version: 66.02
glider: 102
mission: 4
dive: 392
start: 2 3 108 16 25 15
data:
$ID,102
$MISSION,4
$DIVE,392
$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,-86284.508
$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,22
$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
$GPS1,161155,6217.641,-1007.807,24,1.2,41,-10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-50.9
$GPS2,162333,6217.709,-1007.949,11,1.1,11,-10.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,CE
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.095,-0.218
$KALMAN_X,563982.6,1172.5,-753.4,-650757.3,2245.6
$KALMAN_Y,111632.3,-305.4,-393.9,-28376.9,7448.1
$MHEAD_RNG_PITCHd_Wd,166.4,28217,-14.7,-8.000
$D_GRID,732
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.23,-146.6,0.0,0.0,0,149,0.00,0.00,-121.30,0.000,2,0.000,0.000,35,1889,2922
$GC,153,-1.23,-146.6,3.2,-2.2,6,188,11.62,2.65,-17.17,0.000,4,0.140,0.079,2222,501,3477
$GC,272,-1.23,-146.6,16.8,-10.5,11,277,0.00,2.50,0.00,0.000,6,0.000,0.039,2222,1919,3477
$GC,588,-1.23,-146.6,49.3,-12.0,26,592,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3299,3477
$GC,638,-1.23,-146.6,54.8,-9.9,28,642,0.00,2.47,0.00,0.000,6,0.000,0.044,2222,1907,3477
$GC,954,-1.23,-146.6,87.5,-9.5,43,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1907,3477
$GC,1263,-1.23,-146.6,120.3,-11.3,58,1267,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3303,3477
$GC,1318,-1.23,-146.6,127.6,-14.1,60,1324,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1895,3477
$GC,1634,-1.23,-146.6,167.6,-12.3,76,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1895,3477
$GC,1943,-1.23,-146.6,198.6,-9.9,91,1947,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3303,3477
$GC,2009,-1.23,-146.6,207.1,-11.9,94,2013,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1895,3477
$GC,2330,-1.23,-146.6,236.2,-8.9,110,2334,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3298,3477
$GC,2379,-1.23,-146.6,240.3,-8.1,112,2383,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1892,3477
$GC,2700,-1.23,-146.6,268.9,-10.4,128,2704,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3299,3477
$GC,2732,-1.23,-146.6,272.7,-10.9,129,2738,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1896,3477
$GC,3048,-1.23,-146.6,308.9,-12.1,145,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1896,3477
$GC,3358,-1.23,-146.6,344.0,-10.9,160,3362,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3304,3477
$GC,3419,-1.23,-146.6,351.0,-10.5,163,3424,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1900,3477
$GC,3746,-1.23,-146.6,385.1,-9.2,179,3750,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3299,3477
$GC,3779,-1.23,-146.6,388.0,-8.6,180,3785,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3477
$GC,4095,-1.23,-146.6,415.2,-8.6,196,4099,0.00,2.53,0.00,0.000,4,0.000,0.049,2222,3298,3477
$GC,4156,-1.23,-146.6,420.8,-9.0,199,4161,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1893,3477
$GC,4483,-1.23,-146.6,448.8,-8.1,215,4488,0.00,2.53,0.00,0.000,4,0.000,0.049,2222,3297,3477
$GC,4523,-1.23,-146.6,451.9,-7.7,217,4528,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1894,3477
