version: 66.02
glider: 102
mission: 4
dive: 348
start: 1 26 108 3 0 49
data:
$ID,102
$MISSION,4
$DIVE,348
$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,-84071.547
$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,31
$R_STBD_OVSHOOT,23
$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
$GPS1,023408,6240.378,-1210.203,34,1.7,34,-11.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-48.0
$GPS2,025903,6240.227,-1209.726,13,1.7,13,-11.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FE
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.230,-0.060
$KALMAN_X,496344.4,-1678.3,699.4,-689128.5,1721.3
$KALMAN_Y,53829.3,1319.7,862.1,68196.6,-3277.4
$MHEAD_RNG_PITCHd_Wd,116.1,31701,-14.7,-8.000
$D_GRID,771
$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,-146.6,0.0,0.0,0,146,0.00,0.00,-121.28,0.000,2,0.000,0.000,28,1884,3038
$GC,150,-1.23,-146.6,3.8,-2.9,6,180,11.60,2.62,-12.73,0.000,4,0.140,0.081,2222,504,3477
$GC,433,-1.23,-146.6,38.7,-15.5,18,439,0.00,2.47,0.00,0.000,6,0.000,0.039,2222,1926,3477
$GC,749,-1.23,-146.6,78.1,-14.1,34,753,0.00,2.67,0.00,0.000,4,0.000,0.070,2222,502,3477
$GC,798,-1.23,-146.6,83.9,-9.8,36,803,0.00,2.42,0.00,0.000,6,0.000,0.040,2222,1896,3477
$GC,1114,-1.23,-146.6,116.9,-12.2,51,1118,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3301,3477
$GC,1180,-1.23,-146.6,123.7,-10.6,54,1185,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1907,3476
$GC,1501,-1.23,-146.6,156.9,-9.3,70,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1906,3477
$GC,1810,-1.23,-146.6,190.8,-11.8,85,1814,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3298,3477
$GC,1849,-1.23,-146.6,196.2,-13.9,87,1854,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1899,3477
$GC,2176,-1.23,-146.6,235.2,-12.0,103,2180,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3302,3477
$GC,2197,-1.23,-146.6,238.1,-12.3,104,2202,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1892,3477
$GC,2520,-1.23,-146.6,277.4,-12.5,120,2524,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3301,3477
$GC,2569,-1.23,-146.6,283.8,-12.5,122,2573,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1894,3476
$GC,2884,-1.23,-146.6,319.2,-11.2,137,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1894,3477
$GC,3196,-1.23,-146.6,350.1,-9.4,152,3201,0.00,2.55,0.00,0.000,4,0.000,0.049,2222,3303,3477
$GC,3246,-1.23,-146.6,354.7,-9.2,154,3250,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1898,3476
$GC,3562,-1.23,-146.6,386.0,-10.2,169,3566,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3298,3477
$GC,3583,-1.23,-146.6,388.3,-10.5,170,3587,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3477
$GC,3904,-1.23,-146.6,424.4,-11.4,186,3909,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3300,3476
$GC,3942,-1.23,-146.6,428.9,-11.3,187,3948,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1893,3476
$GC,4258,-1.23,-146.6,463.7,-11.1,203,4262,0.00,2.55,0.00,0.000,4,0.000,0.049,2222,3301,3476
$GC,4313,-1.23,-146.6,469.6,-10.5,205,4319,0.00,2.53,0.00,0.000,6,0.000,0.046,2222,1901,3476
$GC,4629,-1.23,-146.6,502.6,-10.5,221,4633,0.00,2.53,0.00,0.000,4,0.000,0.050,2222,3298,3477
$GC,4656,-1.23,-146.6,505.5,-10.3,222,4660,0.00,2.50,0.00,0.000,6,0.000,0.045,2222,1901,3476
