version: 66.02
glider: 102
mission: 4
dive: 383
start: 2 1 108 17 27 21
data:
$ID,102
$MISSION,4
$DIVE,383
$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,-86133.461
$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,34
$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
$GPS1,171538,6214.719,-1045.802,52,1.0,52,-10.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,2
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-59.0
$GPS2,172539,6214.571,-1046.087,11,1.0,11,-10.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,DE
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.233,0.046
$KALMAN_X,569346.1,-1553.0,-750.9,-687007.8,-1022.9
$KALMAN_Y,97382.2,-521.7,-20.8,-20101.2,-662.6
$MHEAD_RNG_PITCHd_Wd,89.4,9594,-14.7,-8.000
$D_GRID,859
$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,-146.6,0.0,0.0,0,127,0.00,0.00,-101.18,0.000,2,0.000,0.000,30,1881,3078
$GC,130,-1.23,-146.6,4.0,-2.7,5,160,11.65,2.62,-9.52,0.000,4,0.140,0.084,2222,500,3477
$GC,398,-1.23,-146.6,53.1,-14.4,17,403,0.00,2.45,0.00,0.000,6,0.000,0.039,2222,1904,3477
$GC,725,-1.23,-146.6,93.9,-8.3,33,730,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3296,3477
$GC,788,-1.23,-146.6,103.9,-16.6,36,793,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1903,3477
$GC,1117,-1.23,-146.6,150.7,-6.5,52,1121,0.00,2.62,0.00,0.000,4,0.000,0.071,2222,496,3477
$GC,1149,-1.23,-146.6,152.1,-4.0,53,1155,0.00,2.45,0.00,0.000,6,0.000,0.039,2223,1901,3477
$GC,1466,-1.23,-146.6,176.5,-8.4,69,1470,0.00,2.62,0.00,0.000,4,0.000,0.069,2222,492,3477
$GC,1487,-1.23,-146.6,178.9,-10.3,70,1491,0.00,2.45,0.00,0.000,6,0.000,0.039,2222,1900,3477
$GC,1809,-1.23,-146.6,218.0,-12.0,86,1813,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3293,3477
$GC,1865,-1.23,-146.6,224.2,-10.8,88,1870,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3477
$GC,2180,-1.23,-146.6,255.1,-9.1,104,2184,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3302,3477
$GC,2207,-1.23,-146.6,257.5,-9.2,105,2211,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1900,3477
$GC,2523,-1.23,-146.6,282.1,-7.7,120,2528,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3302,3477
$GC,2557,-1.23,-146.6,284.7,-7.5,121,2563,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3477
$GC,2872,-1.23,-146.6,314.2,-10.1,137,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3476
$GC,3182,-1.23,-146.6,339.6,-7.2,152,3186,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3296,3476
$GC,3226,-1.23,-146.6,342.7,-7.0,154,3230,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1901,3476
$GC,3546,-1.23,-146.6,378.4,-14.4,170,3551,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3301,3477
$GC,3580,-1.23,-146.6,383.2,-14.4,171,3586,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1896,3476
$GC,3896,-1.23,-146.6,425.0,-12.2,187,3900,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3295,3476
$GC,3923,-1.23,-146.6,429.0,-14.2,188,3927,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1898,3476
$GC,4239,-1.23,-146.6,465.1,-10.4,203,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3477
$GC,4548,-1.23,-146.6,495.1,-10.2,218,4552,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3295,3476
$GC,4575,-1.23,-146.6,498.2,-11.3,219,4579,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3476
$GC,4891,-1.23,-146.6,530.2,-9.4,234,4895,0.00,2.53,0.00,0.000,4,0.000,0.050,2222,3296,3476
$GC,4931,-1.23,-146.6,534.0,-9.5,236,4935,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1893,3476
