version: 66.02
glider: 102
mission: 4
dive: 334
start: 1 23 108 11 51 20
data:
$ID,102
$MISSION,4
$DIVE,334
$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,-83815.078
$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,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
$GPS1,113726,6302.814,-1306.622,53,0.9,53,-12.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-55.3
$GPS2,115014,6302.663,-1306.659,13,1.2,18,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.141,-0.189
$KALMAN_X,447382.7,-2409.0,1092.8,-690072.6,-2237.3
$KALMAN_Y,65217.7,-1142.6,740.4,100992.8,-1373.4
$MHEAD_RNG_PITCHd_Wd,155.5,23494,-14.8,-8.000
$D_GRID,719
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.24,-144.2,0.0,0.0,0,87,0.00,0.00,-61.03,0.000,2,0.000,0.000,35,1888,2836
$GC,90,-1.24,-146.6,3.2,-2.8,3,133,11.62,2.62,-21.48,0.000,4,0.143,0.064,2223,3298,3477
$GC,385,-1.24,-146.6,36.4,-8.5,16,390,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1894,3477
$GC,707,-1.24,-146.6,66.2,-10.8,32,712,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3303,3477
$GC,757,-1.24,-146.6,72.3,-12.0,34,761,0.00,2.53,0.00,0.000,6,0.000,0.042,2223,1895,3477
$GC,1073,-1.24,-146.6,103.5,-7.7,49,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3477
$GC,1382,-1.24,-146.6,130.1,-8.1,64,1386,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3302,3477
$GC,1399,-1.24,-146.6,131.6,-9.0,65,1404,0.00,2.50,0.00,0.000,6,0.000,0.042,2223,1899,3477
$GC,1726,-1.24,-146.6,162.2,-9.8,81,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3477
$GC,2035,-1.24,-146.6,194.1,-10.7,96,2040,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3302,3477
$GC,2080,-1.24,-146.6,199.0,-10.9,98,2084,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1896,3477
$GC,2400,-1.24,-146.6,231.9,-10.3,114,2404,0.00,2.62,0.00,0.000,4,0.000,0.071,2223,491,3477
$GC,2426,-1.24,-146.6,234.8,-10.9,115,2431,0.00,2.45,0.00,0.000,6,0.000,0.041,2223,1903,3477
$GC,2749,-1.24,-146.6,267.9,-10.1,131,2753,0.00,2.53,0.00,0.000,4,0.000,0.051,2223,3302,3477
$GC,2792,-1.24,-146.6,272.1,-8.9,133,2796,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1896,3477
$GC,3113,-1.24,-146.6,303.7,-10.9,149,3117,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3298,3477
$GC,3141,-1.24,-146.6,306.8,-11.4,150,3145,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1900,3477
$GC,3456,-1.24,-146.6,338.3,-9.4,165,3460,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3302,3477
$GC,3477,-1.24,-146.6,340.3,-9.4,166,3481,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1898,3477
$GC,3798,-1.24,-146.6,370.0,-9.5,182,3802,0.00,2.53,0.00,0.000,4,0.000,0.049,2224,3298,3477
$GC,3830,-1.24,-146.6,373.3,-10.0,183,3836,0.00,2.50,0.00,0.000,6,0.000,0.045,2224,1900,3477
$GC,4146,-1.24,-146.6,400.7,-8.4,199,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3477
