version: 66.02
glider: 102
mission: 4
dive: 378
start: 1 31 108 19 18 52
data:
$ID,102
$MISSION,4
$DIVE,378
$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,-86019.844
$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
$GPS1,184607,6226.075,-1050.494,36,1.4,41,-10.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-44.1
$GPS2,191709,6225.439,-1050.461,452,1.9,453,-10.6
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,DE
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.023,-0.237
$KALMAN_X,574942.2,-311.5,-305.5,-698174.2,6027.1
$KALMAN_Y,96938.0,568.8,370.9,-1029.6,-4875.5
$MHEAD_RNG_PITCHd_Wd,185.1,23484,-14.7,-8.000
$D_GRID,720
$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,-146.6,0.0,0.0,0,127,0.00,0.00,-101.25,0.000,2,0.000,0.000,28,1889,3176
$GC,130,-1.23,-146.6,5.2,-3.2,5,155,11.52,2.65,-7.78,0.000,4,0.137,0.083,2222,499,3477
$GC,318,-1.23,-146.6,37.0,-10.5,13,322,0.00,2.47,0.00,0.000,6,0.000,0.042,2222,1919,3478
$GC,640,-1.23,-146.6,67.5,-13.6,29,644,0.00,2.47,0.00,0.000,4,0.000,0.046,2222,3298,3477
$GC,756,-1.23,-146.6,87.4,-17.6,34,761,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1905,3478
$GC,1073,-1.23,-146.6,143.1,-8.2,49,1077,0.00,2.62,0.00,0.000,4,0.000,0.069,2222,494,3477
$GC,1139,-1.23,-146.6,148.0,-5.8,52,1144,0.00,2.45,0.00,0.000,6,0.000,0.038,2222,1903,3477
$GC,1460,-1.23,-146.6,172.4,-8.4,68,1464,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3299,3477
$GC,1523,-1.23,-146.6,179.3,-10.6,71,1527,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1899,3477
$GC,1849,-1.23,-146.6,212.4,-12.3,87,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3477
$GC,2159,-1.23,-146.6,253.0,-12.7,102,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3477
$GC,2468,-1.23,-146.6,284.1,-8.9,117,2472,0.00,2.50,0.00,0.000,4,0.000,0.046,2222,3296,3477
$GC,2495,-1.23,-146.6,286.0,-7.1,118,2500,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3477
$GC,2811,-1.23,-146.6,310.6,-8.3,133,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3477
$GC,3120,-1.23,-146.6,334.5,-7.6,148,3124,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3301,3477
$GC,3188,-1.23,-146.6,340.2,-10.0,151,3193,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1900,3477
$GC,3510,-1.23,-146.6,368.9,-7.7,167,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3477
$GC,3819,-1.23,-146.6,391.4,-8.4,182,3824,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3299,3477
$GC,3864,-1.23,-146.6,395.5,-8.3,184,3868,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1900,3477
$GC,4186,-1.23,-146.6,426.3,-9.6,200,4190,0.00,2.50,0.00,0.000,4,0.000,0.047,2222,3295,3477
$GC,4254,-1.23,-146.6,432.5,-7.5,203,4258,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1898,3477
$GC,4580,-1.23,-146.6,459.0,-8.3,219,4584,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3301,3477
$GC,4608,-1.23,-146.6,461.3,-8.2,220,4612,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1903,3477
