version: 66.02
glider: 102
mission: 4
dive: 272
start: 1 13 108 0 11 22
data:
$ID,102
$MISSION,4
$DIVE,272
$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,-81817.125
$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,25
$R_STBD_OVSHOOT,29
$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
$GPS1,235637,6351.328,-1256.476,31,1.0,31,-12.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-56.5
$GPS2,001028,6351.404,-1256.142,10,1.3,11,-12.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.135,-0.196
$KALMAN_X,324153.3,659.2,1367.5,-560946.9,5331.3
$KALMAN_Y,-20049.3,-1228.5,332.4,277057.4,5278.0
$MHEAD_RNG_PITCHd_Wd,226.9,11612,-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,-146.6,0.0,0.0,0,105,0.00,0.00,-81.62,0.000,2,0.000,0.000,27,1884,2256
$GC,108,-1.23,-146.6,3.2,-0.7,4,200,11.52,2.62,-73.43,0.000,4,0.135,0.061,2224,3299,3476
$GC,453,-1.23,-146.6,31.9,-11.7,19,459,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1905,3476
$GC,769,-1.23,-146.6,68.8,-11.6,35,773,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3305,3476
$GC,967,-1.23,-146.6,91.4,-12.7,44,972,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1893,3476
$GC,1295,-1.23,-146.6,124.7,-9.5,60,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1893,3476
$GC,1603,-1.23,-146.6,153.8,-9.0,75,1607,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3304,3476
$GC,1697,-1.23,-146.6,161.5,-7.5,79,1701,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1898,3476
$GC,2017,-1.23,-146.6,193.7,-13.7,95,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3476
$GC,2327,-1.23,-146.6,236.3,-13.1,110,2331,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3309,3476
$GC,2404,-1.23,-146.6,245.2,-9.9,113,2410,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1894,3476
$GC,2719,-1.23,-146.6,273.6,-9.1,129,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3476
$GC,3029,-1.23,-146.6,306.4,-12.3,144,3033,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3302,3476
$GC,3085,-1.23,-146.6,313.0,-11.8,146,3091,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1895,3476
$GC,3400,-1.23,-146.6,347.6,-10.5,162,3404,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3302,3476
$GC,3456,-1.23,-146.6,353.8,-11.7,164,3462,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1896,3476
$GC,3771,-1.23,-146.6,387.4,-9.9,180,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3476
$GC,4081,-1.23,-146.6,418.5,-10.2,195,4085,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3302,3476
$GC,4170,-1.23,-146.6,427.7,-10.1,199,4174,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1900,3476
$GC,4491,-1.23,-146.6,458.8,-9.7,215,4495,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3304,3475
$GC,4540,-1.23,-146.6,463.4,-9.9,217,4544,0.00,2.53,0.00,0.000,6,0.000,0.046,2225,1899,3475
$GC,4860,-1.23,-146.6,495.6,-10.1,233,4864,0.00,2.55,0.00,0.000,4,0.000,0.052,2224,3302,3475
$GC,4909,-1.23,-146.6,501.0,-10.9,235,4913,0.00,2.55,0.00,0.000,6,0.000,0.047,2224,1895,3475
$GC,5231,-1.23,-146.6,534.1,-9.7,251,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3476
$GC,5540,-1.23,-146.6,566.9,-10.1,266,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3475
$GC,5849,-1.23,-146.6,596.2,-9.6,281,5854,0.00,2.60,0.00,0.000,4,0.000,0.057,2224,3304,3475
$GC,5938,-1.23,-146.6,605.1,-9.4,285,5943,0.00,2.55,0.00,0.000,6,0.000,0.049,2223,1900,3475
$GC,6260,-1.23,-146.6,635.0,-9.1,301,6264,0.00,2.58,0.00,0.000,4,0.000,0.058,2224,3299,3475
$GC,6517,-1.23,-146.6,642.5,-0.5,312,6523,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1902,3475
$STATE,6665,end dive,NO_VERTICAL_VELOCITY
$STATE,6665,begin apogee
$GC,6671,-0.36,0.0,642.5,0.0,320,6797,0.88,0.00,123.03,1.196,6,0.058,0.000,2420,2106,2878
$STATE,6798,end apogee,CONTROL_FINISHED_OK
$STATE,6798,begin climb
