version: 66.02
glider: 102
mission: 4
dive: 382
start: 2 1 108 12 58 13
data:
$ID,102
$MISSION,4
$DIVE,382
$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,-86119.648
$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,24
$R_STBD_OVSHOOT,36
$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
$GPS1,124326,6216.733,-1044.748,37,1.8,37,-10.5
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-53.7
$GPS2,125632,6216.576,-1045.081,29,1.9,29,-10.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,DE
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.219,-0.092
$KALMAN_X,575544.9,-1877.5,-777.3,-691969.0,2647.6
$KALMAN_Y,98295.2,328.2,71.7,-18264.3,-452.6
$MHEAD_RNG_PITCHd_Wd,123.3,9170,-14.7,-8.000
$D_GRID,828
$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,-146.6,0.0,0.0,0,106,0.00,0.00,-81.18,0.000,2,0.000,0.000,31,1883,2790
$GC,110,-1.23,-146.6,3.2,-2.4,4,153,11.48,2.62,-25.92,0.000,4,0.133,0.081,2220,498,3476
$GC,305,-1.23,-146.6,26.6,-10.2,12,311,0.00,2.45,0.00,0.000,6,0.000,0.038,2220,1908,3476
$GC,623,-1.23,-146.6,57.9,-8.8,28,627,0.00,2.50,0.00,0.000,4,0.000,0.048,2220,3298,3476
$GC,650,-1.23,-146.6,59.7,-5.5,29,655,0.00,2.50,0.00,0.000,6,0.000,0.043,2220,1902,3476
$GC,966,-1.23,-146.6,96.7,-16.1,44,970,0.00,2.50,0.00,0.000,4,0.000,0.045,2220,3299,3476
$GC,998,-1.23,-146.6,102.7,-18.3,45,1005,0.00,2.50,0.00,0.000,6,0.000,0.042,2220,1897,3476
$GC,1316,-1.23,-146.6,130.8,-9.3,61,1320,0.00,2.60,0.00,0.000,4,0.000,0.068,2220,496,3476
$GC,1339,-1.23,-146.6,133.6,-11.3,62,1343,0.00,2.45,0.00,0.000,6,0.000,0.039,2220,1903,3476
$GC,1659,-1.23,-146.6,155.5,-6.5,78,1664,0.00,2.50,0.00,0.000,4,0.000,0.048,2220,3298,3476
$GC,1688,-1.23,-146.6,157.2,-6.1,79,1692,0.00,2.50,0.00,0.000,6,0.000,0.043,2220,1898,3476
$GC,2003,-1.23,-146.6,186.2,-9.6,94,2007,0.00,2.53,0.00,0.000,4,0.000,0.046,2220,3303,3476
$GC,2069,-1.23,-146.6,191.5,-6.8,97,2074,0.00,2.50,0.00,0.000,6,0.000,0.043,2220,1902,3476
$GC,2391,-1.23,-146.6,235.8,-15.2,113,2395,0.00,2.50,0.00,0.000,4,0.000,0.044,2220,3303,3476
$GC,2417,-1.23,-146.6,240.9,-18.0,114,2422,0.00,2.53,0.00,0.000,6,0.000,0.044,2220,1896,3476
$GC,2733,-1.23,-146.6,279.4,-10.6,129,2738,0.00,2.53,0.00,0.000,4,0.000,0.047,2220,3298,3476
$GC,2766,-1.23,-146.6,282.9,-10.4,130,2773,0.00,2.50,0.00,0.000,6,0.000,0.044,2220,1900,3476
$GC,3082,-1.23,-146.6,321.8,-12.8,146,3087,0.00,2.60,0.00,0.000,4,0.000,0.069,2220,491,3476
$GC,3115,-1.23,-146.6,325.7,-11.4,147,3121,0.00,2.45,0.00,0.000,6,0.000,0.039,2220,1908,3476
$GC,3431,-1.23,-146.6,356.8,-10.5,163,3435,0.00,2.47,0.00,0.000,4,0.000,0.048,2220,3292,3476
$GC,3475,-1.23,-146.6,361.5,-9.2,165,3480,0.00,2.50,0.00,0.000,6,0.000,0.044,2220,1900,3476
$GC,3798,-1.23,-146.6,395.6,-8.8,181,3802,0.00,2.53,0.00,0.000,4,0.000,0.048,2220,3301,3476
$GC,3841,-1.23,-146.6,401.0,-11.7,183,3846,0.00,2.53,0.00,0.000,6,0.000,0.046,2220,1896,3476
$GC,4162,-1.23,-146.6,441.3,-13.1,199,4167,0.00,2.53,0.00,0.000,4,0.000,0.048,2220,3301,3476
$GC,4186,-1.23,-146.6,444.3,-13.4,200,4190,0.00,2.50,0.00,0.000,6,0.000,0.045,2220,1901,3476
$GC,4507,-1.23,-146.6,485.1,-13.5,216,4512,0.00,2.60,0.00,0.000,4,0.000,0.070,2220,498,3476