$GC,4850,-1.23,-146.6,478.2,-8.7,233,4854,0.00,2.55,0.00,0.000,4,0.000,0.050,2222,3297,3477
$GC,4883,-1.23,-146.6,481.4,-9.5,234,4889,0.00,2.50,0.00,0.000,6,0.000,0.045,2222,1900,3477
$GC,5198,-1.23,-146.6,513.5,-10.7,250,5202,0.00,2.53,0.00,0.000,4,0.000,0.050,2222,3298,3477
$GC,5293,-1.23,-146.6,524.6,-12.4,254,5298,0.00,2.53,0.00,0.000,6,0.000,0.046,2222,1894,3476
$GC,5615,-1.23,-146.6,561.6,-11.0,270,5619,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3296,3476
$GC,5642,-1.23,-146.6,564.6,-10.7,271,5646,0.00,2.53,0.00,0.000,6,0.000,0.047,2222,1896,3476
$GC,5958,-1.23,-146.6,596.5,-10.0,286,5962,0.00,2.55,0.00,0.000,4,0.000,0.053,2222,3295,3477
$GC,6020,-1.23,-146.6,602.3,-9.6,289,6024,0.00,2.53,0.00,0.000,6,0.000,0.047,2222,1899,3477
$GC,6346,-1.23,-146.6,630.1,-8.5,305,6350,0.00,2.55,0.00,0.000,4,0.000,0.054,2222,3297,3476
$GC,6390,-1.23,-146.6,633.7,-7.8,307,6394,0.00,2.53,0.00,0.000,6,0.000,0.048,2221,1896,3476
$GC,6711,-1.23,-146.6,661.5,-8.1,323,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1896,3476
$GC,7020,-1.23,-146.6,685.3,-7.8,338,7025,0.00,2.58,0.00,0.000,4,0.000,0.057,2222,3299,3476
$GC,7138,-1.23,-146.6,694.2,-7.3,343,7143,0.00,2.53,0.00,0.000,6,0.000,0.050,2222,1902,3476
$GC,7454,-1.23,-146.6,720.2,-8.8,358,7458,0.00,2.58,0.00,0.000,4,0.000,0.058,2222,3301,3475
$GC,7656,-1.23,-146.6,730.1,0.2,367,7660,0.00,2.55,0.00,0.000,6,0.000,0.051,2222,1895,3476
$STATE,7891,end dive,NO_VERTICAL_VELOCITY
$STATE,7891,begin apogee
$GC,7898,-0.36,0.0,730.2,0.0,379,8027,0.88,0.00,124.90,1.292,6,0.058,0.000,2419,2095,2877
$STATE,8027,end apogee,CONTROL_FINISHED_OK
$STATE,8027,begin climb
$GC,8030,1.23,146.6,729.9,0.0,385,8162,1.55,2.72,123.70,1.252,4,0.051,0.072,2765,691,2280
$GC,8421,1.23,146.6,708.2,8.3,403,8425,0.00,2.53,0.00,0.000,6,0.000,0.048,2765,2094,2279
$GC,8747,1.28,190.9,687.0,6.3,419,8792,0.00,2.72,37.70,1.263,4,0.000,0.062,2764,3504,2099
$GC,8894,1.28,190.9,674.5,8.4,425,8901,0.00,2.58,0.00,0.000,6,0.000,0.052,2765,2099,2098
$GC,9210,1.31,210.5,652.5,7.3,441,9232,0.00,2.72,17.17,1.256,4,0.000,0.059,2765,3505,2019
$GC,9301,1.31,210.5,644.8,8.8,445,9305,0.00,2.58,0.00,0.000,6,0.000,0.051,2764,2100,2019
$GC,9628,1.31,210.5,616.5,8.9,461,9632,0.00,2.60,0.00,0.000,4,0.000,0.057,2764,3504,2019
$GC,9694,1.31,210.5,610.2,9.1,464,9699,0.00,2.55,0.00,0.000,6,0.000,0.049,2764,2096,2018
$GC,10016,1.32,221.2,585.4,7.6,480,10030,0.00,2.62,9.70,1.220,4,0.000,0.055,2764,3502,1976
$GC,10087,1.32,221.2,579.2,9.4,482,10091,0.00,2.55,0.00,0.000,6,0.000,0.046,2764,2101,1976
$GC,10402,1.32,221.2,553.6,8.1,497,10403,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2101,1976
$GC,10712,1.35,242.5,530.2,7.2,512,10736,0.10,2.65,18.60,1.174,4,0.058,0.053,2796,3507,1889
$GC,10770,1.35,242.5,524.9,9.2,514,10776,0.00,2.58,0.00,0.000,6,0.000,0.044,2796,2100,1889
$GC,11086,1.35,242.5,496.8,8.9,530,11090,0.00,2.60,0.00,0.000,4,0.000,0.053,2796,3508,1889
$GC,11152,1.35,242.5,490.5,9.8,533,11156,0.00,2.55,0.00,0.000,6,0.000,0.044,2796,2092,1889
$GC,11473,1.35,242.5,460.7,9.3,549,11477,0.00,2.58,0.00,0.000,4,0.000,0.052,2796,3505,1889
