version: 66.02
glider: 102
mission: 4
dive: 363
start: 1 29 108 3 1 55
data:
$ID,102
$MISSION,4
$DIVE,363
$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,-84385.008
$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,38
$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
$GPS1,025407,6229.146,-1108.102,29,1.2,29,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-57.4
$GPS2,030009,6229.239,-1107.955,13,1.3,13,-10.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.214,-0.104
$KALMAN_X,529008.6,753.4,960.5,-670053.5,684.2
$KALMAN_Y,66669.7,466.6,1682.7,35021.2,-3214.0
$MHEAD_RNG_PITCHd_Wd,126.8,10400,-14.7,-8.000
$D_GRID,742
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-60.80,0.000,2,0.000,0.000,35,1889,2871
$GC,90,-1.23,-146.6,3.5,-4.0,3,125,11.65,2.55,-17.73,0.000,4,0.141,0.061,2225,3296,3477
$GC,379,-1.23,-146.6,37.5,-10.8,16,383,0.00,2.50,0.00,0.000,6,0.000,0.043,2225,1905,3477
$GC,705,-1.23,-146.6,85.0,-16.4,32,710,0.00,2.50,0.00,0.000,4,0.000,0.047,2225,3293,3477
$GC,772,-1.23,-146.6,95.4,-17.3,35,776,0.00,2.50,0.00,0.000,6,0.000,0.043,2225,1899,3477
$GC,1094,-1.23,-146.6,140.7,-12.8,51,1099,0.00,2.62,0.00,0.000,4,0.000,0.071,2225,495,3477
$GC,1122,-1.23,-146.6,144.1,-11.6,52,1126,0.00,2.45,0.00,0.000,6,0.000,0.039,2225,1899,3477
$GC,1438,-1.23,-146.6,173.0,-8.5,67,1442,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3298,3477
$GC,1492,-1.23,-146.6,178.1,-8.8,69,1498,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1895,3477
$GC,1808,-1.23,-146.6,205.5,-8.4,85,1812,0.00,2.62,0.00,0.000,4,0.000,0.070,2225,490,3477
$GC,1825,-1.23,-146.6,207.2,-10.5,86,1829,0.00,2.45,0.00,0.000,6,0.000,0.040,2225,1903,3477
$GC,2152,-1.23,-146.6,243.7,-9.9,102,2156,0.00,2.50,0.00,0.000,4,0.000,0.049,2225,3292,3477
$GC,2201,-1.23,-146.6,249.0,-10.7,104,2205,0.00,2.50,0.00,0.000,6,0.000,0.043,2225,1896,3477
$GC,2517,-1.23,-146.6,278.7,-8.5,119,2521,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3294,3477
$GC,2544,-1.23,-146.6,281.5,-9.8,120,2548,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1896,3477
$GC,2859,-1.23,-146.6,309.3,-9.1,135,2863,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3298,3477
$GC,2909,-1.23,-146.6,314.2,-9.5,137,2913,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1895,3477
$GC,3224,-1.23,-146.6,345.9,-10.2,152,3228,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3294,3477
$GC,3257,-1.23,-146.6,349.3,-10.4,153,3262,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1898,3477
$GC,3572,-1.23,-146.6,379.8,-9.6,169,3576,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3299,3477
$GC,3605,-1.23,-146.6,383.3,-9.9,170,3612,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1901,3477
$GC,3921,-1.23,-146.6,414.9,-10.2,186,3926,0.00,2.50,0.00,0.000,4,0.000,0.048,2225,3293,3477
$GC,3955,-1.23,-146.6,418.4,-10.0,187,3961,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1896,3477
$GC,4270,-1.23,-146.6,449.9,-9.9,203,4275,0.00,2.53,0.00,0.000,4,0.000,0.049,2225,3293,3477
$GC,4330,-1.23,-146.6,456.0,-10.0,205,4337,0.00,2.50,0.00,0.000,6,0.000,0.045,2225,1897,3478
$GC,4647,-1.23,-146.6,485.8,-9.4,221,4651,0.00,2.60,0.00,0.000,4,0.000,0.072,2225,497,3477
$GC,4679,-1.23,-146.6,489.0,-9.7,222,4685,0.00,2.42,0.00,0.000,6,0.000,0.041,2225,1897,3477
