version: 66.02
glider: 102
mission: 4
dive: 345
start: 1 25 108 11 19 49
data:
$ID,102
$MISSION,4
$DIVE,345
$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,-84009.016
$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,30
$R_STBD_OVSHOOT,24
$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
$GPS1,110755,6240.785,-1227.219,39,0.8,39,-11.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-55.2
$GPS2,111803,6240.666,-1226.702,13,0.9,13,-11.6
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.010,0.238
$KALMAN_X,488876.8,-986.3,256.9,-696889.8,6116.2
$KALMAN_Y,54673.5,915.0,778.5,68684.2,-6990.3
$MHEAD_RNG_PITCHd_Wd,9.2,5831,-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,-60.97,0.000,2,0.000,0.000,34,1884,2833
$GC,89,-1.23,-146.6,3.2,-3.4,3,132,11.60,2.62,-23.52,0.000,4,0.140,0.082,2223,504,3477
$GC,351,-1.23,-146.6,32.5,-12.0,14,358,0.00,2.47,0.00,0.000,6,0.000,0.040,2223,1922,3478
$GC,667,-1.23,-146.6,73.5,-9.9,30,671,0.00,2.67,0.00,0.000,4,0.000,0.071,2223,499,3478
$GC,693,-1.23,-146.6,76.3,-10.9,31,698,0.00,2.42,0.00,0.000,6,0.000,0.039,2224,1897,3477
$GC,1010,-1.23,-146.6,107.1,-8.8,46,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3478
$GC,1320,-1.23,-146.6,136.6,-8.3,61,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3478
$GC,1628,-1.23,-146.6,166.5,-9.1,76,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3478
$GC,1938,-1.23,-146.6,203.9,-13.4,91,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3478
$GC,2247,-1.23,-146.6,237.2,-8.8,106,2251,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3299,3478
$GC,2286,-1.23,-146.6,241.3,-10.3,108,2290,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1908,3478
$GC,2612,-1.23,-146.6,272.1,-10.0,124,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1908,3478
$GC,2921,-1.23,-146.6,305.9,-10.7,139,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1908,3478
$GC,3230,-1.23,-146.6,336.1,-9.4,154,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1908,3478
$GC,3540,-1.23,-146.6,364.8,-9.7,169,3544,0.00,2.65,0.00,0.000,4,0.000,0.072,2223,491,3478
$GC,3583,-1.23,-146.6,369.4,-10.2,171,3587,0.00,2.45,0.00,0.000,6,0.000,0.041,2223,1906,3477
$GC,3910,-1.23,-146.6,402.6,-10.9,187,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1909,3478
$GC,4220,-1.23,-146.6,438.5,-11.7,202,4224,0.00,2.53,0.00,0.000,4,0.000,0.051,2223,3302,3478
$GC,4286,-1.23,-146.6,446.5,-11.4,205,4290,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1903,3478
$GC,4607,-1.23,-146.6,478.0,-9.6,221,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1903,3477
$GC,4916,-1.23,-146.6,507.8,-9.9,236,4921,0.00,2.50,0.00,0.000,4,0.000,0.050,2223,3300,3477
$GC,4983,-1.23,-146.6,514.8,-10.1,239,4987,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1891,3477
$GC,5303,-1.23,-146.6,546.6,-9.7,255,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1891,3478
$GC,5613,-1.23,-146.6,574.2,-8.9,270,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1891,3477
$GC,5923,-1.23,-146.6,600.1,-8.0,285,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1891,3478
$GC,6232,-1.23,-146.6,625.6,-8.2,300,6236,0.00,2.62,0.00,0.000,4,0.000,0.079,2223,495,3477
$GC,6489,-1.23,-146.6,648.2,-8.5,311,6495,0.00,2.45,0.00,0.000,6,0.000,0.043,2223,1898,3477
$GC,6805,-1.23,-146.6,674.7,-9.0,327,6810,0.00,2.65,0.00,0.000,4,0.000,0.076,2223,497,3477
$GC,7052,-1.23,-146.6,699.6,-10.4,338,7057,0.00,2.47,0.00,0.000,6,0.000,0.046,2223,1899,3477
$GC,7384,-1.23,-146.6,730.0,-7.8,354,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1902,3477
$GC,7693,-1.23,-146.6,757.4,-8.0,369,7697,0.00,2.67,0.00,0.000,4,0.000,0.080,2224,496,3476
$GC,7800,-1.23,-146.6,766.8,-7.6,374,7804,0.00,2.50,0.00,0.000,6,0.000,0.049,2223,1900,3476
$GC,8126,-1.23,-146.6,777.8,0.0,390,8131,0.00,2.62,0.00,0.000,4,0.000,0.070,2223,3306,3476
$STATE,8366,end dive,NO_VERTICAL_VELOCITY
$STATE,8366,begin apogee
$GC,8375,-0.36,0.0,777.9,0.0,401,8509,0.90,0.00,126.55,1.328,6,0.069,0.000,2421,2099,2878
$STATE,8509,end apogee,CONTROL_FINISHED_OK
$STATE,8509,begin climb
$GC,8512,1.23,146.6,777.5,0.0,408,8645,1.55,2.75,124.55,1.289,4,0.058,0.080,2763,690,2280
