version: 66.02
glider: 102
mission: 4
dive: 400
start: 2 5 108 6 15 3
data:
$ID,102
$MISSION,4
$DIVE,400
$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,-86432.703
$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,25
$R_STBD_OVSHOOT,35
$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
$GPS1,060025,6155.017,-945.704,25,1.5,42,-9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-60.0
$GPS2,061321,6154.903,-945.638,11,1.7,11,-9.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.237,-0.021
$KALMAN_X,577951.0,-2096.2,-854.9,-641640.1,2538.3
$KALMAN_Y,91510.5,853.4,184.8,-52271.1,-4374.3
$MHEAD_RNG_PITCHd_Wd,105.0,32522,-14.7,-8.000
$D_GRID,762
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.23,-146.6,0.0,0.0,0,109,0.00,0.00,-81.20,0.000,2,0.000,0.000,35,1893,3209
$GC,113,-1.23,-146.6,4.0,-4.4,4,138,11.70,2.65,-6.47,0.000,4,0.143,0.080,2222,500,3477
$GC,382,-1.23,-146.6,37.5,-10.5,16,387,0.00,2.45,0.00,0.000,6,0.000,0.038,2221,1906,3478
$GC,709,-1.23,-146.6,73.8,-10.0,32,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1909,3478
$GC,1021,-1.23,-146.6,107.3,-10.4,47,1025,0.00,2.65,0.00,0.000,4,0.000,0.068,2221,499,3478
$GC,1043,-1.23,-146.6,110.0,-11.3,48,1048,0.00,2.45,0.00,0.000,6,0.000,0.038,2222,1898,3478
$GC,1365,-1.23,-146.6,142.5,-9.6,64,1369,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3296,3478
$GC,1387,-1.23,-146.6,144.6,-9.1,65,1391,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1904,3478
$GC,1708,-1.23,-146.6,174.7,-8.9,81,1715,0.00,2.62,0.00,0.000,4,0.000,0.070,2221,495,3478
$GC,1737,-1.23,-146.6,177.6,-9.9,82,1742,0.00,2.45,0.00,0.000,6,0.000,0.039,2221,1906,3478
$GC,2059,-1.23,-146.6,205.2,-8.0,98,2063,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3295,3478
$GC,2108,-1.23,-146.6,209.9,-9.5,100,2113,0.00,2.50,0.00,0.000,6,0.000,0.042,2221,1897,3478
$GC,2424,-1.23,-146.6,239.6,-9.5,115,2428,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3302,3478
$GC,2451,-1.23,-146.6,242.7,-10.9,116,2455,0.00,2.50,0.00,0.000,6,0.000,0.042,2221,1902,3478
$GC,2767,-1.23,-146.6,270.9,-8.7,131,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3478
$GC,3076,-1.23,-146.6,299.5,-10.3,146,3081,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3300,3478
$GC,3121,-1.23,-146.6,304.4,-11.1,148,3126,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1896,3478
$GC,3448,-1.23,-146.6,341.2,-11.8,164,3452,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3297,3478
$GC,3481,-1.23,-146.6,345.2,-11.7,165,3487,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1901,3478
$GC,3797,-1.23,-146.6,379.6,-10.5,181,3802,0.00,2.62,0.00,0.000,4,0.000,0.071,2222,495,3478
$GC,3819,-1.23,-146.6,382.2,-10.8,182,3823,0.00,2.42,0.00,0.000,6,0.000,0.040,2221,1904,3478
$GC,4146,-1.23,-146.6,415.5,-10.3,198,4150,0.00,2.50,0.00,0.000,4,0.000,0.049,2221,3297,3478
$GC,4241,-1.23,-146.6,426.8,-13.3,202,4245,0.00,2.47,0.00,0.000,6,0.000,0.044,2221,1900,3478
$GC,4556,-1.23,-146.6,462.6,-10.5,217,4560,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3299,3478
