version: 66.02
glider: 102
mission: 4
dive: 335
start: 1 23 108 16 3 23
data:
$ID,102
$MISSION,4
$DIVE,335
$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,-83829.312
$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,36
$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,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
$GPS1,155556,6259.854,-1306.505,39,1.4,39,-12.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-58.2
$GPS2,160215,6259.762,-1306.454,12,1.4,12,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.022,-0.233
$KALMAN_X,444800.3,-713.8,-397.1,-687534.6,-193.0
$KALMAN_Y,63665.5,83.8,-938.4,97616.6,836.3
$MHEAD_RNG_PITCHd_Wd,186.7,18121,-15.0,-8.000
$D_GRID,1001
$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,-1.25,-140.9,0.0,0.0,0,106,0.00,0.00,-81.10,0.000,2,0.000,0.000,36,1881,3280
$GC,110,-1.25,-146.6,5.3,-5.5,4,132,11.60,2.60,-4.05,0.000,4,0.142,0.058,2217,3310,3476
$GC,358,-1.25,-146.6,43.3,-11.5,15,362,0.00,2.53,0.00,0.000,6,0.000,0.043,2217,1911,3476
$GC,684,-1.25,-146.6,75.2,-9.9,31,688,0.00,2.53,0.00,0.000,4,0.000,0.048,2218,3305,3476
$GC,724,-1.25,-146.6,79.2,-10.0,33,728,0.00,2.53,0.00,0.000,6,0.000,0.044,2217,1900,3476
$GC,1050,-1.25,-146.6,116.5,-12.1,49,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1901,3476
$GC,1359,-1.25,-146.6,155.3,-12.8,64,1363,0.00,2.55,0.00,0.000,4,0.000,0.048,2217,3310,3477
$GC,1393,-1.25,-146.6,159.6,-12.3,65,1399,0.00,2.53,0.00,0.000,6,0.000,0.044,2218,1900,3477
$GC,1709,-1.25,-146.6,196.9,-11.5,81,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1901,3477
$GC,2018,-1.25,-146.6,228.0,-9.8,96,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1900,3477
$GC,2328,-1.25,-146.6,256.0,-8.8,111,2332,0.00,2.55,0.00,0.000,4,0.000,0.048,2218,3311,3476
$GC,2422,-1.25,-146.6,265.6,-9.9,115,2427,0.00,2.55,0.00,0.000,6,0.000,0.045,2217,1895,3477
$GC,2739,-1.25,-146.6,301.6,-11.9,130,2743,0.00,2.55,0.00,0.000,4,0.000,0.049,2217,3305,3477
$GC,2771,-1.25,-146.6,305.9,-12.0,131,2777,0.00,2.53,0.00,0.000,6,0.000,0.045,2218,1899,3477
$GC,3087,-1.25,-146.6,340.7,-10.6,147,3091,0.00,2.53,0.00,0.000,4,0.000,0.049,2217,3306,3477
$GC,3126,-1.25,-146.6,345.0,-11.0,149,3130,0.00,2.53,0.00,0.000,6,0.000,0.045,2217,1901,3477
$GC,3452,-1.25,-146.6,381.4,-11.4,165,3456,0.00,2.55,0.00,0.000,4,0.000,0.050,2217,3306,3477
$GC,3507,-1.25,-146.6,388.0,-11.8,167,3514,0.00,2.53,0.00,0.000,6,0.000,0.046,2218,1901,3477
$GC,3824,-1.25,-146.6,422.8,-10.8,183,3828,0.00,2.55,0.00,0.000,4,0.000,0.051,2218,3310,3476
$GC,3867,-1.25,-146.6,427.5,-10.1,185,3871,0.00,2.55,0.00,0.000,6,0.000,0.046,2218,1898,3477
$GC,4189,-1.25,-146.6,456.5,-8.3,201,4193,0.00,2.62,0.00,0.000,4,0.000,0.074,2217,496,3477
$GC,4215,-1.25,-146.6,458.8,-8.6,202,4220,0.00,2.47,0.00,0.000,6,0.000,0.043,2218,1910,3477
$GC,4531,-1.25,-146.6,483.2,-8.3,217,4535,0.00,2.53,0.00,0.000,4,0.000,0.054,2217,3302,3477
$GC,4664,-1.25,-146.6,494.7,-9.1,223,4669,0.00,2.55,0.00,0.000,6,0.000,0.049,2217,1895,3476
$GC,4986,-1.25,-146.6,522.8,-9.4,239,4990,0.00,2.55,0.00,0.000,4,0.000,0.053,2217,3302,3476
