version: 66.02
glider: 102
mission: 4
dive: 362
start: 1 28 108 21 45 8
data:
$ID,102
$MISSION,4
$DIVE,362
$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,-84369.938
$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,30
$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
$GPS1,213658,6224.280,-1116.755,29,2.6,48,-10.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-55.7
$GPS2,214323,6224.336,-1116.584,9,2.7,28,-10.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.094,0.219
$KALMAN_X,523611.8,1455.0,-184.5,-671815.8,1441.7
$KALMAN_Y,64301.7,-385.6,35.3,30864.6,-4213.1
$MHEAD_RNG_PITCHd_Wd,34.0,14274,-14.7,-8.000
$D_GRID,823
$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,-61.20,0.000,2,0.000,0.000,29,1886,2848
$GC,90,-1.23,-146.6,3.3,-3.8,3,132,11.62,2.62,-20.98,0.000,4,0.140,0.079,2222,501,3477
$GC,385,-1.23,-146.6,32.9,-10.2,16,389,0.00,2.45,0.00,0.000,6,0.000,0.039,2222,1909,3477
$GC,706,-1.23,-146.6,63.5,-8.7,32,710,0.00,2.65,0.00,0.000,4,0.000,0.070,2222,501,3477
$GC,761,-1.23,-146.6,68.6,-8.9,34,767,0.00,2.42,0.00,0.000,6,0.000,0.039,2222,1902,3477
$GC,1077,-1.23,-146.6,98.9,-10.4,50,1081,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3292,3477
$GC,1126,-1.23,-146.6,104.7,-11.3,52,1130,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1902,3477
$GC,1442,-1.23,-146.6,134.9,-10.2,67,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1902,3477
$GC,1751,-1.23,-146.6,169.3,-10.9,82,1755,0.00,2.53,0.00,0.000,4,0.000,0.046,2222,3302,3477
$GC,1790,-1.23,-146.6,173.6,-10.2,84,1794,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1896,3477
$GC,2116,-1.23,-146.6,207.8,-10.6,100,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1896,3477
$GC,2425,-1.23,-146.6,239.8,-10.7,115,2429,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3299,3477
$GC,2474,-1.23,-146.6,245.0,-10.4,117,2478,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1901,3477
$GC,2796,-1.23,-146.6,277.9,-10.0,133,2800,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3302,3477
$GC,2822,-1.23,-146.6,280.6,-9.9,134,2827,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1895,3477
$GC,3138,-1.23,-146.6,313.1,-10.4,149,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1895,3477
$GC,3447,-1.23,-146.6,345.0,-10.5,164,3451,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3294,3477
$GC,3497,-1.23,-146.6,350.0,-9.8,166,3501,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1896,3477
$GC,3814,-1.23,-146.6,381.3,-9.9,181,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1896,3477
$GC,4122,-1.23,-146.6,410.2,-9.3,196,4126,0.00,2.53,0.00,0.000,4,0.000,0.049,2222,3293,3477
$GC,4206,-1.23,-146.6,418.4,-9.3,200,4210,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3477
$GC,4533,-1.23,-146.6,448.8,-9.1,216,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3477
$GC,4843,-1.23,-146.6,475.7,-8.7,231,4847,0.00,2.53,0.00,0.000,4,0.000,0.049,2222,3296,3477
$GC,4898,-1.23,-146.6,480.8,-9.5,233,4904,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1900,3477
$GC,5214,-1.23,-146.6,511.5,-10.1,249,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3477
$GC,5523,-1.23,-146.6,541.3,-9.5,264,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3477
