version: 66.02
glider: 102
mission: 4
dive: 356
start: 1 27 108 16 35 57
data:
$ID,102
$MISSION,4
$DIVE,356
$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,-84232.398
$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,32
$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
$GPS1,162808,6235.938,-1138.282,24,1.3,24,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-57.3
$GPS2,163414,6235.908,-1138.199,15,1.3,27,-11.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FE
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.026,-0.237
$KALMAN_X,513400.3,675.7,1189.4,-681259.6,402.9
$KALMAN_Y,79343.2,-410.6,-456.1,37789.8,3869.9
$MHEAD_RNG_PITCHd_Wd,197.2,11050,-14.6,-8.000
$D_GRID,719
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.23,-146.6,0.0,0.0,0,88,0.00,0.00,-61.45,0.000,2,0.000,0.000,35,1875,2887
$GC,92,-1.23,-146.6,3.8,-5.3,3,126,11.55,2.65,-16.60,0.000,4,0.138,0.060,2222,3307,3477
$GC,380,-1.23,-146.6,37.1,-10.2,16,385,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1911,3477
$GC,707,-1.23,-146.6,72.7,-9.4,32,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1911,3477
$GC,1017,-1.23,-146.6,102.0,-9.2,47,1021,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3311,3478
$GC,1049,-1.23,-146.6,105.1,-8.8,48,1056,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1897,3477
$GC,1367,-1.23,-146.6,131.3,-8.3,64,1371,0.00,2.55,0.00,0.000,4,0.000,0.046,2222,3310,3477
$GC,1388,-1.23,-146.6,133.6,-9.4,65,1392,0.00,2.53,0.00,0.000,6,0.000,0.042,2222,1895,3477
$GC,1715,-1.23,-146.6,166.9,-10.2,81,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1895,3478
$GC,2024,-1.23,-146.6,198.1,-10.1,96,2029,0.00,2.55,0.00,0.000,4,0.000,0.047,2222,3311,3477
$GC,2075,-1.23,-146.6,203.2,-9.8,98,2079,0.00,2.53,0.00,0.000,6,0.000,0.042,2222,1897,3477
$GC,2390,-1.23,-146.6,236.2,-10.5,113,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3477
$GC,2699,-1.23,-146.6,268.1,-9.9,128,2703,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3313,3477
$GC,2761,-1.23,-146.6,274.3,-10.5,131,2766,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1900,3477
$GC,3088,-1.23,-146.6,306.0,-10.0,147,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3477
$GC,3397,-1.23,-146.6,336.4,-9.9,162,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3478
$GC,3707,-1.23,-146.6,367.2,-9.9,177,3711,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3314,3477
$GC,3768,-1.23,-146.6,373.4,-10.3,180,3773,0.00,2.53,0.00,0.000,6,0.000,0.042,2222,1898,3477
$GC,4096,-1.23,-146.6,405.3,-9.6,196,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3477
$GC,4404,-1.23,-146.6,437.0,-10.5,211,4408,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3312,3477
$GC,4472,-1.23,-146.6,444.1,-10.2,214,4477,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1903,3477
$GC,4801,-1.23,-146.6,475.3,-9.2,230,4805,0.00,2.55,0.00,0.000,4,0.000,0.049,2222,3314,3478
$GC,4844,-1.23,-146.6,479.5,-9.1,232,4849,0.00,2.55,0.00,0.000,6,0.000,0.044,2222,1894,3477
