version: 66.02
glider: 102
mission: 4
dive: 380
start: 2 1 108 4 2 40
data:
$ID,102
$MISSION,4
$DIVE,380
$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,-86051.531
$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,23
$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
$GPS1,035438,6220.552,-1044.869,37,1.8,37,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-55.1
$GPS2,040058,6220.472,-1044.915,8,1.5,15,-10.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,DE
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.091,-0.220
$KALMAN_X,579762.2,-887.4,-558.3,-697271.9,5709.9
$KALMAN_Y,95720.2,1006.3,881.0,-9970.1,-4412.6
$MHEAD_RNG_PITCHd_Wd,168.1,13259,-14.7,-8.000
$D_GRID,770
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.23,-146.6,0.0,0.0,0,108,0.00,0.00,-81.18,0.000,2,0.000,0.000,30,1893,2881
$GC,112,-1.23,-146.6,3.3,-2.6,4,147,11.50,2.62,-17.30,0.000,4,0.135,0.077,2222,500,3478
$GC,276,-1.23,-146.6,29.1,-17.9,11,280,0.00,2.47,0.00,0.000,6,0.000,0.038,2222,1922,3478
$GC,592,-1.23,-146.6,59.7,-10.1,26,596,0.00,2.47,0.00,0.000,4,0.000,0.048,2222,3295,3478
$GC,624,-1.23,-146.6,63.1,-8.6,27,631,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1900,3478
$GC,942,-1.23,-146.6,91.8,-12.0,43,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3478
$GC,1250,-1.23,-146.6,124.4,-13.2,58,1254,0.00,2.62,0.00,0.000,4,0.000,0.069,2222,491,3478
$GC,1271,-1.23,-146.6,127.8,-16.0,59,1275,0.00,2.45,0.00,0.000,6,0.000,0.038,2222,1906,3478
$GC,1593,-1.23,-146.6,178.0,-14.8,75,1597,0.00,2.47,0.00,0.000,4,0.000,0.048,2222,3297,3478
$GC,1620,-1.23,-146.6,182.8,-16.6,76,1624,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1902,3478
$GC,1941,-1.23,-146.6,219.7,-11.3,92,1945,0.00,2.50,0.00,0.000,4,0.000,0.046,2222,3296,3478
$GC,1985,-1.23,-146.6,224.5,-10.8,94,1990,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1895,3478
$GC,2306,-1.23,-146.6,253.8,-9.0,110,2310,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3295,3478
$GC,2345,-1.23,-146.6,258.3,-11.8,112,2349,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3478
$GC,2672,-1.23,-146.6,291.6,-11.6,128,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3478
$GC,2981,-1.23,-146.6,331.0,-14.6,143,2985,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3299,3478
$GC,3043,-1.23,-146.6,338.4,-11.3,146,3047,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1898,3478
$GC,3370,-1.23,-146.6,374.2,-11.9,162,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3478
$GC,3678,-1.23,-146.6,405.3,-10.5,177,3683,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3298,3478
$GC,3779,-1.23,-146.6,414.7,-8.1,181,3785,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1902,3478
$GC,4094,-1.23,-146.6,445.5,-10.3,197,4099,0.00,2.62,0.00,0.000,4,0.000,0.070,2222,488,3478
$GC,4112,-1.23,-146.6,447.3,-9.4,198,4116,0.00,2.45,0.00,0.000,6,0.000,0.040,2222,1899,3478
$GC,4439,-1.23,-146.6,482.6,-10.0,214,4443,0.00,2.53,0.00,0.000,4,0.000,0.051,2222,3294,3478
$GC,4483,-1.23,-146.6,486.8,-9.5,216,4487,0.00,2.50,0.00,0.000,6,0.000,0.045,2222,1900,3477
