version: 66.02
glider: 102
mission: 4
dive: 265
start: 1 11 108 11 30 33
data:
$ID,102
$MISSION,4
$DIVE,265
$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,0
$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,-81693.656
$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,28
$R_STBD_OVSHOOT,25
$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,0
$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,2
$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
$GPS1,112402,6353.147,-1340.010,36,1.4,36,-12.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-56.1
$GPS2,112939,6353.184,-1339.905,12,1.3,12,-12.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.237,-0.012
$KALMAN_X,296819.2,-1662.4,2151.3,-570705.6,-20025.6
$KALMAN_Y,-37774.3,-340.5,-139.0,297610.2,-3476.2
$MHEAD_RNG_PITCHd_Wd,105.8,25125,-14.7,-8.000
$D_GRID,990
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.23,-146.6,0.0,0.0,0,65,0.00,0.00,-41.40,0.000,2,0.000,0.000,32,1887,2385
$GC,68,-1.23,-146.6,3.4,-3.3,2,159,11.55,2.60,-73.03,0.000,4,0.137,0.076,2225,506,3476
$GC,321,-1.23,-146.6,20.1,-12.5,13,328,0.00,2.50,0.00,0.000,6,0.000,0.043,2226,1906,3476
$GC,637,-1.23,-146.6,56.8,-12.6,29,642,0.00,2.53,0.00,0.000,4,0.000,0.049,2226,3298,3476
$GC,659,-1.23,-146.6,59.4,-11.5,30,663,0.00,2.53,0.00,0.000,6,0.000,0.046,2226,1906,3476
$GC,988,-1.23,-146.6,97.4,-13.2,46,992,0.00,2.53,0.00,0.000,4,0.000,0.048,2226,3296,3476
$GC,1020,-1.23,-146.6,102.4,-14.5,47,1026,0.00,2.53,0.00,0.000,6,0.000,0.045,2226,1894,3476
$GC,1336,-1.23,-146.6,141.2,-10.9,63,1340,0.00,2.55,0.00,0.000,4,0.000,0.048,2226,3296,3476
$GC,1380,-1.23,-146.6,145.7,-8.8,65,1384,0.00,2.53,0.00,0.000,6,0.000,0.046,2226,1899,3476
$GC,1700,-1.23,-146.6,181.9,-11.7,81,1705,0.00,2.55,0.00,0.000,4,0.000,0.049,2226,3302,3476
$GC,1767,-1.23,-146.6,189.0,-10.6,84,1771,0.00,2.53,0.00,0.000,6,0.000,0.045,2226,1890,3476
$GC,2094,-1.23,-146.6,229.1,-12.1,100,2098,0.00,2.55,0.00,0.000,4,0.000,0.049,2226,3297,3476
$GC,2137,-1.23,-146.6,234.9,-13.0,102,2141,0.00,2.53,0.00,0.000,6,0.000,0.046,2226,1885,3476
$GC,2464,-1.23,-146.6,271.2,-10.7,118,2468,0.00,2.58,0.00,0.000,4,0.000,0.051,2226,3301,3476
$GC,2530,-1.23,-146.6,278.1,-10.5,121,2534,0.00,2.53,0.00,0.000,6,0.000,0.046,2226,1901,3476
$GC,2850,-1.23,-146.6,307.9,-9.1,137,2855,0.00,2.55,0.00,0.000,4,0.000,0.050,2226,3303,3476
$GC,2877,-1.23,-146.6,310.3,-8.6,138,2882,0.00,2.55,0.00,0.000,6,0.000,0.044,2226,1904,3476
$GC,3199,-1.23,-146.6,343.4,-9.9,154,3203,0.00,2.55,0.00,0.000,4,0.000,0.051,2226,3302,3476
