version: 66.02
glider: 102
mission: 4
dive: 385
start: 2 2 108 4 10 17
data:
$ID,102
$MISSION,4
$DIVE,385
$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,-86160.047
$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,21
$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
$GPS1,040207,6209.613,-1049.030,38,1.4,43,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-62.1
$GPS2,040833,6209.536,-1049.065,10,1.5,10,-10.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,DE
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.237,0.013
$KALMAN_X,552872.6,447.4,254.3,-676211.8,-9677.6
$KALMAN_Y,86618.6,-1117.1,-50.4,-18020.8,-3639.1
$MHEAD_RNG_PITCHd_Wd,97.5,15795,-14.7,-8.000
$D_GRID,938
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-60.97,0.000,2,0.000,0.000,32,1890,2692
$GC,90,-1.23,-146.6,3.1,-2.8,3,135,11.68,2.65,-26.25,0.000,4,0.142,0.077,2224,501,3477
$GC,153,-1.23,-146.6,9.9,-13.0,6,158,0.00,2.47,0.00,0.000,6,0.000,0.039,2225,1912,3477
$GC,481,-1.23,-146.6,50.5,-13.4,22,485,0.00,2.67,0.00,0.000,4,0.000,0.070,2224,494,3477
$GC,738,-1.23,-146.6,90.5,-15.1,33,744,0.00,2.45,0.00,0.000,6,0.000,0.039,2224,1908,3477
$GC,1055,-1.23,-146.6,123.8,-9.8,49,1060,0.00,2.65,0.00,0.000,4,0.000,0.069,2224,494,3477
$GC,1087,-1.23,-146.6,127.1,-10.0,50,1094,0.00,2.45,0.00,0.000,6,0.000,0.040,2224,1904,3477
$GC,1404,-1.23,-146.6,162.6,-12.3,66,1408,0.00,2.50,0.00,0.000,4,0.000,0.048,2224,3291,3477
$GC,1447,-1.23,-146.6,167.9,-10.9,68,1452,0.00,2.50,0.00,0.000,6,0.000,0.044,2224,1897,3477
$GC,1768,-1.23,-146.6,202.5,-10.2,84,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,2078,-1.23,-146.6,234.6,-10.6,99,2082,0.00,2.50,0.00,0.000,4,0.000,0.046,2224,3294,3477
$GC,2099,-1.23,-146.6,237.2,-11.4,100,2103,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1897,3477
$GC,2420,-1.23,-146.6,272.5,-11.2,116,2424,0.00,2.50,0.00,0.000,4,0.000,0.046,2224,3294,3477
$GC,2448,-1.23,-146.6,276.1,-13.1,117,2453,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1896,3477
$GC,2764,-1.23,-146.6,314.5,-11.7,132,2768,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3295,3476
$GC,2790,-1.23,-146.6,317.7,-12.2,133,2795,0.00,2.50,0.00,0.000,6,0.000,0.044,2224,1897,3477
$GC,3109,-1.23,-146.6,351.8,-10.0,148,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,3415,-1.23,-146.6,381.0,-9.5,163,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,3725,-1.23,-146.6,414.2,-11.4,178,3729,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3298,3477
$GC,3765,-1.23,-146.6,418.8,-11.6,180,3769,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1895,3477
$GC,4091,-1.23,-146.6,457.7,-12.6,196,4095,0.00,2.53,0.00,0.000,4,0.000,0.049,2224,3293,3477
