version: 66.02
glider: 102
mission: 4
dive: 338
start: 1 24 108 4 42 6
data:
$ID,102
$MISSION,4
$DIVE,338
$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,-2
$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,-83878.883
$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,20
$R_STBD_OVSHOOT,21
$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
$GPS1,043055,6256.650,-1252.567,24,1.4,42,-11.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-61.3
$GPS2,044021,6256.600,-1252.406,13,1.6,13,-11.9
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.060,-0.230
$KALMAN_X,452080.8,2121.8,448.9,-686168.1,-885.5
$KALMAN_Y,70278.6,946.1,-773.8,84102.8,1784.6
$MHEAD_RNG_PITCHd_Wd,206.5,16212,-14.7,-8.000
$D_GRID,674
$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,-1.23,-146.4,0.0,0.0,0,101,0.00,0.00,-76.43,0.000,2,0.000,0.000,29,1898,3176
$GC,105,-1.23,-146.6,4.5,-4.2,4,130,11.57,2.60,-7.10,0.000,4,0.139,0.060,2224,3303,3477
$GC,344,-1.23,-146.6,42.1,-11.2,14,350,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1893,3478
$GC,659,-1.23,-146.6,73.2,-8.9,30,664,0.00,2.58,0.00,0.000,4,0.000,0.048,2224,3314,3478
$GC,699,-1.23,-146.6,76.8,-9.1,32,704,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1898,3478
$GC,1027,-1.23,-146.6,108.4,-8.9,48,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3478
$GC,1335,-1.23,-146.6,135.5,-8.7,63,1340,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3310,3478
$GC,1421,-1.23,-146.6,143.6,-9.2,67,1425,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1898,3478
$GC,1748,-1.23,-146.6,175.8,-10.3,83,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3478
$GC,2056,-1.23,-146.6,209.7,-11.2,98,2060,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3309,3478
$GC,2110,-1.23,-146.6,215.8,-10.6,100,2117,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1899,3478
$GC,2427,-1.23,-146.6,249.3,-10.5,116,2431,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3309,3478
$GC,2466,-1.23,-146.6,253.6,-11.0,118,2470,0.00,2.55,0.00,0.000,6,0.000,0.045,2224,1895,3478
$GC,2792,-1.23,-146.6,287.2,-9.9,134,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3477
$GC,3101,-1.23,-146.6,317.3,-9.6,149,3105,0.00,2.58,0.00,0.000,4,0.000,0.050,2224,3316,3478
$GC,3150,-1.23,-146.6,322.3,-9.5,151,3154,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1898,3478
$GC,3472,-1.23,-146.6,352.6,-9.3,167,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1898,3478
$GC,3781,-1.23,-146.6,381.8,-9.7,182,3785,0.00,2.53,0.00,0.000,4,0.000,0.050,2224,3309,3478
$GC,3813,-1.23,-146.6,384.7,-9.4,183,3819,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1900,3478
$GC,4129,-1.23,-146.6,414.9,-9.4,199,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3478
$GC,4438,-1.23,-146.6,440.2,-7.3,214,4442,0.00,2.58,0.00,0.000,4,0.000,0.051,2224,3314,3478
