version: 66.02
glider: 102
mission: 4
dive: 270
start: 1 12 108 14 36 9
data:
$ID,102
$MISSION,4
$DIVE,270
$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,-81769.805
$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,22
$R_STBD_OVSHOOT,28
$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
$GPS1,142555,6355.541,-1305.981,41,1.2,41,-12.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-53.4
$GPS2,143515,6355.535,-1305.852,13,1.6,13,-12.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.081,-0.224
$KALMAN_X,309152.9,928.6,1389.4,-554827.5,1914.9
$KALMAN_Y,-22916.7,-453.9,969.5,286083.7,5308.8
$MHEAD_RNG_PITCHd_Wd,212.3,10796,-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,20,begin dive
$GC,23,-1.23,-146.5,0.0,0.0,0,104,0.00,0.00,-79.45,0.000,2,0.000,0.000,29,1887,2222
$GC,107,-1.23,-146.6,3.3,-0.6,4,190,11.62,0.00,-64.62,0.000,6,0.140,0.000,2224,1888,3476
$GC,500,-1.23,-146.6,41.4,-11.4,23,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1888,3475
$GC,808,-1.23,-146.6,72.1,-10.2,38,813,0.00,2.58,0.00,0.000,4,0.000,0.050,2224,3305,3475
$GC,880,-1.23,-146.6,80.4,-11.1,41,884,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1901,3475
$GC,1202,-1.23,-146.6,116.1,-11.2,57,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3475
$GC,1513,-1.23,-146.6,147.6,-9.4,72,1517,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3309,3475
$GC,1590,-1.23,-146.6,154.6,-8.8,75,1596,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1892,3475
$GC,1905,-1.23,-146.6,186.9,-10.8,91,1910,0.00,2.58,0.00,0.000,4,0.000,0.050,2224,3311,3475
$GC,1938,-1.23,-146.6,190.6,-11.2,92,1944,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1895,3475
$GC,2255,-1.23,-146.6,226.4,-10.8,108,2259,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3304,3475
$GC,2303,-1.23,-146.6,231.5,-10.8,110,2308,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1902,3475
$GC,2625,-1.23,-146.6,260.4,-9.3,126,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1902,3475
$GC,2934,-1.23,-146.6,290.8,-10.0,141,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1902,3475
$GC,3244,-1.23,-146.6,323.7,-10.5,156,3248,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3304,3475
$GC,3293,-1.23,-146.6,329.4,-12.1,158,3297,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1899,3475
$GC,3608,-1.23,-146.6,362.3,-8.7,173,3612,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3303,3475
$GC,3662,-1.23,-146.6,367.2,-8.6,175,3669,0.00,2.58,0.00,0.000,6,0.000,0.046,2224,1896,3475
$GC,3979,-1.23,-146.6,397.7,-9.8,191,3983,0.00,2.58,0.00,0.000,4,0.000,0.051,2224,3307,3475
$GC,4017,-1.23,-146.6,401.7,-10.2,193,4022,0.00,2.55,0.00,0.000,6,0.000,0.046,2224,1898,3475
$GC,4343,-1.23,-146.6,433.9,-9.9,209,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3475
$GC,4653,-1.23,-146.6,463.2,-9.2,224,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3474
$GC,4962,-1.23,-146.6,489.1,-8.2,239,4966,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3304,3474
$GC,5056,-1.23,-146.6,497.5,-8.9,243,5060,0.00,2.55,0.00,0.000,6,0.000,0.046,2224,1895,3474