$GC,4923,-1.23,-146.6,493.5,-11.7,235,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1903,3477
$GC,5232,-1.23,-146.6,521.4,-9.1,250,5236,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3297,3477
$GC,5282,-1.23,-146.6,526.3,-9.2,252,5286,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1898,3477
$GC,5597,-1.23,-146.6,561.4,-10.9,267,5602,0.00,2.53,0.00,0.000,4,0.000,0.050,2222,3294,3477
$GC,5625,-1.23,-146.6,564.5,-11.3,268,5629,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3477
$GC,5941,-1.23,-146.6,597.2,-9.8,283,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3477
$GC,6250,-1.23,-146.6,628.0,-9.9,298,6254,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3299,3476
$GC,6316,-1.23,-146.6,634.8,-10.1,301,6320,0.00,2.47,0.00,0.000,6,0.000,0.046,2222,1899,3476
$GC,6643,-1.23,-146.6,666.2,-9.0,317,6647,0.00,2.62,0.00,0.000,4,0.000,0.071,2222,495,3476
$GC,6675,-1.23,-146.6,669.5,-10.0,318,6682,0.00,2.45,0.00,0.000,6,0.000,0.044,2222,1891,3476
$GC,6991,-1.23,-146.6,711.6,-14.7,334,6995,0.00,2.58,0.00,0.000,4,0.000,0.058,2222,3303,3477
$GC,7053,-1.23,-146.6,718.6,-9.3,337,7057,0.00,2.58,0.00,0.000,6,0.000,0.054,2222,1896,3477
$STATE,7060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7060,begin apogee
$GC,7067,-0.36,0.0,720.1,11.7,337,7196,0.90,0.00,125.93,1.256,6,0.083,0.000,2415,2110,2878
$STATE,7197,end apogee,CONTROL_FINISHED_OK
$STATE,7197,begin climb
$GC,7200,1.23,146.6,723.9,0.0,344,7333,1.55,2.62,123.10,1.234,4,0.054,0.061,2760,3495,2280
$GC,7589,1.23,146.6,692.7,8.6,362,7594,0.00,2.55,0.00,0.000,6,0.000,0.047,2760,2090,2279
$GC,7915,1.32,217.7,675.2,5.3,378,7981,0.00,2.67,59.83,1.230,4,0.000,0.059,2760,3497,1991
$GC,8063,1.33,226.9,665.4,7.6,385,8078,0.10,2.55,9.10,1.197,6,0.064,0.048,2788,2100,1952
$GC,8394,1.33,226.9,633.5,10.3,401,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2101,1951
$GC,8704,1.33,226.9,605.1,8.9,416,8708,0.00,2.58,0.00,0.000,4,0.000,0.054,2788,3497,1950
$GC,8766,1.33,226.9,599.3,8.8,419,8770,0.00,2.53,0.00,0.000,6,0.000,0.044,2788,2099,1950
$GC,9092,1.33,226.9,571.5,8.2,435,9096,0.00,2.55,0.00,0.000,4,0.000,0.053,2788,3497,1950
$GC,9131,1.33,226.9,568.4,8.9,437,9135,0.00,2.53,0.00,0.000,6,0.000,0.044,2788,2099,1950
$GC,9457,1.33,226.9,542.3,8.1,453,9462,0.00,2.58,0.00,0.000,4,0.000,0.051,2787,3504,1950
$GC,9501,1.33,226.9,538.0,9.4,455,9506,0.00,2.55,0.00,0.000,6,0.000,0.044,2788,2094,1950
$GC,9823,1.33,230.9,510.1,7.8,471,9832,0.00,2.58,3.95,1.095,4,0.000,0.051,2788,3497,1936
$GC,9856,1.33,230.9,507.3,8.4,472,9860,0.00,2.53,0.00,0.000,6,0.000,0.042,2788,2096,1936
$GC,10171,1.33,230.9,475.4,10.3,487,10176,0.00,2.55,0.00,0.000,4,0.000,0.051,2788,3498,1936
$GC,10278,1.33,230.9,466.2,8.4,492,10283,0.00,2.53,0.00,0.000,6,0.000,0.042,2788,2096,1936
$GC,10605,1.33,230.9,438.3,9.9,508,10609,0.00,2.55,0.00,0.000,4,0.000,0.051,2788,3498,1936
$GC,10660,1.33,230.9,430.9,13.8,510,10666,0.00,2.53,0.00,0.000,6,0.000,0.043,2788,2095,1937