$GC,4112,-1.23,-146.6,460.7,-12.9,197,4117,0.00,2.50,0.00,0.000,6,0.000,0.044,2224,1897,3476
$GC,4434,-1.23,-146.6,498.3,-11.2,213,4438,0.00,2.53,0.00,0.000,4,0.000,0.049,2224,3298,3477
$GC,4489,-1.23,-146.6,504.8,-11.6,215,4495,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1896,3477
$GC,4805,-1.23,-146.6,540.4,-11.4,231,4809,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3299,3477
$GC,4832,-1.23,-146.6,543.5,-11.2,232,4836,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1896,3477
$GC,5147,-1.23,-146.6,578.4,-11.1,247,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3476
$GC,5457,-1.23,-146.6,610.9,-10.9,262,5461,0.00,2.53,0.00,0.000,4,0.000,0.052,2224,3292,3476
$GC,5474,-1.23,-146.6,612.6,-10.2,263,5478,0.00,2.50,0.00,0.000,6,0.000,0.046,2224,1899,3476
$GC,5800,-1.23,-146.6,647.8,-10.6,279,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3476
$GC,6109,-1.23,-146.6,681.9,-11.1,294,6113,0.00,2.55,0.00,0.000,4,0.000,0.054,2224,3297,3476
$GC,6153,-1.23,-146.6,686.4,-10.0,296,6157,0.00,2.53,0.00,0.000,6,0.000,0.047,2224,1896,3476
$GC,6474,-1.23,-146.6,712.1,-7.4,312,6478,0.00,2.55,0.00,0.000,4,0.000,0.054,2224,3292,3476
$GC,6559,-1.23,-146.6,719.2,-9.6,316,6563,0.00,2.53,0.00,0.000,6,0.000,0.048,2225,1897,3476
$GC,6885,-1.23,-146.6,752.7,-10.0,332,6890,0.00,2.60,0.00,0.000,4,0.000,0.075,2224,497,3476
$GC,6941,-1.23,-146.6,758.0,-9.4,334,6947,0.00,2.45,0.00,0.000,6,0.000,0.045,2224,1891,3476
$GC,7257,-1.23,-146.6,776.3,-4.4,350,7261,0.00,2.58,0.00,0.000,4,0.000,0.058,2224,3302,3476
$GC,7290,-1.23,-146.6,778.0,-5.1,351,7296,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1897,3476
$GC,7605,-1.23,-146.6,799.0,-8.6,367,7609,0.00,2.62,0.00,0.000,4,0.000,0.077,2224,495,3476
$GC,7660,-1.23,-146.6,804.0,-9.7,369,7666,0.00,2.50,0.00,0.000,6,0.000,0.048,2224,1900,3476
$GC,7976,-1.23,-146.6,834.9,-10.8,385,7980,0.00,2.58,0.00,0.000,4,0.000,0.061,2224,3299,3475
$GC,8042,-1.23,-146.6,841.6,-9.6,388,8046,0.00,2.58,0.00,0.000,6,0.000,0.057,2224,1902,3475
$GC,8363,-1.23,-146.6,865.7,-7.0,404,8368,0.00,2.58,0.00,0.000,4,0.000,0.061,2224,3300,3474
$GC,8391,-1.23,-146.6,867.6,-6.9,405,8395,0.00,2.58,0.00,0.000,6,0.000,0.058,2224,1898,3474
$GC,8706,-1.23,-146.6,892.5,-8.4,420,8711,0.00,2.60,0.00,0.000,4,0.000,0.062,2224,3299,3474
$GC,8751,-1.23,-146.6,896.6,-8.9,422,8756,0.00,2.58,0.00,0.000,6,0.000,0.059,2224,1896,3474
$GC,9072,-1.23,-146.6,925.7,-9.5,438,9077,0.00,2.60,0.00,0.000,4,0.000,0.064,2224,3299,3472
$GC,9128,-1.23,-146.6,930.5,-8.3,440,9134,0.00,2.60,0.00,0.000,6,0.000,0.061,2224,1897,3472
$STATE,9235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9235,begin apogee
$GC,9242,-0.36,0.0,939.5,8.7,446,9378,0.90,0.00,129.30,1.454,6,0.082,0.000,2414,2097,2877