$GC,3225,-1.23,-146.6,346.1,-10.1,155,3229,0.00,2.55,0.00,0.000,6,0.000,0.046,2226,1894,3476
$GC,3548,-1.23,-146.6,376.3,-10.1,171,3552,0.00,2.55,0.00,0.000,4,0.000,0.052,2226,3297,3476
$GC,3580,-1.23,-146.6,380.2,-11.7,172,3586,0.00,2.53,0.00,0.000,6,0.000,0.047,2226,1899,3476
$GC,3895,-1.23,-146.6,415.0,-11.2,188,3899,0.00,2.55,0.00,0.000,4,0.000,0.052,2226,3297,3477
$GC,3916,-1.23,-146.6,417.5,-11.0,189,3920,0.00,2.53,0.00,0.000,6,0.000,0.047,2226,1899,3476
$GC,4243,-1.23,-146.6,452.4,-10.3,205,4247,0.00,2.55,0.00,0.000,4,0.000,0.052,2226,3298,3476
$GC,4292,-1.23,-146.6,457.5,-9.8,207,4296,0.00,2.53,0.00,0.000,6,0.000,0.048,2226,1900,3476
$GC,4613,-1.23,-146.6,488.3,-9.4,223,4617,0.00,2.55,0.00,0.000,4,0.000,0.053,2226,3299,3477
$GC,4675,-1.23,-146.6,494.0,-8.3,226,4679,0.00,2.55,0.00,0.000,6,0.000,0.049,2226,1897,3476
$GC,5001,-1.23,-146.6,526.8,-11.2,242,5005,0.00,2.58,0.00,0.000,4,0.000,0.055,2226,3296,3476
$GC,5019,-1.23,-146.6,528.5,-10.5,243,5023,0.00,2.55,0.00,0.000,6,0.000,0.048,2226,1895,3476
$GC,5345,-1.23,-146.6,561.0,-10.0,259,5349,0.00,2.62,0.00,0.000,4,0.000,0.073,2226,495,3476
$GC,5410,-1.23,-146.6,568.2,-10.4,262,5415,0.00,2.50,0.00,0.000,6,0.000,0.047,2226,1895,3476
$GC,5739,-1.23,-146.6,602.0,-10.5,278,5744,0.00,2.58,0.00,0.000,4,0.000,0.060,2226,3300,3476
$GC,5840,-1.23,-146.6,613.8,-11.1,282,5846,0.00,2.58,0.00,0.000,6,0.000,0.054,2226,1899,3476
$GC,6155,-1.23,-146.6,643.4,-8.9,298,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1899,3476
$GC,6465,-1.23,-146.6,672.4,-10.8,313,6469,0.00,2.60,0.00,0.000,4,0.000,0.059,2226,3305,3475
$GC,6648,-1.23,-146.6,688.3,-8.5,321,6652,0.00,2.58,0.00,0.000,6,0.000,0.055,2226,1900,3476
$GC,6969,-1.23,-146.6,714.3,-6.5,337,6974,0.00,2.62,0.00,0.000,4,0.000,0.063,2226,3307,3475
$GC,7103,-1.23,-146.6,724.8,-10.1,343,7108,0.00,2.60,0.00,0.000,6,0.000,0.058,2226,1901,3474
$GC,7429,-1.23,-146.6,756.7,-11.3,359,7434,0.00,2.67,0.00,0.000,4,0.000,0.080,2226,492,3475
$GC,7462,-1.23,-146.6,760.2,-10.6,360,7469,0.00,2.53,0.00,0.000,6,0.000,0.056,2226,1899,3475
$GC,7778,-1.23,-146.6,794.0,-10.6,376,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1898,3474
$GC,8087,-1.23,-146.6,831.0,-8.8,391,8091,0.00,2.62,0.00,0.000,4,0.000,0.070,2226,3300,3473
$GC,8171,-1.23,-146.6,840.3,-11.7,395,8175,0.00,2.60,0.00,0.000,6,0.000,0.061,2226,1892,3473
$GC,8497,-1.23,-146.6,871.0,-11.1,411,8501,0.00,2.67,0.00,0.000,4,0.000,0.086,2226,492,3473
$GC,8754,-1.23,-146.6,875.2,-0.3,422,8760,0.00,2.55,0.00,0.000,6,0.000,0.058,2226,1906,3471
