version: 66.02
glider: 102
mission: 4
dive: 390
start: 2 3 108 6 45 15
data:
$ID,102
$MISSION,4
$DIVE,390
$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,-86257.617
$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,20
$R_STBD_OVSHOOT,36
$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
$GPS1,063307,6216.126,-1014.762,26,1.7,26,-10.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-55.1
$GPS2,064335,6216.274,-1014.867,14,2.6,33,-10.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,CE
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.039,-0.235
$KALMAN_X,561441.4,-1601.2,-118.1,-652185.8,2902.6
$KALMAN_Y,98252.8,428.4,1125.8,-19975.9,2425.9
$MHEAD_RNG_PITCHd_Wd,199.6,30014,-14.7,-8.000
$D_GRID,764
$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,-146.6,0.0,0.0,0,107,0.00,0.00,-81.12,0.000,2,0.000,0.000,32,1890,3233
$GC,111,-1.23,-146.6,4.2,-3.7,4,136,11.80,2.60,-5.65,0.000,4,0.141,0.058,2221,3293,3478
$GC,187,-1.23,-146.6,17.3,-7.8,7,193,0.00,2.53,0.00,0.000,6,0.000,0.043,2221,1890,3478
$GC,502,-1.23,-146.6,51.6,-12.4,23,507,0.00,2.55,0.00,0.000,4,0.000,0.048,2221,3298,3479
$GC,524,-1.23,-146.6,54.6,-12.6,24,528,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1898,3478
$GC,846,-1.23,-146.6,88.2,-10.5,40,851,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3298,3478
$GC,891,-1.23,-146.6,94.1,-12.9,42,895,0.00,2.50,0.00,0.000,6,0.000,0.042,2221,1899,3478
$GC,1212,-1.23,-146.6,127.2,-10.6,58,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3478
$GC,1521,-1.23,-146.6,160.3,-10.7,73,1525,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3301,3478
$GC,1572,-1.23,-146.6,165.5,-10.3,75,1577,0.00,2.50,0.00,0.000,6,0.000,0.043,2221,1899,3478
$GC,1888,-1.23,-146.6,197.7,-10.2,90,1892,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3299,3478
$GC,1920,-1.23,-146.6,201.2,-11.0,91,1926,0.00,2.50,0.00,0.000,6,0.000,0.043,2221,1899,3478
$GC,2236,-1.23,-146.6,233.2,-9.8,107,2240,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3302,3478
$GC,2280,-1.23,-146.6,237.7,-10.0,109,2284,0.00,2.53,0.00,0.000,6,0.000,0.043,2221,1892,3478
$GC,2600,-1.23,-146.6,269.2,-10.1,125,2604,0.00,2.55,0.00,0.000,4,0.000,0.048,2221,3301,3478
$GC,2634,-1.23,-146.6,272.8,-10.7,126,2640,0.00,2.50,0.00,0.000,6,0.000,0.043,2221,1900,3478
$GC,2949,-1.23,-146.6,303.9,-10.0,142,2953,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3299,3478
$GC,2977,-1.23,-146.6,306.6,-10.1,143,2982,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1901,3478
$GC,3293,-1.23,-146.6,338.4,-10.2,158,3297,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3296,3478
$GC,3325,-1.23,-146.6,342.0,-10.2,159,3331,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1899,3478
$GC,3641,-1.23,-146.6,372.7,-9.7,175,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3478
$GC,3951,-1.23,-146.6,402.6,-9.8,190,3955,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3295,3478
$GC,4017,-1.23,-146.6,409.3,-10.2,193,4021,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1900,3478
$GC,4337,-1.23,-146.6,439.6,-9.2,209,4342,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3298,3478
$GC,4365,-1.23,-146.6,442.3,-9.1,210,4370,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1900,3478
