version: 66.02
glider: 102
mission: 4
dive: 388
start: 2 2 108 20 45 57
data:
$ID,102
$MISSION,4
$DIVE,388
$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,-86204.609
$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,28
$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
$GPS1,203407,6210.557,-1024.786,36,1.1,36,-10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-62.3
$GPS2,204415,6210.653,-1024.652,14,1.2,14,-10.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,CE
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.236,-0.029
$KALMAN_X,557217.8,1841.2,1281.2,-661519.2,-4820.5
$KALMAN_Y,83634.5,2489.5,1359.9,-18098.5,-5980.0
$MHEAD_RNG_PITCHd_Wd,107.3,31818,-14.7,-8.000
$D_GRID,814
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,106,0.00,0.00,-80.60,0.000,2,0.000,0.000,28,1885,3244
$GC,110,-1.23,-146.6,4.5,-4.5,4,133,11.68,2.65,-5.43,0.000,4,0.140,0.084,2225,497,3478
$GC,359,-1.23,-146.6,44.6,-15.2,15,363,0.00,2.47,0.00,0.000,6,0.000,0.040,2224,1908,3479
$GC,685,-1.23,-146.6,87.6,-13.2,31,689,0.00,2.50,0.00,0.000,4,0.000,0.049,2224,3295,3478
$GC,713,-1.23,-146.6,91.1,-12.7,32,717,0.00,2.50,0.00,0.000,6,0.000,0.044,2224,1900,3478
$GC,1029,-1.23,-146.6,126.6,-10.0,47,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3478
$GC,1337,-1.23,-146.6,164.8,-14.3,62,1342,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3299,3478
$GC,1404,-1.23,-146.6,175.3,-16.1,65,1409,0.00,2.50,0.00,0.000,6,0.000,0.044,2224,1898,3478
$GC,1726,-1.23,-146.6,219.8,-14.0,81,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3478
$GC,2035,-1.23,-146.6,255.4,-9.1,96,2040,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3298,3478
$GC,2080,-1.23,-146.6,260.3,-10.9,98,2084,0.00,2.50,0.00,0.000,6,0.000,0.043,2225,1898,3478
$GC,2400,-1.23,-146.6,294.0,-9.9,114,2405,0.00,2.53,0.00,0.000,4,0.000,0.047,2225,3301,3478
$GC,2441,-1.23,-146.6,298.5,-12.8,116,2445,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1895,3478
$GC,2768,-1.23,-146.6,327.2,-7.2,132,2772,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3305,3478
$GC,2789,-1.23,-146.6,329.0,-7.6,133,2794,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1896,3478
$GC,3110,-1.23,-146.6,355.9,-8.5,149,3114,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3305,3478
$GC,3137,-1.23,-146.6,358.4,-8.9,150,3141,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1897,3478
$GC,3452,-1.23,-146.6,389.5,-10.5,165,3457,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3298,3478
$GC,3474,-1.23,-146.6,391.4,-8.4,166,3478,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1895,3478
$GC,3797,-1.23,-146.6,425.3,-10.4,182,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3478
$GC,4105,-1.23,-146.6,457.6,-10.0,197,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3478
$GC,4414,-1.23,-146.6,486.3,-8.9,212,4418,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3299,3478
$GC,4441,-1.23,-146.6,488.9,-9.3,213,4445,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1893,3478
$GC,4756,-1.23,-146.6,519.4,-9.9,228,4761,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3297,3478
$GC,4823,-1.23,-146.6,526.5,-10.9,231,4827,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1896,3478
$GC,5144,-1.23,-146.6,558.9,-9.9,247,5149,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3299,3478
$GC,5172,-1.23,-146.6,561.8,-10.3,248,5176,0.00,2.53,0.00,0.000,6,0.000,0.046,2225,1898,3478