$GC,5076,-1.25,-146.6,531.1,-8.5,243,5080,0.00,2.53,0.00,0.000,6,0.000,0.048,2217,1901,3477
$GC,5396,-1.25,-146.6,561.8,-9.8,259,5401,0.00,2.55,0.00,0.000,4,0.000,0.053,2218,3303,3477
$GC,5429,-1.25,-146.6,565.6,-10.6,260,5436,0.00,2.55,0.00,0.000,6,0.000,0.049,2217,1893,3476
$GC,5745,-1.25,-146.6,599.6,-10.8,276,5750,0.00,2.65,0.00,0.000,4,0.000,0.080,2217,493,3477
$GC,5795,-1.25,-146.6,605.4,-11.2,278,5799,0.00,2.47,0.00,0.000,6,0.000,0.046,2217,1899,3477
$GC,6116,-1.25,-146.6,640.3,-11.0,294,6120,0.00,2.58,0.00,0.000,4,0.000,0.062,2217,3299,3476
$GC,6255,-1.25,-146.6,655.6,-11.3,300,6259,0.00,2.58,0.00,0.000,6,0.000,0.057,2217,1901,3476
$GC,6571,-1.25,-146.6,688.0,-10.0,315,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1901,3476
$GC,6879,-1.25,-146.6,717.1,-8.3,330,6884,0.00,2.58,0.00,0.000,4,0.000,0.062,2217,3302,3475
$GC,6906,-1.25,-146.6,719.6,-9.2,331,6911,0.00,2.58,0.00,0.000,6,0.000,0.058,2217,1900,3474
$GC,7224,-1.25,-146.6,728.0,-0.1,346,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1900,3474
$STATE,7385,end dive,NO_VERTICAL_VELOCITY
$STATE,7385,begin apogee
$GC,7391,-0.36,0.0,727.8,0.0,354,7520,0.90,0.00,125.68,1.297,6,0.054,0.000,2425,2100,2878
$STATE,7521,end apogee,CONTROL_FINISHED_OK
$STATE,7521,begin climb
$GC,7523,1.25,146.6,727.6,0.0,360,7656,1.52,2.70,124.75,1.255,4,0.049,0.065,2768,3498,2279
$GC,7759,1.28,169.8,714.8,7.1,372,7785,0.00,2.60,20.62,1.243,6,0.000,0.054,2769,2093,2184
$GC,8107,1.28,170.7,687.9,8.0,389,8111,0.00,2.62,0.00,0.000,4,0.000,0.064,2769,3496,2183
$GC,8235,1.28,170.7,676.7,8.6,395,8240,0.00,2.55,0.00,0.000,6,0.000,0.054,2769,2100,2183
$GC,8562,1.29,181.0,650.0,7.6,411,8577,0.00,2.67,9.98,1.268,4,0.000,0.062,2769,3504,2140
$GC,8624,1.30,182.1,645.1,8.0,413,8628,0.00,2.60,0.00,0.000,6,0.000,0.054,2769,2098,2140
$GC,8949,1.30,182.1,618.7,8.8,429,8954,0.00,2.60,0.00,0.000,4,0.000,0.062,2768,3497,2139
$GC,8994,1.30,182.5,614.7,8.0,431,8998,0.00,2.55,0.00,0.000,6,0.000,0.052,2769,2100,2139
$GC,9314,1.30,182.5,589.8,8.8,447,9319,0.00,2.60,0.00,0.000,4,0.000,0.061,2769,3499,2139
$GC,9376,1.30,182.5,584.2,8.8,450,9381,0.00,2.55,0.00,0.000,6,0.000,0.051,2769,2099,2139
$GC,9703,1.33,209.0,559.9,7.0,466,9732,0.00,2.65,24.02,1.239,4,0.000,0.059,2769,3497,2026
$GC,9817,1.35,223.1,551.3,7.4,471,9836,0.00,2.58,13.27,1.216,6,0.000,0.049,2769,2096,1967
$GC,10163,1.35,223.1,523.0,8.7,488,10168,0.00,2.60,0.00,0.000,4,0.000,0.058,2769,3505,1966
$GC,10230,1.35,223.1,516.5,9.9,491,10235,0.00,2.55,0.00,0.000,6,0.000,0.048,2769,2102,1966
$GC,10550,1.35,223.1,486.2,9.6,507,10555,0.00,2.58,0.00,0.000,4,0.000,0.056,2769,3504,1967
$GC,10645,1.35,223.1,476.4,10.1,511,10650,0.00,2.55,0.00,0.000,6,0.000,0.047,2769,2098,1966
$GC,10961,1.35,223.1,450.2,8.3,526,10965,0.00,2.58,0.00,0.000,4,0.000,0.055,2769,3502,1966
$GC,10993,1.35,223.1,447.4,8.5,527,10999,0.00,2.53,0.00,0.000,6,0.000,0.046,2769,2100,1966
$GC,11309,1.35,223.1,422.4,8.1,543,11310,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2100,1967
$GC,11618,1.35,224.4,397.6,7.9,558,11622,0.00,2.58,0.00,0.000,4,0.000,0.054,2769,3503,1967