$GC,4971,-1.23,-146.6,537.3,-10.0,237,4975,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3303,3476
$GC,5015,-1.23,-146.6,541.9,-10.1,239,5019,0.00,2.53,0.00,0.000,6,0.000,0.046,2222,1902,3476
$GC,5342,-1.23,-146.6,573.1,-9.1,255,5346,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3303,3476
$GC,5381,-1.23,-146.6,576.7,-9.1,257,5385,0.00,2.55,0.00,0.000,6,0.000,0.047,2222,1892,3476
$GC,5707,-1.23,-146.6,606.3,-9.1,273,5711,0.00,2.62,0.00,0.000,4,0.000,0.074,2222,492,3476
$GC,5724,-1.23,-146.6,608.0,-9.3,274,5728,0.00,2.47,0.00,0.000,6,0.000,0.044,2222,1898,3476
$GC,6049,-1.23,-146.6,640.4,-9.8,290,6054,0.00,2.55,0.00,0.000,4,0.000,0.058,2222,3295,3476
$GC,6127,-1.23,-146.6,648.2,-9.5,293,6133,0.00,2.55,0.00,0.000,6,0.000,0.051,2222,1896,3476
$GC,6444,-1.23,-146.6,676.4,-8.7,309,6448,0.00,2.58,0.00,0.000,4,0.000,0.057,2222,3299,3476
$GC,6484,-1.23,-146.6,679.9,-8.6,311,6488,0.00,2.55,0.00,0.000,6,0.000,0.052,2222,1901,3476
$GC,6810,-1.23,-146.6,706.9,-8.4,327,6814,0.00,2.58,0.00,0.000,4,0.000,0.058,2222,3302,3476
$GC,6876,-1.23,-146.6,712.7,-9.0,330,6881,0.00,2.58,0.00,0.000,6,0.000,0.054,2222,1895,3476
$GC,7198,-1.23,-146.6,740.4,-8.7,346,7202,0.00,2.60,0.00,0.000,4,0.000,0.060,2222,3303,3476
$GC,7241,-1.23,-146.6,744.3,-8.9,348,7246,0.00,2.58,0.00,0.000,6,0.000,0.055,2222,1903,3476
$STATE,7539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7539,begin apogee
$GC,7546,-0.36,0.0,772.0,11.0,363,7676,0.93,0.00,126.50,1.311,6,0.085,0.000,2416,2101,2878
$STATE,7677,end apogee,CONTROL_FINISHED_OK
$STATE,7677,begin climb
$GC,7680,1.23,146.6,776.2,0.0,369,7815,1.55,2.78,124.80,1.276,4,0.056,0.075,2760,687,2279
$GC,7854,1.24,159.0,771.6,7.5,377,7873,0.00,2.58,11.62,1.241,6,0.000,0.051,2760,2097,2229
$GC,8195,1.26,171.2,744.9,7.5,394,8212,0.00,2.70,11.20,1.275,4,0.000,0.065,2760,3508,2180
$GC,8392,1.26,174.6,729.2,7.9,402,8401,0.00,2.62,4.07,1.181,6,0.000,0.057,2760,2093,2166
$GC,8725,1.32,219.2,707.5,6.3,418,8769,0.00,2.75,38.08,1.289,4,0.000,0.064,2759,3504,1984
$GC,8849,1.32,222.3,698.1,7.9,423,8858,0.10,2.62,4.03,1.185,6,0.061,0.055,2788,2095,1971
$GC,9185,1.32,222.3,667.7,9.8,440,9190,0.00,2.62,0.00,0.000,4,0.000,0.061,2788,3505,1970
$GC,9309,1.32,222.3,654.5,11.7,445,9315,0.00,2.60,0.00,0.000,6,0.000,0.053,2788,2093,1969
$GC,9624,1.32,222.3,619.6,11.1,461,9629,0.00,2.60,0.00,0.000,4,0.000,0.058,2788,3505,1969
$GC,9725,1.32,222.3,607.6,12.2,465,9731,0.00,2.58,0.00,0.000,6,0.000,0.050,2788,2096,1969
$GC,10041,1.32,222.3,572.6,10.9,481,10045,0.00,2.60,0.00,0.000,4,0.000,0.056,2788,3508,1968
$GC,10080,1.32,222.3,568.2,11.7,483,10084,0.00,2.55,0.00,0.000,6,0.000,0.048,2787,2096,1968
$GC,10406,1.32,222.3,536.3,9.6,499,10410,0.00,2.60,0.00,0.000,4,0.000,0.054,2788,3508,1968
$GC,10545,1.32,222.3,522.4,9.5,505,10549,0.00,2.55,0.00,0.000,6,0.000,0.046,2788,2093,1968
$GC,10861,1.32,222.3,493.6,9.1,520,10865,0.00,2.58,0.00,0.000,4,0.000,0.054,2788,3505,1969
$GC,10900,1.32,222.3,489.9,9.5,522,10904,0.00,2.53,0.00,0.000,6,0.000,0.044,2788,2098,1968
$GC,11226,1.32,222.3,461.4,8.9,538,11230,0.00,2.55,0.00,0.000,4,0.000,0.052,2788,3505,1969
$GC,11288,1.32,222.3,456.1,8.2,541,11292,0.00,2.53,0.00,0.000,6,0.000,0.044,2788,2099,1969
