version: 66.02
glider: 102
mission: 4
dive: 349
start: 1 26 108 7 42 13
data:
$ID,102
$MISSION,4
$DIVE,349
$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,-84090.883
$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,21
$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
$GPS1,073356,6239.417,-1206.520,37,1.5,37,-11.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-57.7
$GPS2,074027,6239.404,-1206.385,17,1.4,17,-11.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FE
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.030,-0.236
$KALMAN_X,496925.9,-1724.5,-1379.5,-684653.4,6435.9
$KALMAN_Y,54931.2,1058.9,-280.7,66993.1,-665.8
$MHEAD_RNG_PITCHd_Wd,184.1,28504,-14.7,-8.000
$D_GRID,778
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-61.35,0.000,2,0.000,0.000,28,1879,2877
$GC,90,-1.23,-146.6,4.2,-5.7,3,127,11.52,2.62,-19.00,0.000,4,0.137,0.063,2224,3314,3477
$GC,295,-1.23,-146.6,20.5,-6.3,11,300,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1908,3477
$GC,611,-1.23,-146.6,50.1,-8.8,26,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1908,3476
$GC,920,-1.23,-146.6,88.3,-13.6,41,925,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3313,3477
$GC,965,-1.23,-146.6,92.6,-8.9,43,969,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1899,3477
$GC,1286,-1.23,-146.6,127.5,-13.1,59,1290,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3313,3477
$GC,1330,-1.23,-146.6,133.2,-12.4,61,1335,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1900,3476
$GC,1651,-1.23,-146.6,168.7,-9.5,77,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3477
$GC,1960,-1.23,-146.6,196.9,-10.5,92,1964,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3314,3477
$GC,2009,-1.23,-146.6,202.4,-11.1,94,2014,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1899,3477
$GC,2325,-1.23,-146.6,241.0,-10.0,109,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3477
$GC,2634,-1.23,-146.6,266.7,-10.2,124,2638,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3313,3477
$GC,2683,-1.23,-146.6,272.0,-11.2,126,2688,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1899,3477
$GC,2999,-1.23,-146.6,302.4,-8.7,141,3004,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3312,3477
$GC,3043,-1.23,-146.6,306.6,-8.6,143,3048,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1900,3476
$GC,3365,-1.23,-146.6,336.7,-10.0,159,3369,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3314,3476
$GC,3421,-1.23,-146.6,342.3,-9.6,161,3427,0.00,2.55,0.00,0.000,6,0.000,0.043,2224,1894,3476
$GC,3736,-1.23,-146.6,370.8,-8.9,177,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3476
$GC,4049,-1.23,-146.6,401.6,-10.3,192,4053,0.00,2.58,0.00,0.000,4,0.000,0.049,2224,3317,3477
$GC,4110,-1.23,-146.6,408.3,-10.9,195,4114,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1897,3476
$GC,4437,-1.23,-146.6,441.4,-9.9,211,4441,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3309,3476
$GC,4463,-1.23,-146.6,444.2,-9.9,212,4468,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1901,3476
$GC,4780,-1.23,-146.6,475.4,-9.1,227,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1902,3476
$GC,5089,-1.23,-146.6,504.2,-9.4,242,5093,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3310,3476
