version: 66.02
glider: 102
mission: 4
dive: 359
start: 1 28 108 6 48 54
data:
$ID,102
$MISSION,4
$DIVE,359
$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,-84309.539
$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,21
$R_STBD_OVSHOOT,34
$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
$GPS1,064055,6228.229,-1136.918,24,1.1,41,-11.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-53.5
$GPS2,064711,6228.189,-1136.912,10,2.8,29,-11.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.155,-0.180
$KALMAN_X,520014.2,-1837.5,-652.7,-682352.8,4642.8
$KALMAN_Y,74583.1,-1180.4,-837.6,29409.1,2150.5
$MHEAD_RNG_PITCHd_Wd,150.2,32200,-14.7,-8.000
$D_GRID,791
$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,-61.28,0.000,2,0.000,0.000,34,1891,2859
$GC,92,-1.23,-146.6,3.2,-3.0,3,134,11.57,2.58,-21.73,0.000,4,0.140,0.063,2221,3292,3477
$GC,387,-1.23,-146.6,31.7,-7.8,16,391,0.00,2.50,0.00,0.000,6,0.000,0.042,2221,1898,3477
$GC,708,-1.23,-146.6,66.0,-11.7,32,712,0.00,2.53,0.00,0.000,4,0.000,0.045,2222,3302,3477
$GC,757,-1.23,-146.6,72.5,-12.6,34,761,0.00,2.53,0.00,0.000,6,0.000,0.042,2221,1893,3477
$GC,1073,-1.23,-146.6,114.1,-11.1,49,1077,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3298,3477
$GC,1100,-1.23,-146.6,116.9,-10.8,50,1104,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1900,3477
$GC,1416,-1.23,-146.6,149.3,-10.8,65,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3477
$GC,1724,-1.23,-146.6,180.5,-9.2,80,1729,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3301,3477
$GC,1769,-1.23,-146.6,185.0,-10.1,82,1773,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1894,3477
$GC,2090,-1.23,-146.6,215.8,-9.2,98,2094,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3304,3477
$GC,2117,-1.23,-146.6,218.6,-9.7,99,2121,0.00,2.53,0.00,0.000,6,0.000,0.043,2221,1894,3477
$GC,2432,-1.23,-146.6,249.4,-10.0,114,2437,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3298,3477
$GC,2460,-1.23,-146.6,252.1,-10.3,115,2465,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1900,3477
$GC,2775,-1.23,-146.6,282.6,-9.7,130,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3477
$GC,3085,-1.23,-146.6,312.2,-9.6,145,3089,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3299,3477
$GC,3129,-1.23,-146.6,316.6,-10.2,147,3133,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1895,3477
$GC,3449,-1.23,-146.6,347.6,-9.7,163,3453,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3304,3477
$GC,3488,-1.23,-146.6,351.5,-10.4,165,3492,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1896,3476
$GC,3815,-1.23,-146.6,384.5,-10.0,181,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1896,3477
$GC,4124,-1.23,-146.6,414.7,-9.5,196,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1896,3477
$GC,4433,-1.23,-146.6,442.7,-9.0,211,4437,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3297,3477
$GC,4495,-1.23,-146.6,448.3,-9.2,214,4499,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1894,3477
$GC,4821,-1.23,-146.6,480.7,-10.2,230,4825,0.00,2.55,0.00,0.000,4,0.000,0.050,2222,3300,3477
$GC,4883,-1.23,-146.6,486.6,-9.0,233,4887,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1894,3477
$GC,5209,-1.23,-146.6,520.0,-10.3,249,5213,0.00,2.55,0.00,0.000,4,0.000,0.051,2221,3297,3476
