version: 66.02
glider: 102
mission: 4
dive: 377
start: 1 31 108 14 46 8
data:
$ID,102
$MISSION,4
$DIVE,377
$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,-3
$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,-85564.344
$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,29
$R_STBD_OVSHOOT,35
$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
$GPS1,143702,6224.856,-1051.511,53,1.5,53,-10.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-43.4
$GPS2,144426,6224.731,-1051.574,46,1.5,46,-10.6
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.160,0.176
$KALMAN_X,571665.0,-712.4,-457.0,-695322.1,7359.2
$KALMAN_Y,99576.2,66.6,185.5,-4245.5,-3542.9
$MHEAD_RNG_PITCHd_Wd,328.3,7243,-14.7,-8.000
$D_GRID,744
$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,21,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,128,0.00,0.00,-101.78,0.000,2,0.000,0.000,34,1884,2660
$GC,131,-1.23,-146.6,4.1,-2.9,5,174,11.35,2.60,-22.30,0.000,4,0.128,0.058,2222,3295,3478
$GC,281,-1.23,-146.6,27.5,-8.0,11,288,0.00,2.50,0.00,0.000,6,0.000,0.042,2223,1904,3478
$GC,599,-1.23,-146.6,63.4,-16.3,27,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1904,3478
$GC,906,-1.23,-146.6,114.6,-14.3,42,910,0.00,2.53,0.00,0.000,4,0.000,0.046,2223,3302,3478
$GC,1006,-1.23,-146.6,124.2,-8.1,46,1012,0.00,2.53,0.00,0.000,6,0.000,0.041,2223,1894,3478
$GC,1322,-1.23,-146.6,185.2,-18.8,62,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3478
$GC,1631,-1.23,-146.6,231.6,-15.3,77,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3478
$GC,1940,-1.23,-146.6,284.2,-13.7,92,1944,0.00,2.55,0.00,0.000,4,0.000,0.047,2222,3302,3478
$GC,2012,-1.23,-146.6,292.1,-8.7,95,2016,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1893,3478
$GC,2327,-1.23,-146.6,321.6,-9.1,110,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3478
$GC,2637,-1.23,-146.6,348.1,-8.0,125,2641,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3302,3478
$GC,2692,-1.23,-146.6,352.7,-7.1,127,2698,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1898,3478
$GC,3007,-1.23,-146.6,378.1,-9.8,143,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3478
$GC,3317,-1.23,-146.6,409.9,-10.5,158,3321,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3297,3478
$GC,3366,-1.23,-146.6,414.6,-9.8,160,3371,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1899,3478
$GC,3682,-1.23,-146.6,447.9,-13.8,175,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3478
$GC,3991,-1.23,-146.6,478.5,-8.9,190,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3478
$GC,4301,-1.23,-146.6,507.9,-10.1,205,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3477
$GC,4609,-1.23,-146.6,538.3,-9.6,220,4614,0.00,2.53,0.00,0.000,4,0.000,0.050,2223,3297,3477
$GC,4694,-1.23,-146.6,546.6,-9.2,224,4699,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1899,3478
$GC,5021,-1.23,-146.6,579.9,-11.1,240,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3478
$GC,5330,-1.23,-146.6,612.4,-10.9,255,5334,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3298,3477
$GC,5408,-1.23,-146.6,620.8,-10.4,258,5414,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1899,3477
$GC,5724,-1.23,-146.6,651.1,-9.3,274,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3477
$GC,6033,-1.23,-146.6,678.7,-7.5,289,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3477
$GC,6342,-1.23,-146.6,704.2,-8.2,304,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3477
$GC,6651,-1.23,-146.6,707.3,-0.1,319,6656,0.00,2.60,0.00,0.000,4,0.000,0.061,2223,3299,3477
$STATE,6767,end dive,NO_VERTICAL_VELOCITY
$STATE,6767,begin apogee
$GC,6775,-0.36,0.0,707.3,0.0,324,6907,0.85,0.00,125.55,1.258,6,0.057,0.000,2418,2101,2878
$STATE,6908,end apogee,CONTROL_FINISHED_OK
$STATE,6908,begin climb
$GC,6911,1.23,146.6,706.9,0.0,331,7043,1.55,2.72,123.68,1.220,4,0.052,0.072,2765,695,2280
