version: 66.02
glider: 102
mission: 4
dive: 360
start: 1 28 108 11 41 42
data:
$ID,102
$MISSION,4
$DIVE,360
$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,-84325.5
$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,31
$R_STBD_OVSHOOT,22
$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
$GPS1,112937,6225.923,-1132.693,35,1.6,35,-11.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-57.5
$GPS2,113956,6225.917,-1132.371,13,1.7,13,-11.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.236,0.032
$KALMAN_X,520140.0,-1126.6,-665.0,-679169.4,5350.2
$KALMAN_Y,71626.9,240.7,-42.9,25935.2,-1266.7
$MHEAD_RNG_PITCHd_Wd,93.2,27811,-14.7,-8.000
$D_GRID,811
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-60.85,0.000,2,0.000,0.000,34,1885,2687
$GC,90,-1.23,-146.6,3.0,-2.4,3,135,11.55,2.62,-26.73,0.000,4,0.138,0.080,2221,505,3477
$GC,153,-1.23,-146.6,11.1,-17.0,6,158,0.00,2.47,0.00,0.000,6,0.000,0.039,2221,1919,3478
$GC,481,-1.23,-146.6,57.6,-13.9,22,485,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,505,3478
$GC,738,-1.23,-146.6,97.8,-13.3,33,744,0.00,2.42,0.00,0.000,6,0.000,0.040,2221,1906,3478
$GC,1056,-1.23,-146.6,138.3,-11.5,49,1060,0.00,2.62,0.00,0.000,4,0.000,0.071,2221,505,3478
$GC,1119,-1.23,-146.6,146.5,-12.7,52,1123,0.00,2.42,0.00,0.000,6,0.000,0.040,2221,1896,3478
$GC,1445,-1.23,-146.6,183.2,-8.8,68,1450,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3299,3478
$GC,1494,-1.23,-146.6,188.0,-10.0,70,1499,0.00,2.50,0.00,0.000,6,0.000,0.043,2221,1907,3478
$GC,1810,-1.23,-146.6,220.5,-10.5,85,1814,0.00,2.50,0.00,0.000,4,0.000,0.048,2221,3295,3478
$GC,1827,-1.23,-146.6,222.4,-10.6,86,1831,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1892,3478
$GC,2153,-1.23,-146.6,254.3,-10.0,102,2157,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3296,3478
$GC,2203,-1.23,-146.6,259.5,-10.2,104,2207,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1899,3478
$GC,2519,-1.23,-146.6,292.2,-10.2,119,2523,0.00,2.50,0.00,0.000,4,0.000,0.047,2221,3296,3478
$GC,2545,-1.23,-146.6,295.0,-10.1,120,2550,0.00,2.50,0.00,0.000,6,0.000,0.043,2221,1897,3478
$GC,2868,-1.23,-146.6,326.6,-11.4,136,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1897,3478
$GC,3177,-1.23,-146.6,358.4,-10.1,151,3181,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3298,3478
$GC,3216,-1.23,-146.6,362.5,-10.3,153,3220,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1895,3478
$GC,3542,-1.23,-146.6,393.3,-9.8,169,3546,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3295,3478
$GC,3591,-1.23,-146.6,398.2,-9.4,171,3595,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1893,3478
$GC,3913,-1.23,-146.6,427.7,-8.8,187,3917,0.00,2.60,0.00,0.000,4,0.000,0.071,2221,497,3478
$GC,3929,-1.23,-146.6,429.1,-8.5,188,3934,0.00,2.45,0.00,0.000,6,0.000,0.041,2221,1898,3477
$GC,4256,-1.23,-146.6,459.0,-9.9,204,4260,0.00,2.50,0.00,0.000,4,0.000,0.051,2221,3295,3477
$GC,4311,-1.23,-146.6,464.8,-10.7,206,4315,0.00,2.53,0.00,0.000,6,0.000,0.047,2221,1897,3478
$GC,4627,-1.23,-146.6,497.0,-10.8,221,4631,0.00,2.53,0.00,0.000,4,0.000,0.050,2221,3296,3477
$GC,4670,-1.23,-146.6,502.0,-11.3,223,4675,0.00,2.50,0.00,0.000,6,0.000,0.046,2221,1901,3477
$GC,4992,-1.23,-146.6,535.9,-10.1,239,4996,0.00,2.62,0.00,0.000,4,0.000,0.073,2221,494,3477
$GC,5013,-1.23,-146.6,538.1,-10.0,240,5018,0.00,2.47,0.00,0.000,6,0.000,0.042,2221,1901,3477
