,133,2797,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3304,3476
$GC,2836,-1.23,-146.6,282.5,-11.3,135,2840,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1902,3476
$GC,3164,-1.23,-146.6,318.5,-10.8,151,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1902,3476
$GC,3472,-1.23,-146.6,349.5,-9.6,166,3477,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3297,3476
$GC,3521,-1.23,-146.6,354.7,-10.1,168,3525,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1899,3476
$GC,3848,-1.23,-146.6,387.4,-10.0,184,3852,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3297,3476
$GC,3875,-1.23,-146.6,390.3,-11.2,185,3879,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1898,3476
$GC,4190,-1.23,-146.6,423.8,-10.5,200,4194,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3299,3476
$GC,4267,-1.23,-146.6,431.8,-9.7,203,4273,0.00,2.53,0.00,0.000,6,0.000,0.047,2224,1901,3476
$GC,4582,-1.23,-146.6,461.5,-8.5,219,4586,0.00,2.53,0.00,0.000,4,0.000,0.051,2224,3297,3475
$GC,4625,-1.23,-146.6,465.0,-8.2,221,4629,0.00,2.53,0.00,0.000,6,0.000,0.047,2224,1901,3475
$GC,4952,-1.23,-146.6,492.0,-9.3,237,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3475
$GC,5261,-1.23,-146.6,521.7,-9.7,252,5266,0.00,2.55,0.00,0.000,4,0.000,0.053,2224,3294,3475
$GC,5288,-1.23,-146.6,524.4,-10.1,253,5292,0.00,2.53,0.00,0.000,6,0.000,0.048,2224,1901,3475
$GC,5610,-1.23,-146.6,555.7,-10.0,269,5614,0.00,2.58,0.00,0.000,4,0.000,0.054,2224,3301,3475
$GC,5785,-1.23,-146.6,574.1,-10.8,277,5789,0.00,2.55,0.00,0.000,6,0.000,0.050,2224,1900,3475
$GC,6111,-1.23,-146.6,606.9,-10.0,293,6115,0.00,2.58,0.00,0.000,4,0.000,0.057,2224,3296,3475
$GC,6182,-1.23,-146.6,614.2,-10.2,296,6186,0.00,2.55,0.00,0.000,6,0.000,0.050,2224,1898,3475
$GC,6503,-1.23,-146.6,642.7,-8.3,312,6508,0.00,2.60,0.00,0.000,4,0.000,0.060,2224,3300,3475
$GC,6615,-1.23,-146.6,652.0,-8.7,317,6619,0.00,2.55,0.00,0.000,6,0.000,0.052,2224,1895,3475
$GC,6941,-1.23,-146.6,681.6,-9.6,333,6946,0.00,2.60,0.00,0.000,4,0.000,0.061,2224,3293,3475
$GC,7064,-1.23,-146.6,693.9,-9.3,338,7070,0.00,2.55,0.00,0.000,6,0.000,0.054,2224,1901,3475
$GC,7379,-1.23,-146.6,722.9,-8.8,354,7384,0.00,2.58,0.00,0.000,4,0.000,0.062,2224,3294,3474
$GC,7445,-1.23,-146.6,728.8,-8.9,357,7450,0.00,2.55,0.00,0.000,6,0.000,0.056,2224,1896,3474
$GC,7773,-1.23,-146.6,755.4,-8.0,373,7777,0.00,2.60,0.00,0.000,4,0.000,0.064,2224,3293,3473
$GC,7872,-1.23,-146.6,763.9,-9.0,377,7879,0.00,2.58,0.00,0.000,6,0.000,0.058,2224,1900,3473
$GC,8188,-1.23,-146.6,791.5,-10.0,393,8192,0.00,2.60,0.00,0.000,4,0.000,0.067,2224,3292,3472
