version: 66.02
glider: 102
mission: 4
dive: 355
start: 1 27 108 12 6 0
data:
$ID,102
$MISSION,4
$DIVE,355
$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,-84202.352
$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,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
$GPS1,115107,6237.436,-1144.530,23,1.5,23,-11.1
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-55.2
$GPS2,120414,6237.538,-1144.102,13,1.4,13,-11.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FE
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.007,-0.238
$KALMAN_X,509826.0,157.8,-53.1,-681109.5,4148.5
$KALMAN_Y,77256.8,-316.3,341.8,41991.7,4043.2
$MHEAD_RNG_PITCHd_Wd,192.8,14394,-14.7,-8.000
$D_GRID,716
$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,21,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,86,0.00,0.00,-60.83,0.000,2,0.000,0.000,33,1885,2858
$GC,89,-1.23,-146.6,3.2,-3.4,3,126,11.50,2.58,-18.88,0.000,4,0.136,0.058,2224,3304,3476
$GC,277,-1.23,-146.6,27.1,-9.0,10,284,0.00,2.53,0.00,0.000,6,0.000,0.042,2225,1903,3477
$GC,594,-1.23,-146.6,57.2,-9.6,26,599,0.00,2.53,0.00,0.000,4,0.000,0.046,2225,3307,3476
$GC,638,-1.23,-146.6,61.7,-10.4,28,643,0.00,2.53,0.00,0.000,6,0.000,0.041,2225,1898,3476
$GC,961,-1.23,-146.6,94.3,-10.1,44,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,1269,-1.23,-146.6,125.3,-10.4,59,1273,0.00,2.55,0.00,0.000,4,0.000,0.046,2225,3313,3477
$GC,1336,-1.23,-146.6,132.4,-10.9,62,1340,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1901,3476
$GC,1657,-1.23,-146.6,164.4,-10.7,78,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1901,3477
$GC,1966,-1.23,-146.6,193.7,-9.2,93,1970,0.00,2.53,0.00,0.000,4,0.000,0.046,2225,3306,3477
$GC,2032,-1.23,-146.6,200.2,-9.7,96,2037,0.00,2.50,0.00,0.000,6,0.000,0.042,2225,1901,3477
$GC,2354,-1.23,-146.6,230.0,-9.1,112,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1901,3477
$GC,2662,-1.23,-146.6,258.3,-9.3,127,2667,0.00,2.53,0.00,0.000,4,0.000,0.047,2225,3307,3477
$GC,2707,-1.23,-146.6,262.9,-9.8,129,2711,0.00,2.53,0.00,0.000,6,0.000,0.043,2225,1895,3477
$GC,3028,-1.23,-146.6,294.5,-9.8,145,3032,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3309,3476
$GC,3085,-1.23,-146.6,300.1,-9.9,147,3091,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1900,3476
$GC,3400,-1.23,-146.6,331.1,-9.9,163,3405,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3306,3477
$GC,3467,-1.23,-146.6,337.8,-10.1,166,3472,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1895,3477
$GC,3788,-1.23,-146.6,370.1,-9.9,182,3793,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3305,3476
$GC,3815,-1.23,-146.6,373.0,-10.0,183,3820,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1899,3477
$GC,4131,-1.23,-146.6,404.1,-10.1,198,4136,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3309,3477
$GC,4159,-1.23,-146.6,406.9,-10.0,199,4163,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1899,3476
$GC,4480,-1.23,-146.6,438.1,-9.5,215,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3477