$GC,5257,-1.23,-146.6,563.1,-9.5,252,5261,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3298,3476
$GC,5278,-1.23,-146.6,565.4,-10.2,253,5282,0.00,2.53,0.00,0.000,6,0.000,0.046,2222,1895,3476
$GC,5605,-1.23,-146.6,596.3,-9.1,269,5609,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3296,3476
$GC,5645,-1.23,-146.6,600.0,-9.5,271,5650,0.00,2.53,0.00,0.000,6,0.000,0.046,2222,1896,3476
$GC,5972,-1.23,-146.6,641.4,-14.1,287,5977,0.00,2.62,0.00,0.000,4,0.000,0.074,2222,498,3476
$GC,6037,-1.23,-146.6,650.6,-14.8,290,6042,0.00,2.45,0.00,0.000,6,0.000,0.043,2222,1894,3476
$GC,6364,-1.23,-146.6,699.0,-13.7,306,6368,0.00,2.62,0.00,0.000,4,0.000,0.072,2222,497,3476
$GC,6408,-1.23,-146.6,703.7,-10.1,308,6412,0.00,2.47,0.00,0.000,6,0.000,0.044,2222,1898,3476
$GC,6728,-1.23,-146.6,727.7,-1.8,324,6733,0.00,2.67,0.00,0.000,4,0.000,0.077,2222,492,3476
$GC,6790,-1.23,-146.6,726.6,3.4,327,6795,0.00,2.50,0.00,0.000,6,0.000,0.045,2222,1907,3476
$GC,7118,-1.23,-146.6,725.8,-2.7,343,7122,0.00,2.53,0.00,0.000,4,0.000,0.056,2222,3300,3476
$GC,7184,-1.23,-146.6,727.1,-2.6,346,7189,0.00,2.55,0.00,0.000,6,0.000,0.052,2222,1900,3476
$GC,7506,-1.23,-146.6,742.5,-7.3,362,7510,0.00,2.58,0.00,0.000,4,0.000,0.055,2222,3308,3476
$GC,7538,-1.23,-146.6,745.2,-8.2,363,7544,0.00,2.58,0.00,0.000,6,0.000,0.051,2223,1894,3475
$GC,7854,-1.23,-146.6,765.1,-4.1,379,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1894,3475
$GC,8164,-1.23,-146.6,772.7,-2.1,394,8168,0.00,2.58,0.00,0.000,4,0.000,0.056,2222,3301,3475
$GC,8258,-1.23,-146.6,774.5,-1.4,398,8263,0.00,2.55,0.00,0.000,6,0.000,0.052,2222,1898,3475
$GC,8574,-1.23,-146.6,773.0,0.2,413,8578,0.00,2.58,0.00,0.000,4,0.000,0.056,2222,3305,3474
$GC,8614,-1.23,-146.6,773.1,-0.2,415,8618,0.00,2.58,0.00,0.000,6,0.000,0.053,2222,1896,3474
$GC,8941,-1.23,-146.6,783.1,-5.0,431,8945,0.00,2.58,0.00,0.000,4,0.000,0.056,2222,3302,3474
$GC,8974,-1.23,-146.6,785.1,-6.0,432,8980,0.00,2.55,0.00,0.000,6,0.000,0.053,2222,1901,3474
$GC,9290,-1.23,-146.6,807.0,-7.9,448,9291,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3473
$GC,9598,-1.23,-146.6,835.0,-8.9,463,9603,0.00,2.65,0.00,0.000,4,0.000,0.078,2222,494,3473
$GC,9648,-1.23,-146.6,839.5,-8.3,465,9653,0.00,2.50,0.00,0.000,6,0.000,0.049,2222,1899,3472
$STATE,9879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9879,begin apogee
$GC,9886,-0.36,0.0,859.7,8.6,476,10021,0.93,0.00,127.15,1.397,6,0.082,0.000,2418,2104,2878
$STATE,10022,end apogee,CONTROL_FINISHED_OK
$STATE,10022,begin climb
$GC,10025,1.23,146.6,863.5,0.0,483,10163,1.55,2.70,126.65,1.354,4,0.055,0.064,2762,3495,2280
$GC,10287,1.23,146.6,846.9,9.1,495,10291,0.00,2.58,0.00,0.000,6,0.000,0.052,2762,2094,2279
$GC,10608,1.23,146.6,818.8,8.3,511,10612,0.00,2.62,0.00,0.000,4,0.000,0.061,2762,3497,2279
$GC,10648,1.23,146.6,815.5,8.2,513,10652,0.00,2.58,0.00,0.000,6,0.000,0.052,2762,2094,2279
$GC,10974,1.23,146.6,787.2,8.8,529,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2094,2278
$GC,11283,1.23,146.6,759.3,10.0,544,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2094,2277
$GC,11593,1.23,146.6,727.7,11.0,559,11597,0.00,2.60,0.00,0.000,4,0.000,0.058,2762,3501,2277
$GC,11634,1.23,146.6,722.5,13.9,561,11639,0.00,2.55,0.00,0.000,6,0.000,0.048,2762,2091,2277
$GC,11960,1.23,146.6,691.2,8.9,577,11964,0.00,2.60,0.00,0.000,4,0.000,0.058,2762,3504,2276
$GC,12130,1.23,146.6,676.2,8.4,584,12136,0.00,2.55,0.00,0.000,6,0.000,0.048,2762,2096,2276
$GC,12445,1.23,146.6,644.8,10.4,600,12449,0.00,2.62,0.00,0.000,4,0.000,0.072,2762,693,2276
