version: 66.02
glider: 102
mission: 4
dive: 369
start: 1 30 108 4 33 53
data:
$ID,102
$MISSION,4
$DIVE,369
$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,-84474.352
$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,28
$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
$GPS1,042632,6234.685,-1106.318,40,1.0,40,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-61.8
$GPS2,043209,6234.745,-1106.358,13,1.0,13,-10.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.082,-0.223
$KALMAN_X,539362.6,-66.6,718.8,-677917.3,226.2
$KALMAN_Y,97197.2,-996.7,-514.4,18455.6,7448.0
$MHEAD_RNG_PITCHd_Wd,211.0,18853,-14.7,-8.000
$D_GRID,670
$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,21,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,86,0.00,0.00,-60.75,0.000,2,0.000,0.000,32,1887,2848
$GC,90,-1.23,-146.6,3.1,-2.8,3,132,11.62,2.62,-21.58,0.000,4,0.140,0.061,2224,3306,3477
$GC,291,-1.23,-146.6,24.1,-10.6,12,295,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1898,3477
$GC,617,-1.23,-146.6,53.3,-8.5,28,621,0.00,2.55,0.00,0.000,4,0.000,0.046,2223,3312,3477
$GC,666,-1.23,-146.6,58.3,-9.9,30,670,0.00,2.53,0.00,0.000,6,0.000,0.041,2223,1899,3477
$GC,982,-1.23,-146.6,91.8,-10.9,45,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3477
$GC,1291,-1.23,-146.6,127.1,-11.1,60,1296,0.00,2.55,0.00,0.000,4,0.000,0.046,2224,3313,3477
$GC,1324,-1.23,-146.6,131.0,-11.5,61,1331,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1899,3478
$GC,1640,-1.23,-146.6,165.2,-11.4,77,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3477
$GC,1949,-1.23,-146.6,199.5,-11.0,92,1954,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3311,3477
$GC,1994,-1.23,-146.6,204.6,-11.6,94,1998,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1899,3477
$GC,2320,-1.23,-146.6,238.8,-10.6,110,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3477
$GC,2629,-1.23,-146.6,270.9,-10.4,125,2634,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3313,3477
$GC,2679,-1.23,-146.6,276.2,-10.6,127,2684,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1901,3477
$GC,2995,-1.23,-146.6,308.7,-10.7,142,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3477
$GC,3304,-1.23,-146.6,340.8,-10.3,157,3308,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3308,3477
$GC,3343,-1.23,-146.6,344.9,-10.8,159,3348,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1902,3477
$GC,3670,-1.23,-146.6,376.9,-9.4,175,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1902,3477
$GC,3978,-1.23,-146.6,406.8,-9.5,190,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1902,3477
$GC,4288,-1.23,-146.6,436.2,-9.2,205,4292,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3313,3477
$GC,4332,-1.23,-146.6,440.3,-9.3,207,4336,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1899,3477
$GC,4652,-1.23,-146.6,469.3,-8.7,223,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3477
$GC,4962,-1.23,-146.6,497.0,-9.1,238,4966,0.00,2.58,0.00,0.000,4,0.000,0.050,2224,3314,3477
$GC,5017,-1.23,-146.6,501.7,-8.2,240,5023,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1893,3477
$GC,5333,-1.23,-146.6,529.9,-9.2,256,5337,0.00,2.58,0.00,0.000,4,0.000,0.051,2224,3308,3477
$GC,5382,-1.23,-146.6,534.9,-10.1,258,5386,0.00,2.55,0.00,0.000,6,0.000,0.046,2224,1896,3477
$GC,5698,-1.23,-146.6,567.4,-10.8,273,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1896,3477
$GC,6007,-1.23,-146.6,598.8,-9.5,288,6011,0.00,2.58,0.00,0.000,4,0.000,0.054,2223,3306,3477
$GC,6085,-1.23,-146.6,606.0,-8.9,291,6091,0.00,2.55,0.00,0.000,6,0.000,0.048,2223,1896,3477
$GC,6400,-1.23,-146.6,635.3,-9.0,307,6404,0.00,2.60,0.00,0.000,4,0.000,0.058,2224,3305,3477
$GC,6512,-1.23,-146.6,645.4,-8.8,312,6517,0.00,2.55,0.00,0.000,6,0.000,0.053,2224,1904,3477
$STATE,6810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6810,begin apogee
$GC,6817,-0.36,0.0,671.7,8.9,327,6945,0.93,0.00,124.85,1.253,6,0.085,0.000,2418,2107,2878
$STATE,6946,end apogee,CONTROL_FINISHED_OK
$STATE,6946,begin climb
$GC,6948,1.23,146.6,675.8,0.0,333,7080,1.55,2.75,123.25,1.206,4,0.059,0.074,2759,692,2280
$GC,7227,1.23,148.8,662.7,7.9,346,7236,0.00,2.53,3.28,1.058,6,0.000,0.047,2759,2094,2270