$STATE,9378,end apogee,CONTROL_FINISHED_OK
$STATE,9378,begin climb
$GC,9381,1.23,146.6,943.3,0.0,453,9514,1.58,0.00,127.62,1.411,6,0.054,0.000,2763,2097,2280
$GC,9813,1.24,154.7,916.9,7.7,474,9827,0.00,2.70,7.97,1.336,4,0.000,0.065,2763,3497,2247
$GC,9972,1.24,154.7,902.8,9.3,481,9977,0.00,2.58,0.00,0.000,6,0.000,0.054,2763,2094,2246
$GC,10299,1.29,198.8,879.9,6.3,497,10344,0.00,2.72,39.00,1.403,4,0.000,0.064,2763,3493,2067
$GC,10462,1.29,198.8,868.7,8.3,504,10467,0.00,2.58,0.00,0.000,6,0.000,0.055,2763,2098,2066
$GC,10778,1.30,208.3,845.7,7.6,519,10793,0.00,2.65,9.20,1.362,4,0.000,0.063,2763,3499,2028
$GC,10912,1.30,208.3,834.3,8.2,525,10917,0.00,2.58,0.00,0.000,6,0.000,0.055,2763,2103,2028
$GC,11239,1.33,232.8,811.3,7.1,541,11269,0.10,2.72,22.00,1.384,4,0.061,0.061,2793,3501,1928
$GC,11342,1.33,232.8,802.0,8.4,545,11349,0.00,2.60,0.00,0.000,6,0.000,0.054,2792,2098,1927
$GC,11658,1.35,248.0,776.1,7.4,561,11680,0.00,2.67,13.82,1.356,4,0.000,0.060,2793,3499,1866
$GC,11749,1.36,253.9,769.0,7.8,565,11762,0.00,2.58,6.47,1.300,6,0.000,0.053,2793,2101,1842
$GC,12079,1.36,253.9,740.6,10.5,581,12083,0.00,2.70,0.00,0.000,4,0.000,0.077,2793,686,1842
$GC,12111,1.36,253.9,736.5,12.1,582,12117,0.00,2.53,0.00,0.000,6,0.000,0.046,2793,2099,1842
$GC,12427,1.36,253.9,694.6,13.1,598,12431,0.00,2.58,0.00,0.000,4,0.000,0.057,2792,3504,1842
$GC,12549,1.36,253.9,679.6,11.3,603,12556,0.00,2.58,0.00,0.000,6,0.000,0.048,2793,2093,1842
$GC,12865,1.36,253.9,647.4,10.0,619,12870,0.00,2.58,0.00,0.000,4,0.000,0.054,2793,3501,1842
$GC,13018,1.36,253.9,630.8,11.1,626,13022,0.00,2.53,0.00,0.000,6,0.000,0.048,2793,2098,1842
$GC,13344,1.36,253.9,594.8,11.0,642,13348,0.00,2.55,0.00,0.000,4,0.000,0.053,2793,3502,1842
$GC,13383,1.36,253.9,590.4,11.1,644,13388,0.00,2.53,0.00,0.000,6,0.000,0.045,2793,2096,1842
$GC,13710,1.36,253.9,558.0,8.6,660,13714,0.00,2.58,0.00,0.000,4,0.000,0.051,2793,3502,1842
$GC,13765,1.36,253.9,552.1,10.3,662,13771,0.00,2.53,0.00,0.000,6,0.000,0.045,2792,2091,1843
$GC,14081,1.36,253.9,519.1,10.7,678,14085,0.00,2.55,0.00,0.000,4,0.000,0.051,2793,3501,1843
$GC,14120,1.36,253.9,514.7,11.7,680,14124,0.00,2.53,0.00,0.000,6,0.000,0.045,2793,2100,1843
$GC,14447,1.36,253.9,478.5,11.8,696,14451,0.00,2.55,0.00,0.000,4,0.000,0.051,2793,3502,1843
$GC,14518,1.36,253.9,469.0,13.1,699,14523,0.00,2.53,0.00,0.000,6,0.000,0.044,2793,2097,1843
$GC,14834,1.36,253.9,432.5,10.8,714,14838,0.00,2.55,0.00,0.000,4,0.000,0.051,2793,3502,1844
$GC,14866,1.36,253.9,429.1,10.0,715,14874,0.00,2.53,0.00,0.000,6,0.000,0.043,2792,2090,1844
$GC,15183,1.36,253.9,398.8,11.0,731,15187,0.00,2.58,0.00,0.000,4,0.000,0.051,2793,3502,1844
$GC,15290,1.36,253.9,386.8,9.1,736,15294,0.00,2.50,0.00,0.000,6,0.000,0.043,2793,2098,1844
