version: 66.02
glider: 102
mission: 4
dive: 372
start: 1 30 108 17 29 23
data:
$ID,102
$MISSION,4
$DIVE,372
$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,-3
$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,-84518.719
$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,32
$R_STBD_OVSHOOT,25
$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
$GPS1,171757,6235.833,-1056.257,40,3.1,59,-10.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-62.9
$GPS2,172739,6235.910,-1056.226,11,1.0,11,-10.7
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.176,-0.159
$KALMAN_X,549584.6,513.2,595.4,-679654.4,2972.5
$KALMAN_Y,108888.0,232.2,53.1,7070.3,3631.4
$MHEAD_RNG_PITCHd_Wd,238.6,20462,-14.7,-8.000
$D_GRID,635
$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,23,-1.23,-145.6,0.0,0.0,0,106,0.00,0.00,-81.20,0.000,2,0.000,0.000,29,1876,3266
$GC,110,-1.23,-146.6,4.7,-4.7,4,132,11.70,2.62,-4.80,0.000,4,0.143,0.082,2223,499,3477
$GC,201,-1.23,-146.6,21.5,-11.2,8,205,0.00,2.47,0.00,0.000,6,0.000,0.040,2223,1909,3477
$GC,528,-1.23,-146.6,56.0,-10.8,24,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1912,3477
$GC,836,-1.23,-146.6,88.4,-10.3,39,841,0.00,2.50,0.00,0.000,4,0.000,0.048,2224,3298,3477
$GC,881,-1.23,-146.6,92.7,-9.2,41,885,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1903,3477
$GC,1202,-1.23,-146.6,125.5,-10.9,57,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1903,3477
$GC,1510,-1.23,-146.6,159.6,-11.3,72,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1903,3477
$GC,1820,-1.23,-146.6,191.8,-9.9,87,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1902,3477
$GC,2129,-1.23,-146.6,221.8,-10.0,102,2134,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3300,3477
$GC,2196,-1.23,-146.6,228.5,-9.4,105,2200,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1894,3477
$GC,2518,-1.23,-146.6,260.3,-10.4,121,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1894,3477
$GC,2827,-1.23,-146.6,291.7,-9.8,136,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3477
$GC,3136,-1.23,-146.6,323.2,-10.5,151,3141,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3307,3477
$GC,3209,-1.23,-146.6,330.6,-10.1,154,3213,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1899,3476
$GC,3524,-1.23,-146.6,361.0,-10.2,169,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3477
$GC,3834,-1.23,-146.6,392.3,-10.3,184,3838,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3298,3477
$GC,3883,-1.23,-146.6,397.5,-10.3,186,3888,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1900,3477
$GC,4199,-1.23,-146.6,429.1,-9.5,201,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3477
$GC,4508,-1.23,-146.6,457.9,-9.6,216,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3477
$GC,4818,-1.23,-146.6,488.0,-10.0,231,4823,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3304,3477
$GC,4896,-1.23,-146.6,496.7,-11.1,234,4902,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1900,3477
$GC,5212,-1.23,-146.6,528.1,-9.4,250,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3477
$GC,5522,-1.23,-146.6,557.5,-8.9,265,5526,0.00,2.55,0.00,0.000,4,0.000,0.052,2223,3299,3477
$GC,5594,-1.23,-146.6,564.7,-10.4,268,5598,0.00,2.53,0.00,0.000,6,0.000,0.047,2223,1897,3477
$GC,5909,-1.23,-146.6,596.6,-9.9,283,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1896,3476
$GC,6220,-1.23,-146.6,625.1,-8.8,298,6224,0.00,2.58,0.00,0.000,4,0.000,0.057,2223,3299,3476
$STATE,6328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6329,begin apogee
$GC,6337,-0.36,0.0,635.4,9.1,303,6465,0.88,0.00,124.68,1.203,6,0.082,0.000,2411,2098,2878
$STATE,6466,end apogee,CONTROL_FINISHED_OK
$STATE,6466,begin climb
$GC,6469,1.23,146.6,640.5,0.0,309,6601,1.60,2.67,122.60,1.168,4,0.054,0.061,2764,3486,2280
$GC,6631,1.28,188.1,637.0,6.4,317,6672,0.00,2.55,35.50,1.156,6,0.000,0.048,2765,2098,2111
$GC,6990,1.31,207.4,610.8,7.3,335,7012,0.00,2.65,17.15,1.176,4,0.000,0.058,2764,3493,2031
