version: 66.02
glider: 102
mission: 4
dive: 375
start: 1 31 108 6 27 49
data:
$ID,102
$MISSION,4
$DIVE,375
$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,558.0575
$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,-85494.922
$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,27
$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
$GPS1,014445,6232.329,-1052.880,13,1.2,13,-10.6
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,3
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-49.7
$GPS2,062609,6230.277,-1051.969,18,1.0,18,-10.6
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.182,-0.153
$KALMAN_X,563365.0,-481.1,382.1,-688467.8,3336.0
$KALMAN_Y,108413.3,-2267.5,-287.6,-0.9,2938.7
$MHEAD_RNG_PITCHd_Wd,240.6,11956,-14.7,-8.000
$D_GRID,675
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-60.72,0.000,2,0.000,0.000,35,1889,2853
$GC,90,-1.23,-146.6,3.3,-4.2,3,135,11.65,2.60,-28.02,0.000,4,0.142,0.064,2227,3311,3476
$GC,388,-1.23,-146.6,33.7,-8.7,16,392,0.00,2.53,0.00,0.000,6,0.000,0.042,2227,1906,3477
$GC,704,-1.23,-146.6,63.8,-9.6,31,708,0.00,2.53,0.00,0.000,4,0.000,0.046,2227,3308,3476
$GC,961,-1.23,-146.6,92.6,-9.2,42,967,0.00,2.53,0.00,0.000,6,0.000,0.043,2227,1898,3477
$GC,1277,-1.23,-146.6,119.1,-8.2,58,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1898,3477
$GC,1588,-1.23,-146.6,147.5,-8.8,73,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1898,3477
$GC,1895,-1.23,-146.6,178.0,-9.8,88,1899,0.00,2.53,0.00,0.000,4,0.000,0.046,2227,3308,3477
$GC,1972,-1.23,-146.6,186.8,-11.2,91,1978,0.00,2.53,0.00,0.000,6,0.000,0.042,2227,1897,3477
$GC,2288,-1.23,-146.6,224.0,-13.3,107,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1898,3477
$GC,2598,-1.23,-146.6,256.0,-10.3,122,2602,0.00,2.55,0.00,0.000,4,0.000,0.047,2226,3314,3477
$GC,2652,-1.23,-146.6,262.1,-11.2,124,2658,0.00,2.53,0.00,0.000,6,0.000,0.042,2227,1901,3477
$GC,2968,-1.23,-146.6,296.2,-11.7,140,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1901,3477
$GC,3277,-1.23,-146.6,332.9,-12.2,155,3281,0.00,2.55,0.00,0.000,4,0.000,0.047,2226,3313,3477
$GC,3339,-1.23,-146.6,340.4,-11.5,158,3344,0.00,2.53,0.00,0.000,6,0.000,0.043,2227,1902,3477
$GC,3667,-1.23,-146.6,376.1,-10.7,174,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1902,3477
$GC,3975,-1.23,-146.6,408.1,-10.4,189,3979,0.00,2.53,0.00,0.000,4,0.000,0.048,2227,3307,3477
$GC,4032,-1.23,-146.6,414.0,-10.5,191,4038,0.00,2.53,0.00,0.000,6,0.000,0.044,2227,1896,3477
$GC,4347,-1.23,-146.6,447.7,-10.6,207,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1896,3477
$GC,4656,-1.23,-146.6,480.1,-10.4,222,4661,0.00,2.55,0.00,0.000,4,0.000,0.049,2227,3308,3477
$GC,4752,-1.23,-146.6,490.6,-11.0,226,4756,0.00,2.53,0.00,0.000,6,0.000,0.044,2227,1894,3477
$GC,5067,-1.23,-146.6,524.3,-10.8,241,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1895,3477
$GC,5377,-1.23,-146.6,557.0,-10.3,256,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1895,3477
$GC,5686,-1.23,-146.6,589.4,-10.6,271,5691,0.00,2.58,0.00,0.000,4,0.000,0.052,2227,3308,3477
$GC,5771,-1.23,-146.6,598.2,-10.2,275,5776,0.00,2.55,0.00,0.000,6,0.000,0.046,2226,1896,3477
$GC,6098,-1.23,-146.6,630.6,-10.2,291,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1896,3477
$GC,6407,-1.23,-146.6,659.6,-8.5,306,6411,0.00,2.58,0.00,0.000,4,0.000,0.058,2227,3307,3477
$GC,6558,-1.23,-146.6,672.6,-8.5,313,6563,0.00,2.55,0.00,0.000,6,0.000,0.052,2227,1903,3477
$GC,6886,-1.23,-146.6,672.8,-0.1,329,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1903,3477
$STATE,6903,end dive,NO_VERTICAL_VELOCITY
$STATE,6903,begin apogee
$GC,6910,-0.36,0.0,672.8,0.0,330,7038,0.85,0.00,125.20,1.229,6,0.056,0.000,2419,2105,2878
$STATE,7039,end apogee,CONTROL_FINISHED_OK
$STATE,7039,begin climb
