version: 66.02
glider: 102
mission: 4
dive: 364
start: 1 29 108 7 44 5
data:
$ID,102
$MISSION,4
$DIVE,364
$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,-84397.938
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,073625,6231.419,-1104.778,37,1.1,37,-10.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-59.6
$GPS2,074221,6231.526,-1104.786,10,2.0,10,-10.7
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.195,-0.135
$KALMAN_X,531420.2,-863.7,-1014.4,-666038.1,4274.9
$KALMAN_Y,71790.9,2957.9,488.1,32829.1,10.3
$MHEAD_RNG_PITCHd_Wd,246.0,12764,-14.7,-8.000
$D_GRID,705
$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,-146.5,0.0,0.0,0,84,0.00,0.00,-56.17,0.000,2,0.000,0.000,35,1885,2761
$GC,87,-1.23,-146.6,3.1,-2.4,3,133,11.57,2.62,-27.38,0.000,4,0.138,0.061,2224,3306,3477
$GC,258,-1.23,-146.6,16.1,-9.6,10,264,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1896,3478
$GC,574,-1.23,-146.6,52.3,-14.1,26,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3478
$GC,883,-1.23,-146.6,80.4,-9.0,41,887,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3310,3477
$GC,960,-1.23,-146.6,88.3,-10.3,44,967,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1897,3478
$GC,1276,-1.23,-146.6,123.1,-11.0,60,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3478
$GC,1586,-1.23,-146.6,151.5,-8.9,75,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3478
$GC,1895,-1.23,-146.6,182.0,-9.8,90,1899,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3313,3478
$GC,1961,-1.23,-146.6,188.5,-9.8,93,1965,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1902,3478
$GC,2282,-1.23,-146.6,220.1,-9.6,109,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1902,3478
$GC,2590,-1.23,-146.6,248.3,-8.7,124,2595,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3308,3478
$GC,2652,-1.23,-146.6,254.2,-9.5,127,2657,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1901,3478
$GC,2979,-1.23,-146.6,283.6,-9.3,143,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3478
$GC,3288,-1.23,-146.6,312.0,-9.2,158,3292,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3310,3477
$GC,3344,-1.23,-146.6,317.4,-9.3,160,3350,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1900,3478
$GC,3660,-1.23,-146.6,345.4,-8.3,176,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3478
$GC,3969,-1.23,-146.6,370.2,-7.8,191,3973,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3309,3478
$GC,4057,-1.23,-146.6,377.5,-8.1,195,4062,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1901,3478
$GC,4379,-1.23,-146.6,404.4,-8.9,211,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3478
$GC,4688,-1.23,-146.6,432.5,-9.3,226,4692,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3312,3478
$GC,4750,-1.23,-146.6,438.4,-9.1,229,4754,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1900,3478
$GC,5076,-1.23,-146.6,469.4,-9.6,245,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3478
$GC,5385,-1.23,-146.6,499.2,-9.7,260,5389,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3307,3477
$GC,5446,-1.23,-146.6,505.3,-10.0,263,5451,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1900,3478
$GC,5773,-1.23,-146.6,537.1,-9.8,279,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3478
$GC,6082,-1.23,-146.6,568.9,-10.1,294,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,6392,-1.23,-146.6,596.3,-8.6,309,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,6702,-1.23,-146.6,626.8,-11.2,324,6706,0.00,2.58,0.00,0.000,4,0.000,0.056,2224,3307,3477
$GC,6926,-1.23,-146.6,648.9,-9.1,334,6930,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1904,3477
$GC,7247,-1.23,-146.6,675.3,-8.0,350,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1903,3477
$GC,7555,-1.23,-146.6,699.5,-8.6,365,7563,0.00,2.60,0.00,0.000,4,0.000,0.059,2224,3310,3476
$STATE,7611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7611,begin apogee
