version: 66.02
glider: 102
mission: 4
dive: 368
start: 1 30 108 0 41 59
data:
$ID,102
$MISSION,4
$DIVE,368
$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,-84458.922
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,003437,6234.346,-1105.221,25,1.4,25,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-57.9
$GPS2,004015,6234.410,-1105.176,13,1.5,13,-10.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.198,-0.132
$KALMAN_X,536861.5,982.6,-111.3,-674562.5,1286.4
$KALMAN_Y,95596.2,-2194.5,-380.9,20463.8,10048.3
$MHEAD_RNG_PITCHd_Wd,247.1,17984,-14.7,-8.000
$D_GRID,673
$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,-146.4,0.0,0.0,0,88,0.00,0.00,-61.05,0.000,2,0.000,0.000,31,1893,2864
$GC,92,-1.23,-146.6,3.2,-3.5,3,130,11.73,2.62,-20.25,0.000,4,0.140,0.059,2224,3305,3476
$GC,337,-1.23,-146.6,30.8,-14.5,14,341,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1897,3477
$GC,664,-1.23,-146.6,68.5,-11.1,30,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3476
$GC,974,-1.23,-146.6,94.4,-9.4,45,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,1285,-1.23,-146.6,126.8,-9.6,60,1289,0.00,2.55,0.00,0.000,4,0.000,0.046,2224,3311,3476
$GC,1347,-1.23,-146.6,133.1,-10.6,63,1351,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1894,3477
$GC,1673,-1.23,-146.6,166.9,-10.5,79,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3477
$GC,1983,-1.23,-146.6,200.3,-10.6,94,1987,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3308,3477
$GC,2038,-1.23,-146.6,206.0,-9.9,96,2044,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1898,3477
$GC,2354,-1.23,-146.6,238.7,-10.7,112,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,2663,-1.23,-146.6,271.9,-10.8,127,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,2972,-1.23,-146.6,304.6,-10.8,142,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3476
$GC,3282,-1.23,-146.6,337.4,-10.3,157,3286,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3308,3477
$GC,3359,-1.23,-146.6,345.5,-10.2,160,3366,0.00,2.55,0.00,0.000,6,0.000,0.043,2224,1884,3477
$GC,3675,-1.23,-146.6,377.3,-10.0,176,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1884,3477
$GC,3984,-1.23,-146.6,407.2,-9.7,191,3989,0.00,2.58,0.00,0.000,4,0.000,0.049,2224,3309,3477
$GC,4073,-1.23,-146.6,416.0,-10.0,195,4078,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1902,3477
$GC,4395,-1.23,-146.6,448.4,-10.3,211,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1902,3477
$GC,4704,-1.23,-146.6,478.7,-9.6,226,4708,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3309,3477
$GC,4821,-1.23,-146.6,490.3,-9.8,231,4826,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1900,3476
$GC,5143,-1.23,-146.6,521.8,-10.0,247,5147,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3308,3476
$GC,5209,-1.23,-146.6,528.6,-10.1,250,5213,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1899,3477
$GC,5531,-1.23,-146.6,561.4,-9.9,266,5535,0.00,2.55,0.00,0.000,4,0.000,0.052,2224,3307,3477
$GC,5621,-1.23,-146.6,570.5,-10.5,270,5626,0.00,2.55,0.00,0.000,6,0.000,0.046,2224,1893,3476
$GC,5943,-1.23,-146.6,603.8,-10.6,286,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1892,3476
$GC,6252,-1.23,-146.6,633.0,-8.4,301,6257,0.00,2.60,0.00,0.000,4,0.000,0.058,2224,3308,3476
$GC,6325,-1.23,-146.6,639.8,-10.2,304,6329,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1896,3476
$GC,6640,-1.23,-146.6,666.0,-8.0,319,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3476
$STATE,6720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6720,begin apogee
$GC,6727,-0.36,0.0,673.0,8.5,323,6856,0.93,0.00,125.43,1.240,6,0.085,0.000,2417,2114,2878
$STATE,6857,end apogee,CONTROL_FINISHED_OK