$GC,4803,-1.23,-146.6,517.6,-9.9,232,4808,0.00,2.53,0.00,0.000,4,0.000,0.049,2222,3295,3478
$GC,4831,-1.23,-146.6,520.4,-9.8,233,4836,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1900,3478
$GC,5148,-1.23,-146.6,550.0,-8.5,248,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3478
$GC,5456,-1.23,-146.6,574.3,-8.4,263,5460,0.00,2.53,0.00,0.000,4,0.000,0.050,2222,3294,3477
$GC,5511,-1.23,-146.6,579.3,-9.2,265,5518,0.00,2.50,0.00,0.000,6,0.000,0.045,2222,1900,3477
$GC,5827,-1.23,-146.6,607.7,-8.9,281,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3477
$GC,6137,-1.23,-146.6,638.1,-12.2,296,6141,0.00,2.55,0.00,0.000,4,0.000,0.054,2222,3299,3477
$GC,6192,-1.23,-146.6,644.6,-11.2,298,6198,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1897,3477
$GC,6510,-1.23,-146.6,676.3,-10.1,314,6514,0.00,2.62,0.00,0.000,4,0.000,0.074,2222,494,3477
$GC,6531,-1.23,-146.6,678.9,-10.8,315,6535,0.00,2.42,0.00,0.000,6,0.000,0.043,2222,1894,3477
$GC,6858,-1.23,-146.6,704.9,-7.1,331,6863,0.00,2.65,0.00,0.000,4,0.000,0.076,2222,495,3477
$GC,6880,-1.23,-146.6,707.0,-8.9,332,6884,0.00,2.47,0.00,0.000,6,0.000,0.045,2222,1899,3477
$GC,7201,-1.23,-146.6,730.8,-7.6,348,7205,0.00,2.55,0.00,0.000,4,0.000,0.058,2222,3299,3477
$GC,7296,-1.23,-146.6,736.9,-6.4,352,7300,0.00,2.55,0.00,0.000,6,0.000,0.054,2222,1898,3477
$GC,7611,-1.23,-146.6,761.3,-9.4,367,7615,0.00,2.60,0.00,0.000,4,0.000,0.059,2222,3308,3477
$GC,7638,-1.23,-146.6,764.2,-10.5,368,7643,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,1895,3477
$GC,7955,-1.23,-146.6,768.3,0.1,383,7959,0.00,2.67,0.00,0.000,4,0.000,0.082,2222,492,3476
$STATE,8070,end dive,NO_VERTICAL_VELOCITY
$STATE,8070,begin apogee
$GC,8079,-0.36,0.0,768.4,0.0,388,8211,0.85,0.00,125.57,1.333,6,0.060,0.000,2418,2098,2878
$STATE,8211,end apogee,CONTROL_FINISHED_OK
$STATE,8211,begin climb
$GC,8214,1.23,146.6,769.1,0.0,395,8348,1.58,2.78,124.82,1.276,4,0.064,0.077,2760,690,2279
$GC,8605,1.23,146.6,757.2,8.3,413,8610,0.00,2.55,0.00,0.000,6,0.000,0.049,2759,2100,2278
$GC,8932,1.23,146.6,734.7,8.7,429,8936,0.00,2.70,0.00,0.000,4,0.000,0.076,2760,688,2277
$GC,9072,1.24,157.4,723.9,7.6,435,9087,0.00,2.55,9.70,1.298,6,0.000,0.048,2760,2103,2236
$GC,9415,1.28,188.4,700.1,6.8,452,9449,0.00,2.70,26.83,1.301,4,0.000,0.064,2760,3499,2110
$GC,9489,1.30,207.4,694.7,7.3,455,9513,0.00,2.60,17.12,1.272,6,0.000,0.052,2760,2097,2032
$GC,9830,1.35,246.1,669.4,6.5,472,9872,0.12,2.67,33.35,1.271,4,0.054,0.058,2795,3492,1874
$GC,9918,1.35,246.1,661.4,9.9,476,9922,0.00,2.58,0.00,0.000,6,0.000,0.050,2795,2101,1874
$GC,10245,1.35,246.1,631.9,9.7,492,10249,0.00,2.58,0.00,0.000,4,0.000,0.056,2795,3501,1874
$GC,10288,1.35,246.1,626.9,11.0,494,10293,0.00,2.55,0.00,0.000,6,0.000,0.048,2795,2100,1873
$GC,10609,1.35,246.1,587.9,13.2,510,10614,0.00,2.58,0.00,0.000,4,0.000,0.054,2795,3502,1874
$GC,10637,1.35,246.1,583.8,13.9,511,10642,0.00,2.55,0.00,0.000,6,0.000,0.045,2795,2095,1873
$GC,10953,1.35,246.1,544.4,12.6,526,10958,0.00,2.58,0.00,0.000,4,0.000,0.053,2795,3502,1874
$GC,11054,1.35,246.1,531.2,13.7,530,11060,0.00,2.53,0.00,0.000,6,0.000,0.045,2795,2094,1873