$GC,4455,-1.24,-146.6,428.3,-9.6,214,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3477
$GC,4764,-1.24,-146.6,462.2,-12.3,229,4768,0.00,2.53,0.00,0.000,4,0.000,0.051,2223,3303,3477
$GC,4790,-1.24,-146.6,465.3,-11.3,230,4795,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1897,3477
$GC,5106,-1.24,-146.6,505.3,-13.2,245,5111,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3302,3476
$GC,5162,-1.24,-146.6,511.9,-12.4,247,5168,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1900,3477
$GC,5477,-1.24,-146.6,544.9,-9.7,263,5481,0.00,2.62,0.00,0.000,4,0.000,0.074,2224,496,3477
$GC,5533,-1.24,-146.6,550.3,-10.0,265,5539,0.00,2.47,0.00,0.000,6,0.000,0.044,2223,1902,3477
$GC,5849,-1.24,-146.6,582.7,-9.4,281,5853,0.00,2.67,0.00,0.000,4,0.000,0.076,2223,489,3476
$GC,5915,-1.24,-146.6,589.5,-10.0,284,5919,0.00,2.47,0.00,0.000,6,0.000,0.044,2223,1900,3476
$GC,6237,-1.24,-146.6,616.0,-7.9,300,6241,0.00,2.58,0.00,0.000,4,0.000,0.062,2223,3303,3476
$GC,6263,-1.24,-146.6,618.3,-8.5,301,6268,0.00,2.55,0.00,0.000,6,0.000,0.054,2223,1904,3477
$GC,6580,-1.24,-146.6,642.1,-7.6,316,6584,0.00,2.58,0.00,0.000,4,0.000,0.061,2223,3301,3477
$GC,6619,-1.24,-146.6,644.4,-6.3,318,6624,0.00,2.55,0.00,0.000,6,0.000,0.055,2223,1900,3476
$GC,6946,-1.24,-146.6,673.7,-8.4,334,6950,0.00,2.67,0.00,0.000,4,0.000,0.084,2223,494,3475
$GC,6972,-1.24,-146.6,676.1,-9.2,335,6977,0.00,2.50,0.00,0.000,6,0.000,0.051,2223,1899,3475
$GC,7288,-1.24,-146.6,705.6,-9.9,350,7292,0.00,2.60,0.00,0.000,4,0.000,0.064,2223,3303,3475
$GC,7350,-1.24,-146.6,710.9,-7.4,353,7354,0.00,2.60,0.00,0.000,6,0.000,0.060,2223,1900,3474
$STATE,7467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7467,begin apogee
$GC,7474,-0.36,0.0,720.8,8.9,359,7602,0.90,0.00,124.75,1.290,6,0.073,0.000,2421,2105,2878
$STATE,7603,end apogee,CONTROL_FINISHED_OK
$STATE,7603,begin climb
$GC,7605,1.24,146.6,721.3,0.0,365,7738,1.55,2.75,123.93,1.241,4,0.053,0.075,2766,688,2280
$GC,7995,1.28,181.1,700.4,6.7,383,8030,0.00,2.58,29.52,1.271,6,0.000,0.050,2766,2103,2139
$GC,8340,1.28,181.1,668.1,9.6,399,8345,0.00,2.72,0.00,0.000,4,0.000,0.078,2766,688,2138
$GC,8413,1.28,181.1,662.1,9.3,402,8417,0.00,2.58,0.00,0.000,6,0.000,0.050,2766,2105,2138
$GC,8728,1.29,191.0,635.9,7.6,417,8742,0.00,2.65,9.15,1.251,4,0.000,0.064,2766,3508,2100
$GC,8811,1.32,214.3,630.0,7.1,420,8838,0.00,2.60,20.52,1.239,6,0.000,0.054,2766,2101,2003
$GC,9147,1.36,245.1,609.0,6.8,437,9182,0.12,2.70,26.58,1.236,4,0.053,0.061,2803,3505,1878
$GC,9249,1.36,245.1,599.3,10.6,441,9255,0.00,2.60,0.00,0.000,6,0.000,0.054,2803,2093,1878
$GC,9564,1.36,245.1,571.4,8.5,457,9566,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2093,1877
$GC,9873,1.36,245.1,545.0,8.0,472,9878,0.00,2.65,0.00,0.000,4,0.000,0.078,2803,691,1877
$GC,9895,1.36,245.1,542.9,9.5,473,9899,0.00,2.53,0.00,0.000,6,0.000,0.048,2802,2102,1877
$GC,10217,1.36,245.9,516.2,8.0,489,10221,0.00,2.58,0.00,0.000,4,0.000,0.060,2803,3502,1877
