version: 66.02
glider: 102
mission: 4
dive: 366
start: 1 29 108 16 22 41
data:
$ID,102
$MISSION,4
$DIVE,366
$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,-84425.242
$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,31
$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
$GPS1,161532,6234.383,-1107.018,40,1.1,40,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-58.7
$GPS2,162057,6234.447,-1106.964,12,1.2,12,-10.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.122,-0.204
$KALMAN_X,534740.3,-906.5,579.6,-672835.8,3011.2
$KALMAN_Y,83735.7,661.2,1122.4,27982.4,807.0
$MHEAD_RNG_PITCHd_Wd,221.8,18487,-14.7,-8.000
$D_GRID,679
$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,-60.70,0.000,2,0.000,0.000,29,1876,2842
$GC,90,-1.23,-146.6,3.0,-3.1,3,132,11.57,2.62,-21.33,0.000,4,0.138,0.061,2225,3299,3477
$GC,385,-1.23,-146.6,36.5,-9.7,16,389,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1904,3477
$GC,706,-1.23,-146.6,67.3,-9.5,32,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1904,3477
$GC,1017,-1.23,-146.6,96.6,-9.8,47,1021,0.00,2.53,0.00,0.000,4,0.000,0.047,2225,3306,3477
$GC,1080,-1.23,-146.6,102.6,-9.0,50,1085,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1894,3477
$GC,1407,-1.23,-146.6,132.1,-8.6,66,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3478
$GC,1717,-1.23,-146.6,158.8,-8.4,81,1721,0.00,2.55,0.00,0.000,4,0.000,0.047,2225,3308,3477
$GC,1760,-1.23,-146.6,162.6,-8.7,83,1765,0.00,2.53,0.00,0.000,6,0.000,0.042,2225,1896,3477
$GC,2081,-1.23,-146.6,192.4,-9.0,99,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1896,3477
$GC,2391,-1.23,-146.6,222.2,-10.2,114,2395,0.00,2.55,0.00,0.000,4,0.000,0.047,2225,3312,3477
$GC,2441,-1.23,-146.6,227.4,-10.0,116,2446,0.00,2.53,0.00,0.000,6,0.000,0.042,2225,1897,3477
$GC,2757,-1.23,-146.6,258.8,-10.6,131,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1897,3477
$GC,3067,-1.23,-146.6,289.6,-9.9,146,3071,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3309,3477
$GC,3128,-1.23,-146.6,295.8,-10.1,149,3132,0.00,2.53,0.00,0.000,6,0.000,0.043,2225,1900,3476
$GC,3454,-1.23,-146.6,328.2,-9.8,165,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3477
$GC,3764,-1.23,-146.6,357.2,-9.0,180,3768,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3307,3477
$GC,3818,-1.23,-146.6,362.2,-9.0,182,3825,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1897,3477
$GC,4134,-1.23,-146.6,389.9,-8.8,198,4138,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3309,3477
$GC,4178,-1.23,-146.6,394.0,-9.1,200,4182,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1899,3477
$GC,4499,-1.23,-146.6,423.0,-9.1,216,4503,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3307,3477
$GC,4538,-1.23,-146.6,426.6,-8.9,218,4542,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1901,3477