$GC,6801,1.23,146.6,642.0,0.0,326,6931,1.55,2.75,120.95,1.170,4,0.053,0.067,2764,685,2281
$GC,7027,1.31,215.4,640.2,5.4,336,7093,0.00,2.55,57.10,1.160,6,0.000,0.047,2764,2097,2000
$GC,7405,1.31,215.4,607.5,9.6,355,7409,0.00,2.67,0.00,0.000,4,0.000,0.069,2764,688,1999
$GC,7662,1.31,215.4,579.3,11.7,366,7669,0.00,2.53,0.00,0.000,6,0.000,0.047,2764,2103,1999
$GC,7977,1.31,215.4,542.8,11.6,382,7982,0.00,2.67,0.00,0.000,4,0.000,0.068,2764,685,1998
$GC,8077,1.31,215.4,531.0,11.3,386,8084,0.00,2.53,0.00,0.000,6,0.000,0.045,2763,2099,1998
$GC,8393,1.31,215.4,498.1,10.2,402,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2099,1998
$GC,8702,1.31,215.4,466.3,10.2,417,8706,0.00,2.62,0.00,0.000,4,0.000,0.065,2764,685,1997
$GC,8734,1.31,215.4,462.7,10.9,418,8740,0.00,2.53,0.00,0.000,6,0.000,0.044,2764,2106,1997
$GC,9050,1.31,215.4,433.7,9.2,434,9054,0.00,2.55,0.00,0.000,4,0.000,0.056,2764,3501,1997
$GC,9104,1.31,215.4,428.6,9.2,436,9111,0.00,2.53,0.00,0.000,6,0.000,0.046,2764,2094,1998
$GC,9420,1.31,215.4,397.5,10.3,452,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2094,1997
$GC,9729,1.31,215.4,364.0,10.9,467,9733,0.00,2.60,0.00,0.000,4,0.000,0.053,2764,3507,1997
$GC,9801,1.31,215.4,355.6,12.2,470,9805,0.00,2.53,0.00,0.000,6,0.000,0.044,2764,2095,1997
$GC,10116,1.31,215.4,322.4,10.2,485,10120,0.00,2.58,0.00,0.000,4,0.000,0.053,2764,3504,1997
$GC,10159,1.31,215.4,318.1,9.7,487,10163,0.00,2.50,0.00,0.000,6,0.000,0.044,2764,2099,1997
$GC,10486,1.31,215.4,287.8,9.1,503,10490,0.00,2.58,0.00,0.000,4,0.000,0.052,2764,3503,1997
$GC,10535,1.31,215.4,283.3,8.7,505,10539,0.00,2.50,0.00,0.000,6,0.000,0.042,2764,2095,1997
$GC,10857,1.38,269.4,261.1,5.9,521,10903,0.15,0.00,43.33,0.982,6,0.048,0.000,2808,2095,1779
$GC,11205,1.38,269.4,229.7,9.1,538,11210,0.00,2.58,0.00,0.000,4,0.000,0.051,2807,3500,1778
$GC,11256,1.38,269.4,224.9,10.0,540,11260,0.00,2.53,0.00,0.000,6,0.000,0.042,2808,2099,1779
$GC,11571,1.38,269.4,191.6,11.4,555,11573,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2099,1778
$GC,11880,1.38,269.4,160.8,10.0,570,11885,0.00,2.58,0.00,0.000,4,0.000,0.050,2808,3504,1779
$GC,11947,1.38,269.4,153.1,12.0,573,11951,0.00,2.50,0.00,0.000,6,0.000,0.041,2808,2100,1779
$GC,12274,1.38,269.4,116.3,12.0,589,12275,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2100,1779
$GC,12583,1.38,269.4,81.2,11.7,604,12587,0.00,2.58,0.00,0.000,4,0.000,0.049,2808,3509,1779
$GC,12626,1.38,269.4,75.6,12.2,606,12631,0.00,2.50,0.00,0.000,6,0.000,0.041,2808,2100,1779
$GC,12948,1.38,269.4,36.8,10.9,622,12952,0.00,2.55,0.00,0.000,4,0.000,0.049,2808,3502,1779
$GC,12997,1.38,269.4,30.9,11.1,624,13001,0.00,2.50,0.00,0.000,6,0.000,0.041,2808,2093,1779
$GC,13318,1.38,269.4,2.2,9.4,640,13323,0.00,2.58,0.00,0.000,4,0.000,0.051,2808,3506,1779
$GC,13336,1.59,441.8,2.1,1.4,641,13360,0.15,2.55,17.40,0.831,2,0.062,0.047,2845,2091,1682
$STATE,13360,end climb,SURFACE_DEPTH_REACHED
$STATE,13360,begin surface coast
$FINISH,2.1,1.015293
$STATE,13392,end surface coast,CONTROL_FINISHED_OK
$STATE,13392,begin surface
$SM_CCo,13395,132.77,0.746,0,0,602,558.06
$SM_GC,2.79,12.20,0.00,0.00,0.031,0.000,0.000,29,1903,603,-11.26,0.08,558.06
$IRIDIUM_FIX,6322.64,-1331.45,130108,040425
$TT8_MAMPS,0.026845
$HUMID,2048
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,18.60
$XPDR_PINGS,3
$24V_AH,23.3,58.265
$10V_AH,10.1,28.395
$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,26.450,123.425,361.800,132.775,0.000,115.649,104.766,365.872,5.750,0.000,0.000,13.397,1236.277,10454.917,670.911,1623.404,799.930,33.361,1507.536,0.000,1587.506,0.000,33.249
$DEVICE_MAMPS,134.992,69.030,1195.753,746.291,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.125,432.640,413.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31673,643
$CFSIZE,260165632,241512448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,130108,040541,6349.964,-1250.480,73,1.3,73,-12.3