version: 66.02
glider: 102
mission: 4
dive: 357
start: 1 27 108 21 21 14
data:
$ID,102
$MISSION,4
$DIVE,357
$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,-84263.266
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,205831,6232.896,-1137.323,65,1.4,65,-11.1
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-54.4
$GPS2,211929,6232.881,-1137.103,8,2.3,27,-11.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FE
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.224,-0.079
$KALMAN_X,517570.1,489.1,-1343.5,-681741.7,5804.0
$KALMAN_Y,79263.5,-1053.9,-1186.3,33653.9,4858.5
$MHEAD_RNG_PITCHd_Wd,261.5,5884,-14.7,-8.000
$D_GRID,751
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.23,-146.5,0.0,0.0,0,107,0.00,0.00,-81.53,0.000,2,0.000,0.000,36,1892,3327
$GC,111,-1.23,-146.6,4.7,-4.3,4,132,11.62,0.00,-3.40,0.000,6,0.141,0.000,2223,1892,3476
$GC,443,-1.23,-146.6,53.8,-11.0,20,447,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3303,3476
$GC,520,-1.23,-146.6,62.9,-9.7,23,527,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1895,3476
$GC,836,-1.23,-146.6,100.7,-8.9,39,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3477
$GC,1147,-1.23,-146.6,132.3,-10.3,54,1151,0.00,2.55,0.00,0.000,4,0.000,0.047,2223,3305,3477
$GC,1202,-1.23,-146.6,138.2,-11.3,56,1208,0.00,2.53,0.00,0.000,6,0.000,0.042,2223,1894,3477
$GC,1517,-1.23,-146.6,168.1,-8.1,72,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3476
$GC,1827,-1.23,-146.6,195.3,-9.2,87,1831,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3305,3476
$GC,1905,-1.23,-146.6,203.0,-9.4,90,1911,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1895,3476
$GC,2220,-1.23,-146.6,232.6,-10.1,106,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3477
$GC,2530,-1.23,-146.6,261.8,-9.3,121,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3477
$GC,2840,-1.23,-146.6,289.5,-8.7,136,2844,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3305,3477
$GC,2911,-1.23,-146.6,296.2,-9.2,139,2916,0.00,2.53,0.00,0.000,6,0.000,0.042,2223,1892,3476
$GC,3227,-1.23,-146.6,323.8,-8.7,154,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1891,3477
$GC,3537,-1.23,-146.6,352.1,-9.6,169,3541,0.00,2.55,0.00,0.000,4,0.000,0.049,2223,3304,3477
$GC,3603,-1.23,-146.6,358.4,-9.3,172,3607,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1895,3476
$GC,3924,-1.23,-146.6,388.7,-9.8,188,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3477
$GC,4233,-1.23,-146.6,417.7,-9.5,203,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3476
$GC,4542,-1.23,-146.6,447.7,-10.0,218,4547,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3303,3476
$GC,4643,-1.23,-146.6,458.7,-11.2,222,4649,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1895,3476
$GC,4958,-1.23,-146.6,492.1,-10.0,238,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3476
$GC,5267,-1.23,-146.6,523.0,-10.5,253,5272,0.00,2.55,0.00,0.000,4,0.000,0.052,2223,3303,3476
$GC,5312,-1.23,-146.6,527.8,-10.8,255,5316,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1896,3476
$GC,5633,-1.23,-146.6,558.5,-8.9,271,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3476
$GC,5942,-1.23,-146.6,587.1,-9.7,286,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3476
$GC,6252,-1.23,-146.6,616.7,-9.5,301,6256,0.00,2.58,0.00,0.000,4,0.000,0.054,2223,3308,3476
$GC,6346,-1.23,-146.6,626.0,-10.0,305,6350,0.00,2.55,0.00,0.000,6,0.000,0.048,2223,1898,3475
$GC,6662,-1.23,-146.6,655.5,-10.0,320,6666,0.00,2.58,0.00,0.000,4,0.000,0.057,2223,3302,3475
$GC,6746,-1.23,-146.6,663.8,-9.9,324,6751,0.00,2.55,0.00,0.000,6,0.000,0.051,2223,1903,3475
$GC,7072,-1.23,-146.6,691.9,-8.2,340,7076,0.00,2.58,0.00,0.000,4,0.000,0.058,2223,3303,3475
$GC,7134,-1.23,-146.6,697.2,-8.7,343,7138,0.00,2.55,0.00,0.000,6,0.000,0.053,2223,1899,3475
$GC,7461,-1.23,-146.6,725.7,-8.3,359,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3475
$STATE,7767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7767,begin apogee
$GC,7773,-0.36,0.0,752.3,8.8,374,7903,0.93,0.00,125.95,1.297,6,0.082,0.000,2419,2101,2878
$STATE,7903,end apogee,CONTROL_FINISHED_OK
$STATE,7903,begin climb
$GC,7906,1.23,146.6,756.5,0.0,380,8039,1.55,2.75,125.12,1.259,4,0.055,0.074,2761,689,2280