$GC,5832,-1.23,-146.6,569.2,-8.4,279,5836,0.00,2.53,0.00,0.000,4,0.000,0.051,2222,3293,3477
$GC,5898,-1.23,-146.6,574.8,-8.4,282,5906,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3477
$GC,6227,-1.23,-146.6,602.1,-8.7,298,6232,0.00,2.53,0.00,0.000,4,0.000,0.052,2222,3292,3477
$GC,6267,-1.23,-146.6,605.6,-9.3,300,6271,0.00,2.50,0.00,0.000,6,0.000,0.047,2222,1900,3477
$GC,6594,-1.23,-146.6,634.6,-9.2,316,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3477
$GC,6903,-1.23,-146.6,663.1,-9.1,331,6907,0.00,2.55,0.00,0.000,4,0.000,0.055,2221,3295,3477
$GC,6942,-1.23,-146.6,667.0,-9.6,333,6946,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1898,3476
$GC,7268,-1.23,-146.6,694.7,-8.7,349,7273,0.00,2.55,0.00,0.000,4,0.000,0.057,2223,3292,3476
$GC,7313,-1.23,-146.6,698.9,-9.8,351,7317,0.00,2.53,0.00,0.000,6,0.000,0.050,2222,1902,3476
$GC,7633,-1.23,-146.6,728.2,-8.9,367,7637,0.00,2.55,0.00,0.000,4,0.000,0.058,2222,3291,3476
$GC,7767,-1.23,-146.6,740.7,-9.7,373,7771,0.00,2.53,0.00,0.000,6,0.000,0.052,2222,1900,3476
$GC,8087,-1.23,-146.6,768.2,-8.1,389,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3475
$GC,8397,-1.23,-146.6,793.3,-8.0,404,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3474
$GC,8706,-1.23,-146.6,798.3,0.0,419,8710,0.00,2.60,0.00,0.000,4,0.000,0.064,2222,3295,3474
$STATE,8821,end dive,NO_VERTICAL_VELOCITY
$STATE,8821,begin apogee
$GC,8830,-0.36,0.0,798.0,0.0,424,8962,0.85,0.00,126.35,1.347,6,0.063,0.000,2418,2097,2878
$STATE,8963,end apogee,CONTROL_FINISHED_OK
$STATE,8963,begin climb
$GC,8965,1.23,146.6,798.1,0.0,431,9101,1.55,2.75,125.38,1.299,4,0.058,0.067,2758,3491,2280
$GC,9358,1.23,146.6,781.0,8.7,449,9363,0.00,2.58,0.00,0.000,6,0.000,0.056,2759,2100,2279
$GC,9685,1.25,166.3,757.3,7.3,465,9708,0.00,2.67,17.45,1.317,4,0.000,0.064,2759,3487,2200
$GC,9866,1.25,166.3,742.2,8.9,473,9870,0.00,2.58,0.00,0.000,6,0.000,0.055,2759,2095,2200
$GC,10192,1.25,166.3,715.5,8.2,489,10196,0.00,2.62,0.00,0.000,4,0.000,0.062,2759,3494,2199
$GC,10305,1.25,166.3,706.0,8.6,494,10309,0.00,2.55,0.00,0.000,6,0.000,0.053,2759,2099,2199
$GC,10625,1.25,166.3,680.0,8.1,510,10629,0.00,2.58,0.00,0.000,4,0.000,0.061,2759,3488,2198
$GC,10686,1.25,166.3,674.7,8.8,513,10691,0.00,2.55,0.00,0.000,6,0.000,0.052,2758,2099,2198
$GC,11014,1.27,182.2,650.2,7.4,529,11035,0.00,2.62,14.05,1.304,4,0.000,0.060,2759,3488,2135
$GC,11216,1.28,186.6,634.2,7.8,538,11226,0.00,2.55,5.05,1.237,6,0.000,0.051,2759,2099,2117
$GC,11542,1.28,186.6,609.2,8.1,554,11546,0.00,2.58,0.00,0.000,4,0.000,0.058,2758,3490,2117
$GC,11653,1.28,186.6,599.5,8.3,559,11658,0.00,2.55,0.00,0.000,6,0.000,0.049,2759,2093,2116
$GC,11975,1.28,186.6,572.5,8.7,575,11979,0.00,2.58,0.00,0.000,4,0.000,0.056,2759,3489,2116
$GC,12086,1.28,186.6,562.2,8.8,580,12090,0.00,2.53,0.00,0.000,6,0.000,0.048,2759,2100,2116
$GC,12407,1.28,186.6,533.5,9.1,596,12408,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2100,2117
$GC,12717,1.28,186.6,506.6,8.6,611,12721,0.00,2.55,0.00,0.000,4,0.000,0.054,2759,3494,2117
$GC,12817,1.28,186.6,497.0,9.7,615,12823,0.00,2.53,0.00,0.000,6,0.000,0.043,2759,2090,2117
$GC,13132,1.28,186.6,469.5,8.8,631,13134,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2090,2117
