version: 66.02
glider: 102
mission: 4
dive: 384
start: 2 1 108 22 53 5
data:
$ID,102
$MISSION,4
$DIVE,384
$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,-86147.961
$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,24
$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
$GPS1,224032,6212.024,-1048.519,39,1.4,39,-10.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-53.2
$GPS2,225121,6211.876,-1048.800,12,1.0,12,-10.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,DE
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.237,0.023
$KALMAN_X,560394.7,-577.1,-581.8,-681606.0,-5343.8
$KALMAN_Y,92704.6,-1383.3,-761.3,-18791.7,-507.6
$MHEAD_RNG_PITCHd_Wd,94.9,13232,-14.7,-8.000
$D_GRID,909
$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,-146.6,0.0,0.0,0,106,0.00,0.00,-80.95,0.000,2,0.000,0.000,33,1894,3116
$GC,110,-1.23,-146.6,4.2,-3.7,4,136,11.60,2.65,-8.73,0.000,4,0.139,0.081,2226,498,3476
$GC,267,-1.23,-146.6,31.9,-14.9,11,272,0.00,2.45,0.00,0.000,6,0.000,0.038,2226,1904,3477
$GC,590,-1.23,-146.6,75.3,-15.0,27,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1908,3477
$GC,897,-1.23,-146.6,114.3,-9.4,42,901,0.00,2.50,0.00,0.000,4,0.000,0.047,2226,3296,3477
$GC,952,-1.23,-146.6,119.9,-9.6,44,958,0.00,2.50,0.00,0.000,6,0.000,0.043,2226,1899,3477
$GC,1269,-1.23,-146.6,149.4,-8.7,60,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3476
$GC,1577,-1.23,-146.6,177.8,-10.7,75,1581,0.00,2.50,0.00,0.000,4,0.000,0.045,2226,3298,3476
$GC,1598,-1.23,-146.6,180.2,-10.7,76,1602,0.00,2.50,0.00,0.000,6,0.000,0.042,2226,1896,3476
$GC,1919,-1.23,-146.6,218.1,-12.0,92,1923,0.00,2.53,0.00,0.000,4,0.000,0.046,2225,3302,3477
$GC,1975,-1.23,-146.6,225.8,-13.8,94,1981,0.00,2.50,0.00,0.000,6,0.000,0.043,2226,1900,3477
$GC,2290,-1.23,-146.6,270.6,-14.1,110,2294,0.00,2.50,0.00,0.000,4,0.000,0.046,2226,3295,3476
$GC,2307,-1.23,-146.6,273.0,-14.7,111,2312,0.00,2.50,0.00,0.000,6,0.000,0.042,2226,1893,3477
$GC,2635,-1.23,-146.6,325.9,-15.5,127,2639,0.00,2.53,0.00,0.000,4,0.000,0.047,2226,3295,3476
$GC,2667,-1.23,-146.6,331.2,-15.7,128,2673,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1893,3476
$GC,2984,-1.23,-146.6,377.4,-14.0,144,2988,0.00,2.53,0.00,0.000,4,0.000,0.047,2226,3295,3476
$GC,3024,-1.23,-146.6,382.9,-13.8,146,3028,0.00,2.50,0.00,0.000,6,0.000,0.045,2226,1900,3476
$GC,3350,-1.23,-146.6,418.2,-11.4,162,3354,0.00,2.50,0.00,0.000,4,0.000,0.048,2225,3295,3476
$GC,3379,-1.23,-146.6,421.4,-11.6,163,3383,0.00,2.50,0.00,0.000,6,0.000,0.044,2226,1896,3476
$GC,3694,-1.23,-146.6,454.4,-10.7,178,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1896,3477