$GC,5335,-1.23,-146.6,567.5,-8.5,256,5339,0.00,2.53,0.00,0.000,4,0.000,0.054,2221,3302,3476
$GC,5362,-1.23,-146.6,569.9,-8.5,257,5366,0.00,2.55,0.00,0.000,6,0.000,0.048,2221,1895,3477
$GC,5683,-1.23,-146.6,595.5,-7.5,273,5687,0.00,2.58,0.00,0.000,4,0.000,0.053,2221,3307,3476
$GC,5738,-1.23,-146.6,599.8,-7.7,275,5748,0.00,2.53,0.00,0.000,6,0.000,0.048,2221,1900,3477
$GC,6055,-1.23,-146.6,626.2,-8.5,291,6059,0.00,2.55,0.00,0.000,4,0.000,0.054,2221,3298,3476
$GC,6076,-1.23,-146.6,628.2,-8.4,292,6080,0.00,2.50,0.00,0.000,6,0.000,0.048,2221,1900,3476
$GC,6398,-1.23,-146.6,657.3,-9.5,308,6402,0.00,2.55,0.00,0.000,4,0.000,0.054,2221,3298,3476
$GC,6505,-1.23,-146.6,668.1,-10.9,313,6509,0.00,2.55,0.00,0.000,6,0.000,0.050,2221,1896,3476
$GC,6830,-1.23,-146.6,702.7,-10.2,329,6835,0.00,2.58,0.00,0.000,4,0.000,0.056,2221,3302,3476
$GC,6898,-1.23,-146.6,709.2,-9.5,332,6902,0.00,2.55,0.00,0.000,6,0.000,0.052,2221,1900,3476
$GC,7218,-1.23,-146.6,737.1,-8.6,348,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3476
$GC,7528,-1.23,-146.6,762.2,-8.5,363,7532,0.00,2.58,0.00,0.000,4,0.000,0.058,2221,3300,3476
$GC,7561,-1.23,-146.6,765.2,-9.2,364,7567,0.00,2.55,0.00,0.000,6,0.000,0.053,2221,1901,3476
$GC,7876,-1.23,-146.6,793.7,-9.6,380,7880,0.00,2.58,0.00,0.000,4,0.000,0.060,2221,3298,3475
$GC,7960,-1.23,-146.6,801.5,-9.6,384,7964,0.00,2.58,0.00,0.000,6,0.000,0.057,2221,1899,3475
$STATE,8077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8077,begin apogee
$GC,8084,-0.36,0.0,812.2,8.7,390,8214,0.93,0.00,126.38,1.354,6,0.084,0.000,2417,2097,2878
$STATE,8215,end apogee,CONTROL_FINISHED_OK
$STATE,8215,begin climb
$GC,8218,1.23,146.6,816.5,0.0,396,8350,1.55,2.67,123.95,1.325,4,0.054,0.065,2760,3496,2280
$GC,8419,1.23,146.6,809.7,8.1,405,8425,0.00,2.58,0.00,0.000,6,0.000,0.053,2760,2099,2280
$GC,8735,1.27,176.6,787.5,6.9,421,8767,0.00,2.70,26.27,1.336,4,0.000,0.063,2760,3497,2156
$GC,8841,1.27,176.6,779.3,8.2,426,8846,0.00,2.60,0.00,0.000,6,0.000,0.054,2760,2095,2156
$GC,9168,1.27,183.1,755.2,7.8,442,9181,0.00,2.67,6.40,1.276,4,0.000,0.062,2760,3498,2131
$GC,9261,1.27,183.1,747.5,8.5,446,9265,0.00,2.58,0.00,0.000,6,0.000,0.054,2760,2099,2130
$GC,9582,1.27,183.1,722.7,8.0,462,9586,0.00,2.62,0.00,0.000,4,0.000,0.061,2760,3502,2129
$GC,9682,1.29,193.2,714.3,7.6,466,9696,0.00,2.58,9.38,1.316,6,0.000,0.054,2760,2100,2090
$GC,10019,1.30,206.8,689.5,7.5,483,10037,0.00,0.00,12.70,1.305,6,0.000,0.000,2760,2100,2034
$GC,10347,1.34,235.8,666.1,6.9,499,10379,0.12,2.67,25.55,1.279,4,0.054,0.057,2797,3504,1916
$GC,10491,1.34,235.8,652.5,10.5,505,10497,0.00,2.58,0.00,0.000,6,0.000,0.050,2797,2100,1916
$GC,10807,1.34,235.8,619.1,11.0,521,10811,0.00,2.60,0.00,0.000,4,0.000,0.055,2796,3501,1915
$GC,10891,1.34,235.8,609.5,11.7,525,10895,0.00,2.55,0.00,0.000,6,0.000,0.048,2797,2098,1915
$GC,11218,1.34,235.8,573.8,10.6,541,11222,0.00,2.58,0.00,0.000,4,0.000,0.054,2797,3498,1914
$GC,11308,1.34,235.8,564.6,9.5,545,11312,0.00,2.55,0.00,0.000,6,0.000,0.046,2797,2094,1915
$GC,11628,1.34,235.8,532.1,10.7,561,11633,0.00,2.58,0.00,0.000,4,0.000,0.054,2796,3502,1915
$GC,11684,1.34,235.8,525.7,11.4,563,11690,0.00,2.55,0.00,0.000,6,0.000,0.047,2797,2097,1915
$GC,11999,1.34,235.8,489.6,11.4,579,12004,0.00,2.58,0.00,0.000,4,0.000,0.053,2797,3502,1915
