version: 66.02
glider: 102
mission: 4
dive: 376
start: 1 31 108 10 50 11
data:
$ID,102
$MISSION,4
$DIVE,376
$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,-85514.055
$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,29
$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
$GPS1,102932,6227.312,-1050.611,38,1.4,38,-10.6
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-40.4
$GPS2,104829,6226.881,-1050.659,15,1.3,15,-10.6
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.215,-0.102
$KALMAN_X,568738.6,-931.9,-307.6,-691550.9,7103.4
$KALMAN_Y,104580.6,-889.0,-1604.2,-2514.1,3213.3
$MHEAD_RNG_PITCHd_Wd,255.3,8735,-14.7,-8.000
$D_GRID,713
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,147,0.00,0.00,-121.22,0.000,2,0.000,0.000,26,1882,2921
$GC,151,-1.23,-146.6,3.8,-2.7,6,183,11.52,2.60,-14.20,0.000,4,0.136,0.061,2225,3307,3477
$GC,437,-1.23,-146.6,63.5,-21.8,19,442,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1899,3477
$GC,764,-1.23,-146.6,86.3,-11.6,35,768,0.00,2.55,0.00,0.000,4,0.000,0.046,2225,3313,3477
$GC,848,-1.23,-146.6,106.6,-18.5,39,853,0.00,2.53,0.00,0.000,6,0.000,0.041,2225,1900,3477
$GC,1177,-1.23,-146.6,152.2,-16.0,55,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3477
$GC,1487,-1.23,-146.6,202.2,-15.2,70,1491,0.00,2.55,0.00,0.000,4,0.000,0.047,2225,3312,3477
$GC,1581,-1.23,-146.6,217.0,-15.2,74,1585,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1900,3477
$GC,1897,-1.23,-146.6,267.1,-11.1,89,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3477
$GC,2206,-1.23,-146.6,299.5,-7.9,104,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3477
$GC,2515,-1.23,-146.6,328.5,-9.7,119,2519,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3312,3477
$GC,2559,-1.23,-146.6,331.9,-7.1,121,2563,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1896,3477
$GC,2880,-1.23,-146.6,377.0,-17.9,137,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1896,3477
$GC,3191,-1.23,-146.6,425.5,-10.3,152,3195,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3308,3477
$GC,3268,-1.23,-146.6,432.4,-9.8,155,3275,0.00,2.50,0.00,0.000,6,0.000,0.042,2225,1898,3476
$GC,3584,-1.23,-146.6,461.7,-9.2,171,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1898,3477
$GC,3894,-1.23,-146.6,483.8,-9.1,186,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1898,3477
$GC,4203,-1.23,-146.6,512.7,-9.7,201,4207,0.00,2.55,0.00,0.000,4,0.000,0.049,2225,3309,3476
$GC,4303,-1.23,-146.6,523.2,-10.6,205,4309,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1902,3476
$GC,4619,-1.23,-146.6,554.0,-8.8,221,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3476
$GC,4928,-1.23,-146.6,581.1,-9.5,236,4932,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3305,3477
$GC,4989,-1.23,-146.6,588.0,-11.3,239,4994,0.00,2.55,0.00,0.000,6,0.000,0.045,2225,1893,3475
$GC,5316,-1.23,-146.6,618.4,-9.2,255,5321,0.00,2.58,0.00,0.000,4,0.000,0.052,2225,3308,3475
$GC,5394,-1.23,-146.6,625.7,-8.5,258,5400,0.00,2.55,0.00,0.000,6,0.000,0.046,2225,1895,3475
$GC,5710,-1.23,-146.6,656.0,-10.2,274,5714,0.00,2.58,0.00,0.000,4,0.000,0.054,2225,3305,3475
$GC,5794,-1.23,-146.6,664.7,-10.0,278,5799,0.00,2.55,0.00,0.000,6,0.000,0.048,2225,1897,3475
$GC,6121,-1.23,-146.6,692.9,-9.5,294,6125,0.00,2.58,0.00,0.000,4,0.000,0.056,2225,3304,3475
$GC,6255,-1.23,-146.6,703.1,0.1,300,6259,0.00,2.55,0.00,0.000,6,0.000,0.048,2225,1896,3475
$STATE,6574,end dive,NO_VERTICAL_VELOCITY
$STATE,6574,begin apogee
$GC,6580,-0.36,0.0,703.4,0.0,316,6709,0.88,0.00,125.25,1.255,6,0.054,0.000,2425,2113,2877