$GC,5487,-1.23,-146.6,590.6,-9.2,263,5491,0.00,2.53,0.00,0.000,4,0.000,0.051,2224,3300,3478
$GC,5527,-1.23,-146.6,594.5,-9.4,265,5531,0.00,2.53,0.00,0.000,6,0.000,0.048,2224,1896,3478
$GC,5854,-1.23,-146.6,626.3,-10.4,281,5858,0.00,2.55,0.00,0.000,4,0.000,0.054,2224,3300,3478
$GC,5875,-1.23,-146.6,628.6,-10.3,282,5879,0.00,2.50,0.00,0.000,6,0.000,0.048,2224,1901,3478
$GC,6197,-1.23,-146.6,657.9,-8.3,298,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3478
$GC,6506,-1.23,-146.6,684.2,-8.0,313,6510,0.00,2.55,0.00,0.000,4,0.000,0.055,2224,3298,3478
$GC,6628,-1.23,-146.6,695.1,-9.7,318,6634,0.00,2.53,0.00,0.000,6,0.000,0.049,2224,1902,3478
$GC,6945,-1.23,-146.6,726.5,-10.5,334,6949,0.00,2.55,0.00,0.000,4,0.000,0.055,2224,3296,3478
$GC,7022,-1.23,-146.6,734.0,-9.3,337,7028,0.00,2.53,0.00,0.000,6,0.000,0.049,2224,1900,3478
$GC,7338,-1.23,-146.6,762.3,-8.8,353,7342,0.00,2.58,0.00,0.000,4,0.000,0.057,2224,3303,3478
$GC,7423,-1.23,-146.6,769.3,-7.9,357,7427,0.00,2.55,0.00,0.000,6,0.000,0.052,2224,1899,3478
$GC,7749,-1.23,-146.6,796.6,-9.0,373,7753,0.00,2.62,0.00,0.000,4,0.000,0.077,2224,494,3478
$GC,7798,-1.23,-146.6,801.5,-9.5,375,7802,0.00,2.50,0.00,0.000,6,0.000,0.049,2224,1896,3478
$STATE,7946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7946,begin apogee
$GC,7953,-0.36,0.0,814.4,8.4,382,8083,0.93,0.00,127.40,1.335,6,0.084,0.000,2419,2104,2878
$STATE,8084,end apogee,CONTROL_FINISHED_OK
$STATE,8084,begin climb
$GC,8087,1.23,146.6,818.3,0.0,388,8222,1.55,2.70,125.65,1.289,4,0.056,0.061,2763,3495,2279
$GC,8307,1.24,156.8,806.7,7.6,398,8322,0.00,2.58,9.80,1.249,6,0.000,0.051,2763,2102,2237
$GC,8643,1.24,156.8,780.2,8.1,415,8647,0.00,2.62,0.00,0.000,4,0.000,0.061,2762,3502,2238
$GC,8687,1.24,156.8,776.5,8.0,417,8692,0.00,2.58,0.00,0.000,6,0.000,0.052,2763,2098,2237
$GC,9008,1.25,166.7,752.7,7.6,433,9022,0.00,2.65,8.98,1.277,4,0.000,0.059,2762,3499,2198
$GC,9102,1.27,176.8,745.9,7.6,437,9118,0.00,2.58,9.75,1.272,6,0.000,0.049,2763,2097,2157
$GC,9427,1.27,176.8,720.5,8.3,453,9431,0.00,2.60,0.00,0.000,4,0.000,0.058,2762,3497,2156
$GC,9544,1.27,176.8,710.9,8.5,458,9548,0.00,2.55,0.00,0.000,6,0.000,0.048,2763,2099,2156
$GC,9860,1.30,207.9,688.9,6.8,473,9894,0.00,2.70,27.08,1.272,4,0.000,0.057,2762,3501,2030
$GC,10036,1.30,207.9,674.6,8.3,481,10041,0.00,2.55,0.00,0.000,6,0.000,0.048,2763,2099,2029
$GC,10363,1.30,207.9,645.9,8.8,497,10367,0.00,2.58,0.00,0.000,4,0.000,0.055,2762,3498,2029
$GC,10412,1.30,207.9,641.2,9.0,499,10416,0.00,2.53,0.00,0.000,6,0.000,0.047,2763,2097,2029
$GC,10728,1.30,207.9,615.0,8.3,514,10732,0.00,2.55,0.00,0.000,4,0.000,0.055,2762,3497,2029
$GC,10783,1.30,207.9,610.3,9.2,516,10789,0.00,2.53,0.00,0.000,6,0.000,0.046,2763,2099,2029
$GC,11098,1.30,207.9,585.2,8.2,532,11103,0.00,2.55,0.00,0.000,4,0.000,0.054,2763,3497,2029
$GC,11165,1.30,207.9,579.1,8.9,535,11170,0.00,2.53,0.00,0.000,6,0.000,0.045,2763,2098,2029
$GC,11487,1.30,207.9,550.6,9.2,551,11492,0.00,2.55,0.00,0.000,4,0.000,0.054,2762,3497,2029
$GC,11572,1.30,207.9,542.3,9.6,555,11576,0.00,2.53,0.00,0.000,6,0.000,0.044,2763,2100,2029
$GC,11899,1.30,207.9,511.6,9.5,571,11903,0.00,2.55,0.00,0.000,4,0.000,0.052,2763,3497,2029
$GC,11976,1.30,207.9,504.1,8.7,574,11982,0.00,2.53,0.00,0.000,6,0.000,0.044,2763,2092,2029
$GC,12292,1.30,207.9,476.8,8.6,590,12296,0.00,2.55,0.00,0.000,4,0.000,0.053,2763,3498,2029