$GC,8106,1.28,190.2,751.1,6.3,390,8151,0.00,2.55,37.92,1.249,6,0.000,0.050,2761,2094,2101
$GC,8470,1.28,190.2,722.4,8.2,408,8474,0.00,2.62,0.00,0.000,4,0.000,0.064,2761,3504,2100
$GC,8564,1.28,191.4,714.2,8.0,412,8569,0.00,2.60,0.00,0.000,6,0.000,0.055,2761,2101,2100
$GC,8880,1.30,200.1,689.5,7.7,427,8891,0.00,0.00,8.98,1.269,6,0.000,0.000,2762,2101,2062
$GC,9189,1.31,209.9,665.8,7.6,442,9203,0.00,2.67,9.12,1.264,4,0.000,0.061,2761,3508,2022
$GC,9332,1.31,209.9,652.8,8.8,448,9337,0.00,2.58,0.00,0.000,6,0.000,0.053,2761,2099,2022
$GC,9648,1.31,209.9,627.1,8.1,463,9652,0.00,2.62,0.00,0.000,4,0.000,0.059,2761,3510,2021
$GC,9759,1.31,209.9,617.1,9.2,468,9763,0.00,2.58,0.00,0.000,6,0.000,0.051,2762,2093,2021
$GC,10086,1.31,209.9,588.3,8.5,484,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2093,2021
$GC,10395,1.32,221.1,563.8,7.6,499,10411,0.00,2.65,10.45,1.221,4,0.000,0.055,2762,3505,1976
$GC,10528,1.32,221.1,552.9,8.1,504,10533,0.00,2.58,0.00,0.000,6,0.000,0.046,2761,2089,1976
$GC,10850,1.32,223.5,529.0,7.9,520,10855,0.00,0.00,3.50,1.106,6,0.000,0.000,2762,2089,1966
$GC,11158,1.32,223.5,504.0,8.1,535,11160,0.10,0.00,0.00,0.000,6,0.060,0.000,2792,2089,1965
$GC,11468,1.32,223.5,474.1,10.1,550,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2088,1965
$GC,11777,1.32,223.5,443.1,9.5,565,11778,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2088,1966
$GC,12086,1.32,223.5,412.0,9.8,580,12087,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2089,1966
$GC,12396,1.32,223.5,382.9,9.0,595,12397,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2088,1966
$GC,12705,1.32,223.5,353.8,9.4,610,12706,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2088,1967
$GC,13014,1.32,223.5,323.9,10.0,625,13015,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2088,1967
$GC,13323,1.32,223.5,291.9,10.3,640,13325,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2088,1967
$GC,13632,1.32,223.5,261.0,9.8,655,13633,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2088,1968
$GC,13942,1.32,223.5,231.8,8.8,670,13946,0.00,2.58,0.00,0.000,4,0.000,0.050,2792,3508,1968
$GC,14043,1.32,223.5,223.0,9.1,674,14049,0.00,2.53,0.00,0.000,6,0.000,0.041,2792,2088,1968
$GC,14358,1.32,223.5,196.6,9.4,690,14363,0.00,2.58,0.00,0.000,4,0.000,0.050,2792,3506,1968
$GC,14436,1.32,223.5,188.7,10.1,693,14442,0.00,2.50,0.00,0.000,6,0.000,0.040,2792,2101,1969
$GC,14752,1.32,223.5,156.0,11.5,709,14756,0.00,2.55,0.00,0.000,4,0.000,0.049,2792,3508,1969
$GC,14859,1.32,223.5,141.1,13.9,714,14863,0.00,2.50,0.00,0.000,6,0.000,0.040,2792,2100,1969
$GC,15186,1.32,223.5,115.0,8.2,730,15190,0.00,2.55,0.00,0.000,4,0.000,0.049,2792,3508,1969
$GC,15316,1.36,256.0,106.7,6.8,736,15350,0.00,2.50,26.92,0.903,6,0.000,0.040,2792,2100,1834
$GC,15667,1.36,256.0,71.5,13.1,753,15671,0.00,2.58,0.00,0.000,4,0.000,0.049,2792,3513,1833
$GC,15716,1.36,256.0,65.5,12.0,755,15721,0.00,2.53,0.00,0.000,6,0.000,0.039,2792,2095,1833
$GC,16032,1.36,256.0,26.8,10.6,770,16036,0.00,2.55,0.00,0.000,4,0.000,0.048,2792,3506,1833
$GC,16143,1.36,256.0,18.3,11.1,775,16147,0.00,2.50,0.00,0.000,6,0.000,0.040,2792,2095,1833
$STATE,16297,end climb,SURFACE_DEPTH_REACHED
$STATE,16297,begin surface coast
$FINISH,1.1,1.027382
$STATE,16319,end surface coast,CONTROL_FINISHED_OK
$STATE,16319,begin surface
$SM_CCo,16342,40.70,0.805,5,0,1655,300.00
$SM_GC,1.72,0.00,0.00,40.70,0.000,0.000,0.805,35,1883,1655,-11.32,-0.51,300.00
$IRIDIUM_FIX,6207.28,-1135.06,220497,212146
$TT8_MAMPS,0.026845
$HUMID,2057
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.1,71.449
$10V_AH,10.1,34.570
$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,26.150,108.200,347.975,40.700,0.000,192.801,181.251,478.466,7.750,0.000,0.000,30.233,1444.486,12814.652,549.350,1739.776,1173.596,33.375,1399.509,0.000,1693.625,0.000,43.003
$DEVICE_MAMPS,141.128,73.632,1296.997,804.583,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,587.060,531.105,454.068,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38041,784
$CFSIZE,260165632,236986368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,5,0
$GPS,280108,015607,6231.058,-1140.023,47,0.9,47,-11.1