version: 66.02
glider: 102
mission: 4
dive: 389
start: 2 3 108 1 45 35
data:
$ID,102
$MISSION,4
$DIVE,389
$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,-86221.336
$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,33
$R_STBD_OVSHOOT,30
$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
$GPS1,013738,6213.026,-1019.301,29,1.4,29,-10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-61.4
$GPS2,014351,6213.118,-1019.365,14,1.4,14,-10.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,CE
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.235,-0.037
$KALMAN_X,560446.2,-243.8,180.3,-656850.4,351.9
$KALMAN_Y,90036.1,1599.5,1339.6,-19006.0,-2146.6
$MHEAD_RNG_PITCHd_Wd,109.2,29569,-14.7,-8.000
$D_GRID,790
$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,24,-1.23,-146.6,0.0,0.0,0,106,0.00,0.00,-80.85,0.000,2,0.000,0.000,29,1883,3274
$GC,110,-1.23,-146.6,5.1,-5.1,4,132,11.65,2.62,-4.50,0.000,4,0.140,0.082,2222,502,3476
$GC,234,-1.23,-146.6,26.6,-10.1,9,238,0.00,2.47,0.00,0.000,6,0.000,0.039,2222,1911,3477
$GC,549,-1.23,-146.6,60.3,-11.6,24,554,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3295,3477
$GC,605,-1.23,-146.6,67.6,-12.5,26,611,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1908,3477
$GC,921,-1.23,-146.6,103.0,-11.2,42,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1908,3476
$GC,1231,-1.23,-146.6,139.4,-11.1,57,1236,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3303,3477
$GC,1265,-1.23,-146.6,142.7,-8.7,58,1271,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1894,3477
$GC,1580,-1.23,-146.6,173.2,-10.8,74,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1894,3476
$GC,1889,-1.23,-146.6,205.4,-9.9,89,1894,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3304,3477
$GC,1946,-1.23,-146.6,211.0,-9.9,91,1952,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1892,3476
$GC,2262,-1.23,-146.6,242.6,-9.9,107,2266,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3304,3476
$GC,2294,-1.23,-146.6,245.8,-9.6,108,2300,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1896,3477
$GC,2611,-1.23,-146.6,276.1,-9.0,124,2615,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3298,3476
$GC,2638,-1.23,-146.6,278.7,-8.6,125,2643,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3476
$GC,2954,-1.23,-146.6,310.3,-9.5,140,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3476
$GC,3263,-1.23,-146.6,339.5,-9.3,155,3267,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3299,3477
$GC,3290,-1.23,-146.6,342.1,-9.5,156,3294,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1895,3476
$GC,3606,-1.23,-146.6,372.0,-9.6,171,3610,0.00,2.55,0.00,0.000,4,0.000,0.049,2222,3305,3477
$GC,3633,-1.23,-146.6,374.9,-9.6,172,3638,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3476
$GC,3954,-1.23,-146.6,406.0,-9.5,188,3958,0.00,2.53,0.00,0.000,4,0.000,0.049,2222,3298,3477
$GC,3993,-1.23,-146.6,409.9,-9.9,190,3997,0.00,2.53,0.00,0.000,6,0.000,0.046,2222,1897,3477
$GC,4320,-1.23,-146.6,441.5,-9.5,206,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3476
$GC,4629,-1.23,-146.6,472.0,-9.6,221,4634,0.00,2.53,0.00,0.000,4,0.000,0.050,2222,3298,3476
$GC,4686,-1.23,-146.6,477.3,-8.9,223,4692,0.00,2.50,0.00,0.000,6,0.000,0.045,2222,1900,3476
$GC,5002,-1.23,-146.6,507.3,-9.5,239,5006,0.00,2.53,0.00,0.000,4,0.000,0.050,2222,3298,3477
$GC,5051,-1.23,-146.6,512.0,-9.4,241,5056,0.00,2.50,0.00,0.000,6,0.000,0.046,2222,1901,3477