$GC,8209,-1.23,-146.6,793.9,-11.0,394,8214,0.00,2.58,0.00,0.000,6,0.000,0.058,2224,1896,3472
$GC,8537,-1.23,-146.6,796.2,-0.0,410,8541,0.00,2.67,0.00,0.000,4,0.000,0.082,2224,489,3472
$STATE,8606,end dive,NO_VERTICAL_VELOCITY
$STATE,8606,begin apogee
$GC,8615,-0.36,0.0,796.2,0.0,413,8746,0.82,0.00,125.25,1.350,6,0.048,0.000,2418,2094,2878
$STATE,8747,end apogee,CONTROL_FINISHED_OK
$STATE,8747,begin climb
$GC,8749,1.23,146.6,795.9,0.0,420,8882,1.52,2.72,124.00,1.302,4,0.045,0.069,2767,3503,2280
$GC,9138,1.27,181.9,773.3,6.7,438,9174,0.00,2.60,30.48,1.302,6,0.000,0.057,2767,2101,2136
$GC,9484,1.27,181.9,743.6,9.0,454,9488,0.00,2.62,0.00,0.000,4,0.000,0.064,2767,3501,2135
$GC,9740,1.27,181.9,717.7,9.4,465,9747,0.00,2.60,0.00,0.000,6,0.000,0.056,2767,2091,2134
$GC,10057,1.27,181.9,690.7,8.3,481,10061,0.00,2.65,0.00,0.000,4,0.000,0.064,2767,3499,2133
$GC,10111,1.27,181.9,685.9,8.4,483,10118,0.00,2.58,0.00,0.000,6,0.000,0.054,2767,2095,2133
$GC,10427,1.27,182.4,660.5,8.0,499,10431,0.00,2.62,0.00,0.000,4,0.000,0.064,2767,3506,2133
$GC,10533,1.27,182.4,651.3,8.5,504,10538,0.00,2.58,0.00,0.000,6,0.000,0.054,2767,2103,2133
$GC,10859,1.27,182.4,623.6,8.6,520,10863,0.00,2.62,0.00,0.000,4,0.000,0.061,2767,3506,2132
$GC,11101,1.28,188.1,605.1,7.8,531,11111,0.00,2.58,5.62,1.256,6,0.000,0.052,2767,2098,2111
$GC,11427,1.31,210.9,581.2,7.1,547,11452,0.00,2.65,19.83,1.255,4,0.000,0.061,2767,3501,2018
$GC,11582,1.36,252.3,571.1,6.4,554,11623,0.10,2.58,35.12,1.226,6,0.062,0.051,2796,2099,1849
$GC,11944,1.36,252.3,541.1,9.0,572,11949,0.00,2.60,0.00,0.000,4,0.000,0.058,2796,3505,1849
$GC,12033,1.36,252.3,532.4,10.2,576,12038,0.00,2.55,0.00,0.000,6,0.000,0.049,2796,2099,1849
$GC,12354,1.36,252.3,502.5,9.3,592,12355,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2099,1849
$GC,12663,1.36,252.3,472.3,9.7,607,12668,0.00,2.60,0.00,0.000,4,0.000,0.055,2795,3500,1849
$GC,12776,1.36,252.3,460.5,11.0,612,12781,0.00,2.55,0.00,0.000,6,0.000,0.047,2796,2098,1849
$GC,13097,1.36,252.3,425.6,10.6,628,13101,0.00,2.60,0.00,0.000,4,0.000,0.054,2795,3506,1849
$GC,13181,1.36,252.3,416.0,11.5,632,13185,0.00,2.55,0.00,0.000,6,0.000,0.046,2796,2092,1849
$GC,13506,1.36,252.3,380.0,11.2,648,13511,0.00,2.60,0.00,0.000,4,0.000,0.054,2796,3504,1850
$GC,13591,1.36,252.3,370.0,12.0,652,13595,0.00,2.53,0.00,0.000,6,0.000,0.045,2796,2098,1850
$GC,13917,1.36,252.3,331.7,12.1,668,13921,0.00,2.58,0.00,0.000,4,0.000,0.052,2796,3502,1851
$GC,13979,1.36,252.3,324.0,12.5,671,13983,0.00,2.53,0.00,0.000,6,0.000,0.044,2795,2092,1851
$GC,14305,1.36,252.3,287.1,10.6,687,14309,0.00,2.60,0.00,0.000,4,0.000,0.053,2796,3507,1851
