version: 66.02
glider: 102
mission: 4
dive: 354
start: 1 27 108 7 21 10
data:
$ID,102
$MISSION,4
$DIVE,354
$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,-84186.758
$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,24
$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
$GPS1,071031,6237.375,-1148.905,38,1.4,43,-11.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-56.3
$GPS2,071926,6237.420,-1148.851,14,1.5,14,-11.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FE
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.022,-0.237
$KALMAN_X,508045.0,-641.1,-1231.7,-681555.3,5993.6
$KALMAN_Y,73917.9,-290.6,-874.1,46290.6,5861.3
$MHEAD_RNG_PITCHd_Wd,185.9,15689,-14.7,-8.000
$D_GRID,731
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.23,-146.6,0.0,0.0,0,86,0.00,0.00,-58.90,0.000,2,0.000,0.000,28,1884,2816
$GC,89,-1.23,-146.6,3.2,-3.5,3,132,11.70,2.62,-22.23,0.000,4,0.143,0.061,2223,3303,3478
$GC,328,-1.23,-146.6,30.0,-8.9,13,335,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1915,3478
$GC,645,-1.23,-146.6,62.4,-9.7,29,649,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3312,3478
$GC,672,-1.23,-146.6,65.2,-9.7,30,676,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1898,3478
$GC,988,-1.23,-146.6,98.1,-10.3,45,992,0.00,2.55,0.00,0.000,4,0.000,0.046,2223,3314,3478
$GC,1028,-1.23,-146.6,102.1,-9.6,47,1032,0.00,2.53,0.00,0.000,6,0.000,0.041,2223,1895,3478
$GC,1354,-1.23,-146.6,134.8,-11.1,63,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3478
$GC,1663,-1.23,-146.6,167.8,-10.2,78,1668,0.00,2.53,0.00,0.000,4,0.000,0.046,2223,3308,3478
$GC,1708,-1.23,-146.6,172.5,-10.7,80,1712,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1902,3478
$GC,2028,-1.23,-146.6,204.2,-10.6,96,2033,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3307,3478
$GC,2061,-1.23,-146.6,207.7,-10.0,97,2067,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1900,3478
$GC,2377,-1.23,-146.6,239.3,-10.1,113,2381,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3307,3478
$GC,2417,-1.23,-146.6,243.3,-9.9,115,2421,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1900,3478
$GC,2744,-1.23,-146.6,275.2,-9.5,131,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3478
$GC,3053,-1.23,-146.6,305.7,-10.3,146,3057,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3307,3478
$GC,3137,-1.23,-146.6,314.7,-11.2,150,3141,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1899,3478
$GC,3463,-1.23,-146.6,347.0,-9.3,166,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3478
$GC,3773,-1.23,-146.6,374.8,-9.1,181,3778,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3307,3478
$GC,3828,-1.23,-146.6,380.0,-8.6,183,3832,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1899,3478
$GC,4144,-1.23,-146.6,409.3,-9.5,198,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3478
$GC,4453,-1.23,-146.6,437.6,-9.2,213,4458,0.00,2.55,0.00,0.000,4,0.000,0.049,2223,3312,3478
$GC,4497,-1.23,-146.6,441.6,-9.0,215,4502,0.00,2.55,0.00,0.000,6,0.000,0.044,2223,1894,3478
