version: 66.02
glider: 102
mission: 4
dive: 373
start: 1 30 108 21 34 45
data:
$ID,102
$MISSION,4
$DIVE,373
$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,-84553.203
$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,30
$R_STBD_OVSHOOT,33
$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
$GPS1,212707,6233.920,-1054.834,51,2.0,51,-10.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-64.8
$GPS2,213304,6233.899,-1054.743,12,2.2,31,-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,553852.1,1177.9,-218.7,-682467.9,3699.9
$KALMAN_Y,110414.1,-1048.2,-1449.2,4643.5,5608.2
$MHEAD_RNG_PITCHd_Wd,238.6,17086,-14.7,-8.000
$D_GRID,646
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-61.33,0.000,2,0.000,0.000,32,1888,2806
$GC,90,-1.23,-146.6,3.1,-3.8,3,132,11.62,2.58,-23.42,0.000,4,0.140,0.061,2223,3297,3477
$GC,385,-1.23,-146.6,33.2,-9.7,16,389,0.00,2.50,0.00,0.000,6,0.000,0.042,2223,1908,3477
$GC,706,-1.23,-146.6,66.9,-10.3,32,710,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3305,3477
$GC,840,-1.23,-146.6,80.1,-9.5,38,844,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1898,3477
$GC,1160,-1.23,-146.6,112.2,-10.5,54,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3477
$GC,1471,-1.23,-146.6,144.8,-10.5,69,1475,0.00,2.53,0.00,0.000,4,0.000,0.046,2223,3301,3477
$GC,1549,-1.23,-146.6,153.0,-10.2,72,1555,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1900,3477
$GC,1864,-1.23,-146.6,186.8,-10.7,88,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3477
$GC,2173,-1.23,-146.6,220.0,-10.8,103,2178,0.00,2.53,0.00,0.000,4,0.000,0.046,2223,3303,3478
$GC,2252,-1.23,-146.6,228.5,-10.6,106,2258,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1901,3477
$GC,2567,-1.23,-146.6,260.2,-9.9,122,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3477
$GC,2877,-1.23,-146.6,290.6,-9.9,137,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3477
$GC,3185,-1.23,-146.6,321.5,-10.1,152,3190,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3301,3477
$GC,3258,-1.23,-146.6,328.6,-10.1,155,3262,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1903,3477
$GC,3574,-1.23,-146.6,359.9,-9.9,170,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1903,3477
$GC,3882,-1.23,-146.6,390.6,-9.9,185,3887,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3301,3477
$GC,3944,-1.23,-146.6,396.8,-9.7,188,3949,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1896,3477
$GC,4271,-1.23,-146.6,429.3,-10.0,204,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1896,3477
$GC,4580,-1.23,-146.6,460.4,-10.0,219,4584,0.00,2.53,0.00,0.000,4,0.000,0.049,2223,3298,3477
$GC,4646,-1.23,-146.6,467.3,-10.2,222,4650,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1901,3477
$GC,4967,-1.23,-146.6,499.5,-10.1,238,4974,0.00,2.53,0.00,0.000,4,0.000,0.050,2223,3299,3477
$GC,5014,-1.23,-146.6,504.6,-10.3,240,5019,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1896,3477
$GC,5342,-1.23,-146.6,537.8,-10.1,256,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1896,3477
$GC,5651,-1.23,-146.6,568.0,-9.5,271,5655,0.00,2.55,0.00,0.000,4,0.000,0.052,2223,3302,3477
$GC,5751,-1.23,-146.6,578.2,-10.1,275,5757,0.00,2.53,0.00,0.000,6,0.000,0.047,2223,1900,3477
$GC,6067,-1.23,-146.6,608.7,-10.0,291,6072,0.00,2.55,0.00,0.000,4,0.000,0.054,2223,3301,3477
$GC,6162,-1.23,-146.6,618.7,-10.3,295,6167,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1897,3476
$STATE,6475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6475,begin apogee
$GC,6482,-0.36,0.0,647.5,8.9,310,6611,0.90,0.00,125.03,1.208,6,0.081,0.000,2414,2098,2878
$STATE,6612,end apogee,CONTROL_FINISHED_OK
$STATE,6612,begin climb
$GC,6614,1.23,146.6,651.8,0.0,316,6742,1.58,0.00,123.18,1.177,6,0.055,0.000,2763,2098,2280
$GC,7047,1.25,165.0,628.2,7.3,337,7069,0.00,2.72,16.42,1.178,4,0.000,0.059,2763,3503,2204
$GC,7115,1.25,165.0,622.4,8.7,340,7120,0.00,2.58,0.00,0.000,6,0.000,0.049,2763,2097,2204
$GC,7442,1.27,178.3,598.6,7.5,356,7463,0.00,2.70,12.05,1.189,4,0.000,0.058,2763,3499,2150