$GC,10260,1.36,245.9,512.2,9.3,491,10264,0.00,2.58,0.00,0.000,6,0.000,0.051,2803,2093,1876
$GC,10581,1.36,245.9,484.7,8.5,507,10586,0.00,2.60,0.00,0.000,4,0.000,0.056,2803,3508,1877
$GC,10710,1.36,245.9,468.9,13.5,513,10715,0.00,2.55,0.00,0.000,6,0.000,0.047,2803,2094,1877
$GC,11037,1.36,245.9,431.0,11.6,529,11041,0.00,2.60,0.00,0.000,4,0.000,0.054,2803,3509,1877
$GC,11159,1.36,245.9,416.2,12.4,534,11165,0.00,2.50,0.00,0.000,6,0.000,0.046,2803,2106,1877
$GC,11474,1.36,245.9,377.2,13.3,550,11475,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2105,1877
$GC,11784,1.36,245.9,333.2,14.2,565,11788,0.00,2.55,0.00,0.000,4,0.000,0.052,2803,3505,1878
$GC,11850,1.36,245.9,323.8,13.8,568,11854,0.00,2.53,0.00,0.000,6,0.000,0.044,2803,2100,1878
$GC,12170,1.36,245.9,281.4,14.1,584,12174,0.00,2.58,0.00,0.000,4,0.000,0.052,2803,3508,1878
$GC,12258,1.36,245.9,269.5,13.6,588,12263,0.00,2.50,0.00,0.000,6,0.000,0.042,2803,2098,1878
$GC,12580,1.36,245.9,227.1,12.8,604,12584,0.00,2.55,0.00,0.000,4,0.000,0.051,2803,3502,1879
$GC,12664,1.36,245.9,215.6,13.9,608,12668,0.00,2.53,0.00,0.000,6,0.000,0.042,2803,2093,1879
$GC,12990,1.36,245.9,172.5,13.5,624,12994,0.00,2.58,0.00,0.000,4,0.000,0.052,2803,3507,1880
$GC,13061,1.36,245.9,162.5,13.7,627,13066,0.00,2.53,0.00,0.000,6,0.000,0.041,2803,2091,1879
$GC,13379,1.36,245.9,119.8,13.6,642,13383,0.00,2.58,0.00,0.000,4,0.000,0.051,2803,3507,1880
$GC,13451,1.36,245.9,110.0,13.0,645,13455,0.00,2.50,0.00,0.000,6,0.000,0.041,2803,2101,1880
$GC,13766,1.36,245.9,74.6,10.3,660,13770,0.00,2.55,0.00,0.000,4,0.000,0.050,2803,3505,1880
$GC,13889,1.36,245.9,59.7,11.1,665,13895,0.00,2.50,0.00,0.000,6,0.000,0.041,2803,2101,1880
$GC,14207,1.36,245.9,26.5,10.4,681,14211,0.00,2.55,0.00,0.000,4,0.000,0.050,2803,3509,1881
$GC,14314,1.36,245.9,15.5,10.3,686,14318,0.00,2.50,0.00,0.000,6,0.000,0.040,2803,2099,1881
$STATE,14473,end climb,SURFACE_DEPTH_REACHED
$STATE,14473,begin surface coast
$FINISH,1.0,1.026706
$STATE,14495,end surface coast,CONTROL_FINISHED_OK
$STATE,14495,begin surface
$SM_CCo,14517,51.35,0.801,6,0,1655,300.00
$SM_GC,1.90,0.00,0.00,51.35,0.000,0.000,0.801,36,1881,1655,-11.31,-0.54,300.00
$IRIDIUM_FIX,6239.86,-1314.97,180497,111138
$TT8_MAMPS,0.026845
$HUMID,2079
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,23.2,67.798
$10V_AH,10.1,32.748
$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,26.325,164.425,334.450,51.350,0.000,109.415,126.171,284.871,6.750,0.000,0.000,19.557,1347.723,10977.648,549.597,1729.897,781.674,33.375,1443.112,0.000,1686.481,0.000,39.774
$DEVICE_MAMPS,142.662,83.603,1290.094,800.748,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,515.764,468.668,428.672,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34884,695
$CFSIZE,260165632,238354432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,6,0
$GPS,230108,155556,6259.854,-1306.505,39,1.4,39,-12.1