version: 66.02
glider: 102
mission: 4
dive: 344
start: 1 25 108 6 13 44
data:
$ID,102
$MISSION,4
$DIVE,344
$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,-83993.289
$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,20
$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
$GPS1,060207,6240.843,-1227.361,36,1.1,36,-11.6
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-58.0
$GPS2,061159,6240.693,-1227.180,12,2.6,31,-11.6
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.220,0.090
$KALMAN_X,486118.1,-940.0,-1626.9,-692722.8,10751.2
$KALMAN_Y,58460.2,486.6,-770.3,66935.3,-3093.5
$MHEAD_RNG_PITCHd_Wd,303.7,6239,-14.7,-8.000
$D_GRID,807
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-61.00,0.000,2,0.000,0.000,29,1887,2846
$GC,90,-1.23,-146.6,3.7,-4.9,3,127,11.75,0.00,-21.00,0.000,6,0.141,0.000,2219,1889,3477
$GC,437,-1.23,-146.6,38.9,-8.1,20,441,0.00,2.60,0.00,0.000,4,0.000,0.050,2219,3314,3478
$GC,481,-1.23,-146.6,42.7,-8.3,22,485,0.00,2.53,0.00,0.000,6,0.000,0.043,2219,1908,3478
$GC,802,-1.23,-146.6,78.3,-9.6,38,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1908,3478
$GC,1111,-1.23,-146.6,113.2,-9.4,53,1115,0.00,2.55,0.00,0.000,4,0.000,0.049,2219,3314,3478
$GC,1200,-1.23,-146.6,123.9,-10.5,57,1204,0.00,2.55,0.00,0.000,6,0.000,0.044,2219,1895,3478
$GC,1520,-1.23,-146.6,162.6,-10.8,73,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1895,3478
$GC,1830,-1.23,-146.6,195.2,-7.8,88,1834,0.00,2.55,0.00,0.000,4,0.000,0.048,2219,3312,3478
$GC,1902,-1.23,-146.6,202.1,-9.1,91,1906,0.00,2.53,0.00,0.000,6,0.000,0.043,2219,1898,3478
$GC,2218,-1.23,-146.6,233.0,-10.7,106,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1898,3478
$GC,2527,-1.23,-146.6,264.3,-10.0,121,2532,0.00,2.53,0.00,0.000,4,0.000,0.048,2219,3312,3478
$GC,2594,-1.23,-146.6,271.3,-9.7,124,2598,0.00,2.55,0.00,0.000,6,0.000,0.044,2219,1892,3478
$GC,2915,-1.23,-146.6,303.5,-10.1,140,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1892,3478
$GC,3225,-1.23,-146.6,333.0,-9.1,155,3229,0.00,2.58,0.00,0.000,4,0.000,0.050,2219,3312,3478
$GC,3309,-1.23,-146.6,341.2,-9.9,159,3313,0.00,2.55,0.00,0.000,6,0.000,0.045,2219,1896,3478
$GC,3634,-1.23,-146.6,371.6,-9.6,175,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1896,3478
$GC,3944,-1.23,-146.6,402.7,-10.6,190,3948,0.00,2.58,0.00,0.000,4,0.000,0.050,2220,3318,3478
$GC,4011,-1.23,-146.6,410.1,-11.0,193,4015,0.00,2.55,0.00,0.000,6,0.000,0.045,2219,1899,3478
$GC,4331,-1.23,-146.6,444.8,-10.9,209,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1899,3478
$GC,4641,-1.23,-146.6,478.3,-10.7,224,4645,0.00,2.55,0.00,0.000,4,0.000,0.050,2219,3312,3478
$GC,4707,-1.23,-146.6,485.4,-10.4,227,4711,0.00,2.53,0.00,0.000,6,0.000,0.045,2219,1895,3478
$GC,5034,-1.23,-146.6,518.4,-10.2,243,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1893,3478
$GC,5343,-1.23,-146.6,549.0,-10.0,258,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1894,3477