$GC,4995,-1.23,-146.6,519.6,-10.5,238,4999,0.00,2.50,0.00,0.000,4,0.000,0.052,2225,3295,3477
$GC,5079,-1.23,-146.6,528.6,-10.4,241,5085,0.00,2.50,0.00,0.000,6,0.000,0.047,2225,1903,3477
$GC,5394,-1.23,-146.6,561.1,-9.4,257,5398,0.00,2.53,0.00,0.000,4,0.000,0.051,2225,3295,3477
$GC,5455,-1.23,-146.6,567.0,-10.1,260,5460,0.00,2.50,0.00,0.000,6,0.000,0.045,2225,1895,3477
$GC,5783,-1.23,-146.6,594.8,-8.9,276,5787,0.00,2.62,0.00,0.000,4,0.000,0.075,2225,497,3476
$GC,5809,-1.23,-146.6,597.5,-9.7,277,5814,0.00,2.45,0.00,0.000,6,0.000,0.044,2225,1896,3477
$GC,6128,-1.23,-146.6,625.4,-9.0,292,6132,0.00,2.58,0.00,0.000,4,0.000,0.059,2225,3303,3477
$GC,6189,-1.23,-146.6,631.3,-8.5,295,6194,0.00,2.55,0.00,0.000,6,0.000,0.051,2225,1902,3477
$GC,6517,-1.23,-146.6,658.1,-7.9,311,6521,0.00,2.58,0.00,0.000,4,0.000,0.057,2225,3303,3477
$GC,6703,-1.23,-146.6,673.7,-8.9,319,6707,0.00,2.55,0.00,0.000,6,0.000,0.052,2225,1901,3477
$GC,7019,-1.23,-146.6,701.1,-8.6,334,7023,0.00,2.65,0.00,0.000,4,0.000,0.079,2225,491,3476
$GC,7082,-1.23,-146.6,707.5,-9.5,337,7086,0.00,2.50,0.00,0.000,6,0.000,0.049,2225,1897,3476
$GC,7408,-1.23,-146.6,734.5,-7.7,353,7412,0.00,2.58,0.00,0.000,4,0.000,0.061,2225,3301,3476
$GC,7548,-1.23,-146.6,734.6,-0.0,359,7552,0.00,2.58,0.00,0.000,6,0.000,0.054,2225,1895,3475
$STATE,7737,end dive,NO_VERTICAL_VELOCITY
$STATE,7737,begin apogee
$GC,7744,-0.36,0.0,734.5,0.0,368,7873,0.88,0.00,125.82,1.298,6,0.061,0.000,2423,2111,2878
$STATE,7874,end apogee,CONTROL_FINISHED_OK
$STATE,7874,begin climb
$GC,7876,1.23,146.6,734.0,0.0,374,8011,1.52,2.78,124.38,1.254,4,0.052,0.076,2763,694,2279
$GC,8267,1.24,156.5,713.4,7.6,392,8281,0.00,2.53,9.45,1.243,6,0.000,0.049,2763,2095,2239
$GC,8593,1.25,162.4,689.0,7.8,407,8606,0.00,2.65,6.22,1.221,4,0.000,0.063,2763,3501,2215
$GC,8636,1.25,163.1,685.7,8.0,409,8641,0.00,2.58,0.00,0.000,6,0.000,0.053,2763,2103,2214
$GC,8962,1.25,163.4,659.6,8.0,425,8966,0.00,2.60,0.00,0.000,4,0.000,0.061,2762,3501,2213
$GC,9017,1.25,163.4,655.1,8.0,427,9023,0.00,2.58,0.00,0.000,6,0.000,0.052,2763,2098,2213
$GC,9333,1.30,208.1,634.1,6.3,443,9377,0.00,2.70,38.60,1.259,4,0.000,0.061,2763,3512,2029
$GC,9524,1.30,208.1,618.0,9.0,451,9530,0.00,2.60,0.00,0.000,6,0.000,0.051,2763,2094,2028
$GC,9840,1.30,208.1,588.6,9.3,467,9844,0.00,2.60,0.00,0.000,4,0.000,0.058,2763,3502,2028
$GC,9867,1.30,208.1,585.9,9.4,468,9871,0.00,2.58,0.00,0.000,6,0.000,0.050,2763,2094,2028
$GC,10182,1.30,208.1,557.4,8.6,483,10187,0.00,2.60,0.00,0.000,4,0.000,0.057,2763,3505,2028
$GC,10215,1.30,208.1,554.4,8.8,484,10221,0.00,2.55,0.00,0.000,6,0.000,0.048,2762,2095,2028
$GC,10531,1.31,209.0,529.6,8.0,500,10535,0.00,2.58,0.00,0.000,4,0.000,0.055,2763,3502,2027
$GC,10625,1.31,209.0,521.1,9.4,504,10630,0.00,2.55,0.00,0.000,6,0.000,0.046,2763,2093,2028
$GC,10941,1.31,209.0,493.1,8.9,519,10945,0.00,2.60,0.00,0.000,4,0.000,0.054,2763,3507,2028
$GC,10982,1.31,209.0,489.6,9.7,521,10986,0.00,2.53,0.00,0.000,6,0.000,0.045,2763,2099,2028
$GC,11308,1.31,209.0,460.5,8.7,537,11312,0.00,2.55,0.00,0.000,4,0.000,0.054,2762,3502,2028
$GC,11352,1.31,209.0,456.4,10.2,539,11356,0.00,2.50,0.00,0.000,6,0.000,0.044,2763,2099,2028
$GC,11672,1.31,211.0,430.4,7.9,555,11681,0.00,2.58,3.90,1.071,4,0.000,0.053,2763,3503,2016
