version: 66.02
glider: 102
mission: 4
dive: 271
start: 1 12 108 19 21 18
data:
$ID,102
$MISSION,4
$DIVE,271
$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,-81803.102
$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,30
$R_STBD_OVSHOOT,34
$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
$GPS1,191402,6352.489,-1302.092,40,2.0,40,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-52.1
$GPS2,192026,6352.481,-1302.081,14,1.8,31,-12.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.146,-0.187
$KALMAN_X,314957.6,2719.8,-694.1,-556992.3,5520.7
$KALMAN_Y,-20047.4,-890.0,-1787.2,280818.0,11383.6
$MHEAD_RNG_PITCHd_Wd,230.3,7934,-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,22,-1.23,-146.6,0.0,0.0,0,105,0.00,0.00,-81.07,0.000,2,0.000,0.000,30,1883,2245
$GC,108,-1.23,-146.6,3.0,-0.3,4,185,11.55,2.58,-59.08,0.000,4,0.137,0.075,2224,499,3477
$GC,235,-1.23,-146.6,11.8,-12.6,9,239,0.00,2.47,0.00,0.000,6,0.000,0.042,2223,1902,3478
$GC,564,-1.23,-146.6,47.1,-10.8,25,568,0.00,2.53,0.00,0.000,4,0.000,0.049,2224,3295,3478
$GC,630,-1.23,-146.6,54.4,-10.2,28,634,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1904,3477
$GC,951,-1.23,-146.6,85.3,-10.4,44,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1903,3477
$GC,1261,-1.23,-146.6,117.9,-10.9,59,1265,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3298,3477
$GC,1349,-1.23,-146.6,127.6,-10.3,63,1353,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1899,3477
$GC,1676,-1.23,-146.6,163.9,-9.6,79,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3477
$GC,1985,-1.23,-146.6,189.8,-8.1,94,1990,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3305,3477
$GC,2074,-1.23,-146.6,198.2,-9.8,98,2078,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1894,3477
$GC,2401,-1.23,-146.6,231.2,-10.7,114,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3477
$GC,2710,-1.23,-146.6,264.4,-10.4,129,2714,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3296,3477
$GC,2804,-1.23,-146.6,274.6,-10.2,133,2809,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1897,3477
$GC,3124,-1.23,-146.6,306.3,-9.9,149,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,3434,-1.23,-146.6,336.3,-9.8,164,3438,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3301,3477
$GC,3518,-1.23,-146.6,344.2,-9.0,168,3522,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1899,3477
$GC,3844,-1.23,-146.6,375.4,-10.0,184,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3477
$GC,4153,-1.23,-146.6,405.3,-9.6,199,4157,0.00,2.53,0.00,0.000,4,0.000,0.050,2224,3298,3477
$GC,4196,-1.23,-146.6,409.7,-9.7,201,4200,0.00,2.50,0.00,0.000,6,0.000,0.045,2224,1899,3477
$GC,4523,-1.23,-146.6,443.0,-10.5,217,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3477
$GC,4832,-1.23,-146.6,473.9,-9.5,232,4836,0.00,2.53,0.00,0.000,4,0.000,0.051,2224,3297,3477
$GC,4893,-1.23,-146.6,479.8,-9.2,235,4898,0.00,2.53,0.00,0.000,6,0.000,0.047,2224,1899,3476