$GC,4525,-1.23,-146.6,487.4,-12.6,217,4529,0.00,2.45,0.00,0.000,6,0.000,0.041,2221,1906,3476
$GC,4851,-1.23,-146.6,530.2,-13.1,233,4855,0.00,2.50,0.00,0.000,4,0.000,0.052,2220,3293,3476
$GC,4895,-1.23,-146.6,536.3,-13.6,235,4899,0.00,2.50,0.00,0.000,6,0.000,0.046,2220,1902,3476
$GC,5216,-1.23,-146.6,581.0,-14.3,251,5220,0.00,2.53,0.00,0.000,4,0.000,0.051,2220,3295,3476
$GC,5243,-1.23,-146.6,584.9,-14.2,252,5247,0.00,2.50,0.00,0.000,6,0.000,0.045,2220,1899,3476
$GC,5558,-1.23,-146.6,623.7,-10.9,267,5563,0.00,2.60,0.00,0.000,4,0.000,0.073,2220,496,3476
$GC,5591,-1.23,-146.6,627.5,-11.4,268,5597,0.00,2.45,0.00,0.000,6,0.000,0.042,2220,1893,3476
$GC,5907,-1.23,-146.6,661.7,-9.8,284,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1897,3476
$GC,6216,-1.23,-146.6,682.4,-6.1,299,6221,0.00,2.55,0.00,0.000,4,0.000,0.056,2220,3299,3475
$GC,6250,-1.23,-146.6,684.0,-5.1,300,6256,0.00,2.53,0.00,0.000,6,0.000,0.049,2220,1901,3476
$GC,6566,-1.23,-146.6,699.6,-6.1,316,6571,0.00,2.65,0.00,0.000,4,0.000,0.075,2220,490,3476
$GC,6606,-1.23,-146.6,702.0,-6.3,318,6611,0.00,2.50,0.00,0.000,6,0.000,0.045,2220,1906,3475
$GC,6933,-1.23,-146.6,720.9,-6.0,334,6938,0.00,2.53,0.00,0.000,4,0.000,0.057,2220,3301,3476
$GC,6956,-1.23,-146.6,722.3,-6.4,335,6960,0.00,2.55,0.00,0.000,6,0.000,0.051,2220,1896,3475
$GC,7277,-1.23,-146.6,741.0,-7.0,351,7282,0.00,2.62,0.00,0.000,4,0.000,0.077,2220,495,3476
$GC,7311,-1.23,-146.6,743.8,-7.8,352,7317,0.00,2.50,0.00,0.000,6,0.000,0.046,2220,1903,3475
$GC,7627,-1.23,-146.6,769.8,-8.8,368,7631,0.00,2.55,0.00,0.000,4,0.000,0.058,2220,3300,3475
$GC,7733,-1.23,-146.6,781.3,-11.8,373,7738,0.00,2.55,0.00,0.000,6,0.000,0.054,2220,1903,3475
$GC,8060,-1.23,-146.6,819.0,-10.5,389,8064,0.00,2.55,0.00,0.000,4,0.000,0.060,2220,3301,3475
$STATE,8169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8169,begin apogee
$GC,8178,-0.36,0.0,828.3,7.2,394,8308,0.90,0.00,127.12,1.358,6,0.085,0.000,2412,2095,2878
$STATE,8309,end apogee,CONTROL_FINISHED_OK
$STATE,8309,begin climb
$GC,8312,1.23,146.6,831.1,0.0,400,8448,1.58,2.72,126.25,1.320,4,0.054,0.064,2760,3497,2280
$GC,8599,1.23,146.6,807.8,9.4,414,8603,0.00,2.55,0.00,0.000,6,0.000,0.053,2760,2103,2279
$GC,8920,1.31,210.8,787.0,5.6,430,8983,0.00,2.67,55.33,1.319,4,0.000,0.064,2760,3498,2018
$GC,9085,1.31,210.8,775.7,8.1,437,9090,0.00,2.60,0.00,0.000,6,0.000,0.054,2760,2095,2017
$GC,9401,1.37,262.2,754.9,6.0,452,9451,0.15,2.67,44.00,1.328,4,0.053,0.061,2805,3498,1809
$GC,9576,1.37,262.2,740.4,8.5,460,9581,0.00,2.58,0.00,0.000,6,0.000,0.053,2805,2100,1808
$GC,9903,1.37,262.2,711.3,8.9,476,9908,0.00,2.67,0.00,0.000,4,0.000,0.080,2806,693,1808
$GC,9925,1.37,262.2,709.3,8.7,477,9929,0.00,2.50,0.00,0.000,6,0.000,0.047,2805,2100,1808
$GC,10251,1.51,372.1,694.0,3.8,493,10354,0.00,2.67,92.15,1.289,4,0.000,0.056,2805,3499,1361
$GC,10402,1.60,449.7,686.8,5.0,500,10474,0.17,2.58,66.12,1.254,6,0.047,0.051,2852,2097,1044
$GC,10790,1.60,449.7,646.9,12.8,519,10794,0.00,2.70,0.00,0.000,4,0.000,0.081,2853,687,1044
$GC,10845,1.60,449.7,639.1,13.9,521,10851,0.00,2.53,0.00,0.000,6,0.000,0.044,2853,2104,1044
$GC,11161,1.60,449.7,598.7,12.7,537,11165,0.00,2.70,0.00,0.000,4,0.000,0.076,2853,689,1043
