version: 66.02
glider: 102
mission: 4
dive: 391
start: 2 3 108 11 40 15
data:
$ID,102
$MISSION,4
$DIVE,391
$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,558.0575
$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,-86270.969
$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,29
$R_STBD_OVSHOOT,23
$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
$GPS1,111831,6217.246,-1011.270,38,1.4,43,-10.2
$_CALLS,5
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-53.2
$GPS2,113833,6217.334,-1011.668,11,1.5,11,-10.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,CE
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.116,-0.208
$KALMAN_X,563319.6,-497.4,465.8,-652939.7,2711.7
$KALMAN_Y,106219.7,-71.4,217.8,-24545.4,6651.5
$MHEAD_RNG_PITCHd_Wd,161.1,29576,-14.7,-8.000
$D_GRID,745
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.23,-146.6,0.0,0.0,0,108,0.00,0.00,-80.90,0.000,2,0.000,0.000,27,1884,3269
$GC,112,-1.23,-146.6,4.8,-5.0,4,134,11.70,2.62,-4.72,0.000,4,0.141,0.083,2224,505,3477
$GC,273,-1.23,-146.6,29.1,-15.2,11,277,0.00,2.47,0.00,0.000,6,0.000,0.040,2224,1914,3477
$GC,601,-1.23,-146.6,69.7,-11.1,27,605,0.00,2.50,0.00,0.000,4,0.000,0.048,2225,3301,3478
$GC,629,-1.23,-146.6,72.9,-10.5,28,634,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1905,3478
$GC,945,-1.23,-146.6,102.7,-8.7,43,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1905,3478
$GC,1254,-1.23,-146.6,133.8,-9.6,58,1258,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3302,3478
$GC,1309,-1.23,-146.6,138.4,-8.3,60,1316,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1898,3478
$GC,1625,-1.23,-146.6,167.3,-10.2,76,1630,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3305,3478
$GC,1653,-1.23,-146.6,170.4,-10.6,77,1657,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1896,3478
$GC,1968,-1.23,-146.6,204.7,-10.2,92,1973,0.00,2.53,0.00,0.000,4,0.000,0.047,2225,3298,3478
$GC,1996,-1.23,-146.6,207.5,-10.9,93,2001,0.00,2.50,0.00,0.000,6,0.000,0.042,2224,1900,3478
$GC,2312,-1.23,-146.6,237.7,-9.4,108,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3478
$GC,2621,-1.23,-146.6,268.0,-9.6,123,2625,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3300,3478
$GC,2677,-1.23,-146.6,273.5,-10.0,125,2683,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1900,3477
$GC,2993,-1.23,-146.6,304.6,-10.4,141,2997,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3301,3478
$GC,3019,-1.23,-146.6,307.6,-10.9,142,3023,0.00,2.50,0.00,0.000,6,0.000,0.044,2224,1901,3478
$GC,3341,-1.23,-146.6,340.4,-10.6,158,3345,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3298,3478
$GC,3368,-1.23,-146.6,343.6,-11.4,159,3372,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1895,3478
$GC,3684,-1.23,-146.6,376.1,-10.3,174,3688,0.00,2.55,0.00,0.000,4,0.000,0.049,2225,3303,3478
$GC,3706,-1.23,-146.6,378.6,-11.0,175,3711,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1894,3478
$GC,4028,-1.23,-146.6,412.4,-10.9,191,4032,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3302,3478
$GC,4077,-1.23,-146.6,418.1,-10.9,193,4082,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1899,3478
$GC,4393,-1.23,-146.6,449.8,-10.0,208,4401,0.00,2.53,0.00,0.000,4,0.000,0.049,2224,3298,3478
$GC,4419,-1.23,-146.6,452.4,-10.2,209,4423,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1893,3478