$GC,4681,-1.23,-146.6,470.5,-8.8,225,4685,0.00,2.53,0.00,0.000,4,0.000,0.050,2221,3299,3478
$GC,4720,-1.23,-146.6,474.0,-9.0,227,4724,0.00,2.53,0.00,0.000,6,0.000,0.046,2221,1896,3478
$GC,5046,-1.23,-146.6,502.6,-8.9,243,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3478
$GC,5355,-1.23,-146.6,530.0,-8.9,258,5360,0.00,2.55,0.00,0.000,4,0.000,0.051,2221,3299,3478
$GC,5399,-1.23,-146.6,534.3,-9.3,260,5404,0.00,2.53,0.00,0.000,6,0.000,0.045,2221,1898,3478
$GC,5721,-1.23,-146.6,565.8,-10.0,276,5725,0.00,2.55,0.00,0.000,4,0.000,0.052,2221,3298,3478
$GC,5753,-1.23,-146.6,569.3,-9.9,277,5759,0.00,2.53,0.00,0.000,6,0.000,0.046,2221,1899,3478
$GC,6069,-1.23,-146.6,599.7,-9.6,293,6074,0.00,2.55,0.00,0.000,4,0.000,0.054,2221,3297,3478
$GC,6124,-1.23,-146.6,605.0,-10.2,295,6129,0.00,2.53,0.00,0.000,6,0.000,0.047,2221,1895,3478
$GC,6440,-1.23,-146.6,633.6,-8.9,310,6444,0.00,2.58,0.00,0.000,4,0.000,0.055,2222,3299,3477
$GC,6512,-1.23,-146.6,640.2,-8.9,313,6516,0.00,2.55,0.00,0.000,6,0.000,0.049,2221,1895,3478
$GC,6827,-1.23,-146.6,668.2,-8.6,328,6832,0.00,2.58,0.00,0.000,4,0.000,0.056,2221,3299,3477
$GC,6906,-1.23,-146.6,674.4,-7.0,331,6912,0.00,2.53,0.00,0.000,6,0.000,0.050,2221,1901,3477
$GC,7222,-1.23,-146.6,698.2,-9.1,347,7226,0.00,2.55,0.00,0.000,4,0.000,0.056,2221,3293,3478
$GC,7322,-1.23,-146.6,708.9,-10.9,351,7326,0.00,2.53,0.00,0.000,6,0.000,0.050,2221,1899,3477
$GC,7638,-1.23,-146.6,744.5,-10.1,366,7642,0.00,2.58,0.00,0.000,4,0.000,0.059,2221,3297,3478
$GC,7755,-1.23,-146.6,755.4,-9.4,371,7759,0.00,2.55,0.00,0.000,6,0.000,0.053,2221,1898,3477
$STATE,7862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7862,begin apogee
$GC,7869,-0.36,0.0,764.9,8.2,376,7999,0.93,0.00,126.85,1.293,6,0.079,0.000,2418,2097,2878
$STATE,8000,end apogee,CONTROL_FINISHED_OK
$STATE,8000,begin climb
$GC,8003,1.23,146.6,768.6,0.0,382,8136,1.55,2.75,124.62,1.258,4,0.055,0.073,2761,691,2280
$GC,8329,1.25,166.4,751.9,7.2,397,8353,0.00,2.55,17.83,1.252,6,0.000,0.049,2761,2094,2198
$GC,8675,1.25,166.4,724.7,9.4,414,8680,0.00,2.62,0.00,0.000,4,0.000,0.065,2761,3503,2197
$GC,8748,1.29,194.1,718.5,6.9,417,8780,0.00,2.60,24.23,1.267,6,0.000,0.055,2761,2102,2086
$GC,9089,1.30,203.5,694.5,7.6,434,9103,0.00,2.67,8.80,1.256,4,0.000,0.062,2761,3504,2048
$GC,9264,1.30,203.5,680.8,8.1,441,9270,0.00,2.60,0.00,0.000,6,0.000,0.051,2761,2090,2047
$GC,9580,1.30,203.5,655.5,8.4,457,9581,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2091,2046
$GC,9888,1.30,203.5,629.7,8.2,472,9893,0.00,2.62,0.00,0.000,4,0.000,0.057,2761,3505,2045
$GC,10001,1.31,213.9,620.6,7.6,477,10018,0.00,2.55,9.35,1.243,6,0.000,0.048,2761,2099,2005
$GC,10328,1.34,237.2,597.4,7.1,493,10354,0.12,2.67,20.80,1.221,4,0.054,0.054,2797,3508,1910
$GC,10411,1.34,237.2,589.8,9.4,497,10416,0.00,2.58,0.00,0.000,6,0.000,0.047,2796,2096,1909
$GC,10738,1.34,237.2,560.8,8.9,513,10743,0.00,2.60,0.00,0.000,4,0.000,0.054,2796,3506,1909
$GC,10805,1.34,237.2,554.5,9.3,516,10810,0.00,2.55,0.00,0.000,6,0.000,0.046,2796,2094,1909
$GC,11126,1.34,237.2,524.2,10.0,532,11131,0.00,2.60,0.00,0.000,4,0.000,0.054,2797,3510,1909
$GC,11211,1.34,237.2,514.8,11.6,536,11216,0.00,2.55,0.00,0.000,6,0.000,0.045,2797,2097,1909
$GC,11537,1.34,237.2,481.1,10.3,552,11542,0.00,2.58,0.00,0.000,4,0.000,0.052,2797,3508,1909