$GC,5378,-1.23,-146.6,526.9,-9.2,259,5382,0.00,2.58,0.00,0.000,4,0.000,0.054,2224,3302,3474
$GC,5449,-1.23,-146.6,534.0,-10.4,262,5453,0.00,2.55,0.00,0.000,6,0.000,0.048,2224,1895,3474
$GC,5770,-1.23,-146.6,566.2,-10.2,278,5775,0.00,2.60,0.00,0.000,4,0.000,0.055,2224,3306,3474
$GC,5843,-1.23,-146.6,573.7,-10.2,281,5847,0.00,2.55,0.00,0.000,6,0.000,0.049,2224,1902,3474
$GC,6158,-1.23,-146.6,605.1,-9.8,296,6163,0.00,2.58,0.00,0.000,4,0.000,0.057,2224,3301,3474
$GC,6270,-1.23,-146.6,615.6,-9.0,301,6274,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1893,3474
$GC,6590,-1.23,-146.6,646.3,-10.2,317,6594,0.00,2.58,0.00,0.000,4,0.000,0.059,2224,3301,3474
$GC,6633,-1.23,-146.6,651.3,-11.3,319,6637,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1901,3474
$GC,6960,-1.23,-146.6,681.4,-9.4,335,6965,0.00,2.60,0.00,0.000,4,0.000,0.059,2224,3307,3474
$GC,7049,-1.23,-146.6,690.0,-9.0,339,7053,0.00,2.58,0.00,0.000,6,0.000,0.054,2224,1899,3474
$GC,7376,-1.23,-146.6,721.8,-9.9,355,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3474
$GC,7685,-1.23,-146.6,746.2,-2.8,370,7690,0.00,2.65,0.00,0.000,4,0.000,0.078,2224,494,3473
$GC,7943,-1.23,-146.6,746.3,-0.4,381,7949,0.00,2.53,0.00,0.000,6,0.000,0.051,2224,1896,3473
$STATE,8008,end dive,NO_VERTICAL_VELOCITY
$STATE,8008,begin apogee
$GC,8014,-0.36,0.0,746.3,0.0,385,8142,0.88,0.00,124.38,1.279,6,0.064,0.000,2417,2105,2878
$STATE,8143,end apogee,CONTROL_FINISHED_OK
$STATE,8143,begin climb
$GC,8145,1.23,146.6,746.2,0.0,391,8276,1.55,2.70,123.22,1.239,4,0.051,0.065,2763,3504,2280
$GC,8298,1.24,154.3,738.8,7.7,398,8313,0.00,2.60,7.65,1.176,6,0.000,0.052,2763,2101,2248
$GC,8635,1.27,180.7,716.0,7.0,415,8665,0.00,2.72,22.92,1.236,4,0.000,0.061,2763,3500,2141
$GC,8716,1.27,181.8,709.9,8.0,418,8722,0.00,2.60,0.00,0.000,6,0.000,0.052,2763,2095,2140
$GC,9031,1.29,198.2,686.7,7.4,434,9051,0.00,0.00,15.62,1.240,6,0.000,0.000,2763,2095,2070
$GC,9361,1.30,205.5,660.9,7.7,450,9374,0.00,2.70,6.85,1.209,4,0.000,0.059,2763,3500,2040
$GC,9398,1.30,205.5,657.8,8.3,451,9404,0.00,2.58,0.00,0.000,6,0.000,0.050,2763,2095,2040
$GC,9713,1.37,258.5,638.2,6.0,467,9764,0.12,2.67,44.67,1.216,4,0.053,0.058,2800,3501,1824
$GC,9786,1.37,258.5,632.5,8.1,470,9793,0.00,2.58,0.00,0.000,6,0.000,0.050,2800,2102,1824
$GC,10102,1.37,258.5,605.2,9.2,486,10106,0.00,2.58,0.00,0.000,4,0.000,0.057,2800,3503,1824
$GC,10190,1.37,258.5,596.5,10.2,490,10194,0.00,2.55,0.00,0.000,6,0.000,0.049,2800,2098,1823
$GC,10518,1.37,258.5,563.6,10.4,506,10522,0.00,2.58,0.00,0.000,4,0.000,0.055,2800,3500,1823
$GC,10561,1.37,258.5,558.7,11.2,508,10565,0.00,2.53,0.00,0.000,6,0.000,0.048,2800,2101,1823
$GC,10887,1.37,258.5,524.3,10.5,524,10892,0.00,2.58,0.00,0.000,4,0.000,0.054,2800,3506,1824
$GC,10982,1.37,258.5,514.3,10.3,528,10986,0.00,2.55,0.00,0.000,6,0.000,0.047,2800,2092,1824
$GC,11303,1.37,258.5,482.6,10.3,544,11307,0.00,2.58,0.00,0.000,4,0.000,0.054,2800,3500,1823
$GC,11380,1.37,258.5,474.4,10.6,547,11386,0.00,2.53,0.00,0.000,6,0.000,0.047,2800,2094,1823
$GC,11696,1.37,258.5,441.0,10.9,563,11700,0.00,2.58,0.00,0.000,4,0.000,0.054,2800,3503,1823
$GC,11722,1.37,258.5,437.9,11.1,564,11726,0.00,2.53,0.00,0.000,6,0.000,0.046,2800,2101,1823
