version: 66.02
glider: 102
mission: 4
dive: 342
start: 1 24 108 21 5 52
data:
$ID,102
$MISSION,4
$DIVE,342
$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,-2
$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,-83943.375
$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,24
$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,20
$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
$GPS1,205738,6248.460,-1240.473,36,1.3,36,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-59.1
$GPS2,210408,6248.407,-1240.307,15,1.6,15,-11.7
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.110,-0.211
$KALMAN_X,477774.3,-659.8,-651.4,-697216.7,9790.5
$KALMAN_Y,66641.8,-1238.5,-529.6,74572.6,-43.7
$MHEAD_RNG_PITCHd_Wd,164.2,23251,-14.7,-8.000
$D_GRID,725
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.23,-146.6,0.0,0.0,0,88,0.00,0.00,-61.60,0.000,2,0.000,0.000,30,1885,2786
$GC,91,-1.23,-146.6,3.1,-2.8,3,133,11.52,0.00,-22.25,0.000,6,0.137,0.000,2224,1885,3478
$GC,444,-1.23,-146.6,39.1,-10.1,20,448,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3299,3479
$GC,476,-1.23,-146.6,43.4,-11.7,21,483,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1895,3479
$GC,792,-1.23,-146.6,79.9,-12.5,37,796,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3307,3479
$GC,836,-1.23,-146.6,85.4,-12.7,39,840,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1897,3479
$GC,1157,-1.23,-146.6,122.9,-11.9,55,1161,0.00,2.62,0.00,0.000,4,0.000,0.070,2224,489,3479
$GC,1183,-1.23,-146.6,125.8,-10.5,56,1188,0.00,2.47,0.00,0.000,6,0.000,0.039,2224,1914,3479
$GC,1500,-1.23,-146.6,164.4,-13.8,71,1504,0.00,2.47,0.00,0.000,4,0.000,0.048,2224,3295,3479
$GC,1561,-1.23,-146.6,174.9,-16.7,74,1566,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1892,3479
$GC,1893,-1.23,-146.6,216.1,-10.8,90,1897,0.00,2.62,0.00,0.000,4,0.000,0.071,2224,489,3479
$GC,1920,-1.23,-146.6,219.3,-12.8,91,1924,0.00,2.47,0.00,0.000,6,0.000,0.040,2224,1904,3479
$GC,2235,-1.23,-146.6,253.1,-11.2,106,2239,0.00,2.50,0.00,0.000,4,0.000,0.048,2224,3298,3479
$GC,2263,-1.23,-146.6,256.5,-12.8,107,2267,0.00,2.50,0.00,0.000,6,0.000,0.044,2224,1899,3479
$GC,2578,-1.23,-146.6,292.7,-11.5,122,2582,0.00,2.62,0.00,0.000,4,0.000,0.070,2224,491,3478
$GC,2633,-1.23,-146.6,298.4,-9.9,124,2639,0.00,2.45,0.00,0.000,6,0.000,0.040,2224,1906,3479
$GC,2948,-1.23,-146.6,329.4,-9.2,140,2952,0.00,2.50,0.00,0.000,4,0.000,0.050,2224,3290,3479
$GC,3005,-1.23,-146.6,334.5,-8.7,142,3011,0.00,2.50,0.00,0.000,6,0.000,0.045,2224,1897,3479
$GC,3321,-1.23,-146.6,365.3,-10.2,158,3325,0.00,2.62,0.00,0.000,4,0.000,0.072,2224,489,3479
$GC,3341,-1.23,-146.6,367.6,-10.7,159,3346,0.00,2.45,0.00,0.000,6,0.000,0.041,2224,1896,3478
$GC,3662,-1.23,-146.6,398.9,-9.3,175,3666,0.00,2.50,0.00,0.000,4,0.000,0.050,2223,3296,3478
$GC,3708,-1.23,-146.6,403.2,-9.4,177,3712,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1895,3479
$GC,4034,-1.23,-146.6,435.2,-9.8,193,4038,0.00,2.60,0.00,0.000,4,0.000,0.073,2224,497,3479
$GC,4073,-1.23,-146.6,439.3,-10.7,195,4078,0.00,2.45,0.00,0.000,6,0.000,0.043,2223,1902,3479
$GC,4400,-1.23,-146.6,472.2,-10.2,211,4404,0.00,2.53,0.00,0.000,4,0.000,0.051,2224,3301,3479