$GC,4691,-1.23,-146.6,476.7,-11.3,223,4695,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1900,3478
$GC,5012,-1.23,-146.6,512.2,-11.1,239,5016,0.00,2.62,0.00,0.000,4,0.000,0.072,2221,496,3478
$GC,5111,-1.23,-146.6,523.6,-11.3,243,5118,0.00,2.45,0.00,0.000,6,0.000,0.041,2222,1905,3478
$GC,5428,-1.23,-146.6,558.4,-11.2,259,5432,0.00,2.53,0.00,0.000,4,0.000,0.054,2221,3296,3478
$GC,5468,-1.23,-146.6,562.8,-11.0,261,5472,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1896,3477
$GC,5794,-1.23,-146.6,592.7,-8.3,277,5798,0.00,2.55,0.00,0.000,4,0.000,0.053,2221,3293,3478
$GC,5880,-1.23,-146.6,599.2,-7.5,281,5884,0.00,2.50,0.00,0.000,6,0.000,0.046,2222,1902,3477
$GC,6206,-1.23,-146.6,624.7,-8.1,297,6211,0.00,2.62,0.00,0.000,4,0.000,0.077,2222,495,3478
$GC,6245,-1.23,-146.6,627.9,-7.9,298,6251,0.00,2.47,0.00,0.000,6,0.000,0.043,2221,1896,3477
$GC,6561,-1.23,-146.6,652.9,-9.2,314,6565,0.00,2.58,0.00,0.000,4,0.000,0.059,2221,3298,3478
$GC,6638,-1.23,-146.6,660.3,-10.0,317,6644,0.00,2.55,0.00,0.000,6,0.000,0.052,2221,1902,3477
$GC,6954,-1.23,-146.6,686.5,-8.0,333,6959,0.00,2.67,0.00,0.000,4,0.000,0.083,2222,490,3478
$GC,7050,-1.23,-146.6,695.7,-10.3,337,7055,0.00,2.53,0.00,0.000,6,0.000,0.049,2221,1903,3477
$GC,7366,-1.23,-146.6,722.8,-9.2,352,7370,0.00,2.60,0.00,0.000,4,0.000,0.066,2221,3302,3476
$GC,7477,-1.23,-146.6,732.8,-11.6,357,7482,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,1895,3476
$GC,7798,-1.23,-146.6,758.3,-6.4,373,7803,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,3299,3474
$GC,8057,-1.23,-146.6,758.2,-0.5,384,8063,0.00,2.58,0.00,0.000,6,0.000,0.058,2222,1898,3473
$STATE,8123,end dive,NO_VERTICAL_VELOCITY
$STATE,8123,begin apogee
$GC,8130,-0.36,0.0,758.1,0.0,388,8260,0.90,0.00,127.22,1.347,6,0.061,0.000,2423,2101,2878
$STATE,8261,end apogee,CONTROL_FINISHED_OK
$STATE,8261,begin climb
$GC,8264,1.23,146.6,757.5,0.0,394,8400,1.55,2.83,125.72,1.299,4,0.063,0.082,2760,3494,2279
$GC,8660,1.33,228.6,751.3,4.9,412,8737,0.12,2.58,69.95,1.313,6,0.059,0.055,2792,2101,1946
$GC,9046,1.33,228.6,713.1,10.0,430,9050,0.00,2.65,0.00,0.000,4,0.000,0.064,2792,3500,1945
$GC,9303,1.33,228.6,684.1,11.8,441,9309,0.00,2.60,0.00,0.000,6,0.000,0.057,2792,2095,1944
$GC,9618,1.33,228.6,653.4,10.3,457,9623,0.00,2.62,0.00,0.000,4,0.000,0.064,2792,3498,1943
$GC,9663,1.33,228.6,648.2,11.8,459,9668,0.00,2.60,0.00,0.000,6,0.000,0.056,2792,2098,1943
$GC,9984,1.33,228.6,615.5,9.9,475,9988,0.00,2.60,0.00,0.000,4,0.000,0.063,2792,3497,1942
$GC,10023,1.33,228.6,611.3,11.4,477,10027,0.00,2.58,0.00,0.000,6,0.000,0.054,2792,2096,1942
$GC,10349,1.33,228.6,580.6,9.0,493,10354,0.00,2.58,0.00,0.000,4,0.000,0.059,2792,3498,1941
$GC,10427,1.33,228.6,573.3,9.5,496,10433,0.00,2.55,0.00,0.000,6,0.000,0.050,2792,2095,1941
$GC,10742,1.33,228.6,545.9,8.4,512,10747,0.00,2.58,0.00,0.000,4,0.000,0.056,2792,3498,1942
$GC,10933,1.33,228.6,528.6,9.6,520,10939,0.00,2.53,0.00,0.000,6,0.000,0.048,2792,2100,1941
$GC,11249,1.33,228.6,494.4,12.7,536,11253,0.00,2.55,0.00,0.000,4,0.000,0.054,2792,3499,1941
$GC,11418,1.33,228.6,472.3,14.0,543,11424,0.00,2.53,0.00,0.000,6,0.000,0.045,2792,2100,1941
