version: 66.02
glider: 102
mission: 4
dive: 374
start: 1 31 108 1 46 27
data:
$ID,102
$MISSION,4
$DIVE,374
$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,-84569.094
$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,25
$R_STBD_OVSHOOT,29
$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
$GPS1,013924,6232.340,-1052.938,53,1.2,53,-10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-53.6
$GPS2,014445,6232.329,-1052.880,13,1.2,13,-10.6
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.192,-0.140
$KALMAN_X,558580.1,731.8,10.0,-685333.3,3927.7
$KALMAN_Y,110061.1,-2256.4,-333.8,2190.0,4012.2
$MHEAD_RNG_PITCHd_Wd,244.4,14883,-14.7,-8.000
$D_GRID,653
$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,24,-1.23,-146.6,0.0,0.0,0,106,0.00,0.00,-80.78,0.000,2,0.000,0.000,34,1889,3259
$GC,110,-1.23,-146.6,4.6,-4.5,4,132,11.65,2.55,-4.78,0.000,4,0.142,0.057,2222,3301,3477
$GC,385,-1.23,-146.6,46.2,-13.6,16,390,0.00,2.53,0.00,0.000,6,0.000,0.042,2222,1894,3477
$GC,706,-1.23,-146.6,82.4,-9.4,32,710,0.00,2.55,0.00,0.000,4,0.000,0.046,2222,3304,3477
$GC,800,-1.23,-146.6,93.1,-10.5,36,805,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1896,3477
$GC,1116,-1.23,-146.6,126.8,-11.4,51,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1896,3477
$GC,1425,-1.23,-146.6,160.9,-12.5,66,1430,0.00,2.53,0.00,0.000,4,0.000,0.046,2222,3303,3477
$GC,1498,-1.23,-146.6,167.4,-7.9,69,1503,0.00,2.50,0.00,0.000,6,0.000,0.042,2222,1899,3477
$GC,1814,-1.23,-146.6,200.4,-11.2,84,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3477
$GC,2123,-1.23,-146.6,230.0,-9.8,99,2127,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3303,3477
$GC,2172,-1.23,-146.6,235.2,-10.8,101,2177,0.00,2.50,0.00,0.000,6,0.000,0.042,2222,1898,3477
$GC,2488,-1.23,-146.6,267.3,-10.2,116,2492,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3303,3477
$GC,2554,-1.23,-146.6,274.0,-10.0,119,2559,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1895,3477
$GC,2875,-1.23,-146.6,304.7,-9.8,135,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1895,3477
$GC,3184,-1.23,-146.6,334.2,-9.8,150,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1895,3477
$GC,3494,-1.23,-146.6,365.2,-10.3,165,3498,0.00,2.55,0.00,0.000,4,0.000,0.049,2222,3306,3477
$GC,3543,-1.23,-146.6,370.2,-10.6,167,3547,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3477
$GC,3864,-1.23,-146.6,401.4,-9.6,183,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3477
$GC,4173,-1.23,-146.6,430.5,-9.4,198,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3477
$GC,4482,-1.23,-146.6,459.5,-9.3,213,4486,0.00,2.55,0.00,0.000,4,0.000,0.050,2222,3307,3477
$GC,4566,-1.23,-146.6,467.2,-8.9,217,4570,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1900,3477
$GC,4892,-1.23,-146.6,496.2,-8.8,233,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3477
$GC,5201,-1.23,-146.6,523.4,-8.9,248,5206,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3305,3477
$GC,5285,-1.23,-146.6,531.0,-9.2,252,5290,0.00,2.53,0.00,0.000,6,0.000,0.046,2222,1900,3477
$GC,5612,-1.23,-146.6,560.3,-8.8,268,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3476
$GC,5921,-1.23,-146.6,587.7,-9.4,283,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3477
$GC,6230,-1.23,-146.6,616.5,-8.8,298,6235,0.00,2.58,0.00,0.000,4,0.000,0.054,2222,3304,3476
$GC,6408,-1.23,-146.6,631.7,-9.0,306,6412,0.00,2.55,0.00,0.000,6,0.000,0.048,2222,1897,3476
$STATE,6670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6670,begin apogee
$GC,6677,-0.36,0.0,653.4,7.9,319,6805,0.88,0.00,124.95,1.214,6,0.059,0.000,2419,2113,2878
$STATE,6806,end apogee,CONTROL_FINISHED_OK
$STATE,6806,begin climb
$GC,6808,1.23,146.6,653.2,0.0,325,6939,1.55,2.75,122.82,1.177,4,0.051,0.069,2765,693,2280
$GC,7057,1.23,149.0,641.5,7.9,337,7068,0.00,2.53,3.35,1.032,6,0.000,0.044,2765,2095,2270
$GC,7378,1.29,195.1,619.2,6.2,353,7422,0.00,2.67,39.28,1.180,4,0.000,0.061,2765,3506,2082