$GC,5248,-1.23,-146.6,524.0,-10.2,251,5252,0.00,2.53,0.00,0.000,6,0.000,0.047,2221,1898,3476
$GC,5574,-1.23,-146.6,556.2,-9.9,267,5579,0.00,2.62,0.00,0.000,4,0.000,0.073,2222,492,3477
$GC,5596,-1.23,-146.6,559.0,-11.8,268,5600,0.00,2.45,0.00,0.000,6,0.000,0.042,2222,1899,3476
$GC,5917,-1.23,-146.6,591.5,-9.4,284,5921,0.00,2.53,0.00,0.000,4,0.000,0.055,2222,3293,3476
$GC,5967,-1.23,-146.6,596.4,-10.3,286,5972,0.00,2.50,0.00,0.000,6,0.000,0.048,2222,1901,3476
$GC,6284,-1.23,-146.6,625.9,-9.8,301,6288,0.00,2.55,0.00,0.000,4,0.000,0.054,2222,3298,3476
$GC,6323,-1.23,-146.6,630.3,-11.0,303,6327,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1902,3476
$GC,6649,-1.23,-146.6,665.3,-10.4,319,6654,0.00,2.65,0.00,0.000,4,0.000,0.076,2222,489,3476
$GC,6676,-1.23,-146.6,668.3,-11.6,320,6681,0.00,2.47,0.00,0.000,6,0.000,0.045,2221,1896,3476
$GC,6992,-1.23,-146.6,698.7,-9.3,335,6996,0.00,2.55,0.00,0.000,4,0.000,0.058,2221,3299,3476
$GC,7070,-1.23,-146.6,705.4,-7.9,338,7076,0.00,2.55,0.00,0.000,6,0.000,0.051,2222,1896,3476
$GC,7385,-1.23,-146.6,734.0,-9.4,354,7390,0.00,2.60,0.00,0.000,4,0.000,0.058,2222,3308,3476
$GC,7502,-1.23,-146.6,745.7,-10.0,359,7507,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,1902,3476
$GC,7818,-1.23,-146.6,774.3,-8.3,374,7823,0.00,2.67,0.00,0.000,4,0.000,0.081,2222,494,3476
$GC,7846,-1.23,-146.6,777.0,-9.7,375,7850,0.00,2.50,0.00,0.000,6,0.000,0.051,2222,1899,3476
$STATE,8014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8014,begin apogee
$GC,8021,-0.36,0.0,791.7,8.5,383,8151,0.93,0.00,126.72,1.318,6,0.081,0.000,2417,2103,2878
$STATE,8152,end apogee,CONTROL_FINISHED_OK
$STATE,8152,begin climb
$GC,8155,1.23,146.6,796.0,0.0,389,8290,1.55,2.78,125.38,1.282,4,0.054,0.077,2761,687,2280
$GC,8321,1.26,174.6,791.7,6.9,397,8351,0.00,2.58,24.50,1.276,6,0.000,0.051,2761,2094,2166
$GC,8668,1.26,174.6,764.2,8.0,414,8672,0.00,2.65,0.00,0.000,4,0.000,0.065,2761,3505,2166
$GC,8925,1.26,174.6,741.0,9.6,425,8931,0.00,2.60,0.00,0.000,6,0.000,0.055,2761,2101,2164
$GC,9241,1.27,183.9,716.1,7.6,441,9255,0.00,2.67,8.62,1.307,4,0.000,0.062,2761,3497,2128
$GC,9379,1.27,183.9,703.8,9.0,447,9383,0.00,2.58,0.00,0.000,6,0.000,0.053,2761,2093,2127
$GC,9700,1.30,203.6,679.0,7.2,463,9724,0.00,2.72,17.38,1.302,4,0.000,0.059,2761,3505,2047
$GC,9826,1.31,213.2,669.0,7.6,468,9841,0.00,2.60,9.30,1.268,6,0.000,0.051,2761,2094,2008
$GC,10163,1.32,219.9,643.0,7.7,485,10177,0.00,2.67,6.68,1.244,4,0.000,0.057,2761,3508,1981
$GC,10194,1.33,231.1,640.4,7.6,486,10211,0.10,2.60,10.57,1.243,6,0.060,0.048,2789,2096,1936
$GC,10534,1.33,231.1,610.3,9.4,503,10538,0.00,2.60,0.00,0.000,4,0.000,0.055,2790,3504,1936
$GC,10596,1.33,231.1,604.7,8.4,506,10600,0.00,2.55,0.00,0.000,6,0.000,0.048,2790,2098,1935
$GC,10922,1.33,231.1,577.4,8.9,522,10926,0.00,2.58,0.00,0.000,4,0.000,0.054,2790,3505,1936
$GC,10994,1.33,231.1,570.3,9.4,525,10998,0.00,2.55,0.00,0.000,6,0.000,0.047,2790,2100,1936
$GC,11309,1.33,231.1,541.2,8.3,540,11313,0.00,2.58,0.00,0.000,4,0.000,0.053,2790,3508,1935
$GC,11410,1.33,231.1,532.6,8.8,544,11416,0.00,2.55,0.00,0.000,6,0.000,0.046,2790,2099,1936
$GC,11726,1.33,231.1,506.2,9.0,560,11730,0.00,2.58,0.00,0.000,4,0.000,0.053,2790,3505,1936
$GC,11810,1.33,231.1,496.8,11.2,564,11814,0.00,2.53,0.00,0.000,6,0.000,0.046,2790,2101,1936