$STATE,6710,end apogee,CONTROL_FINISHED_OK
$STATE,6710,begin climb
$GC,6713,1.23,146.6,703.2,0.0,322,6845,1.50,2.78,124.12,1.215,4,0.051,0.074,2762,695,2280
$GC,7101,1.39,274.3,700.2,3.1,340,7217,0.15,2.50,107.00,1.220,6,0.054,0.045,2800,2093,1759
$GC,7533,1.39,274.3,653.6,9.5,361,7537,0.00,2.67,0.00,0.000,4,0.000,0.074,2800,692,1758
$GC,7588,1.39,274.3,647.9,10.5,363,7594,0.00,2.55,0.00,0.000,6,0.000,0.045,2800,2109,1758
$GC,7903,1.39,274.3,615.0,11.1,379,7908,0.00,2.55,0.00,0.000,4,0.000,0.056,2800,3500,1758
$GC,8037,1.39,274.3,599.6,10.6,385,8042,0.00,2.53,0.00,0.000,6,0.000,0.047,2801,2102,1757
$GC,8359,1.39,274.3,565.3,10.9,401,8363,0.00,2.58,0.00,0.000,4,0.000,0.053,2801,3502,1757
$GC,8425,1.39,274.3,557.6,11.3,404,8429,0.00,2.53,0.00,0.000,6,0.000,0.045,2800,2093,1756
$GC,8746,1.39,274.3,523.9,10.1,420,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2093,1757
$GC,9055,1.39,274.3,493.3,10.5,435,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2093,1757
$GC,9364,1.39,274.3,456.6,13.1,450,9368,0.00,2.58,0.00,0.000,4,0.000,0.051,2801,3502,1756
$GC,9475,1.39,274.3,441.5,13.1,455,9480,0.00,2.53,0.00,0.000,6,0.000,0.043,2801,2100,1756
$GC,9797,1.48,350.6,413.9,5.1,471,9861,0.00,0.00,62.30,1.075,6,0.000,0.000,2801,2100,1449
$GC,10166,1.48,350.6,378.6,8.3,489,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2100,1448
$GC,10475,1.48,350.6,353.1,11.0,504,10480,0.00,2.55,0.00,0.000,4,0.000,0.048,2800,3502,1448
$GC,10520,1.48,350.6,346.1,17.1,506,10524,0.00,2.53,0.00,0.000,6,0.000,0.041,2801,2097,1449
$GC,10840,1.48,350.6,302.4,12.7,522,10841,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2097,1448
$GC,11150,1.48,350.6,262.8,12.8,537,11151,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2097,1448
$GC,11459,1.48,350.6,223.8,14.9,552,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2096,1449
$GC,11768,1.48,350.6,179.7,14.4,567,11772,0.00,2.62,0.00,0.000,4,0.000,0.068,2801,692,1449
$GC,11812,1.48,350.6,173.1,14.6,569,11816,0.00,2.45,0.00,0.000,6,0.000,0.038,2800,2109,1449
$GC,12133,1.48,350.6,130.1,14.4,585,12134,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2112,1449
$GC,12442,1.48,350.6,85.5,11.3,600,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2112,1449
$GC,12752,1.48,350.6,63.7,8.7,615,12753,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2113,1449
$GC,13061,1.63,471.1,37.1,3.4,630,13158,0.17,0.00,93.75,0.810,6,0.053,0.000,2857,2113,957
$STATE,13343,end climb,SURFACE_DEPTH_REACHED
$STATE,13343,begin surface coast
$FINISH,0.8,1.027367
$STATE,13364,end surface coast,CONTROL_FINISHED_OK
$STATE,13364,begin surface
$SM_CCo,13388,80.70,0.761,10,0,603,558.06
$SM_GC,1.12,0.00,0.00,80.70,0.000,0.000,0.761,35,1884,603,-11.32,-0.45,558.06
$IRIDIUM_FIX,6202.67,-1044.88,260497,101056
$TT8_MAMPS,0.026845
$HUMID,2034
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.50
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.0,999.0
$24V_AH,23.1,74.362
$10V_AH,10.1,36.048
$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,26.550,87.625,512.425,80.700,0.000,188.915,361.743,216.354,7.000,0.000,0.000,18.503,1189.485,10217.915,744.299,1519.482,1038.502,33.375,1531.332,0.000,1484.399,0.000,39.773
$DEVICE_MAMPS,135.759,73.632,1254.812,760.864,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.737,433.288,385.841,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31722,644
$CFSIZE,260165632,235937792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,10,0
$GPS,310108,143702,6224.856,-1051.511,53,1.5,53,-10.6