$STATE,8964,end dive,NO_VERTICAL_VELOCITY
$STATE,8964,begin apogee
$GC,8970,-0.36,0.0,875.5,0.0,433,9099,0.82,0.00,125.53,1.446,6,0.038,0.000,2430,2101,2878
$STATE,9099,end apogee,CONTROL_FINISHED_OK
$STATE,9099,begin climb
$GC,9102,1.23,146.6,875.4,0.0,439,9237,1.45,2.80,125.25,1.375,4,0.039,0.079,2768,685,2279
$GC,9255,1.32,220.0,870.2,5.2,446,9327,0.00,2.62,62.88,1.353,6,0.000,0.058,2768,2098,1981
$GC,9639,1.32,220.0,838.3,10.8,465,9643,0.00,2.65,0.00,0.000,4,0.000,0.069,2768,3500,1980
$GC,9783,1.32,220.0,824.0,13.8,471,9790,0.00,2.60,0.00,0.000,6,0.000,0.061,2767,2102,1980
$GC,10099,1.32,220.0,785.8,17.7,487,10103,0.00,2.65,0.00,0.000,4,0.000,0.066,2768,3500,1979
$GC,10305,1.32,220.0,757.8,15.6,496,10310,0.00,2.60,0.00,0.000,6,0.000,0.058,2768,2095,1979
$GC,10626,1.32,220.0,717.6,9.2,512,10631,0.00,2.70,0.00,0.000,4,0.000,0.082,2768,687,1979
$GC,10675,1.32,220.0,712.0,10.4,514,10679,0.00,2.58,0.00,0.000,6,0.000,0.054,2767,2105,1979
$GC,10996,1.32,220.0,684.0,8.5,530,11001,0.00,2.60,0.00,0.000,4,0.000,0.064,2768,3504,1978
$GC,11158,1.32,220.0,672.0,8.6,537,11163,0.00,2.60,0.00,0.000,6,0.000,0.056,2768,2093,1978
$GC,11473,1.32,220.0,643.8,9.8,552,11478,0.00,2.65,0.00,0.000,4,0.000,0.063,2768,3506,1978
$GC,11590,1.32,220.0,633.6,8.3,557,11595,0.00,2.60,0.00,0.000,6,0.000,0.054,2768,2098,1977
$GC,11905,1.32,220.0,608.7,8.3,572,11909,0.00,2.62,0.00,0.000,4,0.000,0.061,2768,3506,1978
$GC,12056,1.34,239.8,596.4,7.2,579,12078,0.00,2.58,16.73,1.298,6,0.000,0.052,2768,2098,1900
$GC,12387,1.36,250.2,571.4,7.6,595,12403,0.10,2.67,9.75,1.261,4,0.058,0.060,2799,3506,1857
$GC,12435,1.36,250.2,566.9,10.5,596,12440,0.00,2.60,0.00,0.000,6,0.000,0.051,2799,2095,1857
$GC,12757,1.36,250.2,536.7,9.1,612,12758,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2095,1857
$GC,13066,1.36,250.2,509.6,8.4,627,13070,0.00,2.62,0.00,0.000,4,0.000,0.058,2799,3506,1857
$GC,13131,1.36,250.2,504.0,8.7,630,13136,0.00,2.55,0.00,0.000,6,0.000,0.048,2799,2098,1857
$GC,13459,1.36,250.2,477.0,8.2,646,13463,0.00,2.60,0.00,0.000,4,0.000,0.057,2799,3501,1857
$GC,13565,1.36,250.2,467.2,8.5,651,13570,0.00,2.55,0.00,0.000,6,0.000,0.049,2799,2095,1858
$GC,13891,1.36,250.2,436.3,9.9,667,13896,0.00,2.60,0.00,0.000,4,0.000,0.056,2799,3509,1858
$GC,14002,1.36,250.2,424.0,11.9,672,14007,0.00,2.55,0.00,0.000,6,0.000,0.046,2799,2095,1858
$GC,14329,1.36,250.2,389.7,10.3,688,14334,0.00,2.60,0.00,0.000,4,0.000,0.054,2799,3506,1858
$GC,14392,1.36,250.2,383.3,10.4,691,14396,0.00,2.55,0.00,0.000,6,0.000,0.047,2800,2094,1858