$GC,12332,1.30,207.9,473.1,9.2,592,12337,0.00,2.53,0.00,0.000,6,0.000,0.043,2763,2094,2029
$GC,12659,1.30,207.9,445.5,8.1,608,12664,0.00,2.55,0.00,0.000,4,0.000,0.052,2763,3498,2029
$GC,12709,1.30,207.9,441.0,8.4,610,12714,0.00,2.50,0.00,0.000,6,0.000,0.043,2763,2091,2030
$GC,13025,1.30,207.9,413.9,8.0,625,13030,0.00,2.55,0.00,0.000,4,0.000,0.052,2762,3504,2030
$GC,13067,1.30,207.9,410.3,8.8,627,13071,0.00,2.53,0.00,0.000,6,0.000,0.043,2762,2097,2030
$GC,13393,1.30,207.9,383.6,8.6,643,13397,0.00,2.55,0.00,0.000,4,0.000,0.052,2763,3502,2031
$GC,13425,1.30,207.9,381.0,8.3,644,13431,0.00,2.50,0.00,0.000,6,0.000,0.042,2763,2093,2030
$GC,13741,1.30,207.9,354.4,8.3,660,13742,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2093,2030
$GC,14050,1.34,235.5,331.7,6.9,675,14080,0.10,2.65,23.65,1.036,4,0.061,0.051,2794,3500,1916
$GC,14131,1.35,241.3,325.1,7.8,678,14142,0.00,2.53,5.53,1.006,6,0.000,0.041,2794,2100,1894
$GC,14463,1.35,241.3,294.2,9.6,695,14467,0.00,2.58,0.00,0.000,4,0.000,0.051,2793,3502,1894
$GC,14552,1.35,241.3,284.9,10.1,699,14556,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2098,1894
$GC,14872,1.35,241.3,253.8,9.3,715,14877,0.00,2.55,0.00,0.000,4,0.000,0.050,2794,3498,1894
$GC,14939,1.35,241.3,247.3,9.9,718,14943,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2101,1894
$GC,15261,1.35,241.3,212.7,11.1,734,15265,0.00,2.55,0.00,0.000,4,0.000,0.050,2793,3499,1894
$GC,15304,1.35,241.3,207.4,11.5,736,15308,0.00,2.47,0.00,0.000,6,0.000,0.040,2794,2093,1894
$GC,15631,1.35,241.3,172.8,10.2,752,15635,0.00,2.58,0.00,0.000,4,0.000,0.050,2793,3504,1894
$GC,15703,1.35,241.3,164.7,11.2,755,15708,0.00,2.50,0.00,0.000,6,0.000,0.040,2794,2100,1894
$GC,16019,1.35,241.3,131.1,10.5,770,16023,0.00,2.55,0.00,0.000,4,0.000,0.049,2794,3501,1894
$GC,16075,1.35,241.3,125.3,9.4,772,16081,0.00,2.50,0.00,0.000,6,0.000,0.040,2794,2097,1894
$GC,16391,1.35,241.3,90.5,11.0,788,16395,0.00,2.55,0.00,0.000,4,0.000,0.049,2794,3499,1895
$GC,16463,1.35,241.3,81.8,12.1,791,16467,0.00,2.47,0.00,0.000,6,0.000,0.039,2794,2092,1895
$GC,16780,1.35,241.3,53.3,9.5,806,16785,0.00,2.58,0.00,0.000,4,0.000,0.051,2794,3505,1895
$GC,16881,1.35,241.3,43.6,10.1,810,16888,0.00,2.50,0.00,0.000,6,0.000,0.040,2794,2092,1895
$GC,17197,1.35,241.3,10.9,10.2,826,17201,0.00,2.55,0.00,0.000,4,0.000,0.049,2794,3499,1895
$GC,17252,1.35,241.3,4.6,9.1,828,17258,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2098,1895
$STATE,17297,end climb,SURFACE_DEPTH_REACHED
$STATE,17297,begin surface coast
$FINISH,0.9,1.014197
$STATE,17319,end surface coast,CONTROL_FINISHED_OK
$STATE,17319,begin surface
$SM_CCo,17342,54.67,0.803,7,0,1655,300.00
$SM_GC,1.50,0.00,0.00,54.67,0.000,0.000,0.803,30,1883,1655,-11.34,-0.51,300.00
$IRIDIUM_FIX,6144.36,-1020.76,280497,202004
$TT8_MAMPS,0.027612
$HUMID,2045
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,23.0,76.588
$10V_AH,10.1,37.065
$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,26.225,204.200,337.825,54.675,0.000,79.338,75.884,252.309,7.500,0.000,0.000,16.207,1602.331,13112.643,598.609,2009.370,766.085,33.368,1631.563,0.000,1959.797,0.000,46.240
$DEVICE_MAMPS,140.361,83.603,1335.347,803.049,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,611.177,561.487,461.081,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41105,832
$CFSIZE,260165632,235147264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,7,0
$GPS,030208,013738,6213.026,-1019.301,29,1.4,29,-10.2