$GC,12136,1.33,231.1,460.0,11.5,580,12140,0.00,2.58,0.00,0.000,4,0.000,0.052,2790,3506,1936
$GC,12180,1.33,231.1,454.5,12.6,582,12184,0.00,2.55,0.00,0.000,6,0.000,0.045,2789,2095,1936
$GC,12500,1.33,231.1,417.1,11.0,598,12504,0.00,2.58,0.00,0.000,4,0.000,0.052,2790,3505,1936
$GC,12584,1.33,231.1,407.7,11.6,602,12589,0.00,2.53,0.00,0.000,6,0.000,0.044,2790,2096,1936
$GC,12911,1.33,231.1,374.9,9.8,618,12915,0.00,2.58,0.00,0.000,4,0.000,0.051,2790,3505,1937
$GC,12973,1.33,231.1,368.8,10.0,621,12977,0.00,2.53,0.00,0.000,6,0.000,0.044,2790,2094,1937
$GC,13299,1.33,231.1,338.0,9.3,637,13303,0.00,2.58,0.00,0.000,4,0.000,0.051,2790,3505,1938
$GC,13371,1.33,231.1,330.3,10.1,640,13375,0.00,2.53,0.00,0.000,6,0.000,0.042,2790,2094,1938
$GC,13686,1.33,231.1,297.2,10.7,655,13691,0.00,2.58,0.00,0.000,4,0.000,0.051,2790,3509,1938
$GC,13742,1.33,231.1,290.9,11.2,657,13748,0.00,2.53,0.00,0.000,6,0.000,0.041,2790,2095,1938
$GC,14057,1.33,231.1,257.8,10.6,673,14061,0.00,2.58,0.00,0.000,4,0.000,0.051,2789,3507,1938
$GC,14129,1.33,231.1,249.7,11.1,676,14134,0.00,2.53,0.00,0.000,6,0.000,0.041,2790,2098,1938
$GC,14446,1.33,231.1,214.5,11.4,691,14450,0.00,2.58,0.00,0.000,4,0.000,0.051,2790,3510,1939
$GC,14507,1.33,231.1,207.6,10.8,694,14511,0.00,2.53,0.00,0.000,6,0.000,0.041,2790,2093,1939
$GC,14833,1.33,231.1,173.2,11.3,710,14837,0.00,2.58,0.00,0.000,4,0.000,0.050,2790,3508,1939
$GC,14882,1.33,231.1,167.1,11.1,712,14887,0.00,2.50,0.00,0.000,6,0.000,0.041,2790,2095,1939
$GC,15198,1.33,231.1,132.9,9.9,727,15202,0.00,2.58,0.00,0.000,4,0.000,0.050,2790,3511,1940
$GC,15275,1.33,231.1,122.8,12.7,730,15282,0.00,2.53,0.00,0.000,6,0.000,0.041,2790,2093,1940
$GC,15592,1.37,257.7,94.1,7.0,746,15621,0.00,2.65,22.70,0.892,4,0.000,0.049,2790,3505,1827
$GC,15680,1.37,257.7,88.4,9.1,750,15684,0.00,2.53,0.00,0.000,6,0.000,0.039,2790,2097,1827
$GC,16007,1.37,257.7,53.8,9.1,766,16011,0.00,2.58,0.00,0.000,4,0.000,0.049,2790,3509,1826
$GC,16101,1.37,257.7,45.2,8.9,770,16105,0.00,2.50,0.00,0.000,6,0.000,0.040,2790,2095,1826
$GC,16418,1.37,257.7,22.2,8.2,785,16422,0.00,2.55,0.00,0.000,4,0.000,0.048,2790,3507,1827
$GC,16503,1.46,338.2,14.5,4.9,789,16573,0.10,2.50,62.35,0.802,6,0.064,0.040,2822,2099,1499
$STATE,16666,end climb,SURFACE_DEPTH_REACHED
$STATE,16666,begin surface coast
$FINISH,1.0,1.005859
$STATE,16690,end surface coast,CONTROL_FINISHED_OK
$STATE,16690,begin surface
$SM_CCo,16773,0.00,0.000,0,0,1497,338.76
$SM_GC,1.75,12.15,0.00,0.00,0.032,0.000,0.000,35,1886,1497,-11.26,-0.40,338.76
$IRIDIUM_FIX,6207.28,-1144.20,230497,020200
$TT8_MAMPS,0.026845
$HUMID,2056
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,15.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.1,71.779
$10V_AH,10.1,34.737
$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,26.400,200.175,414.200,0.000,0.000,36.732,32.253,171.353,7.000,0.000,0.000,31.931,1550.686,12504.078,558.104,2022.260,563.079,33.369,1597.304,0.000,1955.436,0.000,44.628
$DEVICE_MAMPS,139.594,81.302,1318.473,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,593.867,540.377,469.747,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41099,798
$CFSIZE,260165632,236843008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,280108,112937,6225.923,-1132.693,35,1.6,35,-11.0