$GC,11370,1.35,246.1,492.9,11.7,546,11374,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3506,1874
$GC,11432,1.35,246.1,485.9,10.9,549,11436,0.00,2.53,0.00,0.000,6,0.000,0.044,2795,2098,1874
$GC,11758,1.35,246.1,453.8,10.2,565,11762,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3504,1875
$GC,11847,1.35,246.1,444.8,10.9,569,11851,0.00,2.53,0.00,0.000,6,0.000,0.043,2795,2099,1875
$GC,12167,1.35,246.1,417.2,8.1,585,12172,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3504,1875
$GC,12235,1.35,246.1,411.7,8.4,588,12239,0.00,2.53,0.00,0.000,6,0.000,0.043,2795,2096,1875
$GC,12555,1.35,246.1,380.6,9.7,604,12560,0.00,2.55,0.00,0.000,4,0.000,0.050,2795,3505,1876
$GC,12673,1.35,246.1,367.6,10.4,609,12677,0.00,2.53,0.00,0.000,6,0.000,0.042,2795,2096,1876
$GC,12989,1.35,246.1,335.3,10.4,624,12993,0.00,2.55,0.00,0.000,4,0.000,0.050,2795,3504,1876
$GC,13066,1.35,246.1,327.3,10.4,627,13072,0.00,2.53,0.00,0.000,6,0.000,0.042,2795,2094,1877
$GC,13381,1.35,246.1,292.5,12.7,643,13386,0.00,2.58,0.00,0.000,4,0.000,0.050,2795,3508,1877
$GC,13460,1.35,246.1,281.1,14.5,646,13466,0.00,2.53,0.00,0.000,6,0.000,0.040,2795,2090,1877
$GC,13775,1.54,395.6,259.6,2.3,662,13901,0.15,2.62,119.18,0.960,4,0.052,0.048,2845,3505,1264
$GC,13999,1.54,395.6,229.0,17.2,672,14003,0.00,2.53,0.00,0.000,6,0.000,0.037,2845,2092,1264
$GC,14314,1.54,395.6,188.1,15.2,687,14319,0.00,2.58,0.00,0.000,4,0.000,0.048,2845,3506,1264
$GC,14348,1.54,395.6,181.9,18.0,688,14354,0.00,2.53,0.00,0.000,6,0.000,0.041,2845,2097,1264
$GC,14665,1.54,395.6,120.8,18.8,704,14669,0.00,2.58,0.00,0.000,4,0.000,0.064,2845,695,1265
$GC,14697,1.54,395.6,113.4,19.8,705,14704,0.00,2.47,0.00,0.000,6,0.000,0.039,2845,2116,1264
$GC,15014,1.54,395.6,60.5,14.4,721,15018,0.00,2.47,0.00,0.000,4,0.000,0.047,2845,3494,1265
$GC,15041,1.54,395.6,55.8,17.2,722,15045,0.00,2.50,0.00,0.000,6,0.000,0.041,2845,2096,1265
$GC,15357,1.54,395.6,12.3,8.1,737,15361,0.00,2.60,0.00,0.000,4,0.000,0.069,2844,696,1265
$GC,15389,1.54,395.6,8.0,11.6,738,15396,0.00,2.45,0.00,0.000,6,0.000,0.039,2845,2106,1265
$STATE,15434,end climb,SURFACE_DEPTH_REACHED
$STATE,15435,begin surface coast
$FINISH,1.0,1.024466
$STATE,15456,end surface coast,CONTROL_FINISHED_OK
$STATE,15457,begin surface
$SM_CCo,15540,0.00,0.000,0,0,1263,396.16
$SM_GC,1.71,12.20,0.00,0.00,0.033,0.000,0.000,29,1892,1263,-11.27,-0.23,396.16
$IRIDIUM_FIX,6158.08,-1043.16,260497,232324
$TT8_MAMPS,0.026845
$HUMID,2073
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,23.1,75.115
$10V_AH,10.1,36.369
$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,26.400,184.175,456.575,0.000,0.000,36.829,59.789,161.308,6.750,0.000,0.000,16.984,1424.686,11549.745,585.167,1834.553,574.803,33.367,1565.169,0.000,1787.483,0.000,43.000
$DEVICE_MAMPS,134.992,82.069,1333.046,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,551.492,499.279,408.036,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38015,742
$CFSIZE,260165632,235700224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,010208,082316,6218.816,-1044.394,41,2.9,60,-10.5