$GC,12049,1.34,235.8,483.6,11.4,581,12054,0.00,2.53,0.00,0.000,6,0.000,0.046,2797,2098,1916
$GC,12365,1.34,235.8,448.9,11.2,596,12369,0.00,2.55,0.00,0.000,4,0.000,0.052,2797,3503,1916
$GC,12437,1.34,235.8,440.7,11.0,599,12442,0.00,2.50,0.00,0.000,6,0.000,0.044,2797,2099,1916
$GC,12753,1.34,235.8,408.7,10.2,614,12757,0.00,2.55,0.00,0.000,4,0.000,0.051,2797,3505,1916
$GC,12870,1.34,235.8,395.5,11.5,619,12875,0.00,2.53,0.00,0.000,6,0.000,0.044,2797,2098,1916
$GC,13185,1.34,235.8,363.8,9.5,634,13190,0.00,2.55,0.00,0.000,4,0.000,0.051,2797,3500,1916
$GC,13253,1.34,235.8,356.8,10.4,637,13257,0.00,2.53,0.00,0.000,6,0.000,0.044,2797,2092,1916
$GC,13573,1.34,235.8,326.7,9.2,653,13577,0.00,2.55,0.00,0.000,4,0.000,0.052,2797,3501,1917
$GC,13635,1.34,235.8,320.8,9.2,656,13640,0.00,2.53,0.00,0.000,6,0.000,0.043,2796,2092,1917
$GC,13961,1.34,235.8,290.3,9.7,672,13966,0.00,2.58,0.00,0.000,4,0.000,0.051,2797,3506,1917
$GC,14039,1.34,235.8,282.2,9.5,675,14046,0.00,2.53,0.00,0.000,6,0.000,0.042,2797,2094,1917
$GC,14355,1.34,235.8,251.8,9.4,691,14359,0.00,2.55,0.00,0.000,4,0.000,0.051,2797,3499,1918
$GC,14450,1.34,235.8,242.5,9.3,695,14455,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2100,1918
$GC,14766,1.34,235.8,213.9,8.9,710,14770,0.00,2.55,0.00,0.000,4,0.000,0.050,2797,3504,1918
$GC,14844,1.34,235.8,206.4,9.8,713,14850,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2099,1918
$GC,15159,1.34,235.8,178.6,8.3,729,15163,0.00,2.53,0.00,0.000,4,0.000,0.050,2796,3499,1919
$GC,15236,1.34,235.8,170.4,10.8,732,15242,0.00,2.47,0.00,0.000,6,0.000,0.041,2797,2098,1919
$GC,15553,1.34,235.8,139.0,10.1,748,15557,0.00,2.55,0.00,0.000,4,0.000,0.050,2797,3505,1919
$GC,15630,1.34,235.8,131.0,10.1,751,15637,0.00,2.53,0.00,0.000,6,0.000,0.041,2797,2106,1919
$GC,15946,1.34,235.8,103.1,8.1,767,15950,0.00,2.53,0.00,0.000,4,0.000,0.049,2797,3502,1919
$GC,16001,1.34,235.8,97.6,9.7,769,16007,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2094,1919
$GC,16317,1.34,235.8,67.7,9.5,785,16321,0.00,2.55,0.00,0.000,4,0.000,0.050,2797,3500,1919
$GC,16401,1.34,235.8,59.2,10.0,789,16406,0.00,2.50,0.00,0.000,6,0.000,0.040,2797,2094,1920
$GC,16728,1.34,235.8,22.2,11.5,805,16733,0.00,2.55,0.00,0.000,4,0.000,0.049,2797,3502,1920
$GC,16800,1.34,235.8,13.4,12.3,808,16805,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2100,1920
$STATE,16908,end climb,SURFACE_DEPTH_REACHED
$STATE,16908,begin surface coast
$FINISH,1.1,1.027431
$STATE,16931,end surface coast,CONTROL_FINISHED_OK
$STATE,16931,begin surface
$SM_CCo,16954,60.90,0.804,8,0,1654,300.00
$SM_GC,1.61,0.00,0.00,60.90,0.000,0.000,0.804,30,1884,1654,-11.34,-0.45,300.00
$IRIDIUM_FIX,6158.08,-1131.33,230497,111128
$TT8_MAMPS,0.026845
$HUMID,2055
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,23.1,71.942
$10V_AH,10.1,34.821
$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,26.075,209.425,330.625,60.900,0.000,76.479,69.878,281.437,7.500,0.000,0.000,15.330,1582.545,12746.173,610.033,2019.652,771.022,33.374,1656.944,0.000,1971.467,0.000,46.245
$DEVICE_MAMPS,138.060,79.768,1353.755,803.816,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,601.021,549.553,450.882,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41193,814
$CFSIZE,260165632,236777472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,8,0
$GPS,280108,162707,6224.371,-1123.560,31,1.0,31,-10.9