version: 66.02
glider: 102
mission: 4
dive: 370
start: 1 30 108 8 47 10
data:
$ID,102
$MISSION,4
$DIVE,370
$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,-84490.445
$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,40
$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
$GPS1,083931,6234.562,-1106.098,36,1.1,41,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-61.2
$GPS2,084526,6234.605,-1106.143,14,1.8,14,-10.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.014,-0.237
$KALMAN_X,542901.8,-921.5,-347.0,-679347.9,3944.5
$KALMAN_Y,99684.4,248.1,-948.6,14876.1,6800.1
$MHEAD_RNG_PITCHd_Wd,187.4,18552,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.23,-146.6,0.0,0.0,0,88,0.00,0.00,-61.05,0.000,2,0.000,0.000,28,1878,2836
$GC,92,-1.23,-146.6,3.2,-3.4,3,134,11.65,2.65,-20.90,0.000,4,0.140,0.062,2222,3304,3477
$GC,265,-1.23,-146.6,22.0,-10.0,10,271,0.00,2.50,0.00,0.000,6,0.000,0.043,2221,1912,3477
$GC,580,-1.23,-146.6,56.3,-11.0,26,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1912,3477
$GC,889,-1.23,-146.6,83.1,-10.3,41,894,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3308,3477
$GC,917,-1.23,-146.6,86.9,-13.4,42,922,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1902,3477
$GC,1234,-1.23,-146.6,124.5,-10.5,57,1239,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3307,3477
$GC,1274,-1.23,-146.6,128.4,-9.7,59,1279,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1898,3477
$GC,1601,-1.23,-146.6,162.4,-12.0,75,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3477
$GC,1910,-1.23,-146.6,197.4,-11.2,90,1914,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3312,3477
$GC,1942,-1.23,-146.6,201.1,-11.5,91,1948,0.00,2.53,0.00,0.000,6,0.000,0.042,2222,1897,3477
$GC,2258,-1.23,-146.6,235.7,-10.5,107,2262,0.00,2.55,0.00,0.000,4,0.000,0.048,2221,3312,3477
$GC,2284,-1.23,-146.6,238.7,-11.2,108,2289,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1902,3477
$GC,2600,-1.23,-146.6,271.4,-10.3,123,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1902,3477
$GC,2910,-1.23,-146.6,303.4,-10.4,138,2914,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3312,3477
$GC,2953,-1.23,-146.6,308.4,-10.5,140,2958,0.00,2.55,0.00,0.000,6,0.000,0.044,2222,1895,3477
$GC,3275,-1.23,-146.6,341.6,-10.1,156,3279,0.00,2.55,0.00,0.000,4,0.000,0.049,2222,3307,3477
$GC,3319,-1.23,-146.6,346.1,-9.6,158,3323,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1896,3477
$GC,3640,-1.23,-146.6,376.7,-9.3,174,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1896,3477
$GC,3949,-1.23,-146.6,404.9,-9.2,189,3953,0.00,2.55,0.00,0.000,4,0.000,0.049,2222,3307,3477
$GC,4015,-1.23,-146.6,411.3,-9.7,192,4019,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1899,3477
$GC,4335,-1.23,-146.6,441.5,-9.5,208,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3477
$GC,4645,-1.23,-146.6,471.9,-10.1,223,4649,0.00,2.55,0.00,0.000,4,0.000,0.050,2222,3311,3477
$GC,4729,-1.23,-146.6,480.4,-9.8,227,4733,0.00,2.55,0.00,0.000,6,0.000,0.046,2222,1896,3477
$GC,5055,-1.23,-146.6,511.4,-9.1,243,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1896,3477
$GC,5365,-1.23,-146.6,538.5,-8.9,258,5369,0.00,2.62,0.00,0.000,4,0.000,0.074,2222,498,3477
$GC,5404,-1.23,-146.6,542.3,-9.9,260,5408,0.00,2.47,0.00,0.000,6,0.000,0.043,2222,1910,3477
$GC,5730,-1.23,-146.6,570.1,-8.6,276,5734,0.00,2.50,0.00,0.000,4,0.000,0.054,2222,3300,3477
$GC,5815,-1.23,-146.6,577.7,-8.6,280,5819,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1901,3476
$GC,6142,-1.23,-146.6,608.4,-8.4,296,6146,0.00,2.55,0.00,0.000,4,0.000,0.055,2222,3297,3477
$GC,6276,-1.23,-146.6,620.3,-10.1,302,6280,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1898,3476
$GC,6596,-1.23,-146.6,649.7,-8.9,318,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3477
$STATE,6841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6841,begin apogee
$GC,6848,-0.36,0.0,671.4,8.5,330,6976,0.93,0.00,125.07,1.241,6,0.084,0.000,2416,2100,2878
$STATE,6977,end apogee,CONTROL_FINISHED_OK
$STATE,6977,begin climb
$GC,6980,1.23,146.6,673.0,0.0,336,7112,1.55,2.65,123.28,1.200,4,0.048,0.061,2764,3495,2280
$GC,7235,1.23,146.6,659.9,8.1,348,7239,0.00,2.55,0.00,0.000,6,0.000,0.048,2765,2097,2280