$GC,7620,-0.36,0.0,705.4,10.3,367,7751,0.90,0.00,125.62,1.262,6,0.088,0.000,2414,2093,2878
$STATE,7752,end apogee,CONTROL_FINISHED_OK
$STATE,7752,begin climb
$GC,7755,1.23,146.6,709.4,0.0,374,7887,1.60,2.75,124.22,1.229,4,0.054,0.075,2766,690,2280
$GC,8141,1.23,148.7,698.3,7.9,391,8146,0.00,2.55,0.00,0.000,6,0.000,0.048,2766,2103,2279
$GC,8463,1.29,193.8,677.5,6.3,407,8506,0.00,0.00,40.62,1.254,6,0.000,0.000,2766,2104,2087
$GC,8812,1.29,193.8,647.8,9.2,424,8816,0.00,2.60,0.00,0.000,4,0.000,0.063,2766,3502,2086
$GC,8896,1.29,193.8,640.4,9.0,428,8900,0.00,2.58,0.00,0.000,6,0.000,0.054,2766,2103,2086
$GC,9222,1.30,199.8,612.9,7.8,444,9230,0.00,0.00,5.88,1.220,6,0.000,0.000,2766,2103,2063
$GC,9531,1.30,199.8,585.6,9.4,459,9535,0.00,2.58,0.00,0.000,4,0.000,0.060,2766,3503,2062
$GC,9789,1.30,199.8,560.7,9.7,470,9796,0.00,2.58,0.00,0.000,6,0.000,0.051,2766,2095,2061
$GC,10105,1.31,211.7,535.4,7.5,486,10118,0.00,0.00,10.70,1.219,6,0.000,0.000,2766,2095,2015
$GC,10415,1.36,251.3,514.2,6.5,501,10454,0.12,0.00,33.78,1.178,6,0.053,0.000,2803,2095,1853
$GC,10764,1.36,251.3,482.9,9.6,518,10768,0.00,2.58,0.00,0.000,4,0.000,0.054,2803,3503,1853
$GC,10880,1.36,251.3,470.8,10.2,523,10885,0.00,2.53,0.00,0.000,6,0.000,0.046,2803,2100,1853
$GC,11196,1.36,251.3,437.7,10.5,538,11200,0.00,2.58,0.00,0.000,4,0.000,0.053,2803,3503,1853
$GC,11380,1.36,251.3,418.8,9.7,546,11385,0.00,2.53,0.00,0.000,6,0.000,0.044,2803,2096,1853
$GC,11696,1.36,251.3,388.8,9.3,561,11701,0.00,2.55,0.00,0.000,4,0.000,0.052,2803,3502,1853
$GC,11836,1.36,251.3,374.6,9.6,567,11840,0.00,2.53,0.00,0.000,6,0.000,0.044,2803,2092,1854
$GC,12152,1.36,251.3,343.3,10.3,582,12156,0.00,2.55,0.00,0.000,4,0.000,0.051,2803,3504,1854
$GC,12309,1.36,251.3,326.0,12.1,589,12314,0.00,2.53,0.00,0.000,6,0.000,0.042,2803,2093,1854
$GC,12630,1.36,251.3,290.6,11.5,605,12634,0.00,2.58,0.00,0.000,4,0.000,0.051,2803,3506,1855
$GC,12707,1.36,251.3,281.5,11.8,608,12713,0.00,2.53,0.00,0.000,6,0.000,0.041,2803,2092,1855
$GC,13023,1.36,251.3,245.3,12.1,624,13027,0.00,2.58,0.00,0.000,4,0.000,0.051,2803,3507,1855
$GC,13123,1.36,251.3,231.7,13.2,628,13129,0.00,2.53,0.00,0.000,6,0.000,0.041,2803,2092,1855
$GC,13438,1.36,251.3,189.5,13.0,644,13442,0.00,2.58,0.00,0.000,4,0.000,0.051,2803,3510,1855
$GC,13510,1.36,251.3,181.0,12.7,647,13514,0.00,2.50,0.00,0.000,6,0.000,0.041,2803,2098,1855
$GC,13826,1.36,251.3,142.5,11.3,662,13830,0.00,2.55,0.00,0.000,4,0.000,0.049,2803,3505,1856
$GC,13933,1.36,251.3,128.2,14.3,667,13937,0.00,2.50,0.00,0.000,6,0.000,0.040,2803,2098,1856
$GC,14260,1.41,293.5,97.7,6.4,683,14302,0.00,2.60,34.92,0.878,4,0.000,0.048,2803,3506,1681
$GC,14365,1.56,413.5,91.7,3.4,687,14466,0.15,2.53,93.38,0.835,6,0.048,0.040,2849,2099,1191
$GC,14783,1.56,413.5,50.5,11.7,708,14784,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2099,1191
$STATE,15089,end climb,SURFACE_DEPTH_REACHED
$STATE,15089,begin surface coast
$FINISH,1.2,1.027435
$STATE,15113,end surface coast,CONTROL_FINISHED_OK
$STATE,15113,begin surface
$SM_CCo,15196,0.00,0.000,0,0,1190,414.07
$SM_GC,1.78,12.18,0.00,0.00,0.029,0.000,0.000,28,1890,1190,-11.27,-0.28,414.07
$IRIDIUM_FIX,6202.67,-1109.47,240497,030357
$TT8_MAMPS,0.026845
$HUMID,2061
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.1,999.0
$24V_AH,23.1,72.552
$10V_AH,10.1,35.147
$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,26.525,112.375,469.125,0.000,0.000,40.247,33.632,165.627,6.250,0.000,0.000,12.306,1367.309,11350.576,560.350,1802.639,520.437,33.371,1468.786,0.000,1763.348,0.000,39.785
$DEVICE_MAMPS,138.060,75.166,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,534.410,488.842,440.575,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37890,724
$CFSIZE,260165632,236560384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,290108,115855,6232.999,-1107.115,42,1.3,59,-10.8