$GC,4003,-1.23,-146.6,484.6,-8.3,193,4008,0.00,2.53,0.00,0.000,4,0.000,0.048,2226,3294,3476
$GC,4026,-1.23,-146.6,486.4,-8.1,194,4030,0.00,2.50,0.00,0.000,6,0.000,0.044,2226,1896,3476
$GC,4347,-1.23,-146.6,511.4,-7.7,210,4351,0.00,2.53,0.00,0.000,4,0.000,0.049,2226,3293,3477
$GC,4374,-1.23,-146.6,513.6,-7.6,211,4378,0.00,2.50,0.00,0.000,6,0.000,0.044,2226,1900,3476
$GC,4691,-1.23,-146.6,537.4,-7.2,226,4695,0.00,2.62,0.00,0.000,4,0.000,0.071,2226,495,3477
$GC,4717,-1.23,-146.6,539.5,-8.2,227,4722,0.00,2.45,0.00,0.000,6,0.000,0.041,2226,1901,3476
$GC,5033,-1.23,-146.6,568.0,-9.4,242,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1902,3476
$GC,5343,-1.23,-146.6,599.6,-10.2,257,5347,0.00,2.53,0.00,0.000,4,0.000,0.053,2226,3293,3476
$GC,5403,-1.23,-146.6,606.1,-10.5,259,5409,0.00,2.53,0.00,0.000,6,0.000,0.048,2226,1900,3476
$GC,5719,-1.23,-146.6,637.1,-9.1,275,5723,0.00,2.55,0.00,0.000,4,0.000,0.053,2226,3301,3476
$GC,5786,-1.23,-146.6,641.8,-6.2,278,5790,0.00,2.53,0.00,0.000,6,0.000,0.048,2226,1900,3476
$GC,6107,-1.23,-146.6,660.7,-6.4,294,6111,0.00,2.65,0.00,0.000,4,0.000,0.075,2226,488,3476
$GC,6162,-1.23,-146.6,664.9,-7.0,296,6169,0.00,2.47,0.00,0.000,6,0.000,0.044,2226,1896,3476
$GC,6478,-1.23,-146.6,687.3,-7.5,312,6482,0.00,2.55,0.00,0.000,4,0.000,0.056,2226,3298,3476
$GC,6517,-1.23,-146.6,690.1,-7.2,314,6522,0.00,2.55,0.00,0.000,6,0.000,0.050,2226,1895,3476
$GC,6845,-1.23,-146.6,717.0,-7.8,330,6849,0.00,2.58,0.00,0.000,4,0.000,0.055,2226,3305,3476
$GC,6866,-1.23,-146.6,718.5,-6.5,331,6871,0.00,2.55,0.00,0.000,6,0.000,0.051,2226,1900,3476
$GC,7187,-1.23,-146.6,745.9,-9.0,347,7192,0.00,2.55,0.00,0.000,4,0.000,0.055,2226,3299,3476
$GC,7299,-1.23,-146.6,760.8,-14.9,352,7304,0.00,2.55,0.00,0.000,6,0.000,0.051,2226,1896,3476
$GC,7620,-1.23,-146.6,805.4,-14.3,368,7625,0.00,2.65,0.00,0.000,4,0.000,0.077,2226,488,3476
$GC,7670,-1.23,-146.6,812.8,-14.9,370,7675,0.00,2.50,0.00,0.000,6,0.000,0.048,2226,1898,3476
$GC,7989,-1.23,-146.6,851.2,-9.2,385,7993,0.00,2.58,0.00,0.000,4,0.000,0.060,2226,3299,3476
$GC,8078,-1.23,-146.6,858.7,-7.7,389,8082,0.00,2.58,0.00,0.000,6,0.000,0.055,2226,1895,3476
$GC,8399,-1.23,-146.6,884.6,-7.4,405,8403,0.00,2.60,0.00,0.000,4,0.000,0.061,2226,3302,3475
$GC,8465,-1.23,-146.6,889.0,-6.4,408,8470,0.00,2.58,0.00,0.000,6,0.000,0.058,2226,1901,3475
$GC,8787,-1.23,-146.6,907.4,-6.2,424,8791,0.00,2.65,0.00,0.000,4,0.000,0.081,2226,490,3475
$STATE,8805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8805,begin apogee
$GC,8815,-0.36,0.0,909.2,8.1,425,8951,0.88,0.00,128.40,1.420,6,0.082,0.000,2413,2099,2878
$STATE,8952,end apogee,CONTROL_FINISHED_OK