$GC,4745,-1.23,-146.6,483.3,-9.1,225,4749,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3301,3478
$GC,4767,-1.23,-146.6,485.2,-8.2,226,4771,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1893,3478
$GC,5087,-1.23,-146.6,514.7,-9.5,242,5091,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3298,3477
$GC,5126,-1.23,-146.6,518.2,-9.2,244,5131,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1896,3478
$GC,5453,-1.23,-146.6,548.2,-9.4,260,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3478
$GC,5762,-1.23,-146.6,578.1,-9.4,275,5766,0.00,2.55,0.00,0.000,4,0.000,0.052,2224,3297,3477
$GC,5824,-1.23,-146.6,584.2,-10.2,278,5828,0.00,2.53,0.00,0.000,6,0.000,0.046,2225,1896,3477
$GC,6150,-1.23,-146.6,615.7,-8.8,294,6154,0.00,2.62,0.00,0.000,4,0.000,0.073,2224,496,3477
$GC,6183,-1.23,-146.6,618.9,-10.1,295,6189,0.00,2.47,0.00,0.000,6,0.000,0.042,2224,1903,3477
$GC,6499,-1.23,-146.6,643.0,-7.0,311,6503,0.00,2.55,0.00,0.000,4,0.000,0.057,2224,3302,3477
$GC,6577,-1.23,-146.6,648.8,-7.3,314,6583,0.00,2.53,0.00,0.000,6,0.000,0.050,2224,1902,3477
$GC,6893,-1.23,-146.6,676.2,-9.5,330,6898,0.00,2.55,0.00,0.000,4,0.000,0.054,2224,3303,3477
$GC,6915,-1.23,-146.6,678.7,-10.4,331,6919,0.00,2.55,0.00,0.000,6,0.000,0.048,2224,1894,3477
$GC,7237,-1.23,-146.6,712.0,-10.2,347,7241,0.00,2.58,0.00,0.000,4,0.000,0.056,2224,3299,3477
$GC,7325,-1.23,-146.6,721.7,-10.0,351,7330,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1896,3477
$STATE,7582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7582,begin apogee
$GC,7589,-0.36,0.0,746.5,9.5,364,7719,0.90,0.00,126.32,1.272,6,0.080,0.000,2415,2098,2878
$STATE,7720,end apogee,CONTROL_FINISHED_OK
$STATE,7720,begin climb
$GC,7722,1.23,146.6,750.4,0.0,370,7855,1.58,2.75,124.53,1.240,4,0.055,0.074,2763,693,2280
$GC,7911,1.23,146.6,744.3,8.4,379,7915,0.00,2.55,0.00,0.000,6,0.000,0.048,2763,2092,2279
$GC,8232,1.26,170.5,720.6,7.1,395,8258,0.00,2.70,21.20,1.243,4,0.000,0.062,2763,3505,2181
$GC,8370,1.26,170.5,708.5,8.8,401,8375,0.00,2.60,0.00,0.000,6,0.000,0.052,2763,2100,2181
$GC,8687,1.28,186.8,684.1,7.4,416,8708,0.00,2.67,14.48,1.258,4,0.000,0.061,2763,3504,2116
$GC,8747,1.28,186.8,679.1,8.4,418,8753,0.00,2.58,0.00,0.000,6,0.000,0.051,2763,2100,2115
$GC,9063,1.29,196.6,655.3,7.6,434,9078,0.00,2.67,9.07,1.266,4,0.000,0.059,2763,3510,2076
$GC,9124,1.30,203.9,650.6,7.7,436,9138,0.00,2.60,7.22,1.231,6,0.000,0.050,2763,2099,2046
$GC,9461,1.32,219.9,626.1,7.4,453,9482,0.00,2.65,14.38,1.257,4,0.000,0.057,2763,3504,1980
$GC,9544,1.32,219.9,619.1,8.3,456,9550,0.00,2.58,0.00,0.000,6,0.000,0.048,2763,2097,1980
$GC,9859,1.32,219.9,590.4,9.0,472,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2097,1980
$GC,10169,1.32,219.9,562.5,9.1,487,10173,0.00,2.60,0.00,0.000,4,0.000,0.054,2763,3507,1980
$GC,10213,1.32,219.9,558.1,10.0,489,10217,0.00,2.55,0.00,0.000,6,0.000,0.044,2763,2098,1980
$GC,10534,1.32,219.9,530.9,8.5,505,10538,0.00,2.58,0.00,0.000,4,0.000,0.053,2763,3505,1980
$GC,10561,1.32,219.9,528.2,9.8,506,10565,0.00,2.55,0.00,0.000,6,0.000,0.044,2763,2093,1980
$GC,10877,1.32,219.9,501.1,8.9,521,10881,0.00,2.60,0.00,0.000,4,0.000,0.054,2763,3511,1980
$GC,10898,1.32,219.9,498.8,10.5,522,10902,0.00,2.53,0.00,0.000,6,0.000,0.045,2763,2102,1980
$GC,11219,1.32,220.3,471.7,8.0,538,11223,0.00,2.55,0.00,0.000,4,0.000,0.052,2763,3505,1980