$GC,11210,1.60,449.7,592.2,13.3,539,11214,0.00,2.50,0.00,0.000,6,0.000,0.043,2853,2101,1043
$GC,11526,1.60,449.7,550.6,13.7,554,11530,0.00,2.70,0.00,0.000,4,0.000,0.075,2853,686,1043
$GC,11558,1.60,449.7,545.7,14.3,555,11565,0.00,2.53,0.00,0.000,6,0.000,0.043,2853,2111,1043
$GC,11874,1.60,449.7,504.4,13.2,571,11879,0.00,2.70,0.00,0.000,4,0.000,0.074,2853,690,1043
$GC,11908,1.60,449.7,499.2,14.6,572,11914,0.00,2.50,0.00,0.000,6,0.000,0.042,2853,2104,1044
$GC,12223,1.60,449.7,453.5,15.5,588,12227,0.00,2.65,0.00,0.000,4,0.000,0.073,2852,692,1044
$GC,12272,1.60,449.7,444.9,16.6,590,12277,0.00,2.47,0.00,0.000,6,0.000,0.041,2853,2100,1044
$GC,12588,1.60,449.7,394.9,17.1,605,12593,0.00,2.67,0.00,0.000,4,0.000,0.072,2853,688,1045
$GC,12632,1.60,449.7,386.7,17.1,607,12637,0.00,2.47,0.00,0.000,6,0.000,0.040,2853,2108,1044
$GC,12954,1.60,449.7,333.8,16.2,623,12958,0.00,2.67,0.00,0.000,4,0.000,0.071,2853,691,1045
$GC,12993,1.60,449.7,327.0,16.3,625,12997,0.00,2.47,0.00,0.000,6,0.000,0.040,2853,2105,1045
$GC,13320,1.60,449.7,277.4,12.7,641,13324,0.00,2.65,0.00,0.000,4,0.000,0.071,2853,690,1045
$GC,13369,1.60,449.7,270.2,13.3,643,13374,0.00,2.47,0.00,0.000,6,0.000,0.039,2853,2105,1045
$GC,13685,1.60,449.7,226.1,13.4,658,13689,0.00,2.65,0.00,0.000,4,0.000,0.068,2853,688,1045
$GC,13717,1.60,449.7,219.9,17.8,659,13723,0.00,2.47,0.00,0.000,6,0.000,0.040,2853,2102,1046
$GC,14033,1.60,449.7,172.2,14.4,675,14037,0.00,2.65,0.00,0.000,4,0.000,0.070,2853,686,1046
$GC,14082,1.60,449.7,164.6,15.0,677,14086,0.00,2.47,0.00,0.000,6,0.000,0.040,2853,2100,1046
$GC,14403,1.60,449.7,120.2,12.9,693,14408,0.00,2.65,0.00,0.000,4,0.000,0.068,2853,686,1046
$GC,14448,1.60,449.7,113.4,13.0,695,14452,0.00,2.47,0.00,0.000,6,0.000,0.040,2853,2101,1046
$GC,14769,1.60,449.7,69.7,16.2,711,14773,0.00,2.50,0.00,0.000,4,0.000,0.046,2853,3495,1046
$GC,14790,1.60,449.7,66.1,16.1,712,14795,0.00,2.50,0.00,0.000,6,0.000,0.041,2853,2095,1046
$GC,15112,1.60,449.7,22.2,13.6,728,15116,0.00,2.60,0.00,0.000,4,0.000,0.067,2852,692,1046
$GC,15184,1.60,449.7,11.4,14.7,731,15188,0.00,2.45,0.00,0.000,6,0.000,0.038,2853,2102,1047
$STATE,15250,end climb,SURFACE_DEPTH_REACHED
$STATE,15250,begin surface coast
$FINISH,1.4,1.027399
$STATE,15273,end surface coast,CONTROL_FINISHED_OK
$STATE,15273,begin surface
$SM_CCo,15357,0.00,0.000,0,0,1045,449.63
$SM_GC,1.84,12.23,0.00,0.00,0.033,0.000,0.000,31,1885,1045,-11.27,-0.40,449.63
$IRIDIUM_FIX,6148.92,-801.93,270497,121218
$TT8_MAMPS,0.026845
$HUMID,2063
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,16.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,23.1,75.550
$10V_AH,10.1,36.529
$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,26.500,204.150,510.975,0.000,0.000,114.723,250.136,164.657,8.000,0.000,0.000,31.041,1413.720,11463.983,649.165,1802.968,862.293,33.368,1623.619,0.000,1739.776,0.000,47.857
$DEVICE_MAMPS,133.458,81.302,1358.357,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,540.941,493.746,425.115,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37941,735
$CFSIZE,260165632,235577344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,010208,171538,6214.719,-1045.802,52,1.0,52,-10.5