$GC,5367,-1.23,-146.6,541.1,-9.3,256,5371,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3302,3477
$GC,5394,-1.23,-146.6,543.7,-9.5,257,5398,0.00,2.53,0.00,0.000,6,0.000,0.047,2222,1900,3477
$GC,5710,-1.23,-146.6,573.0,-9.4,272,5714,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3303,3476
$GC,5742,-1.23,-146.6,576.3,-9.7,273,5748,0.00,2.53,0.00,0.000,6,0.000,0.047,2222,1901,3476
$GC,6058,-1.23,-146.6,605.9,-9.4,289,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3476
$GC,6368,-1.23,-146.6,635.4,-9.5,304,6372,0.00,2.55,0.00,0.000,4,0.000,0.054,2222,3298,3476
$GC,6400,-1.23,-146.6,638.6,-10.8,305,6407,0.00,2.50,0.00,0.000,6,0.000,0.047,2222,1904,3476
$GC,6716,-1.23,-146.6,669.9,-10.3,321,6721,0.00,2.55,0.00,0.000,4,0.000,0.054,2222,3298,3476
$GC,6828,-1.23,-146.6,681.6,-10.9,326,6833,0.00,2.53,0.00,0.000,6,0.000,0.048,2221,1897,3476
$GC,7149,-1.23,-146.6,713.8,-9.9,342,7154,0.00,2.62,0.00,0.000,4,0.000,0.075,2222,497,3476
$GC,7216,-1.23,-146.6,721.0,-11.0,345,7220,0.00,2.47,0.00,0.000,6,0.000,0.044,2222,1906,3476
$GC,7537,-1.23,-146.6,751.8,-9.4,361,7542,0.00,2.55,0.00,0.000,4,0.000,0.057,2222,3302,3476
$GC,7627,-1.23,-146.6,760.1,-9.1,365,7631,0.00,2.55,0.00,0.000,6,0.000,0.052,2222,1904,3476
$GC,7949,-1.23,-146.6,784.9,-6.2,381,7953,0.00,2.58,0.00,0.000,4,0.000,0.058,2222,3302,3476
$STATE,8008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8008,begin apogee
$GC,8017,-0.36,0.0,790.2,8.5,384,8152,0.93,0.00,126.93,1.307,6,0.087,0.000,2415,2096,2878
$STATE,8152,end apogee,CONTROL_FINISHED_OK
$STATE,8152,begin climb
$GC,8155,1.23,146.6,791.9,0.0,391,8288,1.58,2.72,124.82,1.275,4,0.058,0.074,2762,694,2279
$GC,8380,1.23,146.6,778.1,12.7,401,8386,0.00,2.55,0.00,0.000,6,0.000,0.049,2762,2100,2280
$GC,8696,1.23,146.6,752.4,8.5,417,8700,0.00,2.62,0.00,0.000,4,0.000,0.065,2762,3504,2279
$GC,8942,1.30,201.9,735.1,5.9,428,8999,0.00,2.60,47.12,1.289,6,0.000,0.055,2762,2098,2054
$GC,9311,1.31,212.8,708.5,7.6,446,9326,0.00,2.67,10.20,1.283,4,0.000,0.059,2762,3501,2010
$GC,9354,1.31,212.8,704.6,8.9,447,9359,0.00,2.58,0.00,0.000,6,0.000,0.051,2762,2103,2009
$GC,9675,1.31,212.8,677.0,9.6,463,9679,0.00,2.67,0.00,0.000,4,0.000,0.076,2763,686,2009
$GC,9702,1.31,212.8,674.1,10.5,464,9706,0.00,2.55,0.00,0.000,6,0.000,0.046,2762,2104,2009
$GC,10017,1.31,212.8,644.2,9.4,479,10021,0.00,2.58,0.00,0.000,4,0.000,0.058,2762,3502,2009
$GC,10124,1.31,212.8,633.7,10.2,484,10128,0.00,2.55,0.00,0.000,6,0.000,0.049,2762,2097,2009
$GC,10450,1.31,212.8,603.9,9.3,500,10454,0.00,2.58,0.00,0.000,4,0.000,0.055,2762,3502,2009
$GC,10499,1.31,212.8,598.8,10.4,502,10504,0.00,2.53,0.00,0.000,6,0.000,0.047,2762,2100,2009
$GC,10815,1.31,212.8,567.4,10.5,517,10817,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2100,2009
$GC,11124,1.31,212.8,536.5,9.6,532,11129,0.00,2.60,0.00,0.000,4,0.000,0.054,2762,3508,2009
$GC,11157,1.31,212.8,532.9,9.8,533,11163,0.00,2.53,0.00,0.000,6,0.000,0.044,2762,2099,2009
$GC,11473,1.31,212.8,503.8,9.0,549,11477,0.00,2.58,0.00,0.000,4,0.000,0.053,2762,3508,2009
$GC,11513,1.31,212.8,499.9,10.0,551,11517,0.00,2.53,0.00,0.000,6,0.000,0.044,2762,2099,2009
$GC,11839,1.31,212.8,471.0,8.4,567,11843,0.00,2.58,0.00,0.000,4,0.000,0.052,2762,3504,2009
$GC,11905,1.31,212.8,465.0,9.4,570,11909,0.00,2.53,0.00,0.000,6,0.000,0.044,2762,2098,2009
$GC,12226,1.31,212.8,436.7,9.2,586,12231,0.00,2.58,0.00,0.000,4,0.000,0.051,2762,3503,2010