$GC,12494,1.23,146.6,639.3,10.5,602,12499,0.00,2.47,0.00,0.000,6,0.000,0.043,2762,2098,2276
$GC,12810,1.26,168.2,613.6,7.2,617,12834,0.00,2.65,18.27,1.251,4,0.000,0.054,2762,3498,2192
$GC,13006,1.32,220.6,600.5,6.0,625,13056,0.00,2.53,44.83,1.230,6,0.000,0.044,2762,2101,1978
$GC,13386,1.45,327.3,583.5,3.9,644,13478,0.17,0.00,89.05,1.187,6,0.048,0.000,2814,2101,1543
$GC,13794,1.45,327.3,547.1,11.3,664,13795,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2100,1544
$GC,14103,1.45,327.3,507.2,13.2,679,14107,0.00,2.55,0.00,0.000,4,0.000,0.049,2815,3505,1544
$GC,14143,1.45,327.3,502.0,12.7,681,14147,0.00,2.53,0.00,0.000,6,0.000,0.044,2815,2101,1544
$GC,14469,1.45,327.3,464.4,10.5,697,14473,0.00,2.55,0.00,0.000,4,0.000,0.048,2815,3506,1544
$GC,14524,1.45,327.3,457.1,13.2,699,14530,0.00,2.53,0.00,0.000,6,0.000,0.044,2815,2098,1544
$GC,14839,1.45,327.3,423.2,9.5,715,14841,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2099,1544
$GC,15149,1.45,327.3,390.0,10.6,730,15150,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2099,1545
$GC,15458,1.45,327.3,357.3,10.1,745,15459,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2098,1545
$GC,15767,1.45,327.3,321.0,12.3,760,15771,0.00,2.55,0.00,0.000,4,0.000,0.049,2815,3504,1545
$GC,15800,1.45,327.3,316.8,12.4,761,15806,0.00,2.53,0.00,0.000,6,0.000,0.041,2814,2089,1545
$GC,16115,1.45,327.3,282.4,9.5,777,16120,0.00,2.58,0.00,0.000,4,0.000,0.048,2815,3508,1545
$GC,16160,1.45,327.3,277.6,10.5,779,16164,0.00,2.53,0.00,0.000,6,0.000,0.042,2815,2102,1545
$GC,16480,1.45,327.3,241.2,10.3,795,16485,0.00,2.53,0.00,0.000,4,0.000,0.047,2815,3502,1545
$GC,16520,1.45,327.3,237.3,9.8,797,16525,0.00,2.53,0.00,0.000,6,0.000,0.041,2815,2091,1545
$GC,16846,1.46,337.5,210.2,7.6,813,16858,0.00,0.00,9.65,0.983,6,0.000,0.000,2815,2091,1502
$GC,17156,1.46,337.5,176.2,11.5,828,17160,0.00,2.55,0.00,0.000,4,0.000,0.048,2815,3502,1501
$GC,17200,1.47,342.3,171.8,7.8,830,17210,0.00,2.50,5.05,0.946,6,0.000,0.041,2814,2101,1482
$GC,17521,1.47,342.3,143.6,8.1,845,17525,0.00,2.62,0.00,0.000,4,0.000,0.067,2815,692,1481
$GC,17553,1.47,342.3,140.2,9.0,846,17560,0.00,2.47,0.00,0.000,6,0.000,0.038,2815,2107,1482
$GC,17871,1.47,342.3,112.2,12.4,862,17875,0.00,2.50,0.00,0.000,4,0.000,0.048,2815,3498,1482
$GC,17955,1.47,342.3,98.5,16.0,866,17960,0.00,2.50,0.00,0.000,6,0.000,0.040,2815,2097,1482
$GC,18283,1.47,342.3,50.6,14.7,882,18284,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2097,1482
$GC,18591,1.47,342.3,5.1,13.6,897,18596,0.00,2.55,0.00,0.000,4,0.000,0.051,2815,3494,1482
$STATE,18622,end climb,SURFACE_DEPTH_REACHED
$STATE,18622,begin surface coast
$FINISH,1.0,1.027516
$STATE,18630,end surface coast,CONTROL_FINISHED_OK
$STATE,18630,begin surface
$SM_CCo,18716,0.00,0.000,0,0,1481,342.68
$SM_GC,1.75,12.07,0.00,0.00,0.034,0.000,0.000,34,1898,1481,-11.27,-0.06,342.68
$IRIDIUM_FIX,6153.50,-1114.97,270497,171723
$TT8_MAMPS,0.026845
$HUMID,2077
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,23.0,75.728
$10V_AH,10.1,36.616
$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,26.375,194.050,420.650,0.000,0.000,77.291,75.603,260.114,8.000,0.000,0.000,13.191,1683.073,14278.131,586.884,2042.915,774.567,33.370,1655.840,0.000,1996.124,0.000,49.474
$DEVICE_MAMPS,140.361,83.603,1396.707,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,665.514,606.788,457.669,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47448,899
$CFSIZE,260165632,235491328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,010208,224032,6212.024,-1048.519,39,1.4,39,-10.5