version: 66.02
glider: 102
mission: 4
dive: 268
start: 1 12 108 4 8 8
data:
$ID,102
$MISSION,4
$DIVE,268
$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,-81737.398
$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,21
$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,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
$GPS1,034525,6355.110,-1319.725,24,1.2,41,-12.6
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-52.4
$GPS2,040714,6355.157,-1319.544,13,1.4,13,-12.6
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.218,-0.094
$KALMAN_X,302090.9,606.7,1518.1,-559730.3,-6922.9
$KALMAN_Y,-34697.8,1647.9,1087.6,294936.2,-2848.7
$MHEAD_RNG_PITCHd_Wd,125.9,12327,-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,22,-1.23,-146.6,0.0,0.0,0,100,0.00,0.00,-76.78,0.000,2,0.000,0.000,34,1896,2147
$GC,103,-1.23,-146.6,3.0,-0.4,4,220,11.30,2.65,-98.68,0.000,4,0.127,0.077,2223,496,3476
$GC,361,-1.23,-146.6,12.2,-9.2,16,366,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1916,3476
$GC,688,-1.23,-146.6,49.4,-8.5,32,692,0.00,2.50,0.00,0.000,4,0.000,0.048,2224,3301,3476
$GC,743,-1.23,-146.6,56.6,-14.0,34,749,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1899,3476
$GC,1058,-1.23,-146.6,85.8,-9.3,50,1063,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3301,3476
$GC,1091,-1.23,-146.6,88.8,-8.8,51,1098,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1903,3476
$GC,1409,-1.23,-146.6,116.3,-11.0,67,1413,0.00,2.62,0.00,0.000,4,0.000,0.067,2223,492,3476
$GC,1431,-1.23,-146.6,119.1,-11.6,68,1435,0.00,2.47,0.00,0.000,6,0.000,0.041,2224,1904,3476
$GC,1751,-1.23,-146.6,155.4,-13.3,84,1755,0.00,2.50,0.00,0.000,4,0.000,0.048,2224,3294,3476
$GC,1835,-1.23,-146.6,168.3,-16.1,88,1839,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1898,3476
$GC,2161,-1.23,-146.6,208.5,-8.7,104,2165,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3300,3476
$GC,2228,-1.23,-146.6,214.7,-9.9,107,2232,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1898,3475
$GC,2548,-1.23,-146.6,248.3,-10.3,123,2552,0.00,2.55,0.00,0.000,4,0.000,0.050,2223,3300,3476
$GC,2570,-1.23,-146.6,250.7,-10.6,124,2574,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1895,3475
$GC,2890,-1.23,-146.6,281.6,-9.6,140,2894,0.00,2.60,0.00,0.000,4,0.000,0.067,2224,494,3476
$GC,2922,-1.23,-146.6,285.2,-10.2,141,2928,0.00,2.47,0.00,0.000,6,0.000,0.043,2223,1907,3475
$GC,3237,-1.23,-146.6,313.5,-8.9,157,3241,0.00,2.53,0.00,0.000,4,0.000,0.051,2223,3297,3475
$GC,3280,-1.23,-146.6,317.7,-9.8,159,3285,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1902,3475
$GC,3607,-1.23,-146.6,350.0,-10.1,175,3612,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3300,3475
$GC,3634,-1.23,-146.6,352.9,-10.6,176,3638,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1899,3475
$GC,3960,-1.23,-146.6,388.3,-11.1,192,3965,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3297,3475
$GC,3994,-1.23,-146.6,392.0,-11.5,193,4000,0.00,2.53,0.00,0.000,6,0.000,0.047,2223,1899,3475
$GC,4309,-1.23,-146.6,428.6,-11.4,209,4313,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3295,3475
$GC,4421,-1.23,-146.6,442.1,-12.0,214,4426,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1899,3475
$GC,4742,-1.23,-146.6,478.0,-11.0,230,4746,0.00,2.55,0.00,0.000,4,0.000,0.052,2223,3300,3474
$GC,4786,-1.23,-146.6,482.9,-11.2,232,4790,0.00,2.55,0.00,0.000,6,0.000,0.048,2223,1894,3474