$GC,11734,1.33,228.6,436.7,9.5,559,11738,0.00,2.58,0.00,0.000,4,0.000,0.053,2792,3501,1942
$GC,11790,1.33,228.6,430.2,12.0,561,11796,0.00,2.53,0.00,0.000,6,0.000,0.044,2792,2099,1942
$GC,12106,1.33,228.6,395.6,8.4,577,12111,0.00,2.58,0.00,0.000,4,0.000,0.052,2792,3505,1943
$GC,12230,1.33,228.6,384.6,9.6,582,12236,0.00,2.53,0.00,0.000,6,0.000,0.043,2792,2097,1943
$GC,12545,1.33,228.6,347.1,12.9,598,12550,0.00,2.58,0.00,0.000,4,0.000,0.051,2792,3504,1944
$GC,12640,1.33,228.6,334.1,12.7,602,12645,0.00,2.53,0.00,0.000,6,0.000,0.041,2792,2093,1944
$GC,12956,1.33,228.6,298.3,10.8,617,12960,0.00,2.55,0.00,0.000,4,0.000,0.051,2792,3500,1945
$GC,13018,1.33,228.6,291.5,10.2,620,13022,0.00,2.50,0.00,0.000,6,0.000,0.041,2792,2099,1945
$GC,13345,1.33,228.6,258.8,9.7,636,13349,0.00,2.53,0.00,0.000,4,0.000,0.051,2792,3499,1945
$GC,13429,1.33,228.6,249.8,11.8,640,13434,0.00,2.47,0.00,0.000,6,0.000,0.040,2792,2098,1945
$GC,13757,1.33,228.6,214.4,10.4,656,13761,0.00,2.55,0.00,0.000,4,0.000,0.051,2792,3501,1946
$GC,13841,1.33,228.6,205.1,10.9,660,13845,0.00,2.50,0.00,0.000,6,0.000,0.039,2792,2095,1946
$GC,14168,1.33,228.6,174.7,8.8,676,14172,0.00,2.58,0.00,0.000,4,0.000,0.051,2792,3507,1947
$GC,14234,1.33,228.6,168.5,9.9,679,14238,0.00,2.47,0.00,0.000,6,0.000,0.039,2792,2099,1947
$GC,14556,1.33,228.6,140.4,8.2,695,14560,0.00,2.55,0.00,0.000,4,0.000,0.050,2792,3500,1947
$GC,14641,1.33,228.6,133.5,8.1,699,14645,0.00,2.47,0.00,0.000,6,0.000,0.040,2792,2101,1947
$GC,14968,1.34,233.9,110.3,7.8,715,14978,0.00,2.55,5.90,0.936,4,0.000,0.048,2792,3501,1923
$GC,15165,1.34,233.9,93.5,8.5,724,15169,0.00,2.50,0.00,0.000,6,0.000,0.038,2792,2098,1923
$GC,15491,1.34,233.9,66.1,9.8,740,15496,0.00,2.55,0.00,0.000,4,0.000,0.049,2792,3504,1923
$GC,15577,1.34,233.9,57.5,11.4,744,15581,0.00,2.50,0.00,0.000,6,0.000,0.038,2792,2098,1923
$GC,15904,1.34,233.9,26.7,10.4,760,15908,0.00,2.55,0.00,0.000,4,0.000,0.048,2792,3505,1924
$GC,16088,1.34,233.9,7.6,11.0,768,16092,0.00,2.50,0.00,0.000,6,0.000,0.039,2792,2096,1924
$STATE,16139,end climb,SURFACE_DEPTH_REACHED
$STATE,16139,begin surface coast
$FINISH,0.5,1.005084
$STATE,16160,end surface coast,CONTROL_FINISHED_OK
$STATE,16160,begin surface
$SM_CCo,16184,50.72,0.803,5,0,1654,300.00
$SM_GC,1.09,0.00,0.00,50.72,0.000,0.000,0.803,28,1891,1654,-11.35,-0.25,300.00
$IRIDIUM_FIX,6130.75,-947.25,010597,060654
$TT8_MAMPS,0.026845
$HUMID,2078
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.0,78.540
$10V_AH,10.1,38.053
$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,26.200,189.100,328.800,50.725,0.000,115.708,106.904,291.934,7.250,0.000,0.000,13.111,1542.992,11957.526,566.952,2130.910,888.014,33.370,1639.446,0.000,2082.713,0.000,43.037
$DEVICE_MAMPS,142.662,82.836,1346.852,803.049,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,567.801,520.529,471.464,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41056,772
$CFSIZE,260165632,234414080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,5,0
$GPS,050208,104708,6156.716,-937.679,26,1.5,26,-9.7