$GC,14717,1.36,250.2,346.0,11.3,707,14722,0.00,2.58,0.00,0.000,4,0.000,0.054,2799,3503,1859
$GC,14806,1.36,250.2,335.2,11.6,711,14810,0.00,2.53,0.00,0.000,6,0.000,0.046,2799,2099,1859
$GC,15133,1.36,250.2,302.5,10.3,727,15137,0.00,2.58,0.00,0.000,4,0.000,0.052,2799,3503,1860
$GC,15227,1.36,250.2,291.6,11.5,731,15231,0.00,2.53,0.00,0.000,6,0.000,0.045,2800,2095,1860
$GC,15548,1.36,250.2,255.1,12.5,747,15552,0.00,2.58,0.00,0.000,4,0.000,0.052,2799,3508,1861
$GC,15659,1.36,250.2,242.7,10.3,752,15663,0.00,2.53,0.00,0.000,6,0.000,0.044,2799,2096,1860
$GC,15985,1.36,250.2,207.1,11.3,768,15990,0.00,2.60,0.00,0.000,4,0.000,0.053,2799,3510,1861
$GC,16058,1.36,250.2,198.2,12.6,771,16062,0.00,2.53,0.00,0.000,6,0.000,0.044,2799,2090,1861
$GC,16378,1.36,250.2,162.2,10.6,787,16382,0.00,2.58,0.00,0.000,4,0.000,0.053,2799,3503,1861
$GC,16443,1.36,250.2,154.6,10.9,790,16448,0.00,2.50,0.00,0.000,6,0.000,0.043,2799,2096,1861
$GC,16772,1.36,250.2,118.0,11.2,806,16777,0.00,2.58,0.00,0.000,4,0.000,0.051,2799,3504,1861
$GC,16844,1.36,250.2,109.4,12.1,809,16848,0.00,2.50,0.00,0.000,6,0.000,0.042,2799,2099,1862
$GC,17166,1.36,250.2,78.4,9.2,825,17170,0.00,2.55,0.00,0.000,4,0.000,0.050,2799,3504,1862
$GC,17299,1.36,250.2,61.6,11.6,831,17304,0.00,2.50,0.00,0.000,6,0.000,0.042,2799,2096,1862
$GC,17620,1.36,250.2,23.1,11.2,847,17625,0.00,2.58,0.00,0.000,4,0.000,0.049,2799,3512,1863
$GC,17709,1.36,250.2,12.5,13.8,851,17714,0.00,2.50,0.00,0.000,6,0.000,0.040,2799,2099,1862
$STATE,17843,end climb,SURFACE_DEPTH_REACHED
$STATE,17843,begin surface coast
$FINISH,1.9,1.027408
$STATE,17865,end surface coast,CONTROL_FINISHED_OK
$STATE,17865,begin surface
$SM_CCo,17887,44.60,0.824,5,0,1655,300.00
$SM_GC,2.70,0.00,0.00,44.60,0.000,0.000,0.824,35,1886,1655,-11.32,-0.40,300.00
$IRIDIUM_FIX,6327.46,-1339.64,110108,111146
$TT8_MAMPS,0.026845
$HUMID,2046
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,15.00
$XPDR_PINGS,1
$24V_AH,23.1,56.897
$10V_AH,10.1,27.773
$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,25.850,211.675,340.125,44.600,0.000,37.617,46.925,145.150,7.750,0.000,0.000,13.539,1673.968,13288.907,589.602,2265.178,482.445,33.367,1741.180,0.000,2213.808,0.000,49.416
$DEVICE_MAMPS,137.293,85.904,1445.795,823.758,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,637.441,581.234,479.814,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44178,859
$CFSIZE,260165632,241922048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,5,0
$GPS,110108,163125,6352.293,-1334.600,58,1.9,58,-12.7