$GC,5106,-1.23,-146.6,517.5,-10.6,248,5111,0.00,2.62,0.00,0.000,4,0.000,0.071,2223,489,3475
$GC,5139,-1.23,-146.6,521.0,-10.6,249,5146,0.00,2.47,0.00,0.000,6,0.000,0.045,2223,1896,3475
$GC,5454,-1.23,-146.6,549.7,-8.6,265,5459,0.00,2.55,0.00,0.000,4,0.000,0.055,2223,3297,3474
$GC,5572,-1.23,-146.6,559.1,-6.9,270,5576,0.00,2.55,0.00,0.000,6,0.000,0.051,2223,1896,3475
$GC,5893,-1.23,-146.6,588.6,-7.6,286,5897,0.00,2.58,0.00,0.000,4,0.000,0.056,2223,3295,3475
$GC,6068,-1.23,-146.6,606.6,-10.1,294,6072,0.00,2.53,0.00,0.000,6,0.000,0.051,2224,1901,3475
$GC,6393,-1.23,-146.6,633.4,-8.1,310,6398,0.00,2.58,0.00,0.000,4,0.000,0.061,2223,3303,3474
$GC,6459,-1.23,-146.6,639.9,-9.6,313,6464,0.00,2.55,0.00,0.000,6,0.000,0.054,2223,1901,3474
$GC,6787,-1.23,-146.6,662.7,-7.0,329,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3473
$GC,7096,-1.23,-146.6,682.8,-6.2,344,7100,0.00,2.58,0.00,0.000,4,0.000,0.061,2223,3297,3474
$GC,7190,-1.23,-146.6,689.6,-7.1,348,7194,0.00,2.58,0.00,0.000,6,0.000,0.054,2223,1896,3473
$GC,7506,-1.23,-146.6,713.7,-7.9,363,7510,0.00,2.60,0.00,0.000,4,0.000,0.062,2223,3297,3472
$GC,7568,-1.23,-146.6,720.1,-10.3,366,7572,0.00,2.55,0.00,0.000,6,0.000,0.057,2223,1901,3472
$GC,7894,-1.23,-146.6,758.1,-12.4,382,7898,0.00,2.60,0.00,0.000,4,0.000,0.064,2223,3295,3472
$GC,7933,-1.23,-146.6,761.7,-8.2,384,7937,0.00,2.55,0.00,0.000,6,0.000,0.057,2223,1901,3472
$GC,8259,-1.23,-146.6,785.1,-0.7,400,8263,0.00,2.67,0.00,0.000,4,0.000,0.082,2223,495,3471
$GC,8516,-1.23,-146.6,785.0,0.1,411,8522,0.00,2.53,0.00,0.000,6,0.000,0.056,2223,1899,3471
$STATE,8664,end dive,NO_VERTICAL_VELOCITY
$STATE,8664,begin apogee
$GC,8670,-0.36,0.0,785.0,0.0,419,8798,0.88,0.00,124.62,1.344,6,0.056,0.000,2423,2104,2877
$STATE,8799,end apogee,CONTROL_FINISHED_OK
$STATE,8799,begin climb
$GC,8801,1.23,146.6,784.9,0.0,425,8933,1.50,2.70,123.12,1.296,4,0.047,0.068,2765,3503,2280
$GC,9188,1.23,149.6,761.0,7.9,442,9198,0.00,2.62,3.90,1.179,6,0.000,0.058,2765,2097,2266
$GC,9525,1.23,149.6,737.2,8.9,459,9529,0.00,2.65,0.00,0.000,4,0.000,0.065,2765,3499,2266
$GC,9782,1.26,173.3,715.8,7.1,470,9809,0.00,2.58,20.27,1.305,6,0.000,0.055,2765,2098,2171
$GC,10118,1.30,204.9,692.0,6.8,487,10153,0.00,2.72,27.35,1.288,4,0.000,0.064,2765,3499,2042
$GC,10362,1.30,204.9,672.2,9.0,498,10366,0.00,2.58,0.00,0.000,6,0.000,0.053,2765,2100,2041
$GC,10688,1.31,213.9,647.5,7.7,514,10702,0.00,2.67,8.43,1.267,4,0.000,0.061,2765,3495,2006
$GC,10804,1.31,213.9,637.7,8.3,519,10809,0.00,2.58,0.00,0.000,6,0.000,0.052,2765,2099,2006
$GC,11125,1.33,226.9,613.7,7.5,535,11139,0.00,0.00,12.02,1.257,6,0.000,0.000,2765,2099,1952
$GC,11434,1.33,229.5,587.3,7.9,550,11443,0.00,2.65,3.45,1.142,4,0.000,0.059,2765,3498,1942
$GC,11461,1.33,229.5,584.3,10.3,551,11465,0.00,2.55,0.00,0.000,6,0.000,0.048,2765,2099,1942
$GC,11788,1.35,246.1,560.6,7.4,567,11810,0.10,2.65,14.60,1.213,4,0.063,0.058,2796,3500,1873
$GC,11878,1.35,246.1,551.0,10.0,571,11883,0.00,2.58,0.00,0.000,6,0.000,0.050,2795,2095,1874
$GC,12205,1.38,268.0,521.5,7.2,587,12229,0.00,2.65,19.12,1.178,4,0.000,0.057,2795,3499,1785
$GC,12324,1.38,268.0,510.8,9.3,592,12329,0.00,2.55,0.00,0.000,6,0.000,0.048,2795,2098,1785
$GC,12645,1.38,268.0,482.3,8.5,608,12650,0.00,2.58,0.00,0.000,4,0.000,0.056,2795,3499,1785
$GC,12730,1.38,268.0,475.0,9.1,612,12734,0.00,2.55,0.00,0.000,6,0.000,0.048,2795,2093,1785