$GC,11626,1.34,237.2,471.5,10.9,556,11631,0.00,2.55,0.00,0.000,6,0.000,0.044,2797,2095,1910
$GC,11947,1.34,237.2,438.0,11.2,572,11952,0.00,2.58,0.00,0.000,4,0.000,0.052,2797,3508,1910
$GC,12014,1.34,237.2,429.9,12.1,575,12019,0.00,2.55,0.00,0.000,6,0.000,0.044,2796,2092,1911
$GC,12336,1.34,237.2,394.2,10.9,591,12340,0.00,2.60,0.00,0.000,4,0.000,0.052,2797,3510,1911
$GC,12413,1.34,237.2,385.3,11.3,594,12420,0.00,2.53,0.00,0.000,6,0.000,0.044,2797,2096,1911
$GC,12729,1.34,237.2,352.3,10.4,610,12733,0.00,2.58,0.00,0.000,4,0.000,0.051,2796,3506,1910
$GC,12824,1.34,237.2,342.4,10.6,614,12828,0.00,2.53,0.00,0.000,6,0.000,0.043,2797,2097,1911
$GC,13139,1.34,237.2,313.0,9.1,629,13143,0.00,2.58,0.00,0.000,4,0.000,0.050,2797,3509,1911
$GC,13201,1.34,237.2,306.9,9.6,632,13205,0.00,2.53,0.00,0.000,6,0.000,0.042,2797,2092,1911
$GC,13527,1.34,237.2,275.3,10.3,648,13531,0.00,2.55,0.00,0.000,4,0.000,0.051,2797,3505,1911
$GC,13578,1.34,237.2,269.9,10.2,650,13582,0.00,2.50,0.00,0.000,6,0.000,0.041,2796,2098,1911
$GC,13894,1.34,237.2,236.9,10.0,665,13898,0.00,2.58,0.00,0.000,4,0.000,0.051,2797,3509,1912
$GC,13943,1.34,237.2,231.6,10.6,667,13947,0.00,2.47,0.00,0.000,6,0.000,0.041,2797,2100,1911
$GC,14263,1.34,237.2,201.4,9.3,683,14268,0.00,2.55,0.00,0.000,4,0.000,0.050,2797,3504,1912
$GC,14308,1.34,237.2,196.5,12.1,685,14312,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2100,1912
$GC,14629,1.34,237.2,162.2,9.5,701,14633,0.00,2.55,0.00,0.000,4,0.000,0.049,2797,3510,1912
$GC,14763,1.36,251.2,151.6,7.5,707,14782,0.00,2.50,12.25,0.939,6,0.000,0.041,2797,2100,1854
$GC,15111,1.36,251.2,121.9,11.0,724,15115,0.00,2.55,0.00,0.000,4,0.000,0.049,2797,3505,1854
$GC,15233,1.36,251.2,108.2,12.6,729,15240,0.00,2.50,0.00,0.000,6,0.000,0.039,2797,2098,1854
$GC,15550,1.36,251.2,75.7,9.7,745,15554,0.00,2.55,0.00,0.000,4,0.000,0.049,2796,3505,1854
$GC,15593,1.36,251.2,70.4,11.9,747,15598,0.00,2.50,0.00,0.000,6,0.000,0.040,2797,2103,1854
$GC,15915,1.36,251.2,26.4,13.9,763,15919,0.00,2.55,0.00,0.000,4,0.000,0.048,2797,3508,1854
$GC,15942,1.36,251.2,22.4,14.1,764,15947,0.00,2.53,0.00,0.000,6,0.000,0.040,2797,2090,1854
$STATE,16193,end climb,SURFACE_DEPTH_REACHED
$STATE,16193,begin surface coast
$FINISH,0.9,1.014861
$STATE,16216,end surface coast,CONTROL_FINISHED_OK
$STATE,16216,begin surface
$SM_CCo,16239,45.33,0.802,6,0,1655,300.00
$SM_GC,1.53,0.00,0.00,45.33,0.000,0.000,0.802,28,1883,1655,-11.35,-0.48,300.00
$IRIDIUM_FIX,6148.92,-1017.88,290497,060659
$TT8_MAMPS,0.026845
$HUMID,2052
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,15.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.1,76.890
$10V_AH,10.1,37.228
$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,26.375,194.325,344.725,45.325,0.000,76.512,78.999,251.745,7.000,0.000,0.000,35.652,1513.335,12200.822,586.825,1937.844,751.726,33.373,1575.237,0.000,1870.664,0.000,43.014
$DEVICE_MAMPS,141.128,72.865,1293.162,802.282,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,575.479,523.610,454.211,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37967,777
$CFSIZE,260165632,235028480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,6,0
$GPS,030208,111831,6217.246,-1011.270,38,1.4,43,-10.2