version: 66.02
glider: 102
mission: 4
dive: 365
start: 1 29 108 12 6 17
data:
$ID,102
$MISSION,4
$DIVE,365
$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,-84410.891
$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,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
$GPS1,115855,6232.999,-1107.115,42,1.3,59,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-57.8
$GPS2,120433,6233.108,-1107.020,10,1.9,10,-10.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.198,-0.132
$KALMAN_X,532812.5,-1765.5,-72.1,-669435.2,4589.4
$KALMAN_Y,76798.3,3185.1,683.8,30356.8,-552.5
$MHEAD_RNG_PITCHd_Wd,247.0,16179,-14.7,-8.000
$D_GRID,692
$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,25,-1.23,-146.6,0.0,0.0,0,127,0.00,0.00,-99.38,0.000,2,0.000,0.000,27,1886,3216
$GC,130,-1.23,-146.6,4.4,-3.3,5,153,11.60,2.62,-6.15,0.000,4,0.139,0.059,2221,3304,3477
$GC,295,-1.23,-146.6,31.0,-12.6,12,300,0.00,2.50,0.00,0.000,6,0.000,0.042,2221,1907,3477
$GC,617,-1.23,-146.6,65.9,-9.5,28,622,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3306,3478
$GC,684,-1.23,-146.6,72.4,-9.2,31,688,0.00,2.53,0.00,0.000,6,0.000,0.043,2221,1900,3477
$GC,1005,-1.23,-146.6,109.1,-11.8,47,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3477
$GC,1316,-1.23,-146.6,143.9,-10.9,62,1320,0.00,2.53,0.00,0.000,4,0.000,0.046,2221,3308,3477
$GC,1371,-1.23,-146.6,150.4,-11.0,64,1377,0.00,2.53,0.00,0.000,6,0.000,0.043,2221,1899,3477
$GC,1687,-1.23,-146.6,181.4,-9.8,80,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3477
$GC,1996,-1.23,-146.6,211.6,-9.7,95,2000,0.00,2.55,0.00,0.000,4,0.000,0.047,2221,3313,3477
$GC,2057,-1.23,-146.6,218.2,-10.6,98,2061,0.00,2.53,0.00,0.000,6,0.000,0.043,2221,1899,3477
$GC,2384,-1.23,-146.6,253.2,-10.2,114,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3477
$GC,2693,-1.23,-146.6,284.6,-9.8,129,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3477
$GC,3003,-1.23,-146.6,314.7,-9.3,144,3007,0.00,2.55,0.00,0.000,4,0.000,0.048,2221,3313,3477
$GC,3080,-1.23,-146.6,322.6,-10.0,147,3086,0.00,2.53,0.00,0.000,6,0.000,0.042,2221,1899,3477
$GC,3395,-1.23,-146.6,355.0,-10.2,163,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3477
$GC,3705,-1.23,-146.6,385.7,-9.4,178,3709,0.00,2.55,0.00,0.000,4,0.000,0.048,2221,3312,3477
$GC,3773,-1.23,-146.6,392.0,-9.2,181,3778,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1903,3477
$GC,4094,-1.23,-146.6,422.4,-9.1,197,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3477
$GC,4404,-1.23,-146.6,452.5,-9.9,212,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3477
$GC,4713,-1.23,-146.6,482.4,-9.4,227,4717,0.00,2.55,0.00,0.000,4,0.000,0.050,2221,3308,3477
$GC,4819,-1.23,-146.6,492.3,-9.1,232,4824,0.00,2.53,0.00,0.000,6,0.000,0.045,2221,1896,3477
$GC,5147,-1.23,-146.6,525.1,-10.9,248,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3477
$GC,5455,-1.23,-146.6,557.8,-10.2,263,5459,0.00,2.58,0.00,0.000,4,0.000,0.052,2221,3313,3477
$GC,5521,-1.23,-146.6,564.8,-10.0,266,5526,0.00,2.55,0.00,0.000,6,0.000,0.045,2221,1894,3477
$GC,5842,-1.23,-146.6,594.8,-8.9,282,5847,0.00,2.58,0.00,0.000,4,0.000,0.054,2221,3307,3476
$GC,6001,-1.23,-146.6,612.2,-11.2,289,6005,0.00,2.55,0.00,0.000,6,0.000,0.049,2221,1896,3477
$GC,6321,-1.23,-146.6,644.5,-9.5,305,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3477
$GC,6630,-1.23,-146.6,672.4,-8.5,320,6635,0.00,2.60,0.00,0.000,4,0.000,0.059,2221,3306,3477
$GC,6715,-1.23,-146.6,680.2,-8.2,324,6720,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,1902,3476
$GC,7042,-1.23,-146.6,684.1,0.1,340,7047,0.00,2.67,0.00,0.000,4,0.000,0.081,2221,494,3476
$STATE,7134,end dive,NO_VERTICAL_VELOCITY
$STATE,7134,begin apogee
$GC,7144,-0.36,0.0,684.0,0.0,344,7276,0.88,0.00,125.53,1.258,6,0.061,0.000,2419,2100,2877
$STATE,7276,end apogee,CONTROL_FINISHED_OK
$STATE,7276,begin climb
$GC,7279,1.23,146.6,683.7,0.0,351,7411,1.50,2.72,123.45,1.216,4,0.038,0.071,2768,691,2280
