version: 66.02
glider: 102
mission: 4
dive: 351
start: 1 26 108 17 22 13
data:
$ID,102
$MISSION,4
$DIVE,351
$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,-84119.711
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,171437,6238.908,-1155.186,31,1.0,31,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-61.8
$GPS2,172027,6238.881,-1155.182,11,1.0,11,-11.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FE
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.065,-0.229
$KALMAN_X,499086.9,1541.8,79.8,-681669.9,-503.1
$KALMAN_Y,63329.6,190.3,-289.4,58495.4,3375.3
$MHEAD_RNG_PITCHd_Wd,175.5,20955,-14.7,-8.000
$D_GRID,740
$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,-146.5,0.0,0.0,0,86,0.00,0.00,-60.97,0.000,2,0.000,0.000,30,1880,2851
$GC,89,-1.23,-146.6,3.4,-4.0,3,132,11.62,2.60,-19.85,0.000,4,0.140,0.060,2226,3309,3476
$GC,384,-1.23,-146.6,35.5,-11.6,16,389,0.00,2.53,0.00,0.000,6,0.000,0.042,2225,1905,3476
$GC,706,-1.23,-146.6,69.9,-12.5,32,711,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3305,3477
$GC,778,-1.23,-146.6,79.5,-11.6,35,783,0.00,2.53,0.00,0.000,6,0.000,0.043,2226,1899,3476
$GC,1096,-1.23,-146.6,114.9,-10.5,50,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1899,3476
$GC,1404,-1.23,-146.6,147.9,-11.4,65,1408,0.00,2.53,0.00,0.000,4,0.000,0.046,2225,3305,3476
$GC,1448,-1.23,-146.6,153.7,-12.4,67,1452,0.00,2.53,0.00,0.000,6,0.000,0.042,2226,1894,3476
$GC,1768,-1.23,-146.6,187.5,-11.1,83,1773,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3304,3476
$GC,1808,-1.23,-146.6,191.5,-10.2,85,1812,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1899,3476
$GC,2135,-1.23,-146.6,223.4,-10.5,101,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3476
$GC,2443,-1.23,-146.6,253.8,-8.2,116,2448,0.00,2.53,0.00,0.000,4,0.000,0.047,2225,3304,3476
$GC,2499,-1.23,-146.6,259.7,-11.0,118,2505,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1897,3476
$GC,2814,-1.23,-146.6,292.4,-11.3,134,2819,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3309,3476
$GC,2847,-1.23,-146.6,296.1,-11.3,135,2854,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1899,3476
$GC,3164,-1.23,-146.6,327.4,-10.6,151,3168,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3310,3476
$GC,3203,-1.23,-146.6,331.2,-9.7,153,3207,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1901,3476
$GC,3529,-1.23,-146.6,366.0,-10.5,169,3533,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3309,3476
$GC,3545,-1.23,-146.6,367.6,-9.7,170,3550,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1901,3476
$GC,3873,-1.23,-146.6,396.2,-9.1,186,3877,0.00,2.53,0.00,0.000,4,0.000,0.049,2225,3305,3476
$GC,3939,-1.23,-146.6,402.4,-9.3,189,3943,0.00,2.53,0.00,0.000,6,0.000,0.045,2225,1900,3476
$GC,4266,-1.23,-146.6,431.5,-8.8,205,4270,0.00,2.53,0.00,0.000,4,0.000,0.050,2225,3303,3476
$GC,4298,-1.23,-146.6,434.4,-8.7,206,4304,0.00,2.53,0.00,0.000,6,0.000,0.045,2226,1898,3476
$GC,4614,-1.23,-146.6,461.0,-8.6,222,4618,0.00,2.55,0.00,0.000,4,0.000,0.050,2225,3307,3476
$GC,4663,-1.23,-146.6,465.4,-8.7,224,4667,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1899,3476
