version: 66.02
glider: 102
mission: 4
dive: 361
start: 1 28 108 16 35 7
data:
$ID,102
$MISSION,4
$DIVE,361
$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,-84338.43
$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,27
$R_STBD_OVSHOOT,28
$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
$GPS1,162707,6224.371,-1123.560,31,1.0,31,-10.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-55.5
$GPS2,163321,6224.339,-1123.365,10,1.7,10,-10.9
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.126,0.202
$KALMAN_X,520389.3,635.1,408.2,-674318.8,682.3
$KALMAN_Y,67824.7,664.1,-326.8,26673.4,-3990.3
$MHEAD_RNG_PITCHd_Wd,42.8,20074,-14.7,-8.000
$D_GRID,829
$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,-61.17,0.000,2,0.000,0.000,29,1883,2866
$GC,90,-1.23,-146.6,3.3,-3.2,3,132,11.55,2.62,-20.25,0.000,4,0.136,0.077,2222,501,3477
$GC,385,-1.23,-146.6,36.7,-10.0,16,389,0.00,2.45,0.00,0.000,6,0.000,0.041,2223,1906,3477
$GC,706,-1.23,-146.6,71.8,-12.3,32,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1910,3477
$GC,1017,-1.23,-146.6,112.7,-11.5,47,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1910,3477
$GC,1324,-1.23,-146.6,153.7,-11.8,62,1328,0.00,2.50,0.00,0.000,4,0.000,0.048,2223,3296,3477
$GC,1351,-1.23,-146.6,157.3,-12.9,63,1356,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1898,3477
$GC,1673,-1.23,-146.6,188.6,-10.6,79,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3477
$GC,1982,-1.23,-146.6,219.5,-9.7,94,1986,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3303,3477
$GC,2031,-1.23,-146.6,224.5,-9.9,96,2035,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1901,3477
$GC,2352,-1.23,-146.6,257.1,-10.3,112,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3477
$GC,2661,-1.23,-146.6,288.1,-10.0,127,2666,0.00,2.50,0.00,0.000,4,0.000,0.048,2223,3298,3477
$GC,2723,-1.23,-146.6,294.6,-10.4,130,2728,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1895,3477
$GC,3051,-1.23,-146.6,329.0,-10.5,146,3055,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3298,3477
$GC,3083,-1.23,-146.6,332.6,-11.3,147,3089,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1895,3477
$GC,3399,-1.23,-146.6,368.3,-11.5,163,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3477
$GC,3708,-1.23,-146.6,404.0,-11.4,178,3713,0.00,2.55,0.00,0.000,4,0.000,0.049,2223,3302,3477
$GC,3748,-1.23,-146.6,408.5,-11.3,180,3752,0.00,2.53,0.00,0.000,6,0.000,0.046,2222,1900,3477
$GC,4075,-1.23,-146.6,442.3,-9.8,196,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3477
$GC,4383,-1.23,-146.6,471.6,-9.5,211,4388,0.00,2.53,0.00,0.000,4,0.000,0.050,2223,3298,3477
$GC,4439,-1.23,-146.6,477.1,-10.3,213,4445,0.00,2.53,0.00,0.000,6,0.000,0.047,2223,1898,3477
$GC,4755,-1.23,-146.6,506.4,-9.4,229,4759,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3304,3477
$GC,4798,-1.23,-146.6,510.6,-9.0,231,4803,0.00,2.55,0.00,0.000,6,0.000,0.047,2223,1894,3477
$GC,5119,-1.23,-146.6,540.8,-9.4,247,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3476
$GC,5429,-1.23,-146.6,570.7,-9.9,262,5433,0.00,2.55,0.00,0.000,4,0.000,0.052,2223,3298,3477