$GC,5160,-1.23,-146.6,510.9,-8.7,245,5165,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1902,3476
$GC,5476,-1.23,-146.6,539.1,-9.1,260,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3476
$GC,5785,-1.23,-146.6,565.1,-8.1,275,5790,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3312,3476
$GC,5841,-1.23,-146.6,569.5,-8.1,277,5847,0.00,2.55,0.00,0.000,6,0.000,0.045,2224,1895,3476
$GC,6157,-1.23,-146.6,593.1,-7.6,293,6161,0.00,2.58,0.00,0.000,4,0.000,0.053,2224,3310,3476
$GC,6184,-1.23,-146.6,595.1,-8.3,294,6188,0.00,2.55,0.00,0.000,6,0.000,0.046,2224,1894,3476
$GC,6499,-1.23,-146.6,619.8,-7.7,309,6504,0.00,2.60,0.00,0.000,4,0.000,0.054,2224,3313,3476
$GC,6588,-1.23,-146.6,627.1,-8.2,313,6593,0.00,2.55,0.00,0.000,6,0.000,0.047,2224,1902,3476
$GC,6910,-1.23,-146.6,657.0,-10.7,329,6914,0.00,2.58,0.00,0.000,4,0.000,0.054,2224,3309,3476
$GC,7026,-1.23,-146.6,669.2,-9.9,334,7031,0.00,2.58,0.00,0.000,6,0.000,0.051,2224,1895,3476
$GC,7342,-1.23,-146.6,698.1,-9.3,349,7347,0.00,2.60,0.00,0.000,4,0.000,0.058,2224,3308,3476
$GC,7374,-1.23,-146.6,701.3,-9.3,350,7381,0.00,2.58,0.00,0.000,6,0.000,0.053,2224,1898,3476
$GC,7691,-1.23,-146.6,730.6,-9.4,366,7696,0.00,2.60,0.00,0.000,4,0.000,0.060,2224,3309,3476
$GC,7758,-1.23,-146.6,737.2,-9.5,369,7763,0.00,2.58,0.00,0.000,6,0.000,0.055,2224,1902,3476
$GC,8080,-1.23,-146.6,765.2,-9.0,385,8084,0.00,2.60,0.00,0.000,4,0.000,0.061,2224,3308,3476
$GC,8186,-1.23,-146.6,774.4,-8.8,390,8190,0.00,2.60,0.00,0.000,6,0.000,0.057,2224,1896,3476
$GC,8513,-1.23,-146.6,774.7,-0.0,406,8518,0.00,2.62,0.00,0.000,4,0.000,0.062,2224,3313,3475
$STATE,8521,end dive,NO_VERTICAL_VELOCITY
$STATE,8521,begin apogee
$GC,8530,-0.36,0.0,774.6,0.0,406,8659,0.85,0.00,126.43,1.323,6,0.059,0.000,2417,2095,2878
$STATE,8660,end apogee,CONTROL_FINISHED_OK
$STATE,8660,begin climb
$GC,8663,1.23,146.6,774.4,0.0,413,8796,1.55,2.75,124.70,1.282,4,0.051,0.077,2767,693,2279
$GC,9055,1.25,167.4,749.1,7.2,431,9080,0.00,2.55,18.77,1.288,6,0.000,0.051,2767,2103,2195
$GC,9408,1.29,192.7,723.8,7.0,448,9437,0.00,2.72,22.05,1.295,4,0.000,0.065,2767,3505,2092
$GC,9541,1.30,204.7,712.9,7.5,454,9561,0.00,2.62,11.23,1.276,6,0.000,0.056,2767,2093,2043
$GC,9870,1.30,204.7,683.5,9.4,470,9875,0.00,2.65,0.00,0.000,4,0.000,0.062,2767,3508,2042
$GC,9914,1.30,204.7,678.9,10.2,472,9918,0.00,2.60,0.00,0.000,6,0.000,0.053,2767,2091,2042
$GC,10235,1.30,204.7,648.0,9.5,488,10240,0.00,2.62,0.00,0.000,4,0.000,0.060,2767,3507,2041
$GC,10301,1.30,204.7,641.6,9.4,491,10306,0.00,2.58,0.00,0.000,6,0.000,0.051,2767,2094,2041
$GC,10622,1.30,204.7,614.3,9.4,507,10626,0.00,2.62,0.00,0.000,4,0.000,0.058,2767,3507,2041
$GC,10745,1.30,204.7,602.5,9.9,512,10750,0.00,2.58,0.00,0.000,6,0.000,0.048,2767,2095,2041
$GC,11060,1.30,204.7,574.1,9.1,528,11064,0.00,2.60,0.00,0.000,4,0.000,0.056,2767,3504,2040
$GC,11166,1.30,204.7,563.3,10.4,533,11170,0.00,2.55,0.00,0.000,6,0.000,0.047,2767,2099,2040
$GC,11492,1.30,204.7,533.1,9.1,549,11497,0.00,2.58,0.00,0.000,4,0.000,0.054,2767,3508,2040
$GC,11542,1.30,204.7,528.3,9.2,551,11546,0.00,2.53,0.00,0.000,6,0.000,0.045,2767,2097,2040
$GC,11864,1.30,204.7,499.7,8.6,567,11868,0.00,2.58,0.00,0.000,4,0.000,0.054,2767,3502,2041