$GC,4790,-1.23,-146.6,468.7,-10.2,230,4794,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3305,3476
$GC,4839,-1.23,-146.6,474.0,-10.8,232,4843,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1899,3477
$GC,5161,-1.23,-146.6,506.3,-9.7,248,5165,0.00,2.55,0.00,0.000,4,0.000,0.050,2225,3307,3477
$GC,5245,-1.23,-146.6,514.7,-10.2,252,5250,0.00,2.53,0.00,0.000,6,0.000,0.046,2225,1900,3477
$GC,5572,-1.23,-146.6,545.1,-9.0,268,5576,0.00,2.55,0.00,0.000,4,0.000,0.051,2225,3307,3476
$GC,5604,-1.23,-146.6,548.0,-8.5,269,5610,0.00,2.53,0.00,0.000,6,0.000,0.047,2225,1900,3476
$GC,5921,-1.23,-146.6,576.1,-9.1,285,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3477
$GC,6229,-1.23,-146.6,605.4,-9.4,300,6233,0.00,2.58,0.00,0.000,4,0.000,0.054,2224,3308,3476
$GC,6306,-1.23,-146.6,612.3,-8.2,303,6312,0.00,2.55,0.00,0.000,6,0.000,0.048,2224,1900,3476
$GC,6623,-1.23,-146.6,636.5,-7.5,319,6627,0.00,2.58,0.00,0.000,4,0.000,0.058,2225,3303,3476
$GC,6689,-1.23,-146.6,642.4,-9.3,322,6693,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1903,3477
$GC,7012,-1.23,-146.6,675.7,-10.3,338,7016,0.00,2.58,0.00,0.000,4,0.000,0.058,2225,3303,3476
$GC,7074,-1.23,-146.6,682.0,-10.2,341,7078,0.00,2.58,0.00,0.000,6,0.000,0.053,2225,1898,3476
$GC,7400,-1.23,-146.6,710.1,-7.6,357,7404,0.00,2.60,0.00,0.000,4,0.000,0.063,2224,3303,3475
$GC,7657,-1.23,-146.6,710.2,0.1,368,7664,0.00,2.55,0.00,0.000,6,0.000,0.057,2224,1905,3475
$STATE,7723,end dive,NO_VERTICAL_VELOCITY
$STATE,7723,begin apogee
$GC,7729,-0.36,0.0,710.1,0.0,372,7858,0.88,0.00,125.25,1.279,6,0.061,0.000,2420,2105,2878
$STATE,7859,end apogee,CONTROL_FINISHED_OK
$STATE,7859,begin climb
$GC,7862,1.23,146.6,709.8,0.0,378,7994,1.55,2.78,123.50,1.232,4,0.058,0.076,2761,689,2280
$GC,8098,1.23,146.6,699.3,8.1,389,8103,0.00,2.55,0.00,0.000,6,0.000,0.048,2761,2093,2280
$GC,8419,1.28,191.4,679.2,6.3,405,8464,0.00,2.72,38.55,1.243,4,0.000,0.062,2761,3501,2097
$GC,8629,1.28,191.4,661.4,9.6,414,8633,0.00,2.60,0.00,0.000,6,0.000,0.053,2761,2095,2096
$GC,8944,1.28,191.4,633.9,9.1,429,8949,0.00,2.62,0.00,0.000,4,0.000,0.060,2761,3502,2095
$GC,8977,1.28,191.4,630.7,8.9,430,8984,0.00,2.55,0.00,0.000,6,0.000,0.051,2761,2100,2096
$GC,9293,1.28,191.4,602.3,8.9,446,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2101,2094
$GC,9602,1.28,191.4,575.7,8.4,461,9607,0.00,2.58,0.00,0.000,4,0.000,0.058,2761,3504,2094
$GC,9710,1.28,191.4,566.6,8.2,466,9714,0.00,2.55,0.00,0.000,6,0.000,0.048,2761,2098,2094
$GC,10036,1.28,191.4,540.6,8.6,482,10037,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2098,2094
$GC,10345,1.31,208.5,515.8,7.3,497,10367,0.00,2.65,14.43,1.207,4,0.000,0.055,2761,3507,2027
$GC,10435,1.31,208.5,509.0,8.1,501,10440,0.00,2.55,0.00,0.000,6,0.000,0.047,2761,2100,2027
$GC,10762,1.33,225.8,486.0,7.3,517,10782,0.10,0.00,15.35,1.183,6,0.060,0.000,2791,2100,1957
$GC,11091,1.33,225.8,456.2,9.1,533,11095,0.00,2.58,0.00,0.000,4,0.000,0.053,2791,3507,1957
$GC,11220,1.33,225.8,443.2,10.7,539,11224,0.00,2.55,0.00,0.000,6,0.000,0.044,2791,2098,1957