$STATE,8952,begin climb
$GC,8955,1.23,146.6,914.2,0.0,432,9091,1.58,2.72,127.40,1.384,4,0.055,0.065,2762,3504,2280
$GC,9138,1.27,176.8,911.1,6.9,440,9173,0.00,2.62,27.12,1.356,6,0.000,0.057,2763,2100,2156
$GC,9497,1.30,203.9,884.3,7.0,458,9526,0.00,2.70,24.10,1.372,4,0.000,0.064,2762,3508,2046
$GC,9612,1.36,255.3,876.3,6.0,463,9663,0.12,2.62,44.72,1.366,6,0.054,0.057,2796,2099,1837
$GC,9976,1.36,255.3,849.3,8.5,480,9981,0.00,2.62,0.00,0.000,4,0.000,0.061,2796,3505,1836
$GC,10066,1.36,255.3,840.5,8.9,484,10070,0.00,2.60,0.00,0.000,6,0.000,0.056,2796,2099,1836
$GC,10386,1.36,255.3,808.0,11.0,500,10390,0.00,2.62,0.00,0.000,4,0.000,0.060,2796,3504,1835
$GC,10443,1.36,255.3,802.3,9.6,502,10449,0.00,2.60,0.00,0.000,6,0.000,0.054,2796,2098,1835
$GC,10758,1.36,255.3,772.4,10.0,518,10763,0.00,2.62,0.00,0.000,4,0.000,0.059,2796,3506,1835
$GC,10814,1.36,255.3,766.2,11.6,520,10820,0.00,2.58,0.00,0.000,6,0.000,0.054,2796,2099,1835
$GC,11130,1.36,255.3,727.3,11.0,536,11134,0.00,2.60,0.00,0.000,4,0.000,0.058,2796,3504,1834
$GC,11215,1.36,255.3,717.6,11.4,540,11219,0.00,2.58,0.00,0.000,6,0.000,0.052,2797,2094,1834
$GC,11541,1.36,255.3,680.2,12.3,556,11545,0.00,2.60,0.00,0.000,4,0.000,0.056,2796,3506,1834
$GC,11626,1.36,255.3,669.4,11.9,560,11630,0.00,2.55,0.00,0.000,6,0.000,0.050,2796,2103,1834
$GC,11952,1.36,255.3,634.2,10.0,576,11953,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2102,1834
$GC,12261,1.36,255.3,604.5,9.4,591,12266,0.00,2.55,0.00,0.000,4,0.000,0.053,2796,3505,1834
$GC,12330,1.36,255.3,597.7,9.5,594,12334,0.00,2.55,0.00,0.000,6,0.000,0.046,2797,2095,1834
$GC,12650,1.36,255.3,569.8,8.2,610,12655,0.00,2.60,0.00,0.000,4,0.000,0.052,2796,3512,1835
$GC,12700,1.36,255.3,565.5,9.1,612,12704,0.00,2.53,0.00,0.000,6,0.000,0.046,2796,2099,1834
$GC,13016,1.36,255.3,539.4,8.6,627,13020,0.00,2.58,0.00,0.000,4,0.000,0.051,2797,3511,1835
$GC,13082,1.36,255.3,533.3,8.9,630,13086,0.00,2.53,0.00,0.000,6,0.000,0.045,2796,2100,1835
$GC,13404,1.37,257.4,507.8,7.9,646,13408,0.00,2.58,0.00,0.000,4,0.000,0.051,2796,3506,1835
$GC,13448,1.37,257.4,504.0,8.1,648,13452,0.00,2.55,0.00,0.000,6,0.000,0.044,2796,2092,1835
$GC,13768,1.37,257.4,477.0,9.0,664,13773,0.00,2.58,0.00,0.000,4,0.000,0.051,2796,3506,1835
$GC,13810,1.37,257.4,473.1,10.0,666,13814,0.00,2.53,0.00,0.000,6,0.000,0.044,2797,2097,1835
$GC,14136,1.37,257.4,440.5,10.9,682,14141,0.00,2.55,0.00,0.000,4,0.000,0.051,2796,3506,1836
$GC,14199,1.37,257.4,433.2,11.8,685,14203,0.00,2.53,0.00,0.000,6,0.000,0.044,2796,2098,1836
$GC,14526,1.37,257.4,400.0,9.8,701,14530,0.00,2.55,0.00,0.000,4,0.000,0.051,2796,3505,1836