$GC,12266,1.31,212.8,432.7,9.6,588,12271,0.00,2.53,0.00,0.000,6,0.000,0.044,2762,2092,2010
$GC,12592,1.31,212.8,403.8,8.9,604,12596,0.00,2.55,0.00,0.000,4,0.000,0.052,2762,3504,2010
$GC,12636,1.31,212.8,399.7,9.7,606,12640,0.00,2.53,0.00,0.000,6,0.000,0.042,2762,2092,2010
$GC,12956,1.31,212.8,369.3,9.9,622,12961,0.00,2.55,0.00,0.000,4,0.000,0.052,2762,3504,2011
$GC,12984,1.31,212.8,366.5,10.1,623,12988,0.00,2.53,0.00,0.000,6,0.000,0.042,2763,2093,2011
$GC,13300,1.31,212.8,335.8,9.6,638,13304,0.00,2.58,0.00,0.000,4,0.000,0.051,2762,3508,2011
$GC,13343,1.31,212.8,331.4,8.7,640,13348,0.00,2.50,0.00,0.000,6,0.000,0.041,2762,2098,2011
$GC,13665,1.31,212.8,303.1,8.7,656,13669,0.00,2.55,0.00,0.000,4,0.000,0.051,2762,3504,2011
$GC,13705,1.31,212.8,299.5,9.7,658,13709,0.00,2.53,0.00,0.000,6,0.000,0.042,2762,2090,2011
$GC,14031,1.31,212.8,271.1,8.4,674,14035,0.00,2.58,0.00,0.000,4,0.000,0.051,2762,3504,2011
$GC,14097,1.31,212.8,265.1,8.6,677,14101,0.00,2.47,0.00,0.000,6,0.000,0.041,2763,2100,2011
$GC,14418,1.31,216.3,239.7,7.9,693,14427,0.00,2.55,4.22,0.982,4,0.000,0.051,2763,3504,1996
$GC,14462,1.31,216.3,236.0,8.0,695,14467,0.00,2.53,0.00,0.000,6,0.000,0.041,2762,2097,1996
$GC,14790,1.32,219.4,210.2,7.9,711,14799,0.00,2.58,3.90,0.965,4,0.000,0.051,2763,3505,1983
$GC,14862,1.32,219.4,203.7,8.4,714,14866,0.00,2.53,0.00,0.000,6,0.000,0.041,2763,2094,1983
$GC,15183,1.32,219.4,176.2,9.0,730,15187,0.00,2.58,0.00,0.000,4,0.000,0.051,2762,3506,1983
$GC,15227,1.32,219.4,172.0,9.3,732,15232,0.00,2.50,0.00,0.000,6,0.000,0.040,2762,2096,1983
$GC,15549,1.32,219.4,143.3,9.1,748,15553,0.00,2.58,0.00,0.000,4,0.000,0.050,2762,3508,1983
$GC,15598,1.32,219.4,138.5,9.0,750,15602,0.00,2.50,0.00,0.000,6,0.000,0.040,2762,2095,1983
$GC,15914,1.32,219.4,110.9,8.5,765,15919,0.00,2.58,0.00,0.000,4,0.000,0.050,2762,3510,1983
$GC,15970,1.32,219.4,106.2,8.3,767,15976,0.00,2.50,0.00,0.000,6,0.000,0.039,2762,2090,1983
$GC,16286,1.32,219.4,79.4,9.0,783,16290,0.00,2.58,0.00,0.000,4,0.000,0.064,2762,693,1983
$GC,16307,1.32,219.4,77.4,9.3,784,16312,0.00,2.47,0.00,0.000,6,0.000,0.038,2762,2112,1983
$GC,16629,1.37,261.7,51.6,6.4,800,16672,0.12,2.60,33.72,0.859,4,0.054,0.049,2799,3494,1811
$GC,16728,1.37,261.7,41.1,12.5,804,16733,0.00,2.50,0.00,0.000,6,0.000,0.040,2799,2102,1811
$GC,17045,1.37,261.7,9.6,12.7,819,17049,0.00,2.53,0.00,0.000,4,0.000,0.048,2799,3494,1811
$STATE,17097,end climb,SURFACE_DEPTH_REACHED
$STATE,17097,begin surface coast
$FINISH,0.8,1.027404
$STATE,17105,end surface coast,CONTROL_FINISHED_OK
$STATE,17105,begin surface
$SM_CCo,17131,35.17,0.808,4,0,1653,300.00
$SM_GC,1.74,0.00,0.00,35.17,0.000,0.000,0.808,33,1890,1653,-11.33,-0.25,300.00
$IRIDIUM_FIX,6148.92,-1020.76,280497,202048
$TT8_MAMPS,0.026845
$HUMID,2043
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,17.7,999.0
$24V_AH,23.1,76.734
$10V_AH,10.1,37.146
$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,26.325,208.800,350.925,35.175,0.000,39.903,35.033,169.046,7.000,0.000,0.000,16.097,1567.296,12929.506,583.602,1940.571,590.477,33.371,1593.164,0.000,1889.116,0.000,44.636
$DEVICE_MAMPS,140.361,82.069,1306.968,807.651,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,603.008,554.287,473.079,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41101,822
$CFSIZE,260165632,235085824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,4,0
$GPS,030208,063307,6216.126,-1014.762,26,1.7,26,-10.2