$GC,11546,1.33,225.8,409.7,10.0,555,11550,0.00,2.58,0.00,0.000,4,0.000,0.051,2791,3505,1957
$GC,11640,1.33,225.8,399.7,10.5,559,11644,0.00,2.55,0.00,0.000,6,0.000,0.044,2791,2093,1957
$GC,11956,1.33,225.8,368.0,9.9,574,11960,0.00,2.58,0.00,0.000,4,0.000,0.052,2791,3508,1957
$GC,11977,1.33,225.8,365.6,10.7,575,11981,0.00,2.53,0.00,0.000,6,0.000,0.043,2791,2093,1957
$GC,12298,1.33,225.8,332.0,10.6,591,12302,0.00,2.58,0.00,0.000,4,0.000,0.052,2790,3511,1958
$GC,12319,1.33,225.8,329.5,11.5,592,12323,0.00,2.53,0.00,0.000,6,0.000,0.042,2791,2101,1957
$GC,12640,1.33,225.8,295.0,10.8,608,12644,0.00,2.55,0.00,0.000,4,0.000,0.051,2791,3504,1958
$GC,12702,1.33,225.8,288.2,10.8,611,12706,0.00,2.53,0.00,0.000,6,0.000,0.041,2791,2094,1958
$GC,13028,1.33,225.8,255.2,9.6,627,13032,0.00,2.58,0.00,0.000,4,0.000,0.051,2791,3508,1958
$GC,13078,1.33,225.8,250.1,10.3,629,13082,0.00,2.53,0.00,0.000,6,0.000,0.041,2791,2094,1959
$GC,13393,1.33,225.8,221.5,8.8,644,13398,0.00,2.58,0.00,0.000,4,0.000,0.050,2791,3508,1959
$GC,13443,1.33,225.8,216.7,9.8,646,13448,0.00,2.50,0.00,0.000,6,0.000,0.041,2791,2098,1959
$GC,13759,1.33,225.8,188.2,9.2,661,13764,0.00,2.55,0.00,0.000,4,0.000,0.049,2791,3505,1959
$GC,13803,1.33,225.8,183.7,10.1,663,13808,0.00,2.50,0.00,0.000,6,0.000,0.040,2791,2100,1959
$GC,14125,1.33,225.8,153.3,9.8,679,14129,0.00,2.55,0.00,0.000,4,0.000,0.049,2791,3505,1959
$GC,14164,1.33,225.8,149.2,10.6,681,14169,0.00,2.50,0.00,0.000,6,0.000,0.039,2791,2096,1960
$GC,14491,1.33,225.8,113.8,11.9,697,14496,0.00,2.58,0.00,0.000,4,0.000,0.050,2791,3512,1960
$GC,14555,1.33,225.8,105.5,12.8,700,14559,0.00,2.50,0.00,0.000,6,0.000,0.040,2791,2097,1960
$GC,14881,1.33,225.8,71.1,9.3,716,14883,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2097,1960
$GC,15192,1.42,299.8,43.4,5.2,731,15258,0.00,2.62,58.70,0.828,4,0.000,0.049,2791,3499,1655
$GC,15322,1.42,299.8,27.2,12.9,737,15326,0.00,2.53,0.00,0.000,6,0.000,0.041,2791,2099,1655
$STATE,15564,end climb,SURFACE_DEPTH_REACHED
$STATE,15564,begin surface coast
$FINISH,1.1,1.027401
$STATE,15585,end surface coast,CONTROL_FINISHED_OK
$STATE,15585,begin surface
$SM_CCo,15669,0.00,0.000,0,0,1652,300.25
$SM_GC,1.93,11.95,0.00,0.00,0.031,0.000,0.000,35,1877,1652,-11.25,-0.65,300.25
$IRIDIUM_FIX,6211.90,-1141.52,220497,121220
$TT8_MAMPS,0.026845
$HUMID,2077
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.60
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.1,71.132
$10V_AH,10.1,34.409
$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,25.975,164.200,375.775,0.000,0.000,112.750,184.673,227.702,6.750,0.000,0.000,14.968,1445.594,11883.358,500.350,1826.862,852.805,33.371,1438.698,0.000,1787.727,0.000,39.769
$DEVICE_MAMPS,135.759,75.933,1278.589,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,552.735,507.866,450.858,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37977,750
$CFSIZE,260165632,237096960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,270108,162808,6235.938,-1138.282,24,1.3,24,-11.1