$GC,7669,1.31,215.1,673.2,5.4,369,7732,0.00,2.55,57.70,1.223,6,0.000,0.048,2769,2105,2001
$GC,8042,1.31,215.1,643.3,8.1,387,8046,0.00,2.70,0.00,0.000,4,0.000,0.077,2768,692,2001
$GC,8104,1.31,215.1,637.6,9.7,390,8108,0.00,2.55,0.00,0.000,6,0.000,0.048,2768,2104,2001
$GC,8431,1.31,215.1,606.9,9.3,406,8435,0.00,2.60,0.00,0.000,4,0.000,0.063,2768,3501,2000
$GC,8497,1.31,215.1,600.1,9.6,409,8501,0.00,2.58,0.00,0.000,6,0.000,0.053,2768,2094,1999
$GC,8818,1.31,215.1,568.9,9.6,425,8822,0.00,2.62,0.00,0.000,4,0.000,0.060,2768,3503,1998
$GC,8906,1.31,215.1,560.0,9.7,429,8910,0.00,2.55,0.00,0.000,6,0.000,0.050,2768,2099,1998
$GC,9228,1.31,215.1,529.3,9.7,445,9232,0.00,2.58,0.00,0.000,4,0.000,0.056,2768,3502,1997
$GC,9417,1.31,215.1,511.3,8.8,453,9424,0.00,2.53,0.00,0.000,6,0.000,0.047,2769,2097,1997
$GC,9733,1.31,215.1,484.4,8.4,469,9737,0.00,2.58,0.00,0.000,4,0.000,0.055,2768,3503,1997
$GC,9810,1.31,215.1,477.0,9.5,472,9816,0.00,2.55,0.00,0.000,6,0.000,0.046,2768,2093,1997
$GC,10126,1.31,215.1,447.7,9.7,488,10127,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2093,1997
$GC,10435,1.31,215.1,418.3,9.5,503,10439,0.00,2.58,0.00,0.000,4,0.000,0.054,2768,3508,1997
$GC,10558,1.31,215.1,405.9,10.1,508,10564,0.00,2.53,0.00,0.000,6,0.000,0.044,2768,2100,1997
$GC,10873,1.31,215.1,377.0,8.9,524,10877,0.00,2.58,0.00,0.000,4,0.000,0.052,2769,3508,1998
$GC,10951,1.31,215.1,369.7,9.3,527,10957,0.00,2.53,0.00,0.000,6,0.000,0.043,2768,2095,1998
$GC,11266,1.31,215.1,342.6,8.4,543,11267,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2094,1998
$GC,11575,1.31,215.1,316.2,8.5,558,11579,0.00,2.58,0.00,0.000,4,0.000,0.051,2768,3507,1998
$GC,11659,1.31,215.1,308.5,9.1,562,11664,0.00,2.53,0.00,0.000,6,0.000,0.041,2769,2088,1998
$GC,11985,1.31,215.1,280.0,8.7,578,11987,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2088,1998
$GC,12295,1.31,215.1,253.3,8.7,593,12299,0.00,2.58,0.00,0.000,4,0.000,0.051,2769,3504,2000
$GC,12384,1.31,215.1,244.8,9.1,597,12388,0.00,2.50,0.00,0.000,6,0.000,0.040,2768,2096,1999
$GC,12704,1.31,215.1,220.1,8.6,613,12708,0.00,2.58,0.00,0.000,4,0.000,0.051,2768,3510,1999
$GC,12781,1.31,215.1,212.6,8.8,616,12788,0.00,2.53,0.00,0.000,6,0.000,0.040,2768,2088,2000
$GC,13097,1.41,291.3,190.5,5.1,632,13165,0.15,2.65,61.25,0.933,4,0.049,0.048,2811,3504,1690
$GC,13217,1.41,291.3,179.5,9.6,637,13223,0.00,2.53,0.00,0.000,6,0.000,0.040,2812,2100,1689
$GC,13533,1.41,291.3,150.6,10.9,653,13534,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2100,1689
$GC,13842,1.41,291.3,116.0,11.1,668,13846,0.00,2.55,0.00,0.000,4,0.000,0.048,2812,3504,1690
$GC,13886,1.41,291.3,110.5,12.4,670,13890,0.00,2.50,0.00,0.000,6,0.000,0.039,2812,2098,1690
$GC,14207,1.41,291.3,75.2,10.5,686,14208,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2099,1690
$GC,14516,1.41,291.3,39.0,11.8,701,14520,0.00,2.55,0.00,0.000,4,0.000,0.048,2812,3505,1690
$GC,14588,1.41,291.3,28.9,13.4,704,14592,0.00,2.50,0.00,0.000,6,0.000,0.039,2812,2100,1690
$STATE,14818,end climb,SURFACE_DEPTH_REACHED
$STATE,14819,begin surface coast
$FINISH,0.9,1.014615
$STATE,14840,end surface coast,CONTROL_FINISHED_OK
$STATE,14841,begin surface
$SM_CCo,14864,8.10,0.870,1,0,1655,300.00
$SM_GC,1.94,0.00,0.00,8.10,0.000,0.000,0.870,30,1878,1655,-11.34,-0.62,300.00
$IRIDIUM_FIX,6207.28,-1106.70,240497,070713
$TT8_MAMPS,0.026845
$HUMID,2084
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.0,999.0
$24V_AH,23.1,72.690
$10V_AH,10.1,35.220
$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,26.125,128.750,367.925,8.100,0.000,31.755,47.784,144.738,6.000,0.000,0.000,12.323,1356.775,11140.441,527.304,1734.483,511.965,33.377,1397.836,0.000,1700.098,0.000,38.155
$DEVICE_MAMPS,138.827,81.302,1257.880,869.778,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,527.578,483.606,420.067,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34944,716
$CFSIZE,260165632,236515328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,290108,161532,6234.383,-1107.018,40,1.1,40,-10.8