version: 66.02
glider: 102
mission: 4
dive: 269
start: 1 12 108 9 29 32
data:
$ID,102
$MISSION,4
$DIVE,269
$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,-81754.414
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,091426,6355.077,-1315.989,38,1.0,38,-12.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-51.0
$GPS2,092838,6355.167,-1315.826,14,1.0,14,-12.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.006,-0.238
$KALMAN_X,304324.3,-1581.4,-91.1,-554797.7,2158.2
$KALMAN_Y,-29829.8,717.3,4.6,292107.1,1606.3
$MHEAD_RNG_PITCHd_Wd,190.9,10687,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.23,-146.5,0.0,0.0,0,106,0.00,0.00,-81.45,0.000,2,0.000,0.000,31,1877,2238
$GC,109,-1.23,-146.6,3.1,-0.6,4,193,11.50,2.65,-61.10,0.000,4,0.134,0.063,2226,3299,3477
$GC,445,-1.23,-146.6,33.7,-11.1,19,450,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1903,3477
$GC,766,-1.23,-146.6,67.9,-9.2,35,771,0.00,2.55,0.00,0.000,4,0.000,0.048,2226,3303,3477
$GC,934,-1.23,-146.6,86.2,-10.6,42,940,0.00,2.53,0.00,0.000,6,0.000,0.044,2227,1900,3477
$GC,1250,-1.23,-146.6,119.8,-10.4,58,1254,0.00,2.55,0.00,0.000,4,0.000,0.049,2226,3300,3477
$GC,1289,-1.23,-146.6,123.9,-9.9,60,1293,0.00,2.53,0.00,0.000,6,0.000,0.044,2227,1901,3477
$GC,1615,-1.23,-146.6,158.4,-10.5,76,1619,0.00,2.55,0.00,0.000,4,0.000,0.049,2227,3301,3477
$GC,1637,-1.23,-146.6,161.0,-11.3,77,1642,0.00,2.53,0.00,0.000,6,0.000,0.044,2227,1897,3477
$GC,1958,-1.23,-146.6,195.6,-10.6,93,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1897,3476
$GC,2267,-1.23,-146.6,227.4,-10.2,108,2272,0.00,2.55,0.00,0.000,4,0.000,0.049,2226,3300,3477
$GC,2330,-1.23,-146.6,233.8,-10.3,111,2334,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1901,3477
$GC,2656,-1.23,-146.6,268.6,-10.5,127,2660,0.00,2.55,0.00,0.000,4,0.000,0.049,2226,3306,3477
$GC,2683,-1.23,-146.6,271.5,-11.1,128,2688,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1898,3477
$GC,2999,-1.23,-146.6,304.9,-10.6,143,3003,0.00,2.55,0.00,0.000,4,0.000,0.049,2227,3305,3477
$GC,3031,-1.23,-146.6,308.5,-10.7,144,3037,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1901,3477
$GC,3346,-1.23,-146.6,338.1,-9.2,160,3351,0.00,2.55,0.00,0.000,4,0.000,0.050,2226,3307,3477
$GC,3387,-1.23,-146.6,342.0,-9.7,162,3391,0.00,2.55,0.00,0.000,6,0.000,0.045,2227,1896,3477
$GC,3713,-1.23,-146.6,373.0,-9.8,178,3717,0.00,2.55,0.00,0.000,4,0.000,0.051,2227,3301,3477
$GC,3751,-1.23,-146.6,376.6,-9.4,180,3756,0.00,2.53,0.00,0.000,6,0.000,0.046,2226,1895,3477
$GC,4078,-1.23,-146.6,407.9,-9.8,196,4082,0.00,2.55,0.00,0.000,4,0.000,0.051,2226,3301,3477
$GC,4117,-1.23,-146.6,411.9,-10.3,198,4122,0.00,2.55,0.00,0.000,6,0.000,0.047,2226,1893,3477
$GC,4444,-1.23,-146.6,443.8,-9.7,214,4448,0.00,2.58,0.00,0.000,4,0.000,0.052,2226,3303,3477
$GC,4483,-1.23,-146.6,447.7,-10.2,216,4487,0.00,2.55,0.00,0.000,6,0.000,0.048,2227,1896,3477
$GC,4809,-1.23,-146.6,478.7,-10.0,232,4813,0.00,2.58,0.00,0.000,4,0.000,0.053,2227,3304,3476
$GC,4858,-1.23,-146.6,484.0,-10.6,234,4863,0.00,2.55,0.00,0.000,6,0.000,0.048,2226,1895,3476
$GC,5173,-1.23,-146.6,514.9,-9.8,249,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1895,3476
$GC,5483,-1.23,-146.6,544.9,-9.4,264,5487,0.00,2.58,0.00,0.000,4,0.000,0.054,2226,3300,3476