$GC,11614,1.32,222.7,430.4,8.0,557,11619,0.00,2.55,0.00,0.000,4,0.000,0.051,2788,3506,1969
$GC,11692,1.32,222.7,423.7,8.8,560,11699,0.00,2.55,0.00,0.000,6,0.000,0.044,2788,2092,1970
$GC,12009,1.32,222.7,395.9,8.3,576,12013,0.00,2.58,0.00,0.000,4,0.000,0.052,2788,3508,1971
$GC,12120,1.32,222.7,385.4,9.5,581,12124,0.00,2.53,0.00,0.000,6,0.000,0.044,2788,2098,1970
$GC,12440,1.32,224.3,358.8,7.9,597,12445,0.00,2.55,0.00,0.000,4,0.000,0.051,2788,3505,1971
$GC,12548,1.32,224.3,349.1,9.5,602,12552,0.00,2.53,0.00,0.000,6,0.000,0.044,2788,2091,1971
$GC,12874,1.32,224.3,314.2,10.9,618,12878,0.00,2.60,0.00,0.000,4,0.000,0.052,2788,3513,1971
$GC,12907,1.32,224.3,310.5,10.9,619,12913,0.00,2.53,0.00,0.000,6,0.000,0.042,2788,2100,1972
$GC,13223,1.32,224.3,275.5,11.4,635,13232,0.00,2.60,3.30,0.966,4,0.000,0.052,2788,3505,1963
$GC,13335,1.32,224.3,263.6,10.9,640,13339,0.00,2.50,0.00,0.000,6,0.000,0.042,2788,2100,1962
$GC,13662,1.32,224.3,232.8,9.1,656,13666,0.00,2.58,0.00,0.000,4,0.000,0.050,2788,3511,1962
$GC,13756,1.32,224.3,224.1,9.5,660,13760,0.00,2.50,0.00,0.000,6,0.000,0.041,2788,2100,1962
$GC,14072,1.33,229.6,198.9,7.8,675,14082,0.00,2.58,5.32,0.966,4,0.000,0.050,2788,3505,1941
$GC,14134,1.33,229.6,193.5,8.8,678,14138,0.00,2.50,0.00,0.000,6,0.000,0.041,2788,2100,1941
$GC,14460,1.33,229.6,165.8,8.3,694,14461,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2100,1941
$GC,14770,1.34,239.9,141.2,7.6,709,14784,0.00,2.60,9.45,0.938,4,0.000,0.051,2788,3511,1899
$GC,14868,1.34,239.9,132.5,8.3,712,14874,0.00,2.53,0.00,0.000,6,0.000,0.041,2788,2093,1899
$GC,15184,1.35,241.2,104.3,7.9,728,15188,0.00,2.58,0.00,0.000,4,0.000,0.049,2788,3506,1898
$GC,15250,1.35,241.2,97.8,9.6,731,15255,0.00,2.50,0.00,0.000,6,0.000,0.040,2788,2098,1898
$GC,15571,1.35,241.2,65.2,10.2,747,15575,0.00,2.58,0.00,0.000,4,0.000,0.050,2788,3514,1899
$GC,15603,1.35,241.2,61.6,10.8,748,15610,0.00,2.50,0.00,0.000,6,0.000,0.041,2788,2097,1898
$GC,15921,1.37,259.8,31.7,7.3,764,15944,0.00,2.60,16.83,0.857,4,0.000,0.048,2788,3506,1817
$GC,15994,1.37,259.8,24.3,10.3,767,15999,0.00,2.50,0.00,0.000,6,0.000,0.040,2788,2102,1817
$STATE,16210,end climb,SURFACE_DEPTH_REACHED
$STATE,16210,begin surface coast
$FINISH,1.0,1.015155
$STATE,16232,end surface coast,CONTROL_FINISHED_OK
$STATE,16232,begin surface
$SM_CCo,16255,36.15,0.802,4,0,1655,300.00
$SM_GC,1.94,0.00,0.00,36.15,0.000,0.000,0.802,29,1881,1655,-11.34,-0.54,300.00
$IRIDIUM_FIX,6216.53,-1225.63,210497,030342
$TT8_MAMPS,0.026845
$HUMID,2043
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.40
$XPDR_PINGS,5
$ALTIM_TOP_PING,18.0,999.0
$24V_AH,23.1,70.062
$10V_AH,10.1,33.852
$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,26.125,195.050,355.200,36.150,0.000,181.070,211.516,705.710,7.750,0.000,0.000,15.387,1510.256,12330.915,610.725,1957.488,1451.260,33.372,1622.451,0.000,1911.230,0.000,43.010
$DEVICE_MAMPS,139.594,80.535,1310.803,801.515,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,571.535,525.198,461.109,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41224,779
$CFSIZE,260165632,237498368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,4,0
$GPS,260108,073356,6239.417,-1206.520,37,1.5,37,-11.4