$GC,7715,1.27,178.3,575.8,8.2,368,7720,0.00,2.53,0.00,0.000,6,0.000,0.047,2763,2101,2149
$GC,8037,1.28,185.9,550.8,7.7,384,8051,0.00,2.62,7.43,1.176,4,0.000,0.055,2763,3490,2119
$GC,8108,1.29,192.6,545.1,7.7,387,8124,0.00,2.53,6.85,1.161,6,0.000,0.046,2763,2100,2091
$GC,8433,1.29,192.6,518.7,8.0,403,8437,0.00,2.58,0.00,0.000,4,0.000,0.054,2763,3498,2091
$GC,8556,1.29,192.6,507.9,9.1,408,8561,0.00,2.53,0.00,0.000,6,0.000,0.044,2763,2098,2091
$GC,8871,1.29,192.6,481.8,8.3,424,8875,0.00,2.58,0.00,0.000,4,0.000,0.053,2763,3500,2091
$GC,8937,1.29,192.6,475.8,9.1,427,8941,0.00,2.53,0.00,0.000,6,0.000,0.044,2763,2099,2091
$GC,9258,1.29,192.6,447.7,8.8,443,9262,0.00,2.55,0.00,0.000,4,0.000,0.052,2763,3499,2091
$GC,9313,1.29,192.6,442.5,10.0,445,9319,0.00,2.50,0.00,0.000,6,0.000,0.042,2763,2097,2090
$GC,9628,1.29,192.6,414.2,8.8,461,9633,0.00,2.55,0.00,0.000,4,0.000,0.052,2763,3502,2091
$GC,9718,1.29,192.6,405.8,9.6,465,9722,0.00,2.53,0.00,0.000,6,0.000,0.042,2763,2092,2090
$GC,10039,1.29,192.6,378.7,8.3,481,10043,0.00,2.55,0.00,0.000,4,0.000,0.051,2763,3499,2091
$GC,10110,1.29,192.6,372.3,9.0,484,10115,0.00,2.50,0.00,0.000,6,0.000,0.041,2763,2098,2091
$GC,10426,1.29,192.6,346.3,8.4,499,10431,0.00,2.55,0.00,0.000,4,0.000,0.051,2763,3504,2091
$GC,10560,1.29,192.6,334.6,8.3,505,10565,0.00,2.50,0.00,0.000,6,0.000,0.041,2763,2098,2092
$GC,10882,1.29,192.6,308.8,8.0,521,10887,0.00,2.53,0.00,0.000,4,0.000,0.051,2763,3499,2091
$GC,10977,1.29,192.6,300.9,8.3,525,10981,0.00,2.50,0.00,0.000,6,0.000,0.041,2763,2096,2092
$GC,11293,1.29,197.1,276.4,7.8,540,11299,0.00,0.00,4.85,1.002,6,0.000,0.000,2763,2096,2074
$GC,11602,1.29,199.6,252.1,7.9,555,11611,0.00,2.60,3.35,0.956,4,0.000,0.051,2764,3498,2064
$GC,11702,1.29,199.6,243.7,8.1,559,11707,0.00,2.50,0.00,0.000,6,0.000,0.040,2763,2099,2064
$GC,12018,1.30,207.1,219.5,7.7,574,12032,0.00,2.62,7.15,0.980,4,0.000,0.050,2764,3503,2033
$GC,12123,1.30,207.1,210.5,8.5,578,12129,0.00,2.50,0.00,0.000,6,0.000,0.039,2763,2100,2033
$GC,12439,1.30,207.1,183.6,8.2,594,12443,0.00,2.53,0.00,0.000,4,0.000,0.050,2763,3500,2033
$GC,12511,1.30,207.1,176.8,9.0,597,12515,0.00,2.50,0.00,0.000,6,0.000,0.039,2763,2095,2033
$GC,12826,1.30,207.1,150.6,8.3,612,12830,0.00,2.58,0.00,0.000,4,0.000,0.050,2763,3507,2033
$GC,12875,1.31,210.7,146.4,7.9,614,12887,0.00,2.50,4.35,0.933,6,0.000,0.041,2763,2102,2018
$GC,13198,1.31,212.0,120.0,7.9,630,13200,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2101,2018
$GC,13505,1.31,212.0,92.2,9.3,645,13510,0.00,2.55,0.00,0.000,4,0.000,0.049,2763,3504,2018
$GC,13561,1.31,212.9,87.5,8.0,647,13568,0.00,2.50,0.00,0.000,6,0.000,0.040,2763,2095,2018
$GC,13877,1.31,212.9,61.4,9.6,663,13881,0.00,2.55,0.00,0.000,4,0.000,0.050,2763,3499,2018
$GC,13944,1.31,212.9,53.9,11.0,666,13948,0.00,2.47,0.00,0.000,6,0.000,0.038,2763,2099,2018
$GC,14266,1.31,212.9,20.0,10.4,682,14270,0.00,2.53,0.00,0.000,4,0.000,0.048,2763,3499,2018
$GC,14326,1.31,212.9,13.8,9.3,684,14332,0.00,2.47,0.00,0.000,6,0.000,0.038,2763,2099,2018
$STATE,14454,end climb,SURFACE_DEPTH_REACHED
$STATE,14454,begin surface coast
$FINISH,0.8,1.013407
$STATE,14476,end surface coast,CONTROL_FINISHED_OK
$STATE,14476,begin surface
$SM_CCo,14498,63.80,0.791,5,0,1655,300.00
$SM_GC,1.37,0.00,0.00,63.80,0.000,0.000,0.791,34,1889,1655,-11.32,-0.31,300.00
$IRIDIUM_FIX,6158.08,-813.71,250497,171727
$TT8_MAMPS,0.026845
$HUMID,2046
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,23.2,73.809
$10V_AH,10.1,35.799
$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,25.975,137.675,310.650,63.800,0.000,36.598,38.463,149.972,5.500,0.000,0.000,33.859,1332.165,10858.013,559.345,1745.936,503.087,33.369,1421.844,0.000,1690.389,0.000,34.947
$DEVICE_MAMPS,139.594,62.894,1208.025,790.777,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,512.844,466.570,443.943,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34787,692
$CFSIZE,260165632,236085248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,5,0
$GPS,310108,013924,6232.340,-1052.938,53,1.2,53,-10.6