$GC,13442,1.28,186.6,443.2,8.4,646,13446,0.00,2.55,0.00,0.000,4,0.000,0.052,2759,3492,2118
$GC,13542,1.28,186.6,434.2,8.4,650,13548,0.00,2.50,0.00,0.000,6,0.000,0.043,2759,2097,2117
$GC,13858,1.28,187.3,408.6,8.0,666,13863,0.00,2.55,0.00,0.000,4,0.000,0.051,2759,3494,2118
$GC,13943,1.28,187.3,401.3,8.6,670,13947,0.00,2.50,0.00,0.000,6,0.000,0.042,2759,2098,2119
$GC,14270,1.30,203.8,376.4,7.4,686,14291,0.00,2.60,15.55,1.086,4,0.000,0.051,2759,3489,2047
$GC,14364,1.30,203.8,368.8,8.5,690,14369,0.00,2.50,0.00,0.000,6,0.000,0.042,2758,2099,2047
$GC,14686,1.31,211.9,344.2,7.7,706,14695,0.00,0.00,7.80,1.062,6,0.000,0.000,2758,2099,2014
$GC,14996,1.32,219.2,320.1,7.7,721,15010,0.10,2.60,7.28,1.039,4,0.059,0.051,2791,3489,1984
$GC,15084,1.32,219.2,312.0,8.9,725,15088,0.00,2.50,0.00,0.000,6,0.000,0.041,2790,2099,1984
$GC,15410,1.32,219.2,284.0,8.2,741,15415,0.00,2.53,0.00,0.000,4,0.000,0.050,2790,3491,1984
$GC,15500,1.32,219.2,276.0,9.3,745,15504,0.00,2.50,0.00,0.000,6,0.000,0.041,2790,2093,1984
$GC,15821,1.32,219.2,249.3,8.4,761,15825,0.00,2.55,0.00,0.000,4,0.000,0.051,2790,3491,1984
$GC,15920,1.32,219.2,240.2,8.3,765,15927,0.00,2.50,0.00,0.000,6,0.000,0.041,2790,2093,1984
$GC,16237,1.32,219.2,212.0,9.7,781,16241,0.00,2.53,0.00,0.000,4,0.000,0.050,2790,3491,1984
$GC,16308,1.32,219.2,204.0,11.1,784,16313,0.00,2.47,0.00,0.000,6,0.000,0.040,2790,2099,1984
$GC,16624,1.32,219.2,172.2,10.4,799,16629,0.00,2.53,0.00,0.000,4,0.000,0.050,2791,3491,1984
$GC,16702,1.32,219.2,163.6,10.4,802,16708,0.00,2.47,0.00,0.000,6,0.000,0.040,2791,2097,1985
$GC,17018,1.32,219.2,130.4,10.7,818,17022,0.00,2.53,0.00,0.000,4,0.000,0.049,2791,3491,1985
$GC,17073,1.32,219.2,124.1,11.4,820,17080,0.00,2.47,0.00,0.000,6,0.000,0.040,2791,2095,1984
$GC,17389,1.32,219.2,94.5,9.0,836,17390,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2095,1985
$GC,17700,1.35,244.3,64.3,7.0,851,17726,0.00,2.58,20.88,0.872,4,0.000,0.049,2790,3492,1881
$GC,17846,1.35,244.3,49.1,9.6,857,17852,0.00,2.50,0.00,0.000,6,0.000,0.040,2791,2090,1881
$GC,18162,1.35,244.3,19.8,9.4,873,18164,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2090,1881
$STATE,18345,end climb,SURFACE_DEPTH_REACHED
$STATE,18345,begin surface coast
$FINISH,1.2,1.022590
$STATE,18367,end surface coast,CONTROL_FINISHED_OK
$STATE,18367,begin surface
$SM_CCo,18390,51.05,0.795,6,0,1655,300.00
$SM_GC,1.91,0.00,0.00,51.05,0.000,0.000,0.795,35,1892,1655,-11.32,-0.25,300.00
$IRIDIUM_FIX,6158.08,-1126.79,230497,161608
$TT8_MAMPS,0.026845
$HUMID,2047
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,15.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.1,72.244
$10V_AH,10.1,34.993
$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,26.125,167.550,339.775,51.050,0.000,38.504,32.364,173.997,7.000,0.000,0.000,30.874,1672.617,13887.983,571.569,2195.889,581.978,33.368,1658.854,0.000,2134.032,0.000,44.631
$DEVICE_MAMPS,139.594,79.001,1346.852,795.379,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,650.263,596.332,504.038,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44253,883
$CFSIZE,260165632,236646400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,6,0
$GPS,290108,025407,6229.146,-1108.102,29,1.2,29,-10.8