$GC,5652,-1.23,-146.6,579.9,-9.6,273,5657,0.00,2.58,0.00,0.000,4,0.000,0.053,2220,3313,3477
$GC,5715,-1.23,-146.6,585.9,-9.6,276,5720,0.00,2.53,0.00,0.000,6,0.000,0.047,2219,1901,3478
$GC,6041,-1.23,-146.6,613.7,-8.0,292,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1901,3477
$GC,6351,-1.23,-146.6,637.5,-7.4,307,6352,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1901,3477
$GC,6660,-1.23,-146.6,661.9,-8.2,322,6664,0.00,2.60,0.00,0.000,4,0.000,0.055,2220,3313,3477
$GC,6789,-1.23,-146.6,672.7,-8.7,328,6793,0.00,2.55,0.00,0.000,6,0.000,0.049,2220,1896,3477
$GC,7115,-1.23,-146.6,699.9,-9.6,344,7122,0.00,2.60,0.00,0.000,4,0.000,0.058,2220,3313,3477
$GC,7185,-1.23,-146.6,706.7,-10.2,347,7189,0.00,2.58,0.00,0.000,6,0.000,0.051,2220,1899,3477
$GC,7511,-1.23,-146.6,738.4,-9.6,363,7515,0.00,2.65,0.00,0.000,4,0.000,0.079,2219,495,3477
$GC,7560,-1.23,-146.6,743.5,-10.3,365,7565,0.00,2.53,0.00,0.000,6,0.000,0.050,2220,1908,3477
$GC,7876,-1.23,-146.6,771.0,-8.0,380,7880,0.00,2.58,0.00,0.000,4,0.000,0.064,2220,3301,3477
$GC,7959,-1.23,-146.6,778.5,-9.6,384,7964,0.00,2.60,0.00,0.000,6,0.000,0.060,2220,1899,3477
$STATE,8283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8283,begin apogee
$GC,8290,-0.36,0.0,808.7,9.4,400,8420,0.93,0.00,126.57,1.341,6,0.084,0.000,2415,2100,2879
$STATE,8421,end apogee,CONTROL_FINISHED_OK
$STATE,8421,begin climb
$GC,8423,1.23,146.6,813.3,0.0,406,8553,1.58,0.00,125.15,1.305,6,0.054,0.000,2765,2100,2280
$GC,8859,1.25,165.6,789.9,7.3,428,8881,0.00,2.72,17.08,1.305,4,0.000,0.067,2765,3497,2202
$GC,8988,1.25,165.6,779.3,8.4,433,8994,0.00,2.60,0.00,0.000,6,0.000,0.056,2765,2094,2201
$GC,9304,1.26,171.3,754.5,7.8,449,9315,0.00,2.70,5.93,1.271,4,0.000,0.064,2765,3505,2178
$GC,9458,1.26,171.3,740.6,9.9,456,9462,0.00,2.60,0.00,0.000,6,0.000,0.057,2765,2099,2178
$GC,9784,1.26,171.3,710.9,9.0,472,9789,0.00,2.70,0.00,0.000,4,0.000,0.081,2765,685,2177
$GC,9873,1.26,171.3,702.6,9.7,476,9877,0.00,2.55,0.00,0.000,6,0.000,0.050,2765,2099,2177
$GC,10193,1.28,192.1,677.8,7.2,492,10217,0.00,2.65,18.40,1.311,4,0.000,0.061,2765,3502,2094
$GC,10335,1.28,192.1,665.1,9.5,498,10341,0.00,2.60,0.00,0.000,6,0.000,0.052,2765,2092,2094
$GC,10650,1.28,192.1,633.5,10.3,514,10654,0.00,2.60,0.00,0.000,4,0.000,0.058,2765,3503,2093
$GC,10806,1.28,192.1,616.6,11.2,521,10811,0.00,2.55,0.00,0.000,6,0.000,0.049,2765,2100,2093
$GC,11127,1.28,192.1,586.3,8.8,537,11131,0.00,2.58,0.00,0.000,4,0.000,0.056,2765,3502,2093
$GC,11244,1.28,192.1,576.2,8.3,542,11248,0.00,2.53,0.00,0.000,6,0.000,0.046,2765,2097,2093
$GC,11560,1.29,198.5,551.7,7.8,557,11573,0.00,2.65,6.43,1.205,4,0.000,0.054,2765,3504,2067
$GC,11670,1.30,208.4,542.4,7.6,562,11684,0.00,2.55,9.23,1.201,6,0.000,0.045,2765,2095,2028
$GC,12001,1.30,208.4,514.4,8.5,578,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2095,2028
$GC,12310,1.30,208.4,487.5,8.7,593,12314,0.00,2.60,0.00,0.000,4,0.000,0.053,2765,3507,2028
$GC,12416,1.30,208.4,477.5,9.0,598,12421,0.00,2.53,0.00,0.000,6,0.000,0.044,2765,2099,2028
