version: 66.02
glider: 102
mission: 4
dive: 346
start: 1 25 108 16 35 14
data:
$ID,102
$MISSION,4
$DIVE,346
$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,-84024.93
$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,23
$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
$GPS1,161208,6241.332,-1219.485,32,1.1,32,-11.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-56.5
$GPS2,163327,6241.290,-1219.147,13,1.2,13,-11.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FE
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.221,-0.087
$KALMAN_X,495043.8,-3.2,-39.2,-697116.9,6569.6
$KALMAN_Y,52328.5,461.2,68.2,73335.5,-4889.9
$MHEAD_RNG_PITCHd_Wd,122.9,39470,-14.7,-8.000
$D_GRID,778
$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,-146.6,0.0,0.0,0,105,0.00,0.00,-80.75,0.000,2,0.000,0.000,36,1878,3010
$GC,109,-1.23,-146.6,3.4,-2.8,4,140,11.60,2.60,-13.52,0.000,4,0.141,0.059,2224,3305,3477
$GC,394,-1.23,-146.6,34.7,-11.6,17,398,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1905,3477
$GC,720,-1.23,-146.6,68.7,-10.2,33,724,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3307,3478
$GC,782,-1.23,-146.6,76.4,-11.5,36,786,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1899,3478
$GC,1109,-1.23,-146.6,103.0,-6.8,52,1113,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3308,3477
$GC,1142,-1.23,-146.6,106.0,-8.4,53,1148,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1896,3478
$GC,1459,-1.23,-146.6,137.5,-10.3,69,1464,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3315,3477
$GC,1492,-1.23,-146.6,141.6,-12.6,70,1498,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1899,3477
$GC,1808,-1.23,-146.6,180.9,-13.0,86,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3477
$GC,2117,-1.23,-146.6,213.6,-9.6,101,2122,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3309,3478
$GC,2180,-1.23,-146.6,219.6,-9.3,104,2184,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1898,3477
$GC,2506,-1.23,-146.6,252.6,-10.7,120,2510,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3314,3478
$GC,2527,-1.23,-146.6,255.0,-10.8,121,2531,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1899,3477
$GC,2848,-1.23,-146.6,290.7,-11.3,137,2852,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3314,3477
$GC,2869,-1.23,-146.6,293.3,-11.6,138,2874,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1901,3477
$GC,3190,-1.23,-146.6,329.3,-10.8,154,3195,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3313,3477
$GC,3225,-1.23,-146.6,333.2,-11.1,155,3231,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1899,3477
$GC,3541,-1.23,-146.6,368.1,-11.4,171,3545,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3312,3477
$GC,3562,-1.23,-146.6,370.9,-12.4,172,3566,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1900,3477
$GC,3883,-1.23,-146.6,407.8,-11.2,188,3887,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3308,3477
$GC,3909,-1.23,-146.6,410.9,-11.9,189,3914,0.00,2.53,0.00,0.000,6,0.000,0.046,2225,1896,3477
$GC,4231,-1.23,-146.6,444.9,-10.4,205,4235,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3307,3477
$GC,4258,-1.23,-146.6,447.9,-11.1,206,4262,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1900,3477
$GC,4574,-1.23,-146.6,479.9,-10.0,221,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3477
$GC,4883,-1.23,-146.6,509.0,-9.2,236,4888,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3309,3477
$GC,4905,-1.23,-146.6,511.2,-9.2,237,4910,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1900,3477