$GC,4505,-1.23,-146.6,445.2,-7.6,217,4509,0.00,2.55,0.00,0.000,6,0.000,0.045,2224,1898,3478
$GC,4826,-1.23,-146.6,470.6,-8.2,233,4830,0.00,2.62,0.00,0.000,4,0.000,0.075,2224,498,3478
$GC,4865,-1.23,-146.6,474.1,-9.2,235,4869,0.00,2.50,0.00,0.000,6,0.000,0.044,2224,1921,3478
$GC,5191,-1.23,-146.6,503.7,-9.8,251,5195,0.00,2.50,0.00,0.000,4,0.000,0.054,2224,3299,3478
$GC,5246,-1.23,-146.6,509.3,-9.7,253,5252,0.00,2.53,0.00,0.000,6,0.000,0.049,2224,1903,3477
$GC,5561,-1.23,-146.6,535.7,-8.3,269,5565,0.00,2.55,0.00,0.000,4,0.000,0.053,2224,3303,3477
$GC,5737,-1.23,-146.6,554.1,-11.3,277,5741,0.00,2.55,0.00,0.000,6,0.000,0.050,2224,1899,3477
$GC,6063,-1.23,-146.6,584.8,-8.7,293,6067,0.00,2.65,0.00,0.000,4,0.000,0.081,2224,496,3477
$GC,6106,-1.23,-146.6,588.5,-8.2,295,6111,0.00,2.47,0.00,0.000,6,0.000,0.048,2224,1896,3477
$GC,6429,-1.23,-146.6,616.7,-8.9,311,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3477
$GC,6737,-1.23,-146.6,642.0,-7.5,326,6742,0.00,2.62,0.00,0.000,4,0.000,0.067,2224,3306,3477
$GC,6821,-1.23,-146.6,650.8,-10.9,330,6825,0.00,2.60,0.00,0.000,6,0.000,0.061,2224,1903,3476
$STATE,7062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7062,begin apogee
$GC,7068,-0.36,0.0,674.2,7.4,342,7197,0.90,0.00,125.25,1.259,6,0.083,0.000,2415,2102,2878
$STATE,7198,end apogee,CONTROL_FINISHED_OK
$STATE,7198,begin climb
$GC,7200,1.23,146.6,675.1,0.0,348,7332,1.58,2.70,123.43,1.219,4,0.052,0.069,2764,3498,2280
$GC,7439,1.26,173.6,668.2,7.0,360,7468,0.00,2.60,23.83,1.213,6,0.000,0.054,2763,2097,2169
$GC,7785,1.26,173.6,639.0,9.5,377,7789,0.00,2.62,0.00,0.000,4,0.000,0.064,2764,3499,2168
$GC,7795,1.26,173.6,638.0,10.4,377,7801,0.00,2.58,0.00,0.000,6,0.000,0.054,2764,2101,2168
$GC,8110,1.26,173.6,601.4,13.5,393,8115,0.00,2.67,0.00,0.000,4,0.000,0.080,2764,693,2167
$GC,8370,1.26,173.6,580.4,8.2,404,8376,0.00,2.55,0.00,0.000,6,0.000,0.051,2764,2098,2166
$GC,8685,1.30,201.0,557.3,7.0,420,8715,0.00,2.78,22.95,1.238,4,0.000,0.078,2764,699,2058
$GC,8777,1.30,201.0,550.0,8.3,424,8782,0.00,2.55,0.00,0.000,6,0.000,0.051,2764,2104,2057
$GC,9099,1.33,227.4,528.7,7.0,440,9129,0.00,2.67,22.92,1.217,4,0.000,0.063,2764,3495,1950
$GC,9191,1.33,227.4,521.1,8.3,444,9196,0.00,2.58,0.00,0.000,6,0.000,0.052,2764,2097,1949
$GC,9513,1.33,227.4,492.0,9.1,460,9517,0.00,2.60,0.00,0.000,4,0.000,0.059,2764,3502,1949
$GC,9569,1.33,227.4,486.5,10.0,462,9575,0.00,2.58,0.00,0.000,6,0.000,0.051,2764,2097,1949
$GC,9884,1.33,227.4,456.3,9.4,478,9888,0.00,2.60,0.00,0.000,4,0.000,0.057,2764,3502,1949
$GC,9928,1.33,227.4,451.9,10.3,480,9932,0.00,2.55,0.00,0.000,6,0.000,0.048,2764,2099,1949
$GC,10249,1.35,247.0,427.1,7.3,496,10272,0.12,2.70,16.75,1.141,4,0.053,0.055,2801,3508,1871
$GC,10340,1.35,247.0,417.1,12.3,500,10344,0.00,2.58,0.00,0.000,6,0.000,0.048,2801,2094,1871