$GC,11534,1.35,242.5,454.5,10.0,552,11539,0.00,2.53,0.00,0.000,6,0.000,0.044,2796,2100,1889
$GC,11861,1.35,242.5,422.2,10.0,568,11866,0.00,2.58,0.00,0.000,4,0.000,0.051,2796,3505,1889
$GC,11913,1.35,242.5,416.8,10.4,570,11917,0.00,2.53,0.00,0.000,6,0.000,0.044,2796,2098,1889
$GC,12228,1.35,242.5,384.5,10.3,585,12232,0.00,2.58,0.00,0.000,4,0.000,0.051,2796,3507,1889
$GC,12335,1.35,242.5,374.0,9.4,590,12339,0.00,2.53,0.00,0.000,6,0.000,0.043,2796,2100,1889
$GC,12662,1.35,242.5,345.1,8.9,606,12666,0.00,2.55,0.00,0.000,4,0.000,0.051,2796,3504,1890
$GC,12734,1.35,242.5,338.4,9.2,609,12738,0.00,2.53,0.00,0.000,6,0.000,0.042,2796,2094,1890
$GC,13050,1.35,242.5,308.4,9.9,624,13054,0.00,2.58,0.00,0.000,4,0.000,0.051,2796,3504,1890
$GC,13116,1.35,242.5,300.4,12.7,627,13120,0.00,2.53,0.00,0.000,6,0.000,0.041,2796,2096,1890
$GC,13436,1.35,242.5,261.8,11.8,643,13441,0.00,2.58,0.00,0.000,4,0.000,0.050,2796,3508,1891
$GC,13521,1.35,242.5,252.1,11.3,647,13526,0.00,2.50,0.00,0.000,6,0.000,0.041,2796,2098,1891
$GC,13848,1.35,242.5,220.4,9.3,663,13852,0.00,2.55,0.00,0.000,4,0.000,0.050,2796,3504,1891
$GC,13898,1.35,242.5,215.2,10.8,665,13902,0.00,2.50,0.00,0.000,6,0.000,0.041,2796,2100,1891
$GC,14213,1.35,242.5,183.4,10.3,680,14217,0.00,2.55,0.00,0.000,4,0.000,0.049,2796,3505,1891
$GC,14257,1.35,242.5,178.5,11.3,682,14262,0.00,2.50,0.00,0.000,6,0.000,0.040,2796,2099,1891
$GC,14579,1.35,242.5,146.3,9.8,698,14584,0.00,2.55,0.00,0.000,4,0.000,0.050,2796,3504,1891
$GC,14657,1.35,242.5,137.3,11.1,701,14664,0.00,2.47,0.00,0.000,6,0.000,0.041,2796,2098,1892
$GC,14973,1.35,242.5,105.5,9.8,717,14978,0.00,2.55,0.00,0.000,4,0.000,0.049,2796,3505,1892
$GC,15018,1.35,242.5,101.3,8.3,719,15022,0.00,2.47,0.00,0.000,6,0.000,0.039,2796,2098,1892
$GC,15339,1.35,242.5,71.9,9.9,735,15343,0.00,2.55,0.00,0.000,4,0.000,0.049,2796,3504,1892
$GC,15388,1.35,242.5,65.5,14.8,737,15392,0.00,2.50,0.00,0.000,6,0.000,0.040,2796,2099,1892
$GC,15706,1.35,242.5,28.2,11.5,752,15710,0.00,2.55,0.00,0.000,4,0.000,0.048,2796,3507,1892
$GC,15738,1.35,242.5,24.1,11.8,753,15745,0.00,2.50,0.00,0.000,6,0.000,0.039,2796,2098,1892
$STATE,15991,end climb,SURFACE_DEPTH_REACHED
$STATE,15991,begin surface coast
$FINISH,0.9,1.027383
$STATE,16012,end surface coast,CONTROL_FINISHED_OK
$STATE,16012,begin surface
$SM_CCo,16035,50.42,0.806,6,0,1655,300.00
$SM_GC,1.48,0.00,0.00,50.42,0.000,0.000,0.806,30,1895,1655,-11.34,-0.17,300.00
$IRIDIUM_FIX,6153.50,-1008.78,290497,161643
$TT8_MAMPS,0.026845
$HUMID,2063
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.8,999.0
$24V_AH,23.1,77.246
$10V_AH,10.1,37.397
$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,26.100,184.150,331.775,50.425,0.000,76.463,73.199,359.207,6.750,0.000,0.000,12.917,1483.124,12037.337,608.194,1889.316,847.058,33.380,1588.561,0.000,1849.029,0.000,41.403
$DEVICE_MAMPS,139.594,79.001,1292.395,806.117,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,570.202,517.107,454.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38032,767
$CFSIZE,260165632,234909696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,6,0
$GPS,030208,205525,6217.506,-1002.148,55,0.9,55,-10.1