$GC,11669,1.35,224.4,392.8,9.9,560,11673,0.00,2.53,0.00,0.000,6,0.000,0.044,2769,2098,1967
$GC,11984,1.35,224.4,365.3,9.1,575,11988,0.00,2.55,0.00,0.000,4,0.000,0.054,2769,3499,1968
$GC,12023,1.35,224.4,361.6,10.0,577,12027,0.00,2.50,0.00,0.000,6,0.000,0.044,2769,2100,1967
$GC,12349,1.35,224.4,333.8,8.7,593,12353,0.00,2.58,0.00,0.000,4,0.000,0.054,2769,3506,1968
$GC,12404,1.35,224.4,328.5,9.9,595,12410,0.00,2.53,0.00,0.000,6,0.000,0.043,2769,2097,1968
$GC,12719,1.35,224.4,303.0,8.2,611,12724,0.00,2.55,0.00,0.000,4,0.000,0.054,2769,3498,1969
$GC,12746,1.35,224.4,300.4,8.8,612,12751,0.00,2.50,0.00,0.000,6,0.000,0.043,2769,2098,1969
$GC,13063,1.36,230.1,275.9,7.8,627,13076,0.00,2.62,7.05,1.028,4,0.000,0.052,2769,3499,1940
$GC,13111,1.36,230.1,271.4,8.8,629,13115,0.00,2.53,0.00,0.000,6,0.000,0.042,2769,2100,1940
$GC,13432,1.37,245.9,244.9,7.4,645,13453,0.12,0.00,14.07,0.999,6,0.054,0.000,2805,2100,1874
$GC,13762,1.37,245.9,215.7,9.0,661,13766,0.00,2.58,0.00,0.000,4,0.000,0.052,2805,3505,1875
$GC,13805,1.37,245.9,211.2,9.7,663,13810,0.00,2.50,0.00,0.000,6,0.000,0.041,2805,2098,1874
$GC,14132,1.37,245.9,180.5,9.2,679,14136,0.00,2.55,0.00,0.000,4,0.000,0.051,2805,3499,1874
$GC,14182,1.37,245.9,175.4,10.1,681,14186,0.00,2.50,0.00,0.000,6,0.000,0.041,2805,2099,1875
$GC,14498,1.37,245.9,143.9,10.2,696,14502,0.00,2.55,0.00,0.000,4,0.000,0.051,2805,3499,1874
$GC,14561,1.37,245.9,136.9,11.1,699,14566,0.00,2.50,0.00,0.000,6,0.000,0.041,2805,2092,1874
$GC,14888,1.37,245.9,102.2,11.1,715,14893,0.00,2.58,0.00,0.000,4,0.000,0.051,2806,3504,1875
$GC,14966,1.37,245.9,92.9,11.4,718,14973,0.00,2.55,0.00,0.000,6,0.000,0.041,2805,2095,1875
$GC,15282,1.37,245.9,63.9,8.9,734,15286,0.00,2.55,0.00,0.000,4,0.000,0.051,2805,3499,1875
$GC,15337,1.37,245.9,58.0,10.5,736,15344,0.00,2.50,0.00,0.000,6,0.000,0.041,2806,2093,1875
$GC,15653,1.42,286.6,27.3,6.4,752,15695,0.00,2.62,33.03,0.824,4,0.000,0.049,2805,3495,1708
$GC,15751,1.42,286.6,16.7,10.5,756,15756,0.00,2.50,0.00,0.000,6,0.000,0.041,2805,2102,1708
$STATE,15900,end climb,SURFACE_DEPTH_REACHED
$STATE,15900,begin surface coast
$FINISH,0.9,1.004997
$STATE,15921,end surface coast,CONTROL_FINISHED_OK
$STATE,15921,begin surface
$SM_CCo,15944,12.32,0.829,1,0,1655,300.00
$SM_GC,1.39,0.00,0.00,12.32,0.000,0.000,0.829,35,1885,1655,-11.31,-0.42,300.00
$IRIDIUM_FIX,6239.86,-1310.35,180497,111109
$TT8_MAMPS,0.026845
$HUMID,2082
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.1,67.945
$10V_AH,10.1,32.824
$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,26.150,179.700,372.475,12.325,0.000,36.624,35.878,191.141,6.500,0.000,0.000,13.608,1464.611,11976.523,563.384,1825.114,529.804,33.371,1498.586,0.000,1784.513,0.000,41.389
$DEVICE_MAMPS,141.895,79.768,1296.997,829.127,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,562.244,515.316,442.216,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37927,764
$CFSIZE,260165632,238288896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,1,0
$GPS,230108,203038,6258.503,-1303.353,36,0.9,36,-12.0