$GC,11285,1.32,220.3,465.9,8.9,541,11290,0.00,2.53,0.00,0.000,6,0.000,0.044,2763,2099,1981
$GC,11606,1.33,231.6,440.9,7.6,557,11623,0.10,2.62,11.00,1.124,4,0.059,0.051,2795,3507,1933
$GC,11646,1.33,231.6,437.2,9.6,558,11651,0.00,2.55,0.00,0.000,6,0.000,0.043,2795,2096,1932
$GC,11973,1.33,231.6,407.3,9.5,574,11978,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3513,1932
$GC,12063,1.33,231.6,398.4,9.9,578,12067,0.00,2.53,0.00,0.000,6,0.000,0.043,2794,2099,1932
$GC,12384,1.33,231.6,367.2,10.1,594,12388,0.00,2.58,0.00,0.000,4,0.000,0.051,2794,3505,1932
$GC,12439,1.33,231.6,361.0,11.7,596,12445,0.00,2.55,0.00,0.000,6,0.000,0.042,2795,2089,1932
$GC,12754,1.33,231.6,328.8,10.0,612,12759,0.00,2.58,0.00,0.000,4,0.000,0.051,2794,3505,1932
$GC,12827,1.33,231.6,320.7,10.8,615,12832,0.00,2.53,0.00,0.000,6,0.000,0.041,2795,2094,1933
$GC,13143,1.33,231.6,289.5,10.3,630,13147,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3505,1933
$GC,13265,1.33,231.6,275.7,11.2,635,13271,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2093,1933
$GC,13581,1.33,231.6,242.8,10.2,651,13585,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3505,1933
$GC,13659,1.33,231.6,234.3,10.2,654,13665,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2097,1933
$GC,13974,1.33,231.6,200.5,11.4,670,13979,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3509,1934
$GC,14041,1.33,231.6,191.2,13.0,673,14045,0.00,2.50,0.00,0.000,6,0.000,0.040,2795,2094,1933
$GC,14362,1.33,231.6,158.0,10.4,689,14367,0.00,2.58,0.00,0.000,4,0.000,0.049,2795,3512,1934
$GC,14452,1.33,231.6,148.3,9.9,693,14456,0.00,2.53,0.00,0.000,6,0.000,0.041,2794,2093,1934
$GC,14773,1.33,231.6,117.5,9.8,709,14777,0.00,2.58,0.00,0.000,4,0.000,0.049,2795,3508,1933
$GC,14850,1.33,231.6,109.6,10.8,712,14857,0.00,2.50,0.00,0.000,6,0.000,0.040,2795,2098,1934
$GC,15168,1.33,231.6,81.6,9.0,728,15172,0.00,2.55,0.00,0.000,4,0.000,0.048,2795,3507,1934
$GC,15211,1.33,231.6,76.5,10.7,730,15216,0.00,2.50,0.00,0.000,6,0.000,0.038,2795,2093,1934
$GC,15533,1.33,231.6,46.3,9.4,746,15538,0.00,2.58,0.00,0.000,4,0.000,0.049,2795,3512,1934
$GC,15642,1.33,231.6,32.6,12.2,751,15646,0.00,2.50,0.00,0.000,6,0.000,0.039,2795,2094,1934
$STATE,15925,end climb,SURFACE_DEPTH_REACHED
$STATE,15925,begin surface coast
$FINISH,0.8,1.027348
$STATE,15947,end surface coast,CONTROL_FINISHED_OK
$STATE,15947,begin surface
$SM_CCo,15970,199.20,0.752,10,0,603,558.06
$SM_GC,1.17,0.00,0.00,199.20,0.000,0.000,0.752,35,1884,603,-11.32,-0.42,558.06
$IRIDIUM_FIX,6148.92,-1007.97,290497,111146
$TT8_MAMPS,0.026845
$HUMID,2001
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.50
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.0,999.0
$24V_AH,23.1,77.087
$10V_AH,10.1,37.315
$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,26.475,194.650,328.200,199.200,0.000,196.899,381.776,241.355,7.500,0.000,0.000,12.718,1477.249,12265.858,757.969,1805.993,1164.770,33.370,1694.607,0.000,1764.347,0.000,41.395
$DEVICE_MAMPS,141.128,82.836,1272.453,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,564.333,516.278,455.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38031,766
$CFSIZE,260165632,234950656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,10,0
$GPS,030208,161155,6217.641,-1007.807,24,1.2,41,-10.1