$GC,7532,1.29,195.1,606.9,8.5,360,7537,0.00,2.55,0.00,0.000,6,0.000,0.049,2765,2102,2081
$GC,7859,1.29,195.1,578.3,9.1,376,7863,0.00,2.58,0.00,0.000,4,0.000,0.056,2765,3504,2080
$GC,8015,1.29,195.1,563.0,9.8,383,8019,0.00,2.55,0.00,0.000,6,0.000,0.046,2765,2099,2080
$GC,8336,1.29,195.1,533.6,9.0,399,8340,0.00,2.58,0.00,0.000,4,0.000,0.054,2765,3507,2079
$GC,8390,1.29,195.1,528.3,9.9,401,8397,0.00,2.53,0.00,0.000,6,0.000,0.045,2765,2101,2079
$GC,8706,1.29,195.1,500.2,9.1,417,8710,0.00,2.58,0.00,0.000,4,0.000,0.052,2765,3504,2079
$GC,8835,1.29,195.1,487.8,9.9,423,8840,0.00,2.53,0.00,0.000,6,0.000,0.044,2764,2098,2078
$GC,9162,1.29,195.1,456.8,9.5,439,9166,0.00,2.58,0.00,0.000,4,0.000,0.052,2765,3504,2079
$GC,9212,1.29,195.1,451.8,9.7,441,9216,0.00,2.53,0.00,0.000,6,0.000,0.043,2765,2099,2079
$GC,9527,1.29,195.1,423.0,9.1,456,9532,0.00,2.55,0.00,0.000,4,0.000,0.051,2765,3505,2078
$GC,9589,1.29,195.1,417.4,9.1,459,9594,0.00,2.53,0.00,0.000,6,0.000,0.043,2765,2093,2079
$GC,9916,1.29,195.1,389.8,8.5,475,9921,0.00,2.58,0.00,0.000,4,0.000,0.052,2764,3507,2079
$GC,10034,1.29,195.1,379.5,9.0,480,10038,0.00,2.53,0.00,0.000,6,0.000,0.042,2765,2098,2079
$GC,10349,1.29,195.1,353.7,8.2,495,10353,0.00,2.58,0.00,0.000,4,0.000,0.051,2765,3509,2079
$GC,10399,1.29,195.1,349.4,8.6,497,10403,0.00,2.53,0.00,0.000,6,0.000,0.041,2765,2095,2079
$GC,10714,1.29,195.1,323.4,8.4,512,10718,0.00,2.55,0.00,0.000,4,0.000,0.051,2765,3504,2079
$GC,10798,1.29,195.1,316.1,9.2,516,10803,0.00,2.53,0.00,0.000,6,0.000,0.041,2765,2091,2079
$GC,11126,1.29,195.4,289.5,8.0,532,11130,0.00,2.58,0.00,0.000,4,0.000,0.051,2765,3504,2080
$GC,11187,1.29,195.4,284.3,8.6,535,11191,0.00,2.50,0.00,0.000,6,0.000,0.040,2765,2100,2079
$GC,11515,1.29,199.7,258.3,7.8,551,11525,0.00,2.55,4.65,0.992,4,0.000,0.050,2765,3504,2063
$GC,11603,1.29,199.7,250.5,9.2,555,11607,0.00,2.50,0.00,0.000,6,0.000,0.041,2765,2100,2063
$GC,11925,1.30,206.6,226.3,7.7,571,11938,0.00,2.62,6.53,0.990,4,0.000,0.050,2765,3505,2035
$GC,12002,1.30,206.6,219.7,8.6,574,12006,0.00,2.53,0.00,0.000,6,0.000,0.041,2765,2095,2035
$GC,12317,1.31,216.6,195.4,7.6,589,12328,0.00,0.00,9.25,0.972,6,0.000,0.000,2765,2096,1995
$GC,12627,1.34,234.3,171.7,7.3,604,12649,0.00,2.60,15.32,0.940,4,0.000,0.051,2765,3501,1920
$GC,12722,1.34,234.3,163.4,9.0,608,12726,0.00,2.53,0.00,0.000,6,0.000,0.041,2765,2099,1920
$GC,13043,1.35,243.7,138.0,7.6,624,13054,0.10,0.00,8.32,0.933,6,0.061,0.000,2797,2098,1884
$GC,13354,1.35,243.7,107.5,9.9,639,13358,0.00,2.58,0.00,0.000,4,0.000,0.049,2796,3509,1884
$GC,13420,1.35,243.7,100.2,10.9,642,13425,0.00,2.50,0.00,0.000,6,0.000,0.040,2796,2100,1884
$GC,13742,1.35,243.7,67.8,11.1,658,13746,0.00,2.55,0.00,0.000,4,0.000,0.048,2797,3504,1883
$GC,13808,1.35,243.7,60.9,10.4,661,13812,0.00,2.50,0.00,0.000,6,0.000,0.040,2797,2100,1884
$GC,14130,1.35,243.7,26.8,9.6,677,14134,0.00,2.55,0.00,0.000,4,0.000,0.048,2796,3508,1884
$GC,14151,1.35,243.7,24.1,11.2,678,14155,0.00,2.53,0.00,0.000,6,0.000,0.040,2797,2093,1884
$STATE,14409,end climb,SURFACE_DEPTH_REACHED
$STATE,14409,begin surface coast
$FINISH,0.7,1.027399
$STATE,14429,end surface coast,CONTROL_FINISHED_OK
$STATE,14429,begin surface
$SM_CCo,14453,50.65,0.798,6,0,1655,300.00
$SM_GC,1.85,0.00,0.00,50.65,0.000,0.000,0.798,35,1891,1655,-11.31,-0.25,300.00
$IRIDIUM_FIX,6207.28,-1056.65,250497,212147
$TT8_MAMPS,0.026845
$HUMID,2035
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,23.2,73.942
$10V_AH,10.1,35.870
$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,26.350,133.150,334.475,50.650,0.000,38.129,36.060,132.209,5.750,0.000,0.000,15.266,1338.273,10838.299,542.169,1703.576,485.747,33.373,1395.319,0.000,1665.569,0.000,36.535
$DEVICE_MAMPS,141.895,69.030,1214.161,798.447,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,515.262,467.613,425.108,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34812,692
$CFSIZE,260165632,236036096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,16,6,0
$GPS,310108,014445,6232.329,-1052.880,13,1.2,13,-10.6