$GC,11711,1.31,211.0,427.2,8.5,556,11717,0.00,2.53,0.00,0.000,6,0.000,0.044,2763,2099,2016
$GC,12026,1.31,211.0,400.1,8.6,572,12030,0.00,2.58,0.00,0.000,4,0.000,0.053,2763,3504,2016
$GC,12103,1.31,211.0,393.1,8.2,575,12110,0.00,2.53,0.00,0.000,6,0.000,0.043,2763,2099,2017
$GC,12419,1.31,211.0,365.6,8.6,591,12424,0.00,2.55,0.00,0.000,4,0.000,0.052,2763,3508,2017
$GC,12463,1.31,211.0,361.5,8.6,593,12468,0.00,2.53,0.00,0.000,6,0.000,0.042,2763,2098,2017
$GC,12790,1.31,211.0,333.3,8.8,609,12795,0.00,2.58,0.00,0.000,4,0.000,0.052,2763,3507,2017
$GC,12857,1.31,211.0,326.9,8.9,612,12861,0.00,2.53,0.00,0.000,6,0.000,0.041,2763,2094,2018
$GC,13178,1.31,211.0,300.8,8.5,628,13183,0.00,2.55,0.00,0.000,4,0.000,0.052,2763,3503,2018
$GC,13218,1.31,211.0,296.9,9.3,630,13222,0.00,2.53,0.00,0.000,6,0.000,0.041,2763,2090,2018
$GC,13545,1.31,211.0,270.3,8.1,646,13549,0.00,2.58,0.00,0.000,4,0.000,0.052,2763,3504,2018
$GC,13588,1.31,211.0,266.4,8.6,648,13592,0.00,2.50,0.00,0.000,6,0.000,0.041,2763,2101,2019
$GC,13910,1.33,230.6,240.8,7.3,664,13932,0.00,2.65,17.10,0.989,4,0.000,0.050,2763,3505,1936
$GC,13965,1.33,230.6,236.4,8.2,666,13970,0.00,2.50,0.00,0.000,6,0.000,0.041,2763,2101,1936
$GC,14282,1.35,242.8,212.9,7.5,681,14298,0.12,2.60,10.73,0.973,4,0.055,0.049,2800,3504,1887
$GC,14322,1.35,242.8,209.2,9.3,682,14326,0.00,2.53,0.00,0.000,6,0.000,0.041,2800,2094,1887
$GC,14648,1.35,242.8,178.1,9.4,698,14652,0.00,2.58,0.00,0.000,4,0.000,0.050,2800,3504,1887
$GC,14710,1.35,242.8,171.5,11.3,701,14714,0.00,2.53,0.00,0.000,6,0.000,0.041,2800,2095,1888
$GC,15037,1.35,242.8,137.2,10.6,717,15041,0.00,2.58,0.00,0.000,4,0.000,0.050,2800,3508,1887
$GC,15137,1.35,242.8,126.0,11.1,721,15143,0.00,2.50,0.00,0.000,6,0.000,0.041,2800,2096,1887
$GC,15454,1.35,242.8,92.7,10.9,737,15459,0.00,2.55,0.00,0.000,4,0.000,0.049,2800,3504,1888
$GC,15532,1.35,242.8,83.0,11.2,740,15539,0.00,2.53,0.00,0.000,6,0.000,0.040,2800,2088,1888
$GC,15848,1.35,242.8,50.0,11.8,756,15852,0.00,2.58,0.00,0.000,4,0.000,0.049,2800,3509,1888
$GC,15938,1.35,242.8,38.2,12.4,760,15942,0.00,2.50,0.00,0.000,6,0.000,0.040,2800,2102,1888
$GC,16260,1.35,242.8,3.6,10.1,776,16264,0.00,2.55,0.00,0.000,4,0.000,0.051,2800,3504,1888
$STATE,16275,end climb,SURFACE_DEPTH_REACHED
$STATE,16275,begin surface coast
$FINISH,1.0,1.027378
$STATE,16280,end surface coast,CONTROL_FINISHED_OK
$STATE,16280,begin surface
$SM_CCo,16306,53.70,0.794,7,0,1654,300.00
$SM_GC,1.61,0.00,0.00,53.70,0.000,0.000,0.794,35,1885,1654,-11.32,-0.42,300.00
$IRIDIUM_FIX,6158.08,-1116.78,230497,212148
$TT8_MAMPS,0.026845
$HUMID,2034
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,18.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.1,72.389
$10V_AH,10.1,35.073
$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,26.075,214.650,336.200,53.700,0.000,36.449,34.890,165.687,6.500,0.000,0.000,14.447,1530.568,12140.918,593.847,1967.900,576.275,33.371,1621.028,0.000,1922.110,0.000,41.400
$DEVICE_MAMPS,141.128,79.001,1297.764,793.845,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,578.290,525.518,432.063,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41103,777
$CFSIZE,260165632,236580864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,7,0
$GPS,290108,073625,6231.419,-1104.778,37,1.1,37,-10.7