$GC,5166,-1.23,-146.6,509.4,-9.1,248,5170,0.00,2.58,0.00,0.000,4,0.000,0.050,2222,3310,3477
$GC,5205,-1.23,-146.6,513.0,-9.4,250,5210,0.00,2.55,0.00,0.000,6,0.000,0.046,2222,1897,3477
$GC,5532,-1.23,-146.6,542.4,-8.9,266,5537,0.00,2.62,0.00,0.000,4,0.000,0.074,2222,494,3477
$GC,5559,-1.23,-146.6,545.1,-10.1,267,5564,0.00,2.47,0.00,0.000,6,0.000,0.042,2222,1913,3477
$GC,5875,-1.23,-146.6,572.1,-8.7,282,5879,0.00,2.53,0.00,0.000,4,0.000,0.054,2222,3302,3477
$GC,5953,-1.23,-146.6,579.4,-9.0,285,5957,0.00,2.55,0.00,0.000,6,0.000,0.048,2222,1894,3477
$GC,6269,-1.23,-146.6,608.8,-9.7,300,6273,0.00,2.58,0.00,0.000,4,0.000,0.054,2222,3302,3477
$GC,6353,-1.23,-146.6,616.8,-9.8,304,6358,0.00,2.55,0.00,0.000,6,0.000,0.050,2222,1898,3477
$GC,6680,-1.23,-146.6,646.2,-9.1,320,6684,0.00,2.58,0.00,0.000,4,0.000,0.056,2222,3302,3477
$GC,6764,-1.23,-146.6,654.4,-10.2,324,6768,0.00,2.55,0.00,0.000,6,0.000,0.052,2222,1903,3477
$GC,7090,-1.23,-146.6,684.9,-9.8,340,7094,0.00,2.55,0.00,0.000,4,0.000,0.057,2222,3297,3477
$GC,7134,-1.23,-146.6,689.3,-9.3,342,7138,0.00,2.55,0.00,0.000,6,0.000,0.051,2222,1897,3477
$STATE,7452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7452,begin apogee
$GC,7459,-0.36,0.0,719.2,9.5,358,7588,0.93,0.00,125.40,1.276,6,0.084,0.000,2417,2098,2878
$STATE,7588,end apogee,CONTROL_FINISHED_OK
$STATE,7588,begin climb
$GC,7591,1.23,146.6,723.0,0.0,364,7723,1.55,2.67,123.40,1.240,4,0.057,0.064,2760,3495,2280
$GC,7731,1.28,191.9,720.4,6.3,370,7777,0.00,2.60,39.22,1.212,6,0.000,0.050,2760,2096,2095
$GC,8087,1.30,204.4,693.9,7.5,388,8108,0.00,2.80,11.50,1.230,4,0.000,0.079,2760,692,2043
$GC,8360,1.31,216.2,673.2,7.6,400,8377,0.00,2.53,10.90,1.236,6,0.000,0.048,2760,2096,1995
$GC,8686,1.31,216.2,650.0,8.0,416,8690,0.00,2.60,0.00,0.000,4,0.000,0.061,2760,3500,1995
$GC,8713,1.31,216.2,647.4,9.9,417,8717,0.00,2.55,0.00,0.000,6,0.000,0.051,2760,2100,1994
$GC,9028,1.31,216.2,620.1,9.0,432,9033,0.00,2.60,0.00,0.000,4,0.000,0.058,2759,3508,1993
$GC,9100,1.31,216.2,613.2,8.8,435,9104,0.00,2.58,0.00,0.000,6,0.000,0.051,2759,2093,1993
$GC,9416,1.31,216.2,585.5,8.5,450,9420,0.00,2.62,0.00,0.000,4,0.000,0.058,2760,3508,1993
$GC,9510,1.32,219.3,577.5,7.9,454,9522,0.00,2.55,3.42,1.135,6,0.000,0.049,2759,2100,1983
$GC,9831,1.32,219.3,552.6,8.4,470,9835,0.00,2.65,0.00,0.000,4,0.000,0.075,2760,692,1983
$GC,9848,1.32,219.3,551.2,8.5,471,9852,0.00,2.50,0.00,0.000,6,0.000,0.044,2760,2102,1983
$GC,10174,1.32,219.3,522.3,9.3,487,10178,0.00,2.55,0.00,0.000,4,0.000,0.056,2760,3499,1982
$GC,10245,1.32,219.3,515.3,9.6,490,10250,0.10,2.53,0.00,0.000,6,0.056,0.048,2791,2093,1982
$GC,10561,1.32,219.3,484.9,9.6,505,10566,0.00,2.55,0.00,0.000,4,0.000,0.054,2791,3505,1982
$GC,10610,1.32,219.3,479.9,10.2,507,10615,0.00,2.55,0.00,0.000,6,0.000,0.045,2791,2092,1982
$GC,10926,1.32,219.3,450.1,9.2,522,10930,0.00,2.55,0.00,0.000,4,0.000,0.053,2791,3500,1982
$GC,11026,1.32,219.3,440.7,9.0,526,11032,0.00,2.53,0.00,0.000,6,0.000,0.044,2791,2091,1983