$GC,10667,1.35,247.0,382.7,10.6,516,10671,0.00,2.55,0.00,0.000,4,0.000,0.054,2802,3504,1871
$GC,10750,1.35,247.0,373.0,11.2,520,10755,0.00,2.53,0.00,0.000,6,0.000,0.046,2801,2100,1872
$GC,11078,1.35,247.0,338.4,10.4,536,11082,0.00,2.58,0.00,0.000,4,0.000,0.053,2801,3504,1872
$GC,11149,1.35,247.0,330.3,11.2,539,11154,0.00,2.53,0.00,0.000,6,0.000,0.045,2801,2097,1872
$GC,11465,1.35,247.0,297.2,10.9,554,11469,0.00,2.58,0.00,0.000,4,0.000,0.053,2801,3504,1873
$GC,11542,1.35,247.0,288.5,10.2,557,11548,0.00,2.53,0.00,0.000,6,0.000,0.044,2802,2098,1873
$GC,11857,1.35,247.0,256.4,10.1,573,11862,0.00,2.58,0.00,0.000,4,0.000,0.052,2802,3508,1873
$GC,11920,1.35,247.0,250.1,10.1,576,11924,0.00,2.55,0.00,0.000,6,0.000,0.044,2801,2091,1873
$GC,12246,1.35,247.0,219.1,9.2,592,12250,0.00,2.58,0.00,0.000,4,0.000,0.052,2802,3510,1874
$GC,12312,1.35,247.0,212.6,9.9,595,12316,0.00,2.50,0.00,0.000,6,0.000,0.043,2801,2100,1874
$GC,12633,1.35,247.0,181.1,9.6,611,12637,0.00,2.55,0.00,0.000,4,0.000,0.051,2801,3509,1874
$GC,12684,1.35,247.0,176.1,9.9,613,12688,0.00,2.53,0.00,0.000,6,0.000,0.042,2801,2095,1874
$GC,12999,1.35,247.0,147.1,9.5,628,13003,0.00,2.58,0.00,0.000,4,0.000,0.051,2801,3510,1875
$GC,13076,1.35,247.0,139.3,9.8,631,13083,0.00,2.53,0.00,0.000,6,0.000,0.042,2802,2102,1875
$GC,13393,1.35,247.0,109.7,9.9,647,13397,0.00,2.55,0.00,0.000,4,0.000,0.050,2802,3505,1875
$GC,13459,1.35,247.0,101.5,12.0,650,13463,0.00,2.50,0.00,0.000,6,0.000,0.041,2801,2094,1875
$GC,13780,1.35,247.0,74.5,9.1,666,13785,0.00,2.58,0.00,0.000,4,0.000,0.051,2802,3509,1875
$GC,13892,1.35,247.0,62.2,11.0,671,13896,0.00,2.50,0.00,0.000,6,0.000,0.041,2801,2093,1876
$GC,14213,1.35,247.0,25.0,13.8,687,14217,0.00,2.58,0.00,0.000,4,0.000,0.051,2801,3510,1876
$GC,14240,1.35,247.0,21.3,12.6,688,14244,0.00,2.53,0.00,0.000,6,0.000,0.041,2801,2090,1876
$STATE,14388,end climb,SURFACE_DEPTH_REACHED
$STATE,14388,begin surface coast
$FINISH,0.8,1.027549
$STATE,14410,end surface coast,CONTROL_FINISHED_OK
$STATE,14410,begin surface
$SM_CCo,14432,50.45,0.802,6,0,1655,300.00
$SM_GC,1.62,0.00,0.00,50.45,0.000,0.000,0.802,35,1885,1655,-11.31,-0.40,300.00
$IRIDIUM_FIX,6230.49,-1256.84,190497,040437
$TT8_MAMPS,0.026845
$HUMID,2068
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,17.9,999.0
$24V_AH,23.2,68.418
$10V_AH,10.1,33.042
$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,26.125,159.900,335.125,50.450,0.000,76.548,67.584,239.991,6.000,0.000,0.000,17.081,1347.384,10817.771,559.818,1731.870,678.341,33.374,1443.864,0.000,1692.195,0.000,36.537
$DEVICE_MAMPS,138.827,80.535,1258.647,801.515,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,513.765,468.832,430.347,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34775,696
$CFSIZE,260165632,238137344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,6,0
$GPS,240108,084508,6255.518,-1247.906,31,1.2,31,-11.9