$GC,7556,1.27,176.8,637.3,6.9,364,7587,0.00,2.67,26.15,1.225,4,0.000,0.059,2765,3497,2156
$GC,7661,1.28,186.9,629.4,7.6,369,7676,0.00,2.55,9.40,1.203,6,0.000,0.049,2765,2101,2116
$GC,7993,1.28,186.9,604.1,8.6,385,7997,0.00,2.60,0.00,0.000,4,0.000,0.059,2765,3497,2115
$GC,8036,1.28,186.9,600.1,9.1,387,8041,0.00,2.55,0.00,0.000,6,0.000,0.050,2764,2096,2116
$GC,8358,1.30,203.0,574.2,7.4,403,8379,0.00,2.65,14.12,1.228,4,0.000,0.059,2765,3496,2050
$GC,8598,1.30,203.0,552.9,9.5,413,8604,0.00,2.53,0.00,0.000,6,0.000,0.048,2765,2102,2049
$GC,8914,1.30,207.0,527.2,7.8,429,8923,0.00,2.70,4.55,1.151,4,0.000,0.074,2765,692,2034
$GC,8935,1.30,207.0,525.4,8.5,430,8939,0.00,2.53,0.00,0.000,6,0.000,0.043,2765,2097,2034
$GC,9256,1.32,217.5,500.6,7.6,446,9270,0.00,2.60,9.70,1.180,4,0.000,0.056,2765,3499,1992
$GC,9388,1.32,217.5,488.3,10.3,451,9393,0.00,2.55,0.00,0.000,6,0.000,0.045,2765,2094,1991
$GC,9709,1.32,217.5,459.8,8.8,467,9713,0.00,2.58,0.00,0.000,4,0.000,0.054,2765,3501,1991
$GC,9775,1.32,217.5,453.9,9.0,470,9779,0.00,2.53,0.00,0.000,6,0.000,0.044,2765,2101,1991
$GC,10097,1.34,238.9,429.8,7.2,486,10118,0.10,0.00,19.10,1.120,6,0.061,0.000,2795,2101,1903
$GC,10425,1.34,238.9,399.8,9.7,502,10429,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3502,1902
$GC,10496,1.34,238.9,392.7,9.9,505,10501,0.00,2.53,0.00,0.000,6,0.000,0.043,2795,2100,1902
$GC,10812,1.34,238.9,364.1,9.2,520,10817,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3508,1902
$GC,10896,1.34,238.9,356.3,9.4,524,10901,0.00,2.55,0.00,0.000,6,0.000,0.043,2795,2094,1903
$GC,11223,1.34,238.9,327.4,9.1,540,11228,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3502,1903
$GC,11279,1.34,238.9,322.0,9.7,542,11285,0.00,2.50,0.00,0.000,6,0.000,0.043,2795,2099,1903
$GC,11594,1.34,238.9,292.1,9.3,558,11598,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3504,1904
$GC,11689,1.34,238.9,282.6,9.9,562,11693,0.00,2.53,0.00,0.000,6,0.000,0.041,2795,2092,1904
$GC,12004,1.34,238.9,253.4,9.2,577,12008,0.00,2.58,0.00,0.000,4,0.000,0.050,2795,3503,1904
$GC,12043,1.34,238.9,249.5,9.6,579,12047,0.00,2.53,0.00,0.000,6,0.000,0.041,2795,2093,1904
$GC,12369,1.34,238.9,217.3,9.9,595,12374,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3505,1904
$GC,12426,1.34,238.9,211.4,10.4,597,12432,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2098,1904
$GC,12742,1.34,238.9,181.4,9.1,613,12746,0.00,2.55,0.00,0.000,4,0.000,0.049,2795,3504,1904
$GC,12837,1.34,238.9,172.0,10.6,617,12841,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2098,1904
$GC,13152,1.34,238.9,139.3,10.2,632,13157,0.00,2.55,0.00,0.000,4,0.000,0.050,2795,3504,1904
$GC,13264,1.34,238.9,127.3,10.3,637,13269,0.00,2.50,0.00,0.000,6,0.000,0.040,2795,2096,1904
$GC,13586,1.34,238.9,97.8,9.4,653,13590,0.00,2.55,0.00,0.000,4,0.000,0.049,2795,3502,1904
$GC,13641,1.34,238.9,92.6,9.1,655,13648,0.00,2.53,0.00,0.000,6,0.000,0.040,2795,2101,1905
$GC,13957,1.34,238.9,62.6,8.7,671,13962,0.00,2.55,0.00,0.000,4,0.000,0.049,2795,3506,1905
$GC,14103,1.34,238.9,47.8,10.4,677,14109,0.00,2.50,0.00,0.000,6,0.000,0.040,2795,2098,1905
$GC,14418,1.34,238.9,17.4,9.0,693,14423,0.00,2.53,0.00,0.000,4,0.000,0.050,2795,3502,1905
$GC,14491,1.39,278.7,12.4,6.5,696,14530,0.00,2.47,32.20,0.825,6,0.000,0.039,2795,2096,1741
$STATE,14603,end climb,SURFACE_DEPTH_REACHED
$STATE,14604,begin surface coast
$FINISH,0.9,1.013511
$STATE,14625,end surface coast,CONTROL_FINISHED_OK
$STATE,14626,begin surface
$SM_CCo,14648,19.40,0.811,2,0,1655,300.00
$SM_GC,1.85,0.00,0.00,19.40,0.000,0.000,0.811,32,1885,1655,-11.33,-0.42,300.00
$IRIDIUM_FIX,6207.28,-1106.70,250497,040408
$TT8_MAMPS,0.027612
$HUMID,2067
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,23.1,73.390
$10V_AH,10.1,35.576
$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,26.350,153.625,363.575,19.400,0.000,40.133,39.748,150.001,5.750,0.000,0.000,15.460,1360.492,10928.522,524.933,1741.761,533.673,33.369,1417.053,0.000,1704.597,0.000,36.542
$DEVICE_MAMPS,139.594,74.399,1241.006,810.719,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,519.038,474.896,442.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34956,703
$CFSIZE,260165632,236240896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
$GPS,300108,125302,6235.501,-1102.135,35,1.6,35,-10.7