$GC,5226,-1.23,-146.6,542.8,-9.8,253,5230,0.00,2.62,0.00,0.000,4,0.000,0.071,2224,493,3477
$GC,5247,-1.23,-146.6,544.9,-9.3,254,5252,0.00,2.47,0.00,0.000,6,0.000,0.042,2224,1912,3477
$GC,5569,-1.23,-146.6,577.9,-10.3,270,5573,0.00,2.53,0.00,0.000,4,0.000,0.055,2224,3297,3477
$GC,5665,-1.23,-146.6,587.6,-10.2,274,5669,0.00,2.53,0.00,0.000,6,0.000,0.049,2224,1902,3477
$GC,5985,-1.23,-146.6,622.9,-10.9,290,5990,0.00,2.55,0.00,0.000,4,0.000,0.054,2224,3298,3477
$GC,6031,-1.23,-146.6,627.6,-9.9,292,6036,0.00,2.53,0.00,0.000,6,0.000,0.049,2224,1900,3477
$GC,6352,-1.23,-146.6,657.3,-8.7,308,6356,0.00,2.55,0.00,0.000,4,0.000,0.057,2224,3298,3477
$GC,6384,-1.23,-146.6,660.2,-8.8,309,6391,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1895,3477
$GC,6700,-1.23,-146.6,686.2,-8.2,325,6705,0.00,2.58,0.00,0.000,4,0.000,0.057,2224,3299,3477
$GC,6734,-1.23,-146.6,689.0,-7.9,326,6739,0.00,2.55,0.00,0.000,6,0.000,0.052,2224,1900,3477
$GC,7049,-1.23,-146.6,712.9,-7.9,342,7053,0.00,2.58,0.00,0.000,4,0.000,0.058,2224,3300,3476
$GC,7144,-1.23,-146.6,720.3,-7.6,346,7149,0.00,2.55,0.00,0.000,6,0.000,0.054,2224,1902,3476
$GC,7460,-1.23,-146.6,744.5,-7.7,361,7465,0.00,2.58,0.00,0.000,4,0.000,0.060,2224,3299,3476
$GC,7500,-1.23,-146.6,747.4,-7.0,363,7505,0.00,2.58,0.00,0.000,6,0.000,0.055,2224,1898,3476
$GC,7827,-1.23,-146.6,773.4,-8.1,379,7831,0.00,2.58,0.00,0.000,4,0.000,0.062,2224,3297,3474
$GC,7868,-1.23,-146.6,775.7,-5.4,381,7872,0.00,2.58,0.00,0.000,6,0.000,0.058,2224,1901,3475
$STATE,7903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7903,begin apogee
$GC,7910,-0.36,0.0,779.1,9.3,383,8040,0.90,0.00,126.75,1.326,6,0.084,0.000,2414,2096,2878
$STATE,8040,end apogee,CONTROL_FINISHED_OK
$STATE,8040,begin climb
$GC,8043,1.23,146.6,783.0,0.0,389,8178,1.58,2.70,124.78,1.289,4,0.058,0.066,2761,3497,2279
$GC,8276,1.23,146.6,769.3,8.0,400,8281,0.00,2.58,0.00,0.000,6,0.000,0.054,2761,2097,2278
$GC,8603,1.24,159.0,743.8,7.5,416,8623,0.00,2.70,11.62,1.286,4,0.000,0.064,2761,3504,2228
$GC,8741,1.26,175.8,733.0,7.4,422,8761,0.00,2.60,15.05,1.285,6,0.000,0.055,2761,2100,2161
$GC,9083,1.28,188.7,707.3,7.5,439,9104,0.00,2.72,11.90,1.292,4,0.000,0.063,2762,3501,2109
$GC,9172,1.28,188.7,699.9,8.2,443,9177,0.00,2.58,0.00,0.000,6,0.000,0.054,2761,2099,2108
$GC,9499,1.31,208.7,675.8,7.2,459,9523,0.00,2.70,17.77,1.292,4,0.000,0.061,2761,3499,2026
$GC,9580,1.31,208.7,669.3,8.3,462,9586,0.00,2.58,0.00,0.000,6,0.000,0.052,2761,2093,2026
$GC,9895,1.31,208.7,643.4,8.5,478,9900,0.00,2.62,0.00,0.000,4,0.000,0.061,2762,3500,2026
$GC,9958,1.31,208.7,637.9,9.0,481,9963,0.00,2.58,0.00,0.000,6,0.000,0.051,2761,2092,2026
$GC,10285,1.31,208.7,609.0,9.1,497,10289,0.00,2.60,0.00,0.000,4,0.000,0.058,2762,3502,2025
$GC,10346,1.31,208.7,603.0,9.4,500,10351,0.00,2.55,0.00,0.000,6,0.000,0.050,2761,2094,2025
$GC,10674,1.31,208.7,572.5,8.9,516,10678,0.00,2.60,0.00,0.000,4,0.000,0.057,2761,3501,2025
$GC,10690,1.31,208.7,570.8,9.4,517,10695,0.00,2.55,0.00,0.000,6,0.000,0.048,2762,2091,2025
$GC,11016,1.31,208.7,543.1,8.5,533,11021,0.00,2.58,0.00,0.000,4,0.000,0.055,2761,3500,2025
$GC,11146,1.31,208.7,531.6,8.9,539,11150,0.00,2.53,0.00,0.000,6,0.000,0.046,2762,2097,2025
$GC,11472,1.31,208.7,502.9,8.8,555,11473,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2097,2025
$GC,11781,1.31,208.7,477.7,8.3,570,11786,0.00,2.55,0.00,0.000,4,0.000,0.054,2761,3499,2025
$GC,11821,1.31,208.7,474.2,9.0,572,11825,0.00,2.50,0.00,0.000,6,0.000,0.044,2762,2100,2025