$GC,7042,1.23,146.6,672.4,0.0,336,7173,1.55,2.72,123.43,1.189,4,0.054,0.071,2762,688,2280
$GC,7381,1.25,160.2,653.7,7.5,352,7400,0.00,2.55,12.93,1.183,6,0.000,0.045,2762,2106,2223
$GC,7717,1.28,188.8,629.5,6.9,369,7746,0.00,0.00,24.52,1.196,6,0.000,0.000,2763,2106,2108
$GC,8070,1.28,191.7,602.4,7.9,386,8079,0.00,2.62,3.72,1.098,4,0.000,0.059,2762,3495,2095
$GC,8271,1.28,191.7,585.8,8.3,395,8275,0.00,2.53,0.00,0.000,6,0.000,0.046,2763,2093,2095
$GC,8597,1.33,225.0,563.4,6.7,411,8632,0.00,2.67,28.15,1.184,4,0.000,0.055,2763,3499,1960
$GC,8701,1.33,225.7,555.6,8.0,415,8707,0.00,2.55,0.00,0.000,6,0.000,0.045,2762,2096,1960
$GC,9017,1.35,242.5,532.7,7.4,431,9036,0.12,0.00,15.55,1.166,6,0.052,0.000,2799,2096,1889
$GC,9345,1.35,242.5,501.6,9.8,447,9349,0.00,2.60,0.00,0.000,4,0.000,0.053,2799,3505,1889
$GC,9430,1.35,242.5,492.7,10.6,451,9434,0.00,2.53,0.00,0.000,6,0.000,0.044,2799,2099,1889
$GC,9756,1.35,242.5,459.8,10.0,467,9760,0.00,2.58,0.00,0.000,4,0.000,0.051,2799,3505,1889
$GC,9811,1.35,242.5,453.9,10.3,469,9817,0.00,2.55,0.00,0.000,6,0.000,0.044,2799,2094,1889
$GC,10126,1.35,242.5,422.6,9.8,485,10131,0.00,2.58,0.00,0.000,4,0.000,0.051,2800,3503,1889
$GC,10193,1.35,242.5,415.5,10.3,488,10197,0.00,2.53,0.00,0.000,6,0.000,0.043,2799,2099,1889
$GC,10515,1.35,242.5,382.0,10.6,504,10519,0.00,2.55,0.00,0.000,4,0.000,0.051,2800,3505,1889
$GC,10627,1.35,242.5,368.4,12.9,509,10632,0.00,2.53,0.00,0.000,6,0.000,0.042,2800,2094,1889
$GC,10948,1.35,242.5,329.9,12.1,525,10952,0.00,2.55,0.00,0.000,4,0.000,0.051,2800,3504,1889
$GC,11055,1.35,242.5,318.4,9.0,530,11059,0.00,2.53,0.00,0.000,6,0.000,0.042,2800,2095,1889
$GC,11381,1.35,242.5,288.1,10.6,546,11386,0.00,2.58,0.00,0.000,4,0.000,0.051,2800,3507,1890
$GC,11499,1.35,242.5,274.5,11.8,551,11504,0.00,2.53,0.00,0.000,6,0.000,0.041,2800,2090,1890
$GC,11815,1.35,242.5,235.2,13.1,566,11816,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2090,1889
$GC,12124,1.35,242.5,195.9,13.3,581,12126,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2091,1889
$GC,12434,1.35,242.5,148.6,16.2,596,12439,0.00,2.58,0.00,0.000,4,0.000,0.049,2800,3505,1890
$GC,12507,1.35,242.5,136.6,16.3,599,12511,0.00,2.50,0.00,0.000,6,0.000,0.039,2800,2101,1890
$GC,12824,1.35,242.5,108.2,8.8,614,12825,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2101,1890
$GC,13133,1.38,272.4,98.7,6.9,629,13159,0.00,0.00,24.95,0.887,6,0.000,0.000,2799,2101,1767
$GC,13463,1.39,275.1,99.9,7.9,645,13472,0.00,2.58,3.45,0.884,4,0.000,0.047,2800,3502,1756
$GC,13608,1.39,275.1,80.4,14.3,651,13612,0.00,2.50,0.00,0.000,6,0.000,0.040,2800,2102,1755
$GC,13923,1.39,275.1,26.4,16.5,666,13925,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2102,1755
$STATE,14169,end climb,SURFACE_DEPTH_REACHED
$STATE,14169,begin surface coast
$FINISH,0.7,1.027312
$STATE,14190,end surface coast,CONTROL_FINISHED_OK
$STATE,14190,begin surface
$SM_CCo,14214,171.80,0.757,8,0,603,558.06
$SM_GC,1.28,0.00,0.00,171.80,0.000,0.000,0.757,26,1881,603,-11.36,-0.51,558.06
$IRIDIUM_FIX,6207.28,-1046.62,260497,060612
$TT8_MAMPS,0.026845
$HUMID,2022
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.40
$XPDR_PINGS,5
$ALTIM_TOP_PING,18.6,999.0
$24V_AH,23.2,74.146
$10V_AH,10.1,35.974
$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,26.050,102.850,361.900,171.800,0.000,188.596,199.752,524.963,6.750,0.000,0.000,20.551,1293.510,10894.754,685.893,1692.313,1223.818,33.379,1518.364,0.000,1651.674,0.000,36.540
$DEVICE_MAMPS,141.895,70.564,1228.734,757.029,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.374,458.420,450.891,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34856,679
$CFSIZE,260165632,235974656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,8,0
$GPS,310108,102932,6227.312,-1050.611,38,1.4,38,-10.6