$GC,4472,-1.23,-146.6,479.4,-9.7,214,4476,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1901,3479
$GC,4788,-1.23,-146.6,509.5,-9.4,229,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3478
$GC,5096,-1.23,-146.6,536.5,-9.0,244,5101,0.00,2.53,0.00,0.000,4,0.000,0.051,2224,3297,3478
$GC,5136,-1.23,-146.6,540.1,-9.1,246,5141,0.00,2.53,0.00,0.000,6,0.000,0.047,2224,1899,3478
$GC,5463,-1.23,-146.6,569.4,-9.1,262,5467,0.00,2.55,0.00,0.000,4,0.000,0.052,2224,3299,3478
$GC,5485,-1.23,-146.6,571.5,-9.3,263,5489,0.00,2.53,0.00,0.000,6,0.000,0.048,2224,1900,3478
$GC,5805,-1.23,-146.6,603.4,-9.8,279,5810,0.00,2.55,0.00,0.000,4,0.000,0.054,2224,3303,3478
$GC,5872,-1.23,-146.6,609.8,-9.6,282,5877,0.00,2.55,0.00,0.000,6,0.000,0.049,2223,1893,3478
$GC,6193,-1.23,-146.6,637.3,-8.2,298,6197,0.00,2.58,0.00,0.000,4,0.000,0.056,2224,3298,3478
$GC,6243,-1.23,-146.6,641.4,-7.8,300,6247,0.00,2.53,0.00,0.000,6,0.000,0.051,2223,1902,3478
$GC,6558,-1.23,-146.6,666.9,-8.9,315,6562,0.00,2.55,0.00,0.000,4,0.000,0.057,2224,3296,3478
$GC,6630,-1.23,-146.6,673.5,-9.1,318,6634,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1896,3478
$GC,6946,-1.23,-146.6,700.9,-8.9,333,6951,0.00,2.58,0.00,0.000,4,0.000,0.060,2224,3296,3478
$GC,7076,-1.23,-146.6,713.5,-10.0,339,7080,0.00,2.58,0.00,0.000,6,0.000,0.056,2224,1896,3477
$STATE,7215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7215,begin apogee
$GC,7222,-0.36,0.0,726.7,9.5,346,7351,0.90,0.00,125.78,1.289,6,0.082,0.000,2414,2095,2878
$STATE,7352,end apogee,CONTROL_FINISHED_OK
$STATE,7352,begin climb
$GC,7354,1.23,146.6,731.1,0.0,352,7486,1.58,2.70,123.30,1.257,4,0.055,0.067,2763,3497,2280
$GC,7510,1.30,207.2,727.2,5.7,359,7567,0.00,2.60,51.45,1.237,6,0.000,0.054,2763,2099,2033
$GC,7885,1.30,207.2,696.8,8.9,378,7889,0.00,2.65,0.00,0.000,4,0.000,0.064,2763,3503,2032
$GC,7956,1.30,207.2,690.0,9.3,381,7960,0.00,2.60,0.00,0.000,6,0.000,0.057,2763,2097,2031
$GC,8278,1.30,207.2,661.5,9.9,397,8282,0.00,2.62,0.00,0.000,4,0.000,0.064,2763,3498,2030
$GC,8349,1.30,207.2,654.7,8.8,400,8354,0.00,2.58,0.00,0.000,6,0.000,0.054,2763,2094,2030
$GC,8665,1.34,233.6,630.6,7.0,415,8694,0.00,2.72,22.15,1.288,4,0.000,0.061,2763,3498,1925
$GC,8763,1.34,233.6,622.4,9.1,419,8767,0.00,2.58,0.00,0.000,6,0.000,0.052,2763,2100,1924
$GC,9078,1.34,239.1,597.8,7.8,434,9090,0.10,2.65,5.70,1.233,4,0.059,0.058,2794,3504,1903
$GC,9164,1.34,239.1,590.1,9.3,438,9168,0.00,2.58,0.00,0.000,6,0.000,0.051,2794,2099,1902
$GC,9489,1.34,239.1,563.4,8.2,454,9494,0.00,2.60,0.00,0.000,4,0.000,0.056,2794,3505,1902
$GC,9555,1.34,239.1,557.5,9.3,457,9560,0.00,2.55,0.00,0.000,6,0.000,0.049,2794,2099,1902
$GC,9877,1.34,239.1,529.4,8.8,473,9881,0.00,2.58,0.00,0.000,4,0.000,0.054,2794,3499,1902
$GC,9966,1.34,239.1,521.1,9.3,477,9971,0.00,2.53,0.00,0.000,6,0.000,0.047,2794,2096,1902
$GC,10287,1.34,239.1,491.6,9.4,493,10292,0.00,2.58,0.00,0.000,4,0.000,0.054,2794,3501,1902
$GC,10337,1.34,239.1,486.4,9.6,495,10342,0.00,2.53,0.00,0.000,6,0.000,0.046,2794,2101,1902
$GC,10653,1.34,239.1,456.7,9.6,510,10657,0.00,2.55,0.00,0.000,4,0.000,0.053,2794,3505,1902
$GC,10737,1.34,239.1,448.2,10.1,514,10741,0.00,2.53,0.00,0.000,6,0.000,0.046,2794,2099,1902