$GC,12147,1.31,208.7,446.9,8.5,588,12151,0.00,2.58,0.00,0.000,4,0.000,0.053,2761,3507,2026
$GC,12191,1.31,208.7,443.0,9.1,590,12195,0.00,2.53,0.00,0.000,6,0.000,0.044,2761,2100,2026
$GC,12512,1.31,208.7,415.1,8.0,606,12516,0.00,2.55,0.00,0.000,4,0.000,0.052,2762,3501,2026
$GC,12567,1.31,208.7,409.8,9.8,608,12573,0.00,2.53,0.00,0.000,6,0.000,0.043,2761,2090,2026
$GC,12882,1.31,208.7,383.2,8.9,624,12887,0.00,2.58,0.00,0.000,4,0.000,0.053,2761,3501,2027
$GC,12932,1.31,208.7,378.5,9.2,626,12936,0.00,2.50,0.00,0.000,6,0.000,0.043,2761,2101,2027
$GC,13253,1.31,208.7,349.8,8.9,642,13257,0.00,2.53,0.00,0.000,4,0.000,0.051,2761,3500,2027
$GC,13275,1.31,208.7,347.8,9.4,643,13279,0.00,2.50,0.00,0.000,6,0.000,0.042,2761,2095,2028
$GC,13595,1.31,208.7,319.6,8.6,659,13600,0.00,2.55,0.00,0.000,4,0.000,0.052,2761,3502,2028
$GC,13623,1.31,208.7,316.9,9.1,660,13627,0.00,2.50,0.00,0.000,6,0.000,0.042,2760,2100,2028
$GC,13938,1.31,208.7,289.5,8.4,675,13943,0.00,2.55,0.00,0.000,4,0.000,0.051,2761,3501,2028
$GC,13966,1.31,208.7,286.8,9.5,676,13970,0.00,2.50,0.00,0.000,6,0.000,0.041,2761,2098,2028
$GC,14282,1.31,208.7,259.9,8.3,691,14286,0.00,2.55,0.00,0.000,4,0.000,0.051,2761,3501,2029
$GC,14308,1.31,208.7,257.5,8.5,692,14312,0.00,2.47,0.00,0.000,6,0.000,0.041,2762,2098,2029
$GC,14624,1.32,219.3,233.1,7.6,707,14640,0.00,2.60,10.32,1.000,4,0.000,0.051,2761,3504,1982
$GC,14673,1.32,219.3,229.1,8.4,708,14677,0.00,2.50,0.00,0.000,6,0.000,0.041,2761,2099,1982
$GC,14989,1.36,250.3,206.2,6.8,723,15018,0.12,0.00,25.40,0.953,6,0.051,0.000,2798,2099,1856
$GC,15341,1.36,250.3,176.4,8.3,740,15345,0.00,2.58,0.00,0.000,4,0.000,0.051,2798,3506,1856
$GC,15395,1.36,250.3,171.6,8.4,742,15402,0.00,2.50,0.00,0.000,6,0.000,0.041,2799,2097,1856
$GC,15712,1.36,250.3,147.6,8.2,758,15716,0.00,2.55,0.00,0.000,4,0.000,0.051,2799,3500,1856
$GC,15761,1.36,250.3,142.6,9.0,760,15765,0.00,2.50,0.00,0.000,6,0.000,0.040,2799,2100,1856
$GC,16079,1.38,265.5,116.7,7.4,775,16100,0.00,2.60,13.10,0.917,4,0.000,0.049,2799,3497,1795
$GC,16179,1.38,265.5,107.6,9.3,779,16184,0.00,2.47,0.00,0.000,6,0.000,0.039,2798,2101,1795
$GC,16495,1.38,265.5,71.8,10.1,794,16499,0.00,2.55,0.00,0.000,4,0.000,0.049,2798,3502,1795
$GC,16527,1.38,265.5,68.2,10.3,795,16534,0.00,2.50,0.00,0.000,6,0.000,0.040,2799,2099,1795
$GC,16845,1.38,265.5,44.3,8.4,811,16849,0.00,2.55,0.00,0.000,4,0.000,0.050,2799,3502,1795
$GC,16945,1.38,265.5,35.2,8.9,815,16951,0.00,2.53,0.00,0.000,6,0.000,0.040,2799,2102,1795
$STATE,17259,end climb,SURFACE_DEPTH_REACHED
$STATE,17259,begin surface coast
$FINISH,0.9,1.002146
$STATE,17280,end surface coast,CONTROL_FINISHED_OK
$STATE,17280,begin surface
$SM_CCo,17303,32.28,0.811,4,0,1655,300.00
$SM_GC,1.51,0.00,0.00,32.28,0.000,0.000,0.811,29,1870,1655,-11.34,-0.85,300.00
$IRIDIUM_FIX,6216.53,-1222.06,200497,161638
$TT8_MAMPS,0.026845
$HUMID,2042
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.40
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.0,999.0
$24V_AH,23.1,69.640
$10V_AH,10.1,33.665
$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,26.150,215.025,356.700,32.275,0.000,186.686,199.669,496.788,8.000,0.000,0.000,15.281,1594.819,13278.288,591.198,1980.042,1247.271,33.369,1626.239,0.000,1930.859,0.000,44.617
$DEVICE_MAMPS,141.128,71.331,1326.143,810.719,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,615.883,561.311,491.943,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44297,832
$CFSIZE,260165632,237633536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,4,0
$GPS,250108,212602,6240.714,-1216.173,54,1.1,54,-11.5