$GC,4864,-1.23,-146.6,457.5,-9.4,234,4868,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3308,3477
$GC,4908,-1.23,-146.6,461.9,-9.5,236,4912,0.00,2.53,0.00,0.000,6,0.000,0.045,2225,1899,3477
$GC,5229,-1.23,-146.6,491.4,-9.2,252,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3477
$GC,5538,-1.23,-146.6,519.4,-9.0,267,5543,0.00,2.55,0.00,0.000,4,0.000,0.051,2225,3306,3477
$GC,5616,-1.23,-146.6,526.4,-8.6,270,5623,0.00,2.55,0.00,0.000,6,0.000,0.046,2225,1894,3477
$GC,5933,-1.23,-146.6,554.0,-9.2,286,5937,0.00,2.55,0.00,0.000,4,0.000,0.052,2225,3307,3477
$GC,6055,-1.23,-146.6,565.5,-9.3,291,6061,0.00,2.53,0.00,0.000,6,0.000,0.047,2225,1900,3477
$GC,6370,-1.23,-146.6,592.1,-8.7,307,6375,0.00,2.62,0.00,0.000,4,0.000,0.074,2225,493,3476
$GC,6426,-1.23,-146.6,597.2,-9.0,309,6432,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1910,3477
$GC,6741,-1.23,-146.6,624.5,-8.2,325,6749,0.00,2.55,0.00,0.000,4,0.000,0.058,2224,3304,3476
$GC,6904,-1.23,-146.6,637.9,-7.1,332,6908,0.00,2.55,0.00,0.000,6,0.000,0.052,2224,1903,3476
$GC,7230,-1.23,-146.6,663.7,-7.4,348,7235,0.00,2.55,0.00,0.000,4,0.000,0.059,2224,3299,3476
$GC,7280,-1.23,-146.6,668.2,-9.8,350,7284,0.00,2.58,0.00,0.000,6,0.000,0.054,2224,1894,3476
$STATE,7408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7408,begin apogee
$GC,7415,-0.36,0.0,680.1,9.3,356,7544,0.93,0.00,125.12,1.258,6,0.087,0.000,2418,2112,2878
$STATE,7544,end apogee,CONTROL_FINISHED_OK
$STATE,7544,begin climb
$GC,7547,1.23,146.6,682.8,0.0,362,7679,1.55,2.75,123.68,1.213,4,0.055,0.073,2761,693,2280
$GC,7937,1.35,247.0,681.2,4.2,380,8027,0.12,2.53,84.15,1.221,6,0.049,0.047,2797,2095,1870
$GC,8349,1.35,247.0,643.1,9.8,400,8353,0.00,2.70,0.00,0.000,4,0.000,0.077,2797,692,1870
$GC,8493,1.35,247.0,627.8,10.5,406,8499,0.00,2.53,0.00,0.000,6,0.000,0.048,2797,2100,1870
$GC,8809,1.35,247.0,597.7,9.2,422,8813,0.00,2.60,0.00,0.000,4,0.000,0.062,2797,3503,1869
$GC,8894,1.35,247.0,589.5,10.5,426,8899,0.00,2.58,0.00,0.000,6,0.000,0.053,2797,2099,1869
$GC,9220,1.35,247.0,555.9,10.8,442,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2098,1868
$GC,9530,1.35,247.0,524.1,10.0,457,9534,0.00,2.58,0.00,0.000,4,0.000,0.056,2797,3502,1867
$GC,9579,1.35,247.0,518.8,10.7,459,9583,0.00,2.55,0.00,0.000,6,0.000,0.048,2797,2091,1867
$GC,9894,1.35,247.0,486.0,10.5,474,9899,0.00,2.60,0.00,0.000,4,0.000,0.054,2797,3506,1867
$GC,9961,1.35,247.0,478.4,10.9,477,9966,0.00,2.55,0.00,0.000,6,0.000,0.047,2797,2098,1867
$GC,10282,1.35,247.0,444.2,10.4,493,10287,0.00,2.55,0.00,0.000,4,0.000,0.053,2797,3502,1867
$GC,10371,1.35,247.0,434.3,10.8,497,10376,0.00,2.53,0.00,0.000,6,0.000,0.045,2798,2094,1867
$GC,10693,1.35,247.0,400.5,10.6,513,10697,0.00,2.55,0.00,0.000,4,0.000,0.052,2797,3502,1867
