version: 66.02
glider: 102
mission: 4
dive: 353
start: 1 27 108 2 50 36
data:
$ID,102
$MISSION,4
$DIVE,353
$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,-84170.602
$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,30
$R_STBD_OVSHOOT,25
$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
$GPS1,024256,6238.484,-1150.365,36,1.3,36,-11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-55.6
$GPS2,024850,6238.522,-1150.357,12,1.0,12,-11.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FE
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.063,-0.229
$KALMAN_X,505152.0,-826.4,1642.3,-682701.6,322.7
$KALMAN_Y,69951.8,-27.0,714.8,50450.7,1621.8
$MHEAD_RNG_PITCHd_Wd,175.8,18098,-14.7,-8.000
$D_GRID,724
$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,-61.28,0.000,2,0.000,0.000,35,1887,2878
$GC,90,-1.23,-146.6,3.2,-2.4,3,132,11.65,2.62,-21.10,0.000,4,0.142,0.062,2223,3299,3476
$GC,228,-1.23,-146.6,14.7,-10.1,9,232,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1905,3477
$GC,548,-1.23,-146.6,47.6,-10.1,25,552,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3306,3477
$GC,604,-1.23,-146.6,53.2,-10.4,27,610,0.00,2.53,0.00,0.000,6,0.000,0.042,2223,1898,3477
$GC,919,-1.23,-146.6,84.4,-10.2,43,924,0.00,2.55,0.00,0.000,4,0.000,0.046,2223,3313,3477
$GC,941,-1.23,-146.6,86.8,-10.2,44,945,0.00,2.53,0.00,0.000,6,0.000,0.041,2223,1899,3477
$GC,1263,-1.23,-146.6,119.2,-10.1,60,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3476
$GC,1573,-1.23,-146.6,151.4,-10.2,75,1577,0.00,2.55,0.00,0.000,4,0.000,0.047,2223,3314,3477
$GC,1623,-1.23,-146.6,156.8,-10.0,77,1627,0.00,2.53,0.00,0.000,6,0.000,0.041,2223,1898,3477
$GC,1944,-1.23,-146.6,188.5,-10.2,93,1948,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3307,3477
$GC,1971,-1.23,-146.6,191.3,-10.0,94,1976,0.00,2.53,0.00,0.000,6,0.000,0.042,2223,1895,3476
$GC,2286,-1.23,-146.6,222.2,-9.9,109,2291,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3308,3476
$GC,2326,-1.23,-146.6,226.2,-9.5,111,2331,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1899,3477
$GC,2653,-1.23,-146.6,260.0,-10.4,127,2657,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3306,3476
$GC,2702,-1.23,-146.6,265.2,-10.3,129,2707,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1896,3476
$GC,3018,-1.23,-146.6,298.1,-10.6,144,3022,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3311,3477
$GC,3044,-1.23,-146.6,300.8,-10.1,145,3049,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1900,3477
$GC,3359,-1.23,-146.6,333.1,-10.4,160,3364,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3307,3477
$GC,3409,-1.23,-146.6,338.7,-11.1,162,3413,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1898,3477
$GC,3731,-1.23,-146.6,372.4,-10.5,178,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3476
$GC,4040,-1.23,-146.6,406.0,-10.6,193,4044,0.00,2.55,0.00,0.000,4,0.000,0.049,2223,3310,3476
$GC,4091,-1.23,-146.6,411.3,-10.3,195,4095,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1899,3477
$GC,4406,-1.23,-146.6,442.8,-9.9,210,4411,0.00,2.55,0.00,0.000,4,0.000,0.049,2223,3306,3477