$GC,5549,-1.23,-146.6,550.9,-9.3,267,5553,0.00,2.53,0.00,0.000,6,0.000,0.048,2227,1901,3476
$GC,5875,-1.23,-146.6,580.7,-8.7,283,5879,0.00,2.58,0.00,0.000,4,0.000,0.054,2226,3305,3476
$GC,5907,-1.23,-146.6,583.7,-8.5,284,5914,0.00,2.55,0.00,0.000,6,0.000,0.048,2226,1902,3476
$GC,6223,-1.23,-146.6,610.7,-8.9,300,6227,0.00,2.58,0.00,0.000,4,0.000,0.056,2226,3304,3476
$GC,6266,-1.23,-146.6,614.6,-9.3,302,6271,0.00,2.55,0.00,0.000,6,0.000,0.050,2226,1899,3476
$GC,6587,-1.23,-146.6,644.2,-8.9,318,6592,0.00,2.65,0.00,0.000,4,0.000,0.073,2226,488,3476
$GC,6614,-1.23,-146.6,647.0,-10.7,319,6618,0.00,2.50,0.00,0.000,6,0.000,0.048,2226,1899,3476
$GC,6929,-1.23,-146.6,673.6,-8.9,334,6933,0.00,2.58,0.00,0.000,4,0.000,0.059,2226,3304,3476
$GC,7174,-1.23,-146.6,697.6,-9.3,345,7178,0.00,2.55,0.00,0.000,6,0.000,0.055,2226,1901,3476
$GC,7501,-1.23,-146.6,729.1,-10.1,361,7505,0.00,2.60,0.00,0.000,4,0.000,0.063,2226,3300,3475
$GC,7652,-1.23,-146.6,745.3,-11.3,368,7657,0.00,2.58,0.00,0.000,6,0.000,0.058,2226,1897,3475
$GC,7979,-1.23,-146.6,769.3,0.0,384,7983,0.00,2.65,0.00,0.000,4,0.000,0.080,2226,495,3474
$GC,8236,-1.23,-146.6,769.4,0.0,395,8242,0.00,2.50,0.00,0.000,6,0.000,0.054,2227,1899,3473
$STATE,8281,end dive,NO_VERTICAL_VELOCITY
$STATE,8281,begin apogee
$GC,8287,-0.36,0.0,769.4,0.0,398,8415,0.85,0.00,125.15,1.309,6,0.053,0.000,2423,2102,2878
$STATE,8416,end apogee,CONTROL_FINISHED_OK
$STATE,8416,begin climb
$GC,8418,1.23,146.6,768.9,0.0,404,8550,1.50,2.67,123.70,1.268,4,0.046,0.067,2764,3496,2280
$GC,8783,1.27,182.2,747.3,6.6,421,8819,0.00,2.58,30.38,1.269,6,0.000,0.054,2764,2101,2135
$GC,9130,1.31,214.9,719.5,6.8,437,9165,0.00,2.70,28.52,1.264,4,0.000,0.064,2764,3496,2001
$GC,9217,1.31,214.9,709.9,11.2,441,9221,0.00,2.60,0.00,0.000,6,0.000,0.054,2764,2092,2000
$GC,9543,1.31,215.1,681.9,8.0,457,9547,0.00,2.62,0.00,0.000,4,0.000,0.061,2764,3497,1999
$GC,9694,1.31,215.1,669.3,8.3,464,9698,0.00,2.58,0.00,0.000,6,0.000,0.053,2764,2096,1999
$GC,10020,1.31,215.1,639.0,9.1,480,10024,0.00,2.60,0.00,0.000,4,0.000,0.061,2764,3497,1999
$GC,10201,1.31,215.1,622.1,9.5,488,10205,0.00,2.58,0.00,0.000,6,0.000,0.051,2764,2095,1998
$GC,10521,1.31,215.1,594.1,8.9,504,10525,0.00,2.65,0.00,0.000,4,0.000,0.074,2764,691,1998
$GC,10537,1.31,215.1,592.7,8.8,505,10542,0.00,2.53,0.00,0.000,6,0.000,0.048,2764,2098,1998
$GC,10864,1.31,215.1,564.9,8.5,521,10868,0.00,2.58,0.00,0.000,4,0.000,0.058,2765,3505,1997
$GC,10993,1.32,220.9,553.4,7.8,527,11003,0.00,2.55,5.22,1.187,6,0.000,0.048,2764,2098,1977
$GC,11319,1.32,220.9,525.0,9.7,543,11323,0.00,2.60,0.00,0.000,4,0.000,0.055,2764,3507,1977
$GC,11402,1.32,220.9,516.9,9.8,547,11407,0.00,2.55,0.00,0.000,6,0.000,0.047,2764,2095,1977
$GC,11728,1.32,220.9,487.2,9.6,563,11732,0.00,2.60,0.00,0.000,4,0.000,0.054,2764,3505,1977
$GC,11760,1.32,220.9,483.8,9.5,564,11766,0.00,2.53,0.00,0.000,6,0.000,0.046,2764,2099,1977
$GC,12075,1.32,220.9,455.5,9.2,580,12080,0.00,2.62,0.00,0.000,4,0.000,0.068,2764,691,1977
$GC,12103,1.32,220.9,452.9,9.6,581,12107,0.00,2.50,0.00,0.000,6,0.000,0.044,2764,2103,1977
$GC,12418,1.32,220.9,424.8,8.8,596,12423,0.00,2.55,0.00,0.000,4,0.000,0.054,2765,3502,1978
$GC,12439,1.32,220.9,422.7,9.2,597,12444,0.00,2.50,0.00,0.000,6,0.000,0.044,2764,2098,1978
$GC,12767,1.32,220.9,395.4,8.4,613,12771,0.00,2.55,0.00,0.000,4,0.000,0.053,2764,3499,1978