$GC,10765,1.35,247.0,392.3,11.0,516,10769,0.00,2.50,0.00,0.000,6,0.000,0.044,2797,2099,1867
$GC,11085,1.35,247.0,359.1,10.2,532,11089,0.00,2.55,0.00,0.000,4,0.000,0.051,2797,3508,1867
$GC,11129,1.35,247.0,354.3,11.2,534,11134,0.00,2.53,0.00,0.000,6,0.000,0.042,2797,2097,1867
$GC,11449,1.35,247.0,321.5,10.1,550,11454,0.00,2.58,0.00,0.000,4,0.000,0.051,2798,3508,1868
$GC,11511,1.35,247.0,315.2,10.5,553,11516,0.00,2.53,0.00,0.000,6,0.000,0.042,2797,2089,1867
$GC,11838,1.35,247.0,283.9,9.8,569,11842,0.00,2.58,0.00,0.000,4,0.000,0.051,2797,3504,1868
$GC,11899,1.35,247.0,277.6,9.8,572,11904,0.00,2.53,0.00,0.000,6,0.000,0.041,2798,2093,1868
$GC,12226,1.35,247.0,246.5,9.3,588,12231,0.00,2.58,0.00,0.000,4,0.000,0.051,2798,3505,1869
$GC,12270,1.35,247.0,242.1,9.6,590,12275,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2099,1869
$GC,12592,1.35,247.0,210.3,10.1,606,12596,0.00,2.55,0.00,0.000,4,0.000,0.050,2797,3504,1869
$GC,12641,1.35,247.0,205.1,9.8,608,12646,0.00,2.50,0.00,0.000,6,0.000,0.040,2798,2098,1869
$GC,12957,1.35,247.0,174.8,9.4,623,12961,0.00,2.55,0.00,0.000,4,0.000,0.050,2798,3504,1870
$GC,13019,1.35,247.0,168.4,10.8,626,13023,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2100,1870
$GC,13346,1.35,247.0,136.2,11.1,642,13350,0.00,2.55,0.00,0.000,4,0.000,0.050,2798,3506,1870
$GC,13408,1.35,247.0,128.9,11.7,645,13412,0.00,2.53,0.00,0.000,6,0.000,0.041,2798,2092,1870
$GC,13734,1.35,247.0,88.7,13.0,661,13739,0.00,2.58,0.00,0.000,4,0.000,0.050,2798,3508,1870
$GC,13807,1.35,247.0,80.2,11.4,664,13811,0.00,2.50,0.00,0.000,6,0.000,0.039,2797,2098,1870
$GC,14123,1.35,247.0,39.3,14.1,679,14127,0.00,2.55,0.00,0.000,4,0.000,0.049,2798,3505,1871
$GC,14177,1.35,247.0,31.2,15.5,681,14184,0.00,2.50,0.00,0.000,6,0.000,0.040,2797,2098,1871
$STATE,14429,end climb,SURFACE_DEPTH_REACHED
$STATE,14429,begin surface coast
$FINISH,0.9,1.014301
$STATE,14452,end surface coast,CONTROL_FINISHED_OK
$STATE,14453,begin surface
$SM_CCo,14476,49.33,0.811,6,0,1655,300.00
$SM_GC,1.92,0.00,0.00,49.33,0.000,0.000,0.811,29,1877,1655,-11.34,-0.65,300.00
$IRIDIUM_FIX,6207.28,-1102.12,240497,121239
$TT8_MAMPS,0.026845
$HUMID,2072
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,999.0
$24V_AH,23.1,72.830
$10V_AH,10.1,35.292
$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,26.150,153.650,332.950,49.325,0.000,36.737,35.763,136.414,6.000,0.000,0.000,13.717,1347.116,10798.718,543.168,1746.880,500.036,33.377,1433.580,0.000,1710.081,0.000,38.165
$DEVICE_MAMPS,138.060,76.700,1257.880,811.486,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,508.956,469.747,423.450,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34796,695
$CFSIZE,260165632,236457984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,6,0
$GPS,290108,202631,6233.840,-1107.088,36,1.6,36,-10.8