$GC,4439,-1.23,-146.6,446.2,-9.4,211,4445,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1901,3477
$GC,4756,-1.23,-146.6,475.4,-9.4,227,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3477
$GC,5064,-1.23,-146.6,503.2,-9.2,242,5069,0.00,2.55,0.00,0.000,4,0.000,0.050,2223,3307,3477
$GC,5126,-1.23,-146.6,509.0,-8.7,245,5131,0.00,2.55,0.00,0.000,6,0.000,0.045,2223,1893,3477
$GC,5454,-1.23,-146.6,539.5,-9.3,261,5458,0.00,2.58,0.00,0.000,4,0.000,0.051,2223,3309,3476
$GC,5503,-1.23,-146.6,544.5,-10.1,263,5507,0.00,2.55,0.00,0.000,6,0.000,0.047,2223,1894,3475
$GC,5819,-1.23,-146.6,575.7,-10.0,278,5824,0.00,2.62,0.00,0.000,4,0.000,0.075,2223,494,3476
$GC,5846,-1.23,-146.6,578.7,-10.7,279,5851,0.00,2.47,0.00,0.000,6,0.000,0.043,2223,1908,3476
$GC,6162,-1.23,-146.6,608.0,-8.9,294,6167,0.00,2.53,0.00,0.000,4,0.000,0.057,2223,3301,3476
$GC,6257,-1.23,-146.6,617.2,-9.5,298,6261,0.00,2.55,0.00,0.000,6,0.000,0.051,2223,1896,3476
$GC,6573,-1.23,-146.6,647.1,-9.6,313,6577,0.00,2.58,0.00,0.000,4,0.000,0.058,2223,3301,3476
$GC,6612,-1.23,-146.6,650.8,-9.2,315,6616,0.00,2.53,0.00,0.000,6,0.000,0.051,2223,1902,3476
$GC,6938,-1.23,-146.6,679.8,-8.8,331,6943,0.00,2.58,0.00,0.000,4,0.000,0.057,2223,3308,3476
$GC,7080,-1.23,-146.6,693.1,-9.2,337,7084,0.00,2.58,0.00,0.000,6,0.000,0.054,2223,1895,3475
$GC,7395,-1.23,-146.6,722.0,-9.2,352,7400,0.00,2.65,0.00,0.000,4,0.000,0.081,2223,495,3475
$STATE,7415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7415,begin apogee
$GC,7424,-0.36,0.0,724.2,9.8,353,7553,0.88,0.00,125.62,1.271,6,0.083,0.000,2412,2104,2878
$STATE,7554,end apogee,CONTROL_FINISHED_OK
$STATE,7554,begin climb
$GC,7557,1.23,146.6,725.3,0.0,359,7689,1.58,2.75,123.95,1.239,4,0.056,0.072,2759,691,2279
$GC,7948,1.27,177.4,703.1,6.8,377,7982,0.00,2.55,26.83,1.246,6,0.000,0.049,2760,2104,2154
$GC,8298,1.30,201.5,678.0,7.1,394,8325,0.00,2.67,21.15,1.248,4,0.000,0.063,2759,3507,2055
$GC,8427,1.30,201.5,667.9,8.7,400,8431,0.00,2.58,0.00,0.000,6,0.000,0.053,2759,2103,2055
$GC,8753,1.32,220.6,643.5,7.3,416,8776,0.10,2.67,16.60,1.247,4,0.058,0.060,2791,3501,1978
$GC,8895,1.32,220.6,630.6,9.2,422,8900,0.00,2.58,0.00,0.000,6,0.000,0.051,2791,2097,1977
$GC,9216,1.32,220.6,600.4,9.0,438,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2097,1977
$GC,9526,1.32,220.6,572.6,9.1,453,9530,0.00,2.60,0.00,0.000,4,0.000,0.056,2791,3505,1977
$GC,9627,1.32,220.6,562.3,10.5,457,9633,0.00,2.58,0.00,0.000,6,0.000,0.048,2791,2093,1977
$GC,9942,1.32,220.6,533.3,9.0,473,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2092,1977
$GC,10252,1.32,220.6,504.8,9.4,488,10256,0.00,2.58,0.00,0.000,4,0.000,0.054,2791,3503,1977
$GC,10336,1.32,220.6,495.8,11.3,492,10340,0.00,2.55,0.00,0.000,6,0.000,0.046,2791,2097,1977
$GC,10662,1.32,220.6,460.8,10.7,508,10666,0.00,2.58,0.00,0.000,4,0.000,0.053,2791,3504,1977
$GC,10739,1.32,220.6,451.9,10.7,511,10745,0.00,2.53,0.00,0.000,6,0.000,0.045,2791,2100,1976
$GC,11055,1.32,220.6,419.8,10.2,527,11059,0.00,2.58,0.00,0.000,4,0.000,0.052,2791,3509,1977
$GC,11094,1.32,220.6,415.9,10.9,529,11098,0.00,2.53,0.00,0.000,6,0.000,0.044,2791,2098,1977