$GC,4819,-1.23,-146.6,469.5,-8.5,231,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3478
$GC,5129,-1.23,-146.6,495.2,-8.4,246,5133,0.00,2.58,0.00,0.000,4,0.000,0.051,2223,3308,3478
$GC,5161,-1.23,-146.6,498.2,-8.8,247,5168,0.00,2.55,0.00,0.000,6,0.000,0.046,2223,1895,3478
$GC,5476,-1.23,-146.6,527.5,-9.8,263,5481,0.00,2.58,0.00,0.000,4,0.000,0.051,2223,3311,3478
$GC,5498,-1.23,-146.6,529.7,-9.8,264,5503,0.00,2.55,0.00,0.000,6,0.000,0.048,2223,1895,3478
$GC,5819,-1.23,-146.6,559.9,-9.0,280,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1893,3477
$GC,6129,-1.23,-146.6,589.3,-9.6,295,6133,0.00,2.58,0.00,0.000,4,0.000,0.054,2223,3303,3477
$GC,6207,-1.23,-146.6,597.2,-9.7,298,6213,0.00,2.55,0.00,0.000,6,0.000,0.049,2223,1896,3477
$GC,6524,-1.23,-146.6,626.4,-8.6,314,6529,0.00,2.65,0.00,0.000,4,0.000,0.078,2223,494,3477
$GC,6564,-1.23,-146.6,630.0,-9.0,316,6569,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1910,3477
$GC,6892,-1.23,-146.6,657.4,-8.0,332,6896,0.00,2.55,0.00,0.000,4,0.000,0.059,2223,3305,3477
$GC,7031,-1.23,-146.6,669.7,-8.9,338,7035,0.00,2.55,0.00,0.000,6,0.000,0.054,2223,1903,3477
$GC,7347,-1.23,-146.6,698.7,-9.8,353,7351,0.00,2.58,0.00,0.000,4,0.000,0.058,2223,3301,3476
$GC,7436,-1.23,-146.6,707.0,-10.0,357,7440,0.00,2.58,0.00,0.000,6,0.000,0.054,2223,1895,3476
$GC,7757,-1.23,-146.6,728.6,-0.6,373,7761,0.00,2.60,0.00,0.000,4,0.000,0.064,2223,3299,3476
$GC,7784,-1.23,-146.6,728.6,0.3,374,7788,0.00,2.55,0.00,0.000,6,0.000,0.054,2223,1901,3475
$STATE,8056,end dive,NO_VERTICAL_VELOCITY
$STATE,8056,begin apogee
$GC,8062,-0.36,0.0,728.7,0.0,387,8191,0.88,0.00,125.80,1.289,6,0.062,0.000,2419,2103,2878
$STATE,8192,end apogee,CONTROL_FINISHED_OK
$STATE,8192,begin climb
$GC,8195,1.23,146.6,728.3,0.0,393,8327,1.55,2.67,123.90,1.249,4,0.054,0.064,2763,3495,2280
$GC,8388,1.23,146.6,717.6,8.6,402,8393,0.00,2.58,0.00,0.000,6,0.000,0.053,2763,2096,2280
$GC,8705,1.27,180.7,696.2,6.7,417,8740,0.00,2.78,29.60,1.253,4,0.000,0.081,2763,686,2141
$GC,8992,1.27,180.7,672.6,9.0,429,8997,0.00,2.55,0.00,0.000,6,0.000,0.048,2763,2101,2140
$GC,9314,1.27,180.7,646.6,8.1,445,9318,0.00,2.67,0.00,0.000,4,0.000,0.076,2763,692,2139
$GC,9346,1.27,180.7,643.5,9.1,446,9352,0.00,2.53,0.00,0.000,6,0.000,0.048,2763,2100,2139
$GC,9661,1.27,180.7,617.4,8.4,462,9662,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2100,2138
$GC,9971,1.30,206.1,594.1,7.0,477,10000,0.00,2.65,21.73,1.243,4,0.000,0.059,2763,3499,2036
$GC,10120,1.30,206.1,582.2,8.4,483,10126,0.00,2.58,0.00,0.000,6,0.000,0.048,2764,2093,2036
$GC,10436,1.30,206.1,554.9,8.7,499,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2093,2036
$GC,10745,1.32,217.5,530.3,7.6,514,10761,0.00,2.65,10.80,1.200,4,0.000,0.054,2763,3501,1990
$GC,10829,1.34,238.1,524.1,7.2,517,10854,0.10,2.58,18.17,1.180,6,0.061,0.047,2793,2093,1906
$GC,11183,1.34,238.1,491.7,9.9,534,11187,0.00,2.60,0.00,0.000,4,0.000,0.054,2793,3505,1906
$GC,11238,1.34,238.1,485.5,11.7,536,11244,0.00,2.53,0.00,0.000,6,0.000,0.046,2792,2101,1907
$GC,11554,1.34,238.1,454.2,9.9,552,11558,0.00,2.58,0.00,0.000,4,0.000,0.053,2793,3508,1906