$GC,14570,1.37,257.4,395.9,9.5,703,14574,0.00,2.53,0.00,0.000,6,0.000,0.043,2796,2098,1836
$GC,14890,1.37,257.4,362.0,12.3,719,14899,0.00,2.60,3.28,1.004,4,0.000,0.051,2796,3505,1827
$GC,14944,1.37,257.4,355.4,10.7,721,14949,0.00,2.53,0.00,0.000,6,0.000,0.042,2796,2090,1827
$GC,15261,1.37,257.4,317.6,13.0,736,15265,0.00,2.60,0.00,0.000,4,0.000,0.051,2797,3514,1827
$GC,15295,1.37,257.4,312.9,13.0,737,15301,0.00,2.55,0.00,0.000,6,0.000,0.042,2796,2090,1828
$GC,15610,1.37,257.4,268.9,13.7,753,15615,0.00,2.58,0.00,0.000,4,0.000,0.050,2796,3506,1828
$GC,15711,1.37,257.4,256.2,13.0,757,15717,0.00,2.53,0.00,0.000,6,0.000,0.042,2796,2093,1827
$GC,16026,1.37,257.4,222.1,11.1,773,16031,0.00,2.58,0.00,0.000,4,0.000,0.050,2797,3507,1827
$GC,16121,1.37,257.4,213.2,9.9,777,16125,0.00,2.47,0.00,0.000,6,0.000,0.041,2797,2100,1827
$GC,16442,1.37,257.4,180.4,13.4,793,16447,0.00,2.55,0.00,0.000,4,0.000,0.050,2797,3505,1827
$GC,16482,1.37,257.4,175.2,11.4,795,16486,0.00,2.50,0.00,0.000,6,0.000,0.041,2796,2095,1827
$GC,16809,1.37,257.4,141.7,9.8,811,16813,0.00,2.58,0.00,0.000,4,0.000,0.050,2797,3510,1827
$GC,16881,1.37,257.4,135.0,8.2,814,16885,0.00,2.53,0.00,0.000,6,0.000,0.041,2796,2093,1828
$GC,17198,1.39,278.9,111.9,7.2,829,17223,0.00,2.67,17.73,0.910,4,0.000,0.048,2796,3512,1741
$GC,17281,1.39,278.9,104.0,9.0,832,17287,0.00,2.55,0.00,0.000,6,0.000,0.040,2796,2090,1741
$GC,17596,1.39,278.9,80.3,8.1,848,17601,0.00,2.58,0.00,0.000,4,0.000,0.048,2796,3508,1741
$GC,17663,1.39,278.9,71.4,13.7,851,17667,0.00,2.53,0.00,0.000,6,0.000,0.040,2797,2096,1740
$GC,17985,1.46,334.2,35.9,5.9,867,18033,0.00,0.00,43.85,0.838,6,0.000,0.000,2797,2096,1514
$STATE,18354,end climb,SURFACE_DEPTH_REACHED
$STATE,18354,begin surface coast
$FINISH,1.1,1.014056
$STATE,18379,end surface coast,CONTROL_FINISHED_OK
$STATE,18379,begin surface
$SM_CCo,18463,0.00,0.000,0,0,1512,335.08
$SM_GC,1.87,11.98,0.00,0.00,0.031,0.000,0.000,33,1897,1512,-11.27,-0.11,335.08
$IRIDIUM_FIX,6148.92,-1054.18,270497,222226
$TT8_MAMPS,0.026078
$HUMID,2074
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.4,999.0
$24V_AH,23.0,75.908
$10V_AH,10.1,36.705
$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,26.150,220.550,416.600,0.000,0.000,76.820,80.915,297.325,8.500,0.000,0.000,13.870,1693.236,13973.883,576.500,2093.296,822.816,33.380,1675.211,0.000,2039.097,0.000,52.718
$DEVICE_MAMPS,138.827,81.302,1419.717,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,653.452,597.870,495.394,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44403,886
$CFSIZE,260165632,235425792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,020208,040207,6209.613,-1049.030,38,1.4,43,-10.5