$GC,14399,1.36,252.3,276.1,11.2,691,14403,0.00,2.50,0.00,0.000,6,0.000,0.044,2795,2102,1851
$GC,14720,1.36,252.3,243.0,9.9,707,14724,0.00,2.58,0.00,0.000,4,0.000,0.051,2796,3508,1852
$GC,14769,1.36,252.3,237.8,10.8,709,14773,0.00,2.53,0.00,0.000,6,0.000,0.043,2796,2095,1851
$GC,15084,1.36,252.3,209.0,9.2,724,15088,0.00,2.58,0.00,0.000,4,0.000,0.051,2796,3502,1852
$GC,15133,1.36,252.3,204.2,8.9,726,15137,0.00,2.47,0.00,0.000,6,0.000,0.042,2796,2098,1852
$GC,15454,1.36,252.3,175.2,8.3,742,15459,0.00,2.58,0.00,0.000,4,0.000,0.051,2796,3504,1853
$GC,15516,1.36,254.9,170.8,7.9,745,15525,0.00,2.50,4.22,0.950,6,0.000,0.042,2796,2098,1838
$GC,15848,1.36,254.9,141.7,9.5,761,15852,0.00,2.58,0.00,0.000,4,0.000,0.050,2795,3505,1837
$GC,15897,1.36,254.9,136.9,9.3,763,15901,0.00,2.50,0.00,0.000,6,0.000,0.042,2796,2099,1837
$GC,16213,1.36,254.9,104.7,11.2,778,16217,0.00,2.58,0.00,0.000,4,0.000,0.050,2796,3507,1837
$GC,16245,1.36,254.9,100.5,11.7,779,16251,0.00,2.53,0.00,0.000,6,0.000,0.041,2796,2087,1837
$GC,16563,1.38,271.0,71.0,7.4,795,16584,0.00,2.65,13.50,0.891,4,0.000,0.050,2796,3504,1773
$GC,16631,1.41,296.6,65.8,7.0,798,16656,0.00,2.53,20.77,0.855,6,0.000,0.041,2796,2096,1668
$GC,16978,1.41,296.6,29.9,12.5,815,16982,0.00,2.58,0.00,0.000,4,0.000,0.049,2795,3501,1668
$GC,17004,1.41,296.6,26.4,12.8,816,17009,0.00,2.53,0.00,0.000,6,0.000,0.042,2796,2093,1668
$GC,17328,1.58,436.0,2.1,2.7,832,17409,0.20,2.67,75.45,0.772,4,0.085,0.050,2838,3503,1099
$STATE,17413,end climb,SURFACE_DEPTH_REACHED
$STATE,17413,begin surface coast
$FINISH,2.1,1.021585
$STATE,17750,end surface coast,CONTROL_FINISHED_OK
$STATE,17751,begin surface
$SM_CCo,17754,62.55,0.762,0,0,603,558.06
$SM_CCo,18183,0.30,1.228,0,0,602,558.06
$SM_GC,2.92,0.00,0.00,0.30,0.000,0.000,1.228,34,1898,602,-11.32,-0.06,558.06
$IRIDIUM_FIX,6327.46,-1327.85,120108,020240
$TT8_MAMPS,0.026845
$HUMID,2058
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,18.70
$XPDR_PINGS,5
$24V_AH,23.2,57.322
$10V_AH,10.1,27.971
$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,26.200,211.025,454.250,62.850,0.000,189.959,277.205,845.997,7.750,0.000,0.000,11.878,1666.907,13605.559,706.299,2303.356,1594.074,33.359,1897.555,0.000,2251.771,0.000,42.955
$DEVICE_MAMPS,134.225,82.069,1349.920,1227.967,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,626.901,573.733,524.860,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44366,851
$CFSIZE,260165632,241676288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,120108,034525,6355.110,-1319.725,24,1.2,41,-12.6