$GC,4979,-1.23,-146.6,492.2,-8.5,239,4983,0.00,2.55,0.00,0.000,4,0.000,0.050,2226,3308,3476
$GC,5005,-1.23,-146.6,494.8,-9.2,240,5010,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1899,3476
$GC,5321,-1.23,-146.6,522.9,-9.4,255,5325,0.00,2.55,0.00,0.000,4,0.000,0.051,2225,3307,3476
$GC,5367,-1.23,-146.6,527.2,-9.1,257,5371,0.00,2.53,0.00,0.000,6,0.000,0.046,2225,1899,3476
$GC,5687,-1.23,-146.6,558.2,-10.0,273,5691,0.00,2.55,0.00,0.000,4,0.000,0.051,2225,3303,3476
$GC,5708,-1.23,-146.6,560.5,-10.1,274,5712,0.00,2.53,0.00,0.000,6,0.000,0.045,2225,1897,3476
$GC,6030,-1.23,-146.6,594.6,-10.8,290,6034,0.00,2.55,0.00,0.000,4,0.000,0.053,2225,3303,3476
$GC,6056,-1.23,-146.6,597.6,-10.5,291,6061,0.00,2.53,0.00,0.000,6,0.000,0.046,2225,1897,3476
$GC,6373,-1.23,-146.6,629.3,-9.4,306,6377,0.00,2.58,0.00,0.000,4,0.000,0.055,2225,3304,3475
$GC,6529,-1.23,-146.6,644.8,-9.5,313,6533,0.00,2.53,0.00,0.000,6,0.000,0.050,2225,1903,3476
$GC,6850,-1.23,-146.6,675.6,-9.5,329,6854,0.00,2.58,0.00,0.000,4,0.000,0.056,2225,3303,3476
$GC,6967,-1.23,-146.6,688.4,-11.3,334,6971,0.00,2.55,0.00,0.000,6,0.000,0.053,2225,1901,3476
$GC,7282,-1.23,-146.6,720.5,-9.9,349,7286,0.00,2.58,0.00,0.000,4,0.000,0.058,2225,3302,3475
$GC,7332,-1.23,-146.6,725.5,-9.8,351,7337,0.00,2.58,0.00,0.000,6,0.000,0.053,2225,1895,3475
$STATE,7501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7501,begin apogee
$GC,7507,-0.36,0.0,740.3,8.2,359,7637,0.90,0.00,125.90,1.285,6,0.081,0.000,2416,2106,2878
$STATE,7637,end apogee,CONTROL_FINISHED_OK
$STATE,7637,begin climb
$GC,7640,1.23,146.6,744.2,0.0,365,7773,1.55,2.75,124.28,1.247,4,0.054,0.074,2761,694,2280
$GC,7971,1.23,146.6,726.9,8.3,380,7976,0.00,2.53,0.00,0.000,6,0.000,0.048,2761,2094,2280
$GC,8287,1.26,175.5,703.8,6.9,395,8318,0.00,2.65,25.10,1.267,4,0.000,0.063,2761,3502,2162
$GC,8357,1.27,176.0,698.5,8.0,398,8361,0.00,2.58,0.00,0.000,6,0.000,0.052,2761,2102,2161
$GC,8672,1.29,194.9,675.8,7.3,413,8697,0.00,2.72,17.23,1.267,4,0.000,0.060,2761,3508,2083
$GC,8754,1.29,194.9,669.1,8.6,416,8760,0.00,2.60,0.00,0.000,6,0.000,0.052,2761,2100,2083
$GC,9070,1.29,198.7,644.5,7.9,432,9079,0.00,2.65,4.40,1.190,4,0.000,0.060,2761,3509,2066
$GC,9113,1.29,198.7,640.7,9.0,434,9117,0.00,2.58,0.00,0.000,6,0.000,0.050,2761,2100,2066
$GC,9434,1.29,198.7,614.9,8.1,450,9438,0.00,2.62,0.00,0.000,4,0.000,0.058,2761,3509,2066
$GC,9460,1.29,198.7,612.3,9.3,451,9465,0.00,2.55,0.00,0.000,6,0.000,0.048,2761,2098,2066
$GC,9776,1.29,198.7,585.7,8.5,466,9781,0.00,2.60,0.00,0.000,4,0.000,0.056,2761,3504,2066
$GC,9957,1.29,198.7,570.9,8.8,474,9961,0.00,2.55,0.00,0.000,6,0.000,0.046,2761,2097,2065
$GC,10277,1.29,198.7,544.6,8.3,490,10282,0.00,2.60,0.00,0.000,4,0.000,0.055,2761,3508,2065
$GC,10317,1.29,198.7,541.2,9.4,492,10322,0.00,2.53,0.00,0.000,6,0.000,0.045,2761,2101,2066
$GC,10644,1.29,198.7,512.9,8.9,508,10648,0.00,2.58,0.00,0.000,4,0.000,0.053,2761,3504,2065
$GC,10683,1.29,198.7,509.3,9.4,510,10687,0.00,2.53,0.00,0.000,6,0.000,0.044,2761,2098,2065
$GC,11009,1.29,198.7,481.9,8.3,526,11011,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2098,2065
$GC,11319,1.30,205.7,457.3,7.7,541,11332,0.00,2.65,6.55,1.139,4,0.000,0.053,2761,3505,2039