$GC,5495,-1.23,-146.6,577.2,-9.3,265,5499,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1898,3477
$GC,5817,-1.23,-146.6,610.6,-10.8,281,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3476
$GC,6126,-1.23,-146.6,644.4,-10.9,296,6131,0.00,2.58,0.00,0.000,4,0.000,0.056,2223,3300,3476
$GC,6195,-1.23,-146.6,651.6,-10.5,299,6199,0.00,2.53,0.00,0.000,6,0.000,0.050,2223,1902,3476
$GC,6515,-1.23,-146.6,680.8,-8.8,315,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1902,3476
$GC,6825,-1.23,-146.6,707.8,-8.8,330,6829,0.00,2.55,0.00,0.000,4,0.000,0.055,2223,3296,3476
$GC,6887,-1.23,-146.6,713.8,-10.2,333,6891,0.00,2.55,0.00,0.000,6,0.000,0.050,2223,1894,3476
$GC,7213,-1.23,-146.6,744.2,-8.8,349,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1893,3476
$GC,7523,-1.23,-146.6,770.0,-7.8,364,7527,0.00,2.58,0.00,0.000,4,0.000,0.059,2223,3296,3476
$GC,7663,-1.23,-146.6,780.9,-7.5,370,7667,0.00,2.55,0.00,0.000,6,0.000,0.054,2223,1903,3476
$GC,7978,-1.23,-146.6,804.7,-8.1,385,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1903,3475
$STATE,8264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8264,begin apogee
$GC,8271,-0.36,0.0,829.4,8.3,399,8401,0.93,0.00,126.93,1.365,6,0.084,0.000,2418,2099,2878
$STATE,8402,end apogee,CONTROL_FINISHED_OK
$STATE,8402,begin climb
$GC,8404,1.23,146.6,832.8,0.0,405,8540,1.55,2.75,125.60,1.322,4,0.053,0.067,2763,3497,2279
$GC,8798,1.23,146.6,811.4,10.6,423,8802,0.00,2.60,0.00,0.000,6,0.000,0.056,2762,2095,2278
$GC,9124,1.23,146.6,791.1,8.9,439,9128,0.00,2.65,0.00,0.000,4,0.000,0.065,2763,3505,2277
$GC,9382,1.24,155.3,765.0,7.7,450,9396,0.00,2.60,7.82,1.319,6,0.000,0.058,2763,2100,2245
$GC,9719,1.26,169.1,741.5,7.5,467,9740,0.00,2.70,12.90,1.339,4,0.000,0.063,2763,3495,2188
$GC,9931,1.26,169.1,723.9,8.9,476,9935,0.00,2.55,0.00,0.000,6,0.000,0.053,2763,2099,2188
$GC,10247,1.30,204.0,702.3,6.7,491,10279,0.00,0.00,30.33,1.322,6,0.000,0.000,2763,2099,2046
$GC,10576,1.30,204.0,675.7,8.4,507,10580,0.00,2.60,0.00,0.000,4,0.000,0.059,2763,3504,2046
$GC,10642,1.30,204.0,669.6,9.0,510,10647,0.00,2.60,0.00,0.000,6,0.000,0.051,2763,2090,2046
$GC,10963,1.30,208.4,644.5,7.8,526,10974,0.00,2.65,5.28,1.236,4,0.000,0.057,2763,3499,2027
$GC,11036,1.32,221.5,638.7,7.5,529,11055,0.00,2.58,12.12,1.265,6,0.000,0.048,2763,2094,1975
$GC,11377,1.32,221.5,609.6,9.3,546,11382,0.00,2.60,0.00,0.000,4,0.000,0.056,2763,3506,1974
$GC,11433,1.32,221.5,604.1,9.8,548,11439,0.00,2.55,0.00,0.000,6,0.000,0.048,2763,2099,1975
$GC,11749,1.32,221.5,576.1,8.7,564,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2099,1975
$GC,12057,1.32,221.5,548.9,8.6,579,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2099,1975
$GC,12367,1.32,221.5,523.2,8.3,594,12371,0.00,2.55,0.00,0.000,4,0.000,0.054,2763,3500,1975
$GC,12468,1.32,221.5,514.1,8.3,598,12474,0.00,2.53,0.00,0.000,6,0.000,0.044,2763,2098,1975
$GC,12784,1.32,221.5,486.5,8.7,614,12785,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2098,1975
$GC,13093,1.32,221.5,459.4,8.8,629,13097,0.00,2.55,0.00,0.000,4,0.000,0.052,2763,3501,1975