$GC,5220,-1.23,-146.6,509.6,-8.9,251,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3477
$GC,5529,-1.23,-146.6,539.2,-9.9,266,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3477
$GC,5838,-1.23,-146.6,569.2,-9.4,281,5843,0.00,2.53,0.00,0.000,4,0.000,0.053,2224,3296,3476
$GC,5990,-1.23,-146.6,583.6,-9.1,288,5994,0.00,2.53,0.00,0.000,6,0.000,0.048,2224,1900,3476
$GC,6316,-1.23,-146.6,613.2,-9.6,304,6320,0.00,2.58,0.00,0.000,4,0.000,0.055,2223,3302,3476
$GC,6359,-1.23,-146.6,617.6,-10.3,306,6364,0.00,2.50,0.00,0.000,6,0.000,0.050,2224,1902,3476
$GC,6687,-1.23,-146.6,650.5,-10.0,322,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1902,3476
$GC,6996,-1.23,-146.6,681.6,-9.4,337,7000,0.00,2.58,0.00,0.000,4,0.000,0.058,2223,3300,3476
$GC,7057,-1.23,-146.6,687.4,-9.7,340,7062,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1899,3476
$GC,7385,-1.23,-146.6,715.8,-7.4,356,7389,0.00,2.58,0.00,0.000,4,0.000,0.060,2224,3294,3476
$GC,7642,-1.23,-146.6,715.9,0.3,367,7648,0.00,2.55,0.00,0.000,6,0.000,0.053,2224,1898,3476
$STATE,7708,end dive,NO_VERTICAL_VELOCITY
$STATE,7708,begin apogee
$GC,7714,-0.36,0.0,715.9,0.0,371,7842,0.88,0.00,124.25,1.248,6,0.059,0.000,2419,2094,2878
$STATE,7842,end apogee,CONTROL_FINISHED_OK
$STATE,7842,begin climb
$GC,7845,1.23,146.6,715.6,0.0,377,7973,1.52,0.00,123.05,1.209,6,0.051,0.000,2762,2094,2279
$GC,8276,1.26,173.6,687.8,7.0,398,8306,0.00,2.67,23.12,1.206,4,0.000,0.061,2761,3492,2170
$GC,8442,1.26,173.6,674.2,8.2,405,8447,0.00,2.55,0.00,0.000,6,0.000,0.049,2762,2100,2170
$GC,8758,1.32,223.3,652.6,6.1,420,8802,0.00,0.00,42.25,1.204,6,0.000,0.000,2761,2100,1967
$GC,9107,1.32,223.3,626.3,8.8,437,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2100,1967
$GC,9416,1.32,223.3,598.2,8.6,452,9417,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2100,1966
$GC,9726,1.33,230.0,573.7,7.7,467,9739,0.10,2.62,6.28,1.173,4,0.058,0.054,2794,3497,1939
$GC,9801,1.33,230.0,566.7,9.5,470,9805,0.00,2.53,0.00,0.000,6,0.000,0.046,2794,2100,1939
$GC,10116,1.33,230.0,537.9,8.7,485,10120,0.00,2.58,0.00,0.000,4,0.000,0.054,2794,3498,1939
$GC,10193,1.33,230.0,530.3,9.0,488,10200,0.00,2.53,0.00,0.000,6,0.000,0.046,2794,2093,1939
$GC,10508,1.33,230.0,499.9,10.3,504,10510,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2093,1940
$GC,10818,1.33,230.0,467.9,9.9,519,10822,0.00,2.58,0.00,0.000,4,0.000,0.054,2794,3498,1939
$GC,10906,1.33,230.0,459.1,9.2,523,10911,0.00,2.50,0.00,0.000,6,0.000,0.044,2794,2101,1939
$GC,11227,1.33,230.0,430.0,9.2,539,11231,0.00,2.58,0.00,0.000,4,0.000,0.052,2794,3501,1939
$GC,11304,1.33,230.0,422.1,10.2,542,11311,0.00,2.53,0.00,0.000,6,0.000,0.045,2794,2091,1940
$GC,11619,1.33,230.0,391.2,10.1,558,11624,0.00,2.58,0.00,0.000,4,0.000,0.053,2794,3498,1940
$GC,11663,1.33,230.0,386.6,10.0,560,11667,0.00,2.50,0.00,0.000,6,0.000,0.045,2794,2101,1940