$GC,10976,1.33,230.9,392.9,11.9,526,10980,0.00,2.55,0.00,0.000,4,0.000,0.050,2788,3498,1936
$GC,11065,1.33,230.9,381.5,12.9,530,11069,0.00,2.50,0.00,0.000,6,0.000,0.042,2788,2099,1937
$GC,11386,1.33,230.9,350.0,8.1,546,11390,0.00,2.53,0.00,0.000,4,0.000,0.050,2788,3498,1937
$GC,11458,1.33,230.9,344.4,8.1,549,11462,0.00,2.50,0.00,0.000,6,0.000,0.041,2788,2096,1937
$GC,11773,1.33,230.9,314.6,10.2,564,11777,0.00,2.55,0.00,0.000,4,0.000,0.048,2788,3501,1937
$GC,11828,1.33,230.9,308.8,9.3,566,11834,0.00,2.50,0.00,0.000,6,0.000,0.041,2788,2098,1937
$GC,12144,1.33,230.9,273.9,13.6,582,12148,0.00,2.55,0.00,0.000,4,0.000,0.049,2788,3503,1937
$GC,12199,1.33,230.9,267.6,11.0,584,12205,0.00,2.50,0.00,0.000,6,0.000,0.041,2788,2099,1937
$GC,12514,1.33,230.9,230.5,10.8,600,12518,0.00,2.53,0.00,0.000,4,0.000,0.051,2788,3498,1938
$GC,12541,1.56,414.6,229.9,1.0,601,12697,0.20,2.50,144.00,0.950,6,0.048,0.040,2843,2093,1186
$GC,13003,1.56,414.6,179.5,11.3,624,13008,0.00,2.60,0.00,0.000,4,0.000,0.069,2842,695,1186
$GC,13031,1.56,414.6,177.0,9.5,625,13036,0.00,2.47,0.00,0.000,6,0.000,0.038,2842,2102,1186
$GC,13346,1.56,414.6,156.3,10.1,640,13351,0.00,2.50,0.00,0.000,4,0.000,0.048,2842,3496,1186
$GC,13391,1.56,414.6,150.5,14.4,642,13395,0.00,2.50,0.00,0.000,6,0.000,0.041,2842,2100,1186
$GC,13712,1.56,414.6,105.8,19.1,658,13716,0.00,2.60,0.00,0.000,4,0.000,0.066,2842,694,1186
$GC,13745,1.56,414.6,100.9,14.4,659,13751,0.00,2.45,0.00,0.000,6,0.000,0.037,2842,2101,1187
$GC,14062,1.56,414.6,57.6,13.8,675,14066,0.00,2.62,0.00,0.000,4,0.000,0.067,2842,695,1186
$GC,14072,1.56,414.6,54.8,15.4,675,14078,0.00,2.47,0.00,0.000,6,0.000,0.038,2842,2107,1186
$GC,14389,1.56,414.6,6.5,17.2,691,14393,0.00,2.50,0.00,0.000,4,0.000,0.047,2842,3497,1187
$GC,14406,1.56,414.6,3.1,18.0,692,14410,0.00,2.47,0.00,0.000,6,0.000,0.039,2843,2097,1186
$STATE,14413,end climb,SURFACE_DEPTH_REACHED
$STATE,14414,begin surface coast
$FINISH,1.1,1.027407
$STATE,14422,end surface coast,CONTROL_FINISHED_OK
$STATE,14422,begin surface
$SM_CCo,14445,133.73,0.772,18,0,603,558.06
$SM_GC,1.35,0.00,0.00,133.73,0.000,0.000,0.772,28,1891,603,-11.34,-0.25,558.06
$IRIDIUM_FIX,6202.67,-1044.88,260497,191951
$TT8_MAMPS,0.026845
$HUMID,1990
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.50
$XPDR_PINGS,5
$ALTIM_TOP_PING,17.3,999.0
$24V_AH,23.1,74.766
$10V_AH,10.1,36.215
$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,26.450,162.600,465.900,133.725,0.000,185.425,473.639,396.393,7.250,0.000,0.000,454.872,1329.206,10962.282,804.165,2119.060,1372.823,33.378,1713.028,0.000,1638.951,0.000,39.776
$DEVICE_MAMPS,137.293,82.836,1256.346,771.602,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,514.709,466.228,380.586,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34827,693
$CFSIZE,260165632,235798528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,18,0
$GPS,310108,232511,6222.660,-1046.788,61,1.1,71,-10.5