$GC,13177,1.32,221.5,451.4,9.7,633,13181,0.00,2.53,0.00,0.000,6,0.000,0.044,2763,2098,1976
$GC,13504,1.32,221.5,421.8,8.8,649,13505,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2097,1977
$GC,13813,1.32,221.5,394.1,8.7,664,13817,0.00,2.55,0.00,0.000,4,0.000,0.051,2763,3500,1977
$GC,13913,1.32,221.5,385.0,9.3,668,13919,0.00,2.53,0.00,0.000,6,0.000,0.043,2763,2092,1978
$GC,14228,1.32,221.5,356.9,9.0,684,14229,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2091,1978
$GC,14538,1.32,221.5,328.9,9.4,699,14542,0.00,2.58,0.00,0.000,4,0.000,0.052,2763,3507,1978
$GC,14610,1.32,221.5,321.8,9.9,702,14614,0.00,2.53,0.00,0.000,6,0.000,0.041,2763,2093,1978
$GC,14925,1.33,232.0,295.1,7.6,717,14938,0.10,0.00,10.48,1.035,6,0.061,0.000,2794,2093,1931
$GC,15234,1.33,232.0,265.0,10.0,732,15238,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3501,1932
$GC,15350,1.33,232.0,252.2,11.7,737,15355,0.00,2.53,0.00,0.000,6,0.000,0.041,2794,2090,1932
$GC,15666,1.33,232.0,219.2,10.2,752,15670,0.00,2.58,0.00,0.000,4,0.000,0.051,2794,3504,1932
$GC,15751,1.33,232.0,210.2,10.4,756,15755,0.00,2.53,0.00,0.000,6,0.000,0.041,2794,2088,1932
$GC,16077,1.33,232.0,179.6,9.7,772,16081,0.00,2.58,0.00,0.000,4,0.000,0.050,2794,3506,1932
$GC,16184,1.33,232.0,168.6,10.6,777,16188,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2103,1932
$GC,16510,1.33,232.0,135.6,9.3,793,16514,0.00,2.55,0.00,0.000,4,0.000,0.049,2794,3508,1932
$GC,16582,1.33,232.0,127.7,9.9,796,16587,0.00,2.53,0.00,0.000,6,0.000,0.040,2794,2088,1932
$GC,16899,1.33,232.0,93.5,11.2,811,16903,0.00,2.55,0.00,0.000,4,0.000,0.049,2794,3502,1932
$GC,16985,1.33,232.0,84.1,10.1,815,16989,0.00,2.50,0.00,0.000,6,0.000,0.040,2794,2097,1933
$GC,17311,1.33,232.0,56.1,9.3,831,17315,0.00,2.55,0.00,0.000,4,0.000,0.048,2794,3505,1933
$GC,17361,1.33,232.0,50.9,10.6,833,17365,0.00,2.50,0.00,0.000,6,0.000,0.039,2794,2097,1933
$GC,17677,1.33,232.0,19.8,10.3,848,17681,0.00,2.55,0.00,0.000,4,0.000,0.048,2794,3507,1933
$GC,17726,1.33,232.6,15.4,8.0,850,17731,0.00,2.50,0.00,0.000,6,0.000,0.039,2794,2094,1933
$STATE,17875,end climb,SURFACE_DEPTH_REACHED
$STATE,17875,begin surface coast
$FINISH,1.0,1.003011
$STATE,17897,end surface coast,CONTROL_FINISHED_OK
$STATE,17897,begin surface
$SM_CCo,17920,63.30,0.796,8,0,1654,300.00
$SM_GC,1.69,0.00,0.00,63.30,0.000,0.000,0.796,30,1888,1654,-11.34,-0.34,300.00
$IRIDIUM_FIX,6202.67,-1136.81,230497,111118
$TT8_MAMPS,0.026845
$HUMID,2041
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,15.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.1,72.095
$10V_AH,10.1,34.905
$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,26.100,148.725,331.450,63.300,0.000,40.134,43.799,167.193,7.500,0.000,0.000,12.308,1617.619,13625.532,582.549,2052.217,574.068,33.373,1596.127,0.000,2010.408,0.000,47.854
$DEVICE_MAMPS,135.759,77.467,1365.260,796.146,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,633.325,579.995,476.514,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44204,858
$CFSIZE,260165632,236724224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,8,0
$GPS,280108,213658,6224.280,-1116.755,29,2.6,48,-10.8