$GC,7103,1.31,207.4,601.3,8.4,340,7107,0.00,2.55,0.00,0.000,6,0.000,0.049,2764,2102,2031
$GC,7430,1.31,207.4,577.1,8.4,356,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2102,2030
$GC,7738,1.31,207.4,548.9,8.7,371,7743,0.00,2.55,0.00,0.000,4,0.000,0.056,2764,3494,2029
$GC,7925,1.31,207.4,532.0,9.0,379,7929,0.00,2.53,0.00,0.000,6,0.000,0.045,2765,2096,2029
$GC,8241,1.31,207.4,506.3,8.3,394,8245,0.00,2.58,0.00,0.000,4,0.000,0.054,2765,3499,2029
$GC,8302,1.31,207.4,501.0,8.3,397,8306,0.00,2.53,0.00,0.000,6,0.000,0.045,2765,2094,2029
$GC,8628,1.31,207.4,472.7,8.8,413,8633,0.00,2.55,0.00,0.000,4,0.000,0.054,2765,3495,2029
$GC,8695,1.31,207.4,466.4,9.4,416,8699,0.00,2.50,0.00,0.000,6,0.000,0.044,2764,2094,2029
$GC,9016,1.31,207.4,439.0,8.7,432,9020,0.00,2.58,0.00,0.000,4,0.000,0.054,2765,3499,2029
$GC,9083,1.31,207.4,432.7,9.4,435,9087,0.00,2.53,0.00,0.000,6,0.000,0.044,2764,2095,2029
$GC,9404,1.31,207.4,405.7,8.3,451,9408,0.00,2.55,0.00,0.000,4,0.000,0.053,2765,3495,2029
$GC,9465,1.31,207.4,400.2,8.7,454,9469,0.00,2.50,0.00,0.000,6,0.000,0.043,2765,2100,2029
$GC,9791,1.31,207.4,372.3,8.4,470,9796,0.00,2.55,0.00,0.000,4,0.000,0.051,2765,3496,2029
$GC,9853,1.31,207.4,366.8,9.2,473,9858,0.00,2.50,0.00,0.000,6,0.000,0.042,2765,2098,2029
$GC,10180,1.31,207.4,338.6,8.9,489,10184,0.00,2.55,0.00,0.000,4,0.000,0.051,2764,3497,2029
$GC,10224,1.31,207.4,334.3,10.0,491,10228,0.00,2.50,0.00,0.000,6,0.000,0.041,2765,2090,2029
$GC,10544,1.31,207.4,306.0,8.4,507,10548,0.00,2.55,0.00,0.000,4,0.000,0.051,2765,3495,2029
$GC,10617,1.31,208.9,300.2,7.9,510,10621,0.00,2.50,0.00,0.000,6,0.000,0.041,2765,2093,2029
$GC,10932,1.31,208.9,275.7,8.3,525,10937,0.00,2.55,0.00,0.000,4,0.000,0.052,2765,3495,2029
$GC,11010,1.31,208.9,268.8,8.6,528,11016,0.00,2.50,0.00,0.000,6,0.000,0.041,2765,2094,2029
$GC,11326,1.31,208.9,242.0,8.5,544,11327,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2094,2030
$GC,11635,1.31,208.9,215.3,8.7,559,11640,0.00,2.55,0.00,0.000,4,0.000,0.051,2765,3498,2030
$GC,11708,1.31,208.9,208.7,9.4,562,11712,0.00,2.50,0.00,0.000,6,0.000,0.041,2764,2097,2030
$GC,12023,1.31,208.9,181.8,8.6,577,12024,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2097,2030
$GC,12333,1.31,208.9,156.2,8.5,592,12337,0.00,2.55,0.00,0.000,4,0.000,0.051,2765,3502,2030
$GC,12410,1.31,208.9,148.9,9.3,595,12417,0.00,2.50,0.00,0.000,6,0.000,0.039,2765,2097,2030
$GC,12728,1.33,228.4,124.0,7.3,611,12747,0.00,0.00,17.42,0.927,6,0.000,0.000,2765,2097,1946
$GC,13057,1.35,241.4,99.8,7.5,627,13079,0.10,2.62,11.43,0.910,4,0.062,0.050,2795,3495,1893
$GC,13151,1.35,241.4,90.4,8.6,631,13156,0.00,2.50,0.00,0.000,6,0.000,0.038,2795,2095,1892
$GC,13473,1.35,241.4,58.1,9.4,647,13477,0.00,2.55,0.00,0.000,4,0.000,0.048,2794,3498,1893
$GC,13581,1.35,241.4,47.6,10.4,652,13585,0.00,2.50,0.00,0.000,6,0.000,0.039,2795,2095,1893
$GC,13907,1.35,241.4,15.7,9.9,668,13912,0.00,2.53,0.00,0.000,4,0.000,0.048,2795,3497,1893
$GC,13940,1.35,241.4,11.8,11.5,669,13947,0.00,2.47,0.00,0.000,6,0.000,0.038,2794,2098,1892
$STATE,14048,end climb,SURFACE_DEPTH_REACHED
$STATE,14048,begin surface coast
$FINISH,0.7,1.002544
$STATE,14069,end surface coast,CONTROL_FINISHED_OK
$STATE,14069,begin surface
$SM_CCo,14092,51.35,0.799,6,0,1655,300.00
$SM_GC,1.46,0.00,0.00,51.35,0.000,0.000,0.799,33,1889,1655,-11.33,-0.28,300.00
$IRIDIUM_FIX,6211.90,-1108.50,250497,171754
$TT8_MAMPS,0.026845
$HUMID,2054
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,23.2,73.678
$10V_AH,10.1,35.725
$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,26.325,121.775,328.775,51.350,0.000,77.052,85.387,234.621,5.750,0.000,0.000,12.656,1279.994,10749.206,531.574,1568.635,681.253,33.369,1329.193,0.000,1537.349,0.000,35.257
$DEVICE_MAMPS,142.662,82.069,1202.656,799.214,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,499.110,456.328,435.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34761,676
$CFSIZE,260165632,236138496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,6,0
$GPS,300108,212707,6233.920,-1054.834,51,2.0,51,-10.7