$GC,11990,1.33,230.0,354.4,10.3,576,11995,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3505,1940
$GC,12023,1.33,230.0,350.6,10.3,577,12029,0.00,2.53,0.00,0.000,6,0.000,0.044,2794,2091,1940
$GC,12338,1.33,230.0,316.3,11.3,593,12343,0.00,2.58,0.00,0.000,4,0.000,0.052,2795,3503,1940
$GC,12412,1.33,230.0,307.7,11.7,596,12416,0.00,2.53,0.00,0.000,6,0.000,0.043,2794,2096,1940
$GC,12727,1.33,230.0,272.2,11.5,611,12732,0.00,2.58,0.00,0.000,4,0.000,0.051,2794,3504,1940
$GC,12838,1.33,230.0,258.2,12.6,616,12843,0.00,2.50,0.00,0.000,6,0.000,0.042,2795,2094,1940
$GC,13165,1.33,230.0,220.8,11.9,632,13170,0.00,2.58,0.00,0.000,4,0.000,0.051,2794,3506,1940
$GC,13220,1.33,230.0,213.8,12.3,634,13227,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2094,1941
$GC,13536,1.33,230.0,175.6,12.2,650,13537,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2094,1941
$GC,13846,1.33,230.0,141.8,11.1,665,13850,0.00,2.58,0.00,0.000,4,0.000,0.050,2794,3505,1941
$GC,13930,1.33,230.0,133.6,9.9,669,13934,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2095,1941
$GC,14256,1.33,230.0,109.4,8.0,685,14260,0.00,2.55,0.00,0.000,4,0.000,0.050,2794,3500,1941
$GC,14340,1.33,230.0,101.1,10.7,689,14345,0.00,2.47,0.00,0.000,6,0.000,0.041,2795,2099,1941
$GC,14667,1.36,251.2,70.8,7.2,705,14690,0.00,2.65,17.67,0.872,4,0.000,0.049,2794,3504,1854
$GC,14723,1.37,261.7,66.5,7.6,707,14737,0.00,2.50,9.25,0.862,6,0.000,0.041,2794,2099,1811
$GC,15066,1.37,261.7,41.8,8.1,724,15070,0.00,2.55,0.00,0.000,4,0.000,0.049,2795,3499,1811
$GC,15159,1.37,261.7,32.9,9.9,728,15164,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2094,1811
$GC,15481,1.37,261.7,7.1,9.2,744,15486,0.00,2.55,0.00,0.000,4,0.000,0.048,2795,3500,1811
$GC,15514,1.37,261.7,3.5,10.9,745,15521,0.00,2.53,0.00,0.000,6,0.000,0.042,2794,2099,1811
$GC,15832,1.62,467.4,2.2,0.2,761,15875,0.20,0.00,40.25,0.783,2,0.051,0.000,2851,2093,1523
$STATE,15875,end climb,SURFACE_DEPTH_REACHED
$STATE,15876,begin surface coast
$FINISH,2.1,1.003422
$STATE,15913,end surface coast,NO_VERTICAL_VELOCITY
$STATE,15914,begin surface
$SM_CCo,15917,113.82,0.739,0,0,603,558.06
$SM_GC,2.78,12.15,0.00,0.00,0.027,0.000,0.000,27,1888,603,-11.27,-0.37,558.06
$IRIDIUM_FIX,6327.46,-1302.97,120108,181831
$TT8_MAMPS,0.026845
$HUMID,2045
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.60
$XPDR_PINGS,1
$24V_AH,23.3,58.089
$10V_AH,10.1,28.321
$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,26.400,137.975,386.125,113.825,0.000,39.218,39.557,155.094,6.000,0.000,0.000,32.675,1444.284,12403.754,665.722,1857.250,466.569,33.363,1599.765,0.000,1799.348,0.000,38.108
$DEVICE_MAMPS,136.526,75.166,1247.909,738.621,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,564.443,516.032,504.049,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37987,765
$CFSIZE,260165632,241545216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,120108,235637,6351.328,-1256.476,31,1.0,31,-12.3