$GC,11341,1.32,219.3,414.4,8.3,542,11346,0.00,2.55,0.00,0.000,4,0.000,0.053,2791,3501,1983
$GC,11449,1.32,219.3,404.9,9.2,547,11453,0.00,2.53,0.00,0.000,6,0.000,0.044,2791,2096,1983
$GC,11774,1.32,219.3,375.7,9.3,563,11779,0.00,2.55,0.00,0.000,4,0.000,0.051,2791,3501,1984
$GC,11847,1.32,219.3,368.2,10.3,566,11851,0.00,2.53,0.00,0.000,6,0.000,0.042,2791,2090,1983
$GC,12163,1.32,219.3,336.4,10.0,581,12167,0.00,2.58,0.00,0.000,4,0.000,0.051,2791,3504,1984
$GC,12207,1.32,219.3,331.4,11.1,583,12211,0.00,2.53,0.00,0.000,6,0.000,0.041,2791,2091,1984
$GC,12528,1.32,219.3,298.0,10.6,599,12532,0.00,2.58,0.00,0.000,4,0.000,0.051,2791,3502,1984
$GC,12616,1.32,219.3,288.3,10.6,603,12621,0.00,2.50,0.00,0.000,6,0.000,0.041,2791,2099,1984
$GC,12937,1.32,219.3,255.4,10.1,619,12942,0.00,2.55,0.00,0.000,4,0.000,0.051,2791,3502,1985
$GC,12987,1.32,219.3,250.0,10.8,621,12991,0.00,2.47,0.00,0.000,6,0.000,0.041,2791,2099,1985
$GC,13309,1.32,219.3,218.5,9.7,637,13313,0.00,2.55,0.00,0.000,4,0.000,0.050,2791,3502,1985
$GC,13358,1.32,219.3,213.4,10.4,639,13362,0.00,2.50,0.00,0.000,6,0.000,0.040,2791,2095,1985
$GC,13674,1.32,219.3,185.0,9.0,654,13678,0.00,2.55,0.00,0.000,4,0.000,0.050,2791,3501,1985
$GC,13736,1.32,219.3,179.2,9.2,657,13740,0.00,2.47,0.00,0.000,6,0.000,0.040,2791,2098,1985
$GC,14061,1.32,219.3,150.2,8.7,673,14066,0.00,2.55,0.00,0.000,4,0.000,0.049,2791,3505,1985
$GC,14111,1.34,237.8,146.3,7.3,675,14132,0.00,2.47,16.12,0.932,6,0.000,0.039,2791,2099,1907
$GC,14449,1.36,252.4,126.4,7.4,692,14471,0.00,2.60,12.43,0.913,4,0.000,0.048,2791,3495,1849
$GC,14527,1.36,252.4,118.6,10.0,695,14531,0.00,2.50,0.00,0.000,6,0.000,0.039,2791,2102,1848
$GC,14843,1.36,252.4,86.2,11.0,710,14847,0.00,2.55,0.00,0.000,4,0.000,0.049,2791,3502,1848
$GC,14882,1.36,252.4,81.4,11.1,712,14887,0.00,2.50,0.00,0.000,6,0.000,0.039,2791,2098,1848
$GC,15209,1.36,252.4,43.9,10.6,728,15214,0.00,2.55,0.00,0.000,4,0.000,0.050,2792,3502,1849
$GC,15265,1.36,252.4,37.3,10.9,730,15271,0.00,2.50,0.00,0.000,6,0.000,0.040,2791,2093,1848
$STATE,15537,end climb,SURFACE_DEPTH_REACHED
$STATE,15537,begin surface coast
$FINISH,0.9,1.027093
$STATE,15559,end surface coast,CONTROL_FINISHED_OK
$STATE,15559,begin surface
$SM_CCo,15582,44.08,0.796,5,0,1655,300.00
$SM_GC,1.89,0.00,0.00,44.08,0.000,0.000,0.796,36,1893,1655,-11.31,-0.20,300.00
$IRIDIUM_FIX,6211.90,-1147.05,220497,121245
$TT8_MAMPS,0.026845
$HUMID,2045
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,23.1,71.274
$10V_AH,10.1,34.485
$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,26.075,174.175,342.400,44.075,0.000,38.126,34.706,159.332,6.250,0.000,0.000,29.414,1437.749,11711.875,546.711,1838.603,535.659,33.373,1489.158,0.000,1782.051,0.000,39.771
$DEVICE_MAMPS,138.060,79.001,1276.288,796.146,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,554.823,504.304,454.269,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37985,745
$CFSIZE,260165632,237039616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,5,0
$GPS,270108,205831,6232.896,-1137.323,65,1.4,65,-11.1