$GC,11420,1.32,220.6,384.8,9.4,545,11424,0.00,2.58,0.00,0.000,4,0.000,0.051,2791,3511,1977
$GC,11459,1.32,220.6,380.9,10.1,547,11463,0.00,2.53,0.00,0.000,6,0.000,0.044,2791,2097,1977
$GC,11785,1.32,220.6,351.7,8.7,563,11789,0.00,2.58,0.00,0.000,4,0.000,0.051,2791,3509,1978
$GC,11874,1.32,220.6,343.4,9.2,567,11878,0.00,2.53,0.00,0.000,6,0.000,0.043,2791,2099,1977
$GC,12194,1.32,220.6,314.6,9.4,583,12199,0.00,2.55,0.00,0.000,4,0.000,0.051,2791,3507,1978
$GC,12312,1.32,220.6,303.0,9.6,588,12317,0.00,2.53,0.00,0.000,6,0.000,0.043,2791,2096,1977
$GC,12627,1.32,220.6,272.6,9.9,603,12632,0.00,2.58,0.00,0.000,4,0.000,0.051,2790,3509,1978
$GC,12671,1.32,220.6,267.8,9.7,605,12676,0.00,2.53,0.00,0.000,6,0.000,0.041,2791,2096,1978
$GC,12994,1.32,220.6,237.7,9.6,621,12998,0.00,2.55,0.00,0.000,4,0.000,0.051,2791,3504,1979
$GC,13071,1.32,220.6,229.6,9.5,624,13077,0.00,2.50,0.00,0.000,6,0.000,0.041,2791,2098,1979
$GC,13386,1.32,220.6,198.8,9.7,640,13391,0.00,2.53,0.00,0.000,4,0.000,0.050,2791,3504,1979
$GC,13449,1.32,220.6,192.3,10.3,643,13453,0.00,2.50,0.00,0.000,6,0.000,0.041,2791,2099,1979
$GC,13775,1.32,220.6,159.9,9.8,659,13779,0.00,2.55,0.00,0.000,4,0.000,0.050,2791,3508,1979
$GC,13816,1.32,220.6,156.0,9.9,661,13820,0.00,2.53,0.00,0.000,6,0.000,0.041,2791,2093,1980
$GC,14143,1.32,220.6,121.8,10.9,677,14147,0.00,2.58,0.00,0.000,4,0.000,0.050,2791,3509,1980
$GC,14215,1.32,220.6,113.4,11.3,680,14220,0.00,2.50,0.00,0.000,6,0.000,0.040,2791,2092,1980
$GC,14531,1.32,220.6,81.4,9.8,695,14536,0.00,2.58,0.00,0.000,4,0.000,0.049,2791,3512,1980
$GC,14594,1.32,220.6,75.4,9.1,698,14599,0.00,2.53,0.00,0.000,6,0.000,0.040,2791,2093,1980
$GC,14921,1.32,220.6,42.7,9.0,714,14926,0.00,2.55,0.00,0.000,4,0.000,0.050,2791,3504,1980
$GC,14988,1.32,220.6,36.4,8.9,717,14992,0.00,2.50,0.00,0.000,6,0.000,0.040,2791,2095,1980
$GC,15309,1.32,220.6,6.1,10.3,733,15313,0.00,2.55,0.00,0.000,4,0.000,0.049,2791,3506,1981
$GC,15326,1.32,220.6,4.5,11.2,734,15330,0.00,2.50,0.00,0.000,6,0.000,0.040,2791,2097,1981
$STATE,15361,end climb,SURFACE_DEPTH_REACHED
$STATE,15361,begin surface coast
$FINISH,1.0,1.002317
$STATE,15383,end surface coast,CONTROL_FINISHED_OK
$STATE,15383,begin surface
$SM_CCo,15406,67.60,0.790,8,0,1655,300.00
$SM_GC,1.64,0.00,0.00,67.60,0.000,0.000,0.790,29,1885,1655,-11.34,-0.42,300.00
$IRIDIUM_FIX,6211.90,-1200.79,210497,222239
$TT8_MAMPS,0.026845
$HUMID,2034
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.7,999.0
$24V_AH,23.1,70.830
$10V_AH,10.1,34.250
$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,26.125,184.450,314.150,67.600,0.000,38.939,36.036,158.482,6.250,0.000,0.000,17.817,1441.655,11534.644,570.452,1839.427,537.097,33.372,1511.138,0.000,1791.596,0.000,39.772
$DEVICE_MAMPS,141.895,81.302,1270.919,790.010,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,537.689,498.829,454.236,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37997,737
$CFSIZE,260165632,237211648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,8,0
$GPS,270108,071031,6237.375,-1148.905,38,1.4,43,-11.2