$STATE,6857,begin climb
$GC,6859,1.23,146.6,674.1,0.0,329,6991,1.55,2.75,123.20,1.204,4,0.056,0.074,2760,694,2280
$GC,7189,1.23,146.6,657.1,8.0,344,7194,0.00,2.53,0.00,0.000,6,0.000,0.047,2760,2092,2280
$GC,7505,1.25,162.2,634.5,7.4,359,7526,0.00,2.67,14.12,1.218,4,0.000,0.062,2760,3504,2215
$GC,7757,1.28,187.0,614.6,7.1,370,7783,0.00,2.58,21.55,1.219,6,0.000,0.052,2760,2102,2116
$GC,8099,1.39,279.5,593.6,4.5,387,8183,0.17,2.70,77.12,1.204,4,0.048,0.059,2809,3507,1737
$GC,8217,1.39,279.5,585.1,9.0,392,8221,0.00,2.62,0.00,0.000,6,0.000,0.052,2809,2095,1737
$GC,8532,1.39,279.5,554.3,10.5,407,8536,0.00,2.60,0.00,0.000,4,0.000,0.057,2809,3508,1737
$GC,8643,1.39,279.5,542.0,11.2,412,8648,0.00,2.58,0.00,0.000,6,0.000,0.050,2810,2100,1737
$GC,8964,1.39,279.5,506.0,10.9,428,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2100,1737
$GC,9274,1.39,279.5,470.3,11.6,443,9278,0.00,2.58,0.00,0.000,4,0.000,0.053,2809,3504,1736
$GC,9363,1.39,279.5,459.3,12.4,447,9367,0.00,2.55,0.00,0.000,6,0.000,0.045,2810,2090,1737
$GC,9683,1.39,279.5,422.2,12.2,463,9687,0.00,2.60,0.00,0.000,4,0.000,0.051,2810,3506,1736
$GC,9732,1.39,279.5,415.6,13.3,465,9736,0.00,2.55,0.00,0.000,6,0.000,0.044,2809,2096,1736
$GC,10048,1.39,279.5,378.7,11.4,480,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2096,1736
$GC,10357,1.39,279.5,346.5,10.3,495,10361,0.00,2.58,0.00,0.000,4,0.000,0.050,2810,3507,1736
$GC,10413,1.39,279.5,340.1,12.0,497,10419,0.00,2.53,0.00,0.000,6,0.000,0.042,2810,2098,1737
$GC,10729,1.39,279.5,305.0,11.2,513,10730,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2098,1737
$GC,11038,1.39,279.5,270.4,11.1,528,11042,0.00,2.58,0.00,0.000,4,0.000,0.051,2810,3507,1737
$GC,11081,1.39,279.5,265.3,11.0,530,11086,0.00,2.53,0.00,0.000,6,0.000,0.041,2809,2097,1738
$GC,11404,1.39,279.5,231.8,9.6,546,11408,0.00,2.58,0.00,0.000,4,0.000,0.050,2810,3511,1737
$GC,11453,1.39,279.5,226.7,10.1,548,11457,0.00,2.53,0.00,0.000,6,0.000,0.041,2809,2092,1738
$GC,11768,1.39,279.5,187.8,12.6,563,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2092,1738
$GC,12078,1.39,279.5,150.3,12.3,578,12082,0.00,2.58,0.00,0.000,4,0.000,0.049,2810,3507,1738
$GC,12155,1.39,279.5,140.3,12.2,581,12162,0.00,2.53,0.00,0.000,6,0.000,0.040,2810,2091,1738
$GC,12473,1.39,279.5,104.6,11.3,597,12474,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2091,1739
$GC,12781,1.39,279.5,67.0,13.3,612,12785,0.00,2.58,0.00,0.000,4,0.000,0.048,2809,3508,1739
$GC,12881,1.39,279.5,52.9,13.5,616,12888,0.00,2.53,0.00,0.000,6,0.000,0.039,2810,2093,1739
$GC,13198,1.39,279.5,13.9,13.5,632,13199,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2093,1739
$STATE,13319,end climb,SURFACE_DEPTH_REACHED
$STATE,13319,begin surface coast
$FINISH,1.0,1.005509
$STATE,13342,end surface coast,CONTROL_FINISHED_OK
$STATE,13342,begin surface
$SM_CCo,13365,19.48,0.838,2,0,1654,300.00
$SM_GC,1.95,0.00,0.00,19.48,0.000,0.000,0.838,32,1889,1654,-11.33,-0.31,300.00
$IRIDIUM_FIX,6211.90,-1103.02,240497,202019
$TT8_MAMPS,0.026845
$HUMID,2088
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,23.2,73.113
$10V_AH,10.1,35.430
$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,26.325,103.400,361.425,19.475,0.000,39.831,36.598,144.597,5.750,0.000,0.000,15.184,1213.344,10071.668,486.472,1531.452,485.101,33.372,1261.946,0.000,1499.206,0.000,36.538
$DEVICE_MAMPS,139.594,73.632,1240.239,837.564,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.881,430.736,399.446,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31693,639
$CFSIZE,260165632,236367872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,8,2,0
$GPS,300108,042632,6234.685,-1106.318,40,1.0,40,-10.8