$GC,11063,1.34,239.1,416.5,10.1,530,11067,0.00,2.55,0.00,0.000,4,0.000,0.052,2794,3500,1903
$GC,11080,1.34,239.1,414.7,9.8,531,11084,0.00,2.50,0.00,0.000,6,0.000,0.044,2794,2099,1903
$GC,11406,1.34,239.1,382.2,10.4,547,11410,0.00,2.55,0.00,0.000,4,0.000,0.052,2794,3502,1903
$GC,11473,1.34,239.1,374.7,10.8,550,11478,0.00,2.53,0.00,0.000,6,0.000,0.044,2794,2097,1903
$GC,11795,1.34,239.1,342.9,9.3,566,11799,0.00,2.58,0.00,0.000,4,0.000,0.052,2794,3508,1903
$GC,11827,1.34,239.1,339.5,9.8,567,11833,0.00,2.53,0.00,0.000,6,0.000,0.043,2794,2099,1903
$GC,12143,1.34,239.1,310.8,8.9,583,12147,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3502,1904
$GC,12169,1.34,239.1,308.0,10.0,584,12174,0.00,2.53,0.00,0.000,6,0.000,0.042,2794,2088,1904
$GC,12485,1.34,239.1,275.8,10.3,599,12489,0.00,2.58,0.00,0.000,4,0.000,0.051,2794,3505,1904
$GC,12529,1.34,239.1,271.4,9.8,601,12533,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2097,1904
$GC,12849,1.34,239.1,239.8,10.5,617,12853,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3501,1905
$GC,12898,1.34,239.1,234.3,10.4,619,12902,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2097,1905
$GC,13214,1.34,239.1,204.9,8.8,634,13218,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3501,1905
$GC,13241,1.34,239.1,202.5,9.1,635,13245,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2098,1905
$GC,13556,1.34,239.1,169.9,10.0,650,13560,0.00,2.55,0.00,0.000,4,0.000,0.050,2794,3502,1906
$GC,13645,1.34,239.1,159.6,12.3,654,13649,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2098,1906
$GC,13965,1.34,239.1,124.4,10.7,670,13970,0.00,2.55,0.00,0.000,4,0.000,0.050,2794,3502,1906
$GC,14021,1.34,239.1,117.1,13.4,672,14027,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2097,1906
$GC,14337,1.34,239.1,83.7,10.1,688,14338,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2097,1907
$GC,14648,1.34,239.1,53.9,8.6,703,14652,0.00,2.55,0.00,0.000,4,0.000,0.050,2794,3504,1907
$GC,14780,1.34,239.1,41.8,8.4,709,14785,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2102,1907
$GC,15102,1.34,239.1,10.6,11.6,725,15106,0.00,2.53,0.00,0.000,4,0.000,0.048,2794,3502,1907
$STATE,15177,end climb,SURFACE_DEPTH_REACHED
$STATE,15177,begin surface coast
$FINISH,1.2,1.027395
$STATE,15185,end surface coast,CONTROL_FINISHED_OK
$STATE,15185,begin surface
$SM_CCo,15211,57.10,0.806,7,0,1654,300.00
$SM_GC,1.70,0.00,0.00,57.10,0.000,0.000,0.806,34,1893,1654,-11.32,-0.20,300.00
$IRIDIUM_FIX,6225.82,-1245.54,190497,161615
$TT8_MAMPS,0.026845
$HUMID,2062
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.0,999.0
$24V_AH,23.1,68.980
$10V_AH,10.1,33.328
$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,25.975,194.300,328.375,57.100,0.000,36.443,41.614,193.661,6.500,0.000,0.000,17.224,1417.749,11425.637,577.763,1756.412,571.043,33.365,1498.903,0.000,1711.934,0.000,41.401
$DEVICE_MAMPS,137.293,72.865,1288.560,806.117,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,539.982,492.597,435.474,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37930,729
$CFSIZE,260165632,237912064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,7,0
$GPS,250108,012208,6245.269,-1232.157,34,1.0,34,-11.6