$GC,13056,1.38,268.0,444.7,10.4,628,13060,0.00,2.60,0.00,0.000,4,0.000,0.055,2795,3500,1785
$GC,13155,1.38,268.0,433.8,10.7,632,13162,0.00,2.53,0.00,0.000,6,0.000,0.046,2795,2096,1785
$GC,13471,1.38,268.0,402.0,9.9,648,13475,0.00,2.55,0.00,0.000,4,0.000,0.054,2795,3500,1785
$GC,13532,1.38,268.0,395.1,11.4,651,13537,0.00,2.53,0.00,0.000,6,0.000,0.046,2795,2098,1785
$GC,13859,1.38,268.0,359.1,10.7,667,13860,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2098,1786
$GC,14168,1.38,268.0,327.1,10.3,682,14172,0.00,2.58,0.00,0.000,4,0.000,0.052,2795,3504,1786
$GC,14200,1.38,268.0,323.8,9.8,683,14206,0.00,2.53,0.00,0.000,6,0.000,0.044,2795,2098,1787
$GC,14516,1.38,268.0,294.5,8.8,699,14517,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2098,1787
$GC,14825,1.38,268.0,264.9,10.0,714,14830,0.00,2.55,0.00,0.000,4,0.000,0.052,2796,3501,1787
$GC,14858,1.38,268.0,261.5,10.7,715,14865,0.00,2.53,0.00,0.000,6,0.000,0.044,2795,2105,1787
$GC,15174,1.38,268.0,230.2,10.4,731,15178,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3500,1788
$GC,15196,1.38,268.0,227.9,10.7,732,15200,0.00,2.53,0.00,0.000,6,0.000,0.042,2795,2092,1788
$GC,15516,1.44,320.2,203.8,6.0,748,15566,0.00,2.67,42.65,0.935,4,0.000,0.051,2795,3500,1572
$GC,15601,1.46,331.1,196.9,7.6,752,15615,0.00,2.55,9.27,0.933,6,0.000,0.044,2795,2094,1528
$GC,15931,1.46,331.1,161.8,10.6,768,15936,0.00,2.60,0.00,0.000,4,0.000,0.065,2795,694,1528
$GC,15958,1.46,331.1,158.8,10.8,769,15963,0.00,2.47,0.00,0.000,6,0.000,0.041,2795,2105,1528
$GC,16280,1.46,331.1,126.4,11.2,785,16284,0.00,2.65,0.00,0.000,4,0.000,0.064,2795,689,1528
$GC,16301,1.46,331.1,123.7,11.9,786,16305,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2103,1528
$GC,16622,1.46,331.1,86.9,11.8,802,16627,0.00,2.62,0.00,0.000,4,0.000,0.064,2795,693,1529
$GC,16650,1.46,331.1,83.7,11.4,803,16654,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2107,1528
$GC,16966,1.46,331.1,50.0,11.0,818,16970,0.00,2.62,0.00,0.000,4,0.000,0.063,2795,694,1528
$GC,16975,1.46,331.1,48.4,11.2,818,16982,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2099,1529
$GC,17291,1.46,331.1,15.4,12.7,834,17295,0.00,2.62,0.00,0.000,4,0.000,0.064,2795,694,1528
$GC,17312,1.46,331.1,13.4,9.1,835,17316,0.00,2.47,0.00,0.000,6,0.000,0.041,2795,2103,1529
$GC,17640,1.71,539.2,2.1,0.1,851,17663,0.30,0.00,20.23,0.825,2,0.058,0.000,2868,2111,1418
$STATE,17664,end climb,SURFACE_DEPTH_REACHED
$STATE,17664,begin surface coast
$FINISH,2.1,1.016295
$STATE,17804,end surface coast,NO_VERTICAL_VELOCITY
$STATE,17804,begin surface
$SM_CCo,17808,101.12,0.754,0,0,603,558.06
$SM_GC,2.91,12.23,0.00,0.00,0.028,0.000,0.000,32,1881,602,-11.25,-0.54,558.06
$IRIDIUM_FIX,6332.30,-1314.71,120108,070723
$TT8_MAMPS,0.026845
$HUMID,2028
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.50
$XPDR_PINGS,3
$24V_AH,23.2,57.554
$10V_AH,10.1,28.070
$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,26.300,205.950,429.050,101.125,0.000,113.038,109.959,832.567,7.250,0.000,0.000,15.367,1660.788,13677.836,733.282,2216.589,1323.436,33.358,1894.703,0.000,2164.735,0.000,42.969
$DEVICE_MAMPS,126.555,82.069,1343.784,753.961,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,631.079,579.125,523.011,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44313,859
$CFSIZE,260165632,241696768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,0,0
$GPS,120108,091426,6355.077,-1315.989,38,1.0,38,-12.5