$GC,12043,1.37,258.5,404.5,11.3,580,12044,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2100,1824
$GC,12353,1.37,258.5,371.4,10.3,595,12357,0.00,2.58,0.00,0.000,4,0.000,0.051,2800,3506,1824
$GC,12385,1.37,258.5,367.8,10.4,596,12391,0.00,2.53,0.00,0.000,6,0.000,0.044,2800,2093,1824
$GC,12700,1.37,258.5,335.6,10.0,612,12704,0.00,2.58,0.00,0.000,4,0.000,0.052,2800,3507,1824
$GC,12751,1.37,258.5,330.3,10.7,614,12755,0.00,2.53,0.00,0.000,6,0.000,0.044,2800,2099,1824
$GC,13066,1.37,258.5,298.1,10.7,629,13070,0.00,2.55,0.00,0.000,4,0.000,0.051,2800,3503,1824
$GC,13092,1.37,258.5,295.0,11.4,630,13096,0.00,2.50,0.00,0.000,6,0.000,0.043,2800,2099,1824
$GC,13414,1.37,258.5,259.9,10.7,646,13418,0.00,2.58,0.00,0.000,4,0.000,0.051,2800,3507,1825
$GC,13435,1.37,258.5,257.4,10.7,647,13439,0.00,2.50,0.00,0.000,6,0.000,0.042,2800,2099,1824
$GC,13761,1.37,258.5,222.1,10.7,663,13766,0.00,2.58,0.00,0.000,4,0.000,0.051,2800,3505,1825
$GC,13817,1.37,258.5,216.4,10.0,665,13823,0.00,2.50,0.00,0.000,6,0.000,0.042,2800,2098,1825
$GC,14132,1.37,258.5,180.6,9.4,681,14137,0.00,2.58,0.00,0.000,4,0.000,0.051,2800,3505,1825
$GC,14182,1.37,258.5,175.5,9.2,683,14186,0.00,2.50,0.00,0.000,6,0.000,0.042,2800,2098,1825
$GC,14504,1.37,258.5,147.8,8.9,699,14508,0.00,2.58,0.00,0.000,4,0.000,0.051,2800,3508,1825
$GC,14558,1.37,258.5,142.7,9.3,701,14565,0.00,2.53,0.00,0.000,6,0.000,0.043,2800,2104,1826
$GC,14874,1.48,350.1,117.1,4.5,717,14952,0.00,2.62,71.95,0.858,4,0.000,0.049,2800,3503,1450
$GC,14985,1.48,350.1,107.5,10.7,721,14989,0.00,2.53,0.00,0.000,6,0.000,0.042,2800,2102,1450
$GC,15306,1.48,350.1,73.4,10.0,737,15307,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2102,1450
$GC,15616,1.48,350.1,41.2,11.7,752,15620,0.00,2.62,0.00,0.000,4,0.000,0.064,2800,690,1449
$GC,15637,1.48,350.1,38.5,11.6,753,15641,0.00,2.53,0.00,0.000,6,0.000,0.041,2801,2110,1449
$GC,15958,1.48,350.1,2.2,10.2,769,15959,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2114,1448
$GC,16267,1.75,567.3,2.4,-0.3,784,16289,0.30,0.00,19.90,0.815,2,0.064,0.000,2872,2116,1344
$STATE,16290,end climb,SURFACE_DEPTH_REACHED
$STATE,16290,begin surface coast
$FINISH,2.1,1.006035
$STATE,16390,end surface coast,CONTROL_FINISHED_OK
$STATE,16390,begin surface
$SM_CCo,16394,92.15,0.750,0,0,602,558.06
$SM_GC,2.77,12.30,0.00,0.00,0.027,0.000,0.000,30,1887,602,-11.26,-0.37,558.30
$IRIDIUM_FIX,6327.46,-1308.83,120108,181801
$TT8_MAMPS,0.026845
$HUMID,2022
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.50
$XPDR_PINGS,2
$24V_AH,23.2,57.927
$10V_AH,10.1,28.242
$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,26.775,165.025,437.175,92.150,0.000,75.892,68.569,232.795,6.500,0.000,0.000,14.760,1468.857,12527.655,706.930,1830.579,623.990,33.364,1670.919,0.000,1800.230,0.000,39.712
$DEVICE_MAMPS,139.594,78.234,1279.356,750.126,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,589.886,532.481,498.833,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41037,790
$CFSIZE,260165632,241594368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,120108,191402,6352.489,-1302.092,40,2.0,40,-12.4