$GC,11586,1.34,238.1,450.8,10.3,553,11592,0.00,2.53,0.00,0.000,6,0.000,0.045,2793,2100,1906
$GC,11902,1.34,238.1,417.0,11.3,569,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2100,1906
$GC,12211,1.34,238.1,383.5,10.5,584,12216,0.00,2.55,0.00,0.000,4,0.000,0.051,2793,3502,1907
$GC,12306,1.34,238.1,373.1,10.2,588,12310,0.00,2.55,0.00,0.000,6,0.000,0.044,2793,2088,1907
$GC,12627,1.34,238.1,339.8,10.1,604,12631,0.00,2.58,0.00,0.000,4,0.000,0.051,2792,3504,1907
$GC,12671,1.34,238.1,335.0,10.9,606,12675,0.00,2.53,0.00,0.000,6,0.000,0.042,2793,2093,1907
$GC,12991,1.34,238.1,302.4,10.2,622,12996,0.00,2.58,0.00,0.000,4,0.000,0.051,2793,3504,1908
$GC,13086,1.34,238.1,291.8,11.3,626,13090,0.00,2.53,0.00,0.000,6,0.000,0.041,2792,2093,1908
$GC,13402,1.34,238.1,259.1,10.0,641,13407,0.00,2.58,0.00,0.000,4,0.000,0.051,2793,3505,1908
$GC,13491,1.34,238.1,249.7,10.7,645,13496,0.00,2.50,0.00,0.000,6,0.000,0.041,2792,2097,1908
$GC,13814,1.34,238.1,217.8,9.7,661,13818,0.00,2.55,0.00,0.000,4,0.000,0.050,2793,3502,1909
$GC,13857,1.34,238.1,213.1,10.2,663,13862,0.00,2.50,0.00,0.000,6,0.000,0.041,2792,2097,1909
$GC,14178,1.34,238.1,182.5,9.6,679,14183,0.00,2.55,0.00,0.000,4,0.000,0.050,2793,3503,1909
$GC,14228,1.34,238.1,177.2,10.2,681,14233,0.00,2.47,0.00,0.000,6,0.000,0.041,2793,2099,1909
$GC,14544,1.34,238.1,144.7,10.7,696,14548,0.00,2.55,0.00,0.000,4,0.000,0.049,2793,3506,1910
$GC,14606,1.34,238.1,137.7,11.7,699,14610,0.00,2.50,0.00,0.000,6,0.000,0.041,2793,2092,1909
$GC,14934,1.34,238.1,104.5,9.5,715,14939,0.00,2.58,0.00,0.000,4,0.000,0.050,2793,3509,1909
$GC,14974,1.34,238.1,100.9,8.2,717,14979,0.00,2.50,0.00,0.000,6,0.000,0.039,2793,2092,1909
$GC,15301,1.34,238.1,70.8,10.3,733,15306,0.00,2.58,0.00,0.000,4,0.000,0.050,2793,3510,1909
$GC,15366,1.34,238.1,64.3,9.7,736,15370,0.00,2.50,0.00,0.000,6,0.000,0.040,2793,2093,1909
$GC,15692,1.34,238.1,29.9,8.8,752,15696,0.00,2.55,0.00,0.000,4,0.000,0.048,2793,3504,1910
$GC,15748,1.34,238.1,24.1,10.8,754,15754,0.00,2.50,0.00,0.000,6,0.000,0.040,2793,2096,1910
$STATE,16001,end climb,SURFACE_DEPTH_REACHED
$STATE,16001,begin surface coast
$FINISH,1.0,1.027376
$STATE,16021,end surface coast,CONTROL_FINISHED_OK
$STATE,16021,begin surface
$SM_CCo,16044,56.05,0.796,7,0,1654,300.00
$SM_GC,1.76,0.00,0.00,56.05,0.000,0.000,0.796,34,1884,1654,-11.32,-0.42,300.00
$IRIDIUM_FIX,6211.90,-1146.10,220497,070714
$TT8_MAMPS,0.026845
$HUMID,2047
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.1,999.0
$24V_AH,23.1,70.979
$10V_AH,10.1,34.329
$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,26.150,169.375,330.000,56.050,0.000,77.111,67.366,204.365,6.750,0.000,0.000,15.526,1469.222,12181.911,569.302,1838.493,665.897,33.373,1508.881,0.000,1797.655,0.000,41.400
$DEVICE_MAMPS,142.662,80.535,1288.560,796.146,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,568.055,520.001,461.123,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38081,768
$CFSIZE,260165632,237154304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,7,0
$GPS,270108,115107,6237.436,-1144.530,23,1.5,23,-11.1