$GC,7559,1.28,191.2,640.4,6.4,362,7601,0.00,2.67,36.25,1.215,4,0.000,0.061,2759,3500,2097
$GC,7694,1.29,201.0,630.8,7.6,368,7708,0.00,2.58,9.00,1.194,6,0.000,0.051,2759,2098,2058
$GC,8024,1.29,201.0,605.0,8.6,384,8029,0.00,2.62,0.00,0.000,4,0.000,0.061,2759,3502,2057
$GC,8160,1.29,201.0,592.7,8.4,390,8165,0.00,2.58,0.00,0.000,6,0.000,0.052,2759,2099,2057
$GC,8482,1.29,201.0,563.8,9.4,406,8486,0.00,2.60,0.00,0.000,4,0.000,0.058,2758,3501,2055
$GC,8662,1.29,201.0,547.0,9.5,414,8667,0.00,2.55,0.00,0.000,6,0.000,0.049,2759,2098,2055
$GC,8983,1.31,212.4,521.9,7.6,430,8999,0.00,2.65,10.20,1.210,4,0.000,0.055,2759,3508,2010
$GC,9128,1.31,212.4,510.3,8.4,435,9134,0.00,2.55,0.00,0.000,6,0.000,0.047,2759,2100,2010
$GC,9444,1.32,223.9,487.3,7.6,451,9460,0.10,2.62,10.62,1.182,4,0.057,0.053,2791,3502,1964
$GC,9493,1.32,223.9,482.5,9.3,452,9498,0.00,2.55,0.00,0.000,6,0.000,0.046,2791,2097,1964
$GC,9809,1.32,223.9,452.7,9.9,467,9814,0.00,2.55,0.00,0.000,4,0.000,0.053,2791,3504,1964
$GC,9921,1.32,223.9,440.7,11.1,472,9925,0.00,2.55,0.00,0.000,6,0.000,0.045,2791,2090,1964
$GC,10242,1.32,223.9,410.0,9.4,488,10246,0.00,2.58,0.00,0.000,4,0.000,0.053,2791,3505,1964
$GC,10353,1.32,223.9,398.7,10.1,493,10357,0.00,2.50,0.00,0.000,6,0.000,0.044,2791,2099,1964
$GC,10679,1.32,223.9,367.8,9.9,509,10683,0.00,2.55,0.00,0.000,4,0.000,0.051,2791,3504,1965
$GC,10723,1.32,223.9,363.5,9.9,511,10727,0.00,2.53,0.00,0.000,6,0.000,0.042,2791,2095,1964
$GC,11043,1.32,223.9,333.1,9.5,527,11048,0.00,2.55,0.00,0.000,4,0.000,0.051,2791,3504,1965
$GC,11087,1.32,223.9,328.7,10.6,529,11091,0.00,2.53,0.00,0.000,6,0.000,0.042,2791,2095,1965
$GC,11408,1.32,223.9,298.5,9.5,545,11412,0.00,2.58,0.00,0.000,4,0.000,0.051,2791,3505,1965
$GC,11480,1.32,223.9,291.0,10.2,548,11484,0.00,2.50,0.00,0.000,6,0.000,0.042,2791,2096,1965
$GC,11795,1.32,223.9,260.3,9.6,563,11799,0.00,2.58,0.00,0.000,4,0.000,0.051,2791,3508,1965
$GC,11890,1.32,223.9,251.2,9.5,567,11894,0.00,2.53,0.00,0.000,6,0.000,0.041,2791,2092,1966
$GC,12205,1.32,223.9,223.0,8.9,582,12209,0.00,2.58,0.00,0.000,4,0.000,0.051,2792,3505,1966
$GC,12294,1.32,223.9,214.0,10.2,586,12298,0.00,2.50,0.00,0.000,6,0.000,0.041,2791,2100,1966
$GC,12614,1.32,223.9,182.7,9.7,602,12618,0.00,2.55,0.00,0.000,4,0.000,0.050,2791,3504,1967
$GC,12699,1.32,223.9,174.8,9.7,606,12703,0.00,2.50,0.00,0.000,6,0.000,0.041,2791,2094,1967
$GC,13026,1.32,223.9,144.5,9.4,622,13030,0.00,2.55,0.00,0.000,4,0.000,0.050,2791,3504,1967
$GC,13097,1.32,223.9,137.2,9.9,625,13102,0.00,2.50,0.00,0.000,6,0.000,0.040,2791,2096,1967
$GC,13415,1.32,223.9,105.1,10.3,640,13419,0.00,2.55,0.00,0.000,4,0.000,0.050,2791,3504,1967
$GC,13500,1.32,223.9,96.0,10.3,644,13504,0.00,2.50,0.00,0.000,6,0.000,0.040,2791,2099,1967
$GC,13826,1.32,223.9,64.6,9.9,660,13830,0.00,2.55,0.00,0.000,4,0.000,0.049,2791,3504,1968
$GC,13853,1.32,223.9,61.7,9.9,661,13857,0.00,2.50,0.00,0.000,6,0.000,0.039,2791,2099,1968
$GC,14169,1.32,223.9,32.6,10.0,676,14173,0.00,2.55,0.00,0.000,4,0.000,0.049,2791,3507,1968
$GC,14254,1.32,223.9,23.7,10.4,680,14258,0.00,2.50,0.00,0.000,6,0.000,0.039,2791,2098,1968
$STATE,14495,end climb,SURFACE_DEPTH_REACHED
$STATE,14495,begin surface coast
$FINISH,0.9,1.026815
$STATE,14519,end surface coast,CONTROL_FINISHED_OK
$STATE,14519,begin surface
$SM_CCo,14542,71.18,0.796,9,0,1654,300.00
$SM_GC,1.57,0.00,0.00,71.18,0.000,0.000,0.796,28,1879,1654,-11.35,-0.59,300.00
$IRIDIUM_FIX,6211.90,-1107.60,250497,000027
$TT8_MAMPS,0.027612
$HUMID,2045
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.1,73.251
$10V_AH,10.1,35.503
$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,26.100,148.875,317.450,71.175,0.000,35.388,42.623,142.348,5.750,0.000,0.000,14.802,1349.882,10899.587,560.771,1735.461,507.315,33.372,1441.488,0.000,1692.051,0.000,36.549
$DEVICE_MAMPS,140.361,74.399,1252.511,796.146,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,515.335,468.867,433.700,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34828,693
$CFSIZE,260165632,236302336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,9,0
$GPS,300108,083931,6234.562,-1106.098,36,1.1,41,-10.8