$GC,8770,1.23,146.6,753.6,12.6,420,8775,0.00,2.58,0.00,0.000,6,0.000,0.051,2763,2101,2279
$GC,9091,1.23,146.6,726.9,8.6,436,9092,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2101,2278
$GC,9400,1.25,161.8,702.9,7.4,451,9419,0.00,0.00,13.73,1.299,6,0.000,0.000,2763,2101,2218
$GC,9729,1.25,161.8,673.6,8.1,467,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2102,2217
$GC,10038,1.27,181.4,652.6,7.3,482,10058,0.00,0.00,17.23,1.283,6,0.000,0.000,2763,2105,2138
$GC,10368,1.30,205.8,629.5,7.1,498,10397,0.00,2.70,21.55,1.257,4,0.000,0.060,2763,3504,2039
$GC,10512,1.30,205.8,616.8,10.3,504,10516,0.00,2.58,0.00,0.000,6,0.000,0.048,2762,2098,2038
$GC,10827,1.30,205.8,587.1,9.3,519,10828,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2098,2038
$GC,11137,1.30,205.8,559.1,8.7,534,11141,0.00,2.60,0.00,0.000,4,0.000,0.056,2763,3504,2038
$GC,11236,1.30,205.8,550.2,9.1,538,11242,0.00,2.55,0.00,0.000,6,0.000,0.046,2763,2098,2038
$GC,11552,1.30,205.8,523.5,8.7,554,11553,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2097,2038
$GC,11861,1.30,205.8,496.6,8.7,569,11866,0.00,2.58,0.00,0.000,4,0.000,0.054,2762,3504,2038
$GC,11968,1.30,205.8,486.6,8.6,574,11973,0.00,2.55,0.00,0.000,6,0.000,0.044,2763,2092,2038
$GC,12295,1.30,205.8,459.3,8.6,590,12299,0.00,2.60,0.00,0.000,4,0.000,0.053,2763,3510,2038
$GC,12383,1.30,205.8,451.1,9.1,594,12388,0.00,2.53,0.00,0.000,6,0.000,0.044,2762,2097,2038
$GC,12704,1.30,205.8,422.9,8.8,610,12706,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2097,2039
$GC,13014,1.30,205.8,395.5,8.4,625,13018,0.00,2.58,0.00,0.000,4,0.000,0.052,2762,3505,2040
$GC,13125,1.30,205.8,385.9,8.2,630,13130,0.00,2.50,0.00,0.000,6,0.000,0.042,2763,2095,2039
$GC,13447,1.32,220.1,361.4,7.5,646,13469,0.00,2.65,13.25,1.081,4,0.000,0.052,2762,3507,1980
$GC,13560,1.33,228.6,352.4,7.7,651,13574,0.00,2.53,7.90,1.061,6,0.000,0.042,2763,2096,1945
$GC,13890,1.33,229.8,326.3,8.0,667,13892,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2096,1946
$GC,14200,1.36,249.5,303.5,7.2,682,14221,0.12,0.00,18.10,1.029,6,0.054,0.000,2799,2096,1860
$GC,14529,1.36,249.5,274.8,8.5,698,14533,0.00,2.55,0.00,0.000,4,0.000,0.051,2799,3504,1860
$GC,14591,1.36,249.5,269.3,9.3,701,14595,0.00,2.53,0.00,0.000,6,0.000,0.041,2799,2099,1859
$GC,14918,1.36,254.7,243.6,7.8,717,14925,0.00,0.00,5.32,0.989,6,0.000,0.000,2799,2098,1839
$GC,15226,1.37,265.2,219.7,7.6,732,15238,0.00,0.00,9.80,0.988,6,0.000,0.000,2799,2099,1796
$GC,15536,1.48,351.7,200.6,4.7,747,15607,0.00,0.00,68.75,0.918,6,0.000,0.000,2799,2098,1444
$GC,15905,1.48,351.7,161.2,8.5,765,15906,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2098,1444
$GC,16215,1.48,351.7,116.6,12.7,780,16216,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2098,1444
$GC,16525,1.48,351.7,85.0,9.7,795,16526,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2098,1444
$GC,16833,1.48,351.7,56.6,10.8,810,16835,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2098,1444
$GC,17143,1.48,351.7,29.7,9.4,825,17144,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2097,1445
$STATE,17367,end climb,SURFACE_DEPTH_REACHED
$STATE,17367,begin surface coast
$FINISH,0.9,1.014307
$STATE,17389,end surface coast,CONTROL_FINISHED_OK
$STATE,17389,begin surface
$SM_CCo,17472,0.00,0.000,0,0,1444,352.01
$SM_GC,1.68,12.00,0.00,0.00,0.035,0.000,0.000,36,1884,1444,-11.26,-0.45,352.01
$IRIDIUM_FIX,6216.53,-1225.63,200497,111142
$TT8_MAMPS,0.026845
$HUMID,2071
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,15.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,999.0
$24V_AH,23.1,69.458
$10V_AH,10.1,33.574
$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,26.175,92.325,426.725,0.000,0.000,71.279,84.869,257.705,7.250,0.000,0.000,15.097,1520.661,13478.549,530.892,1888.213,712.962,33.371,1455.686,0.000,1850.922,0.000,44.649
$DEVICE_MAMPS,140.361,82.069,1328.444,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,619.880,565.581,471.446,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41174,837
$CFSIZE,260165632,237735936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,250108,161208,6241.332,-1219.485,32,1.1,32,-11.5