$GC,12743,1.30,208.4,449.8,8.2,614,12744,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2099,2029
$GC,13052,1.30,208.4,424.0,8.5,629,13053,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2099,2029
$GC,13362,1.30,208.4,397.7,8.6,644,13366,0.00,2.58,0.00,0.000,4,0.000,0.052,2765,3505,2029
$GC,13495,1.30,208.4,385.4,8.3,650,13499,0.00,2.50,0.00,0.000,6,0.000,0.043,2765,2099,2030
$GC,13817,1.30,208.4,358.9,8.3,666,13822,0.00,2.58,0.00,0.000,4,0.000,0.051,2765,3510,2030
$GC,13907,1.30,208.4,350.2,9.7,670,13911,0.00,2.53,0.00,0.000,6,0.000,0.043,2765,2098,2030
$GC,14228,1.31,214.8,323.7,7.8,686,14241,0.00,2.62,7.05,1.052,4,0.000,0.051,2765,3504,2002
$GC,14386,1.31,214.8,310.7,8.7,693,14390,0.00,2.50,0.00,0.000,6,0.000,0.042,2766,2098,2002
$GC,14712,1.34,234.2,285.8,7.3,709,14734,0.00,2.62,16.62,1.017,4,0.000,0.051,2765,3502,1923
$GC,14803,1.36,249.9,278.5,7.4,713,14825,0.12,2.53,13.52,1.002,6,0.055,0.042,2800,2092,1859
$GC,15133,1.36,249.9,246.3,11.0,729,15137,0.00,2.58,0.00,0.000,4,0.000,0.051,2800,3504,1859
$GC,15262,1.36,249.9,231.3,11.7,735,15267,0.00,2.53,0.00,0.000,6,0.000,0.042,2800,2098,1859
$GC,15589,1.36,249.9,195.8,9.2,751,15593,0.00,2.58,0.00,0.000,4,0.000,0.050,2800,3509,1859
$GC,15758,1.36,249.9,179.4,8.6,758,15764,0.00,2.53,0.00,0.000,6,0.000,0.041,2800,2092,1859
$GC,16073,1.36,249.9,150.4,10.0,774,16078,0.00,2.55,0.00,0.000,4,0.000,0.050,2800,3504,1859
$GC,16213,1.36,249.9,138.5,9.2,780,16217,0.00,2.53,0.00,0.000,6,0.000,0.041,2800,2091,1859
$GC,16529,1.36,249.9,107.3,8.6,795,16534,0.00,2.58,0.00,0.000,4,0.000,0.049,2800,3511,1859
$GC,16686,1.36,249.9,89.9,11.2,802,16690,0.00,2.50,0.00,0.000,6,0.000,0.040,2800,2090,1859
$GC,17007,1.36,249.9,57.6,9.6,818,17008,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2090,1860
$GC,17316,1.36,249.9,16.8,11.8,833,17320,0.00,2.58,0.00,0.000,4,0.000,0.048,2800,3512,1860
$GC,17360,1.36,249.9,11.0,14.7,835,17364,0.00,2.53,0.00,0.000,6,0.000,0.042,2800,2097,1860
$STATE,17451,end climb,SURFACE_DEPTH_REACHED
$STATE,17452,begin surface coast
$FINISH,1.0,1.002236
$STATE,17473,end surface coast,CONTROL_FINISHED_OK
$STATE,17473,begin surface
$SM_CCo,17496,47.20,0.799,6,0,1654,300.00
$SM_GC,1.62,0.00,0.00,47.20,0.000,0.000,0.799,35,1885,1654,-11.32,-0.45,300.00
$IRIDIUM_FIX,6216.53,-1225.63,200497,060648
$TT8_MAMPS,0.026845
$HUMID,2049
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.0,999.0
$24V_AH,23.1,69.291
$10V_AH,10.1,33.492
$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,26.250,149.775,345.975,47.200,0.000,74.554,69.419,246.506,7.500,0.000,0.000,33.493,1602.258,13277.716,567.025,2070.635,703.088,33.362,1581.342,0.000,2009.890,0.000,46.249
$DEVICE_MAMPS,141.128,80.535,1340.716,799.214,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,629.987,568.578,471.394,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41173,841
$CFSIZE,260165632,237780992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,6,0
$GPS,250108,110755,6240.785,-1227.219,39,0.8,39,-11.6