$GC,12800,1.32,220.9,392.7,8.4,614,12806,0.00,2.53,0.00,0.000,6,0.000,0.044,2764,2095,1978
$GC,13115,1.32,220.9,366.1,8.4,630,13119,0.00,2.58,0.00,0.000,4,0.000,0.053,2764,3500,1979
$GC,13132,1.32,220.9,364.8,8.4,631,13136,0.00,2.53,0.00,0.000,6,0.000,0.045,2764,2093,1979
$GC,13458,1.32,220.9,337.5,8.4,647,13462,0.00,2.58,0.00,0.000,4,0.000,0.053,2764,3499,1979
$GC,13497,1.32,221.1,334.2,8.0,649,13501,0.00,2.50,0.00,0.000,6,0.000,0.045,2764,2100,1979
$GC,13823,1.32,221.1,306.1,8.6,665,13827,0.00,2.55,0.00,0.000,4,0.000,0.051,2764,3499,1979
$GC,13884,1.32,221.1,300.6,8.9,668,13889,0.00,2.50,0.00,0.000,6,0.000,0.044,2764,2098,1980
$GC,14210,1.33,228.8,273.7,7.7,684,14224,0.00,2.62,7.95,1.019,4,0.000,0.053,2764,3498,1945
$GC,14281,1.35,245.4,268.0,7.4,687,14301,0.10,2.53,14.43,0.997,6,0.061,0.042,2795,2096,1877
$GC,14623,1.35,245.4,234.1,10.3,704,14627,0.00,2.58,0.00,0.000,4,0.000,0.051,2794,3500,1877
$GC,14702,1.35,245.4,225.4,10.8,707,14708,0.00,2.53,0.00,0.000,6,0.000,0.043,2795,2096,1877
$GC,15017,1.35,245.4,192.9,9.8,723,15021,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3503,1877
$GC,15043,1.35,245.4,190.0,10.5,724,15047,0.00,2.50,0.00,0.000,6,0.000,0.042,2794,2096,1877
$GC,15364,1.35,245.4,157.6,10.3,740,15369,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3505,1877
$GC,15408,1.35,245.4,152.6,11.7,742,15412,0.00,2.50,0.00,0.000,6,0.000,0.042,2795,2099,1877
$GC,15737,1.35,245.4,117.0,9.9,758,15738,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2099,1878
$GC,16045,1.35,245.4,83.5,12.6,773,16049,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3499,1878
$GC,16085,1.35,245.4,78.6,13.3,775,16089,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2094,1878
$GC,16411,1.37,259.0,46.2,7.5,791,16433,0.00,2.65,12.02,0.875,4,0.000,0.050,2794,3502,1821
$GC,16466,1.37,259.0,41.1,9.5,793,16471,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2099,1821
$GC,16783,1.37,259.0,8.8,10.9,808,16788,0.00,2.55,0.00,0.000,4,0.000,0.049,2795,3500,1821
$GC,16801,1.37,259.0,6.6,11.0,809,16805,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2096,1821
$GC,17128,1.63,468.2,2.1,0.0,825,17178,0.20,0.00,47.38,0.783,2,0.058,0.000,2848,2090,1471
$STATE,17179,end climb,SURFACE_DEPTH_REACHED
$STATE,17179,begin surface coast
$FINISH,2.2,1.014735
$STATE,17231,end surface coast,NO_VERTICAL_VELOCITY
$STATE,17231,begin surface
$SM_CCo,17234,107.72,0.742,0,0,603,558.06
$SM_GC,2.91,12.23,0.00,0.00,0.031,0.000,0.000,30,1891,603,-11.27,-0.28,558.06
$IRIDIUM_FIX,6327.46,-1313.59,120108,131306
$TT8_MAMPS,0.026845
$HUMID,2041
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.60
$XPDR_PINGS,3
$24V_AH,23.2,57.743
$10V_AH,10.1,28.161
$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,26.375,205.425,394.750,107.725,0.000,116.863,102.736,377.637,7.000,0.000,0.000,16.392,1621.166,13229.373,694.566,2154.527,857.546,33.364,1809.721,0.000,2098.153,0.000,41.329
$DEVICE_MAMPS,134.225,79.768,1309.269,741.689,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,605.868,560.246,502.345,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41172,830
$CFSIZE,260165632,241639424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
$GPS,120108,142555,6355.541,-1305.981,41,1.2,41,-12.5