$GC,7123,1.23,146.6,696.6,8.1,341,7128,0.00,2.53,0.00,0.000,6,0.000,0.045,2765,2093,2280
$GC,7444,1.25,162.0,674.5,7.4,357,7466,0.00,2.70,13.82,1.225,4,0.000,0.073,2765,695,2216
$GC,7534,1.25,162.0,666.9,9.2,361,7539,0.00,2.53,0.00,0.000,6,0.000,0.046,2765,2101,2216
$GC,7861,1.25,162.0,641.0,8.1,377,7866,0.00,2.58,0.00,0.000,4,0.000,0.058,2765,3502,2215
$GC,7979,1.25,164.1,631.3,7.9,382,7983,0.00,2.55,0.00,0.000,6,0.000,0.048,2765,2100,2214
$GC,8295,1.29,198.1,608.4,6.7,397,8334,0.00,2.70,30.35,1.224,4,0.000,0.055,2765,3508,2070
$GC,8391,1.30,207.6,601.3,7.6,401,8405,0.00,2.58,9.10,1.193,6,0.000,0.045,2765,2096,2031
$GC,8733,1.30,207.6,573.6,9.8,418,8737,0.00,2.60,0.00,0.000,4,0.000,0.053,2765,3504,2031
$GC,8817,1.30,207.6,565.6,9.4,422,8822,0.00,2.53,0.00,0.000,6,0.000,0.044,2765,2098,2031
$GC,9144,1.35,241.3,541.4,6.7,438,9176,0.10,0.00,28.92,1.174,6,0.064,0.000,2794,2098,1894
$GC,9474,1.35,241.3,512.9,9.2,454,9478,0.00,2.60,0.00,0.000,4,0.000,0.052,2794,3508,1894
$GC,9596,1.35,241.3,500.0,10.7,459,9602,0.00,2.53,0.00,0.000,6,0.000,0.044,2794,2102,1894
$GC,9911,1.35,241.3,470.4,9.0,475,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2102,1894
$GC,10221,1.35,246.9,446.4,7.8,490,10232,0.00,2.58,6.05,1.094,4,0.000,0.049,2794,3504,1871
$GC,10375,1.35,246.9,432.8,9.2,497,10380,0.00,2.53,0.00,0.000,6,0.000,0.042,2794,2095,1871
$GC,10702,1.35,246.9,397.8,11.4,513,10707,0.00,2.58,0.00,0.000,4,0.000,0.051,2794,3506,1870
$GC,10820,1.35,246.9,385.0,11.2,518,10824,0.00,2.53,0.00,0.000,6,0.000,0.042,2794,2099,1870
$GC,11141,1.35,246.9,353.8,9.8,534,11142,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2099,1871
$GC,11450,1.35,246.9,320.5,9.7,549,11455,0.00,2.55,0.00,0.000,4,0.000,0.050,2794,3507,1871
$GC,11545,1.35,246.9,310.0,11.2,553,11550,0.00,2.53,0.00,0.000,6,0.000,0.041,2794,2095,1871
$GC,11861,1.35,246.9,275.9,11.7,568,11862,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2095,1871
$GC,12170,1.35,246.9,240.6,11.5,583,12174,0.00,2.58,0.00,0.000,4,0.000,0.050,2794,3508,1871
$GC,12276,1.35,246.9,227.9,11.2,588,12281,0.00,2.50,0.00,0.000,6,0.000,0.040,2794,2099,1871
$GC,12603,1.35,246.9,194.1,9.4,604,12607,0.00,2.55,0.00,0.000,4,0.000,0.048,2794,3505,1871
$GC,12692,1.35,246.9,182.2,15.1,608,12696,0.00,2.53,0.00,0.000,6,0.000,0.040,2794,2092,1871
$GC,13013,1.35,246.9,147.9,9.6,624,13017,0.00,2.58,0.00,0.000,4,0.000,0.050,2794,3508,1871
$GC,13090,1.35,246.9,138.3,12.2,627,13097,0.00,2.50,0.00,0.000,6,0.000,0.039,2794,2099,1872
$GC,13406,1.40,282.9,105.9,6.6,643,13441,0.00,2.60,29.52,0.888,4,0.000,0.049,2794,3504,1724
$GC,13545,1.60,448.9,99.6,1.7,649,13685,0.22,2.53,129.18,0.832,6,0.044,0.039,2855,2089,1046
$GC,13995,1.60,448.9,46.0,19.4,671,13996,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2089,1046
$STATE,14219,end climb,SURFACE_DEPTH_REACHED
$STATE,14220,begin surface coast
$FINISH,1.1,1.027386
$STATE,14240,end surface coast,CONTROL_FINISHED_OK
$STATE,14240,begin surface
$SM_CCo,14323,0.00,0.000,0,0,1046,449.39
$SM_GC,1.52,12.20,0.00,0.00,0.029,0.000,0.000,31,1893,1046,-11.27,-0.20,449.39
$IRIDIUM_FIX,6202.67,-1054.01,260497,101030
$TT8_MAMPS,0.026845
$HUMID,2044
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,17.1,999.0
$24V_AH,23.2,74.534
$10V_AH,10.1,36.120
$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,26.275,107.275,496.175,0.000,0.000,40.091,34.324,224.822,6.250,0.000,0.000,49.663,1273.437,10697.808,606.773,1670.484,569.955,33.371,1459.869,0.000,1600.924,0.000,39.768
$DEVICE_MAMPS,128.089,72.865,1257.880,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,503.806,459.520,389.194,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34802,683
$CFSIZE,260165632,235888640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,310108,184607,6226.075,-1050.494,36,1.4,41,-10.6