$GC,11890,1.30,204.7,497.2,8.9,568,11895,0.00,2.53,0.00,0.000,6,0.000,0.044,2767,2094,2041
$GC,12206,1.30,204.7,469.4,8.8,583,12210,0.00,2.58,0.00,0.000,4,0.000,0.054,2767,3508,2041
$GC,12249,1.30,204.7,465.0,9.7,585,12254,0.00,2.53,0.00,0.000,6,0.000,0.044,2767,2093,2041
$GC,12571,1.30,204.7,437.2,8.7,601,12576,0.00,2.58,0.00,0.000,4,0.000,0.053,2766,3508,2042
$GC,12598,1.30,204.7,434.6,9.4,602,12602,0.00,2.50,0.00,0.000,6,0.000,0.043,2767,2100,2042
$GC,12919,1.30,204.7,408.6,8.0,618,12924,0.00,2.58,0.00,0.000,4,0.000,0.052,2767,3508,2042
$GC,12964,1.30,204.7,404.9,8.2,620,12968,0.00,2.53,0.00,0.000,6,0.000,0.043,2767,2099,2042
$GC,13285,1.32,219.7,380.8,7.4,636,13304,0.00,0.00,13.40,1.086,6,0.000,0.000,2767,2099,1982
$GC,13614,1.32,222.9,354.5,7.9,652,13623,0.00,2.58,3.88,1.021,4,0.000,0.051,2767,3502,1969
$GC,13685,1.32,222.9,348.3,8.4,655,13690,0.00,2.53,0.00,0.000,6,0.000,0.042,2767,2099,1969
$GC,14006,1.32,222.9,319.1,9.6,671,14011,0.00,2.58,0.00,0.000,4,0.000,0.051,2767,3507,1969
$GC,14091,1.32,222.9,309.1,10.3,675,14096,0.00,2.53,0.00,0.000,6,0.000,0.041,2767,2099,1969
$GC,14419,1.35,246.8,276.9,7.1,691,14442,0.10,0.00,20.33,1.005,6,0.058,0.000,2800,2099,1871
$GC,14750,1.52,386.9,262.3,2.7,707,14872,0.12,2.62,111.53,0.949,4,0.058,0.048,2838,3504,1299
$GC,14934,1.58,435.7,252.5,6.1,715,14982,0.00,2.55,39.78,0.929,6,0.000,0.043,2838,2101,1100
$GC,15293,1.58,435.7,220.6,15.6,733,15297,0.00,2.65,0.00,0.000,4,0.000,0.071,2838,692,1100
$GC,15319,1.58,435.7,216.5,13.4,734,15324,0.00,2.50,0.00,0.000,6,0.000,0.039,2838,2119,1100
$GC,15635,1.58,435.7,173.2,16.2,749,15639,0.00,2.67,0.00,0.000,4,0.000,0.068,2838,693,1100
$GC,15652,1.58,435.7,170.4,16.5,750,15656,0.00,2.47,0.00,0.000,6,0.000,0.039,2838,2110,1100
$GC,15978,1.58,435.7,116.0,15.5,766,15982,0.00,2.65,0.00,0.000,4,0.000,0.068,2838,693,1100
$GC,16017,1.58,435.7,109.4,15.6,768,16022,0.00,2.45,0.00,0.000,6,0.000,0.039,2838,2101,1100
$GC,16345,1.58,435.7,61.5,14.8,784,16349,0.00,2.65,0.00,0.000,4,0.000,0.067,2838,686,1100
$GC,16371,1.58,435.7,58.2,11.7,785,16376,0.00,2.47,0.00,0.000,6,0.000,0.040,2838,2096,1101
$GC,16690,1.58,435.7,19.1,12.3,800,16691,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2100,1100
$STATE,16808,end climb,SURFACE_DEPTH_REACHED
$STATE,16808,begin surface coast
$FINISH,1.1,1.002558
$STATE,16830,end surface coast,CONTROL_FINISHED_OK
$STATE,16830,begin surface
$SM_CCo,16913,0.00,0.000,0,0,1099,436.14
$SM_GC,1.87,12.20,0.00,0.00,0.036,0.000,0.000,36,1874,1099,-11.25,-0.74,436.14
$IRIDIUM_FIX,6216.53,-1210.92,210497,030322
$TT8_MAMPS,0.026845
$HUMID,2070
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,999.0
$24V_AH,23.1,70.240
$10V_AH,10.1,33.933
$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,26.350,185.100,492.075,0.000,0.000,38.410,39.365,186.707,6.750,0.000,0.000,18.707,1534.507,12684.223,598.594,1953.493,584.095,33.378,1629.188,0.000,1904.363,0.000,43.008
$DEVICE_MAMPS,136.526,77.467,1323.075,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,599.457,544.297,442.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41217,807
$CFSIZE,260165632,237449216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,260108,122507,6239.624,-1200.108,26,1.2,26,-11.3