$GC,15616,1.36,253.9,357.6,9.8,752,15621,0.00,2.55,0.00,0.000,4,0.000,0.051,2792,3502,1845
$GC,15638,1.36,253.9,355.1,11.0,753,15642,0.00,2.50,0.00,0.000,6,0.000,0.042,2793,2101,1845
$GC,15960,1.37,260.4,324.6,7.8,769,15974,0.00,2.62,7.30,1.039,4,0.000,0.050,2793,3509,1816
$GC,16027,1.37,260.4,318.4,8.4,772,16031,0.00,2.53,0.00,0.000,6,0.000,0.041,2793,2096,1816
$GC,16353,1.37,260.4,289.5,9.0,788,16357,0.00,2.55,0.00,0.000,4,0.000,0.050,2793,3502,1816
$GC,16402,1.37,260.4,283.4,12.8,790,16406,0.00,2.53,0.00,0.000,6,0.000,0.042,2793,2093,1816
$GC,16718,1.37,263.3,247.7,7.9,805,16727,0.00,2.60,3.72,0.966,4,0.000,0.051,2793,3499,1804
$GC,16830,1.37,263.3,237.6,9.7,810,16834,0.00,2.53,0.00,0.000,6,0.000,0.042,2793,2094,1804
$GC,17157,1.37,263.3,203.0,11.6,826,17161,0.00,2.58,0.00,0.000,4,0.000,0.049,2793,3508,1804
$GC,17196,1.37,263.3,199.1,9.7,828,17200,0.00,2.50,0.00,0.000,6,0.000,0.041,2793,2099,1804
$GC,17522,1.37,263.3,169.7,10.2,844,17523,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2098,1804
$GC,17832,1.37,263.3,131.9,11.7,859,17836,0.00,2.55,0.00,0.000,4,0.000,0.049,2793,3502,1805
$GC,17933,1.37,263.3,119.2,13.4,863,17939,0.00,2.50,0.00,0.000,6,0.000,0.040,2793,2096,1805
$GC,18249,1.37,263.3,80.1,13.9,879,18250,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2096,1805
$GC,18559,1.45,329.1,51.4,5.5,894,18620,0.00,2.62,51.80,0.838,4,0.000,0.049,2793,3496,1535
$GC,18647,1.45,329.1,43.2,9.9,898,18652,0.00,2.53,0.00,0.000,6,0.000,0.039,2793,2094,1536
$GC,18968,1.45,329.1,9.5,12.0,914,18973,0.00,2.55,0.00,0.000,4,0.000,0.047,2793,3503,1536
$GC,18986,1.45,329.1,7.3,10.5,915,18990,0.00,2.53,0.00,0.000,6,0.000,0.042,2793,2101,1536
$STATE,19042,end climb,SURFACE_DEPTH_REACHED
$STATE,19042,begin surface coast
$FINISH,0.9,1.027372
$STATE,19064,end surface coast,CONTROL_FINISHED_OK
$STATE,19064,begin surface
$SM_CCo,19147,0.00,0.000,0,0,1533,329.93
$SM_GC,1.98,11.98,0.00,0.00,0.031,0.000,0.000,31,1892,1533,-11.27,-0.23,329.93
$IRIDIUM_FIX,6144.36,-1048.78,270497,222236
$TT8_MAMPS,0.026845
$HUMID,2061
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,15.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,23.0,76.082
$10V_AH,10.1,36.795
$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,26.225,220.500,418.225,0.000,0.000,39.851,37.681,179.224,8.500,0.000,0.000,11.450,1741.532,14430.151,587.435,2191.306,629.249,33.363,1733.536,0.000,2139.482,0.000,54.320
$DEVICE_MAMPS,141.895,77.467,1454.232,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,677.069,620.787,492.015,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47435,919
$CFSIZE,260165632,235352064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,020208,093042,6207.502,-1044.126,39,1.8,43,-10.4