$GC,11400,1.30,205.7,450.6,8.2,544,11406,0.00,2.53,0.00,0.000,6,0.000,0.043,2761,2096,2039
$GC,11716,1.33,227.5,427.4,7.2,560,11741,0.10,2.65,18.90,1.111,4,0.060,0.052,2792,3498,1950
$GC,11774,1.33,227.5,422.2,9.1,562,11780,0.00,2.53,0.00,0.000,6,0.000,0.043,2792,2098,1950
$GC,12090,1.33,227.5,393.7,8.7,578,12094,0.00,2.55,0.00,0.000,4,0.000,0.051,2792,3503,1950
$GC,12157,1.33,227.5,387.1,9.5,581,12161,0.00,2.55,0.00,0.000,6,0.000,0.043,2791,2092,1950
$GC,12477,1.33,227.5,358.0,9.3,597,12482,0.00,2.58,0.00,0.000,4,0.000,0.051,2792,3504,1950
$GC,12556,1.33,227.5,349.8,10.4,600,12562,0.00,2.53,0.00,0.000,6,0.000,0.042,2792,2097,1950
$GC,12871,1.33,227.5,316.8,11.0,616,12875,0.00,2.58,0.00,0.000,4,0.000,0.051,2792,3507,1950
$GC,12971,1.33,227.5,305.8,11.1,620,12977,0.00,2.50,0.00,0.000,6,0.000,0.042,2792,2099,1951
$GC,13287,1.33,227.5,276.6,8.9,636,13291,0.00,2.58,0.00,0.000,4,0.000,0.051,2792,3511,1951
$GC,13382,1.33,229.7,267.9,7.9,640,13394,0.00,2.53,3.58,0.977,6,0.000,0.041,2792,2099,1940
$GC,13703,1.34,233.6,241.9,7.9,656,13713,0.00,2.58,4.40,0.985,4,0.000,0.051,2792,3504,1925
$GC,13775,1.36,250.8,236.5,7.3,659,13794,0.00,2.53,14.43,0.979,6,0.000,0.041,2792,2093,1855
$GC,14116,1.36,250.8,197.5,12.4,676,14120,0.00,2.58,0.00,0.000,4,0.000,0.051,2792,3504,1855
$GC,14171,1.36,250.8,190.0,13.9,678,14177,0.00,2.53,0.00,0.000,6,0.000,0.041,2792,2097,1855
$GC,14486,1.36,250.8,149.9,11.2,694,14491,0.00,2.58,0.00,0.000,4,0.000,0.050,2792,3509,1855
$GC,14542,1.36,250.8,143.3,11.7,696,14548,0.00,2.50,0.00,0.000,6,0.000,0.041,2792,2096,1855
$GC,14860,1.36,250.8,108.1,11.2,712,14864,0.00,2.58,0.00,0.000,4,0.000,0.050,2792,3512,1855
$GC,14926,1.36,250.8,99.8,11.1,715,14930,0.00,2.53,0.00,0.000,6,0.000,0.041,2792,2096,1855
$GC,15247,1.36,250.8,66.9,10.3,731,15251,0.00,2.55,0.00,0.000,4,0.000,0.049,2792,3505,1855
$GC,15302,1.36,250.8,61.6,8.1,733,15308,0.00,2.50,0.00,0.000,6,0.000,0.040,2792,2097,1855
$GC,15617,1.36,250.8,33.6,9.0,749,15622,0.00,2.55,0.00,0.000,4,0.000,0.049,2792,3505,1855
$GC,15657,1.36,250.8,29.5,10.4,751,15662,0.00,2.53,0.00,0.000,6,0.000,0.040,2792,2088,1855
$STATE,15941,end climb,SURFACE_DEPTH_REACHED
$STATE,15941,begin surface coast
$FINISH,1.1,1.010689
$STATE,15962,end surface coast,CONTROL_FINISHED_OK
$STATE,15965,begin surface
$SM_CCo,15987,46.38,0.799,6,0,1655,300.00
$SM_GC,1.47,0.00,0.00,46.38,0.000,0.000,0.799,35,1874,1655,-11.32,-0.74,300.00
$IRIDIUM_FIX,6211.90,-1200.79,210497,121254
$TT8_MAMPS,0.026845
$HUMID,2052
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.3,999.0
$24V_AH,23.1,70.531
$10V_AH,10.1,34.090
$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,26.100,194.950,344.750,46.375,0.000,38.525,33.900,157.822,6.500,0.000,0.000,12.901,1487.964,11951.504,578.390,1904.506,546.773,33.374,1569.137,0.000,1859.367,0.000,41.389
$DEVICE_MAMPS,139.594,74.399,1284.725,799.214,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,562.249,516.973,450.828,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37998,766
$CFSIZE,260165632,237326336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,6,0
$GPS,260108,215107,6238.387,-1153.678,32,2.0,32,-11.2