version: 66.02
glider: 102
mission: 4
dive: 393
start: 2 3 108 21 16 9
data:
$ID,102
$MISSION,4
$DIVE,393
$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,558.0575
$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,-86299.773
$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,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
$GPS1,205525,6217.506,-1002.148,55,0.9,55,-10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-54.9
$GPS2,211427,6217.408,-1002.134,13,2.0,13,-10.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,CE
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.037,-0.235
$KALMAN_X,566094.5,1222.0,470.1,-649031.2,-396.9
$KALMAN_Y,115549.2,-845.5,-398.2,-32292.4,6386.5
$MHEAD_RNG_PITCHd_Wd,199.0,25274,-14.7,-8.000
$D_GRID,705
$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,-80.72,0.000,2,0.000,0.000,28,1894,3250
$GC,110,-1.23,-146.6,4.6,-4.2,4,133,11.68,2.65,-5.10,0.000,4,0.142,0.079,2221,496,3477
$GC,179,-1.23,-146.6,20.6,-11.8,7,184,0.00,2.50,0.00,0.000,6,0.000,0.039,2221,1921,3478
$GC,506,-1.23,-146.6,51.4,-8.2,23,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1922,3478
$GC,816,-1.23,-146.6,77.9,-9.2,38,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1922,3478
$GC,1124,-1.23,-146.6,113.2,-14.7,53,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1922,3478
$GC,1433,-1.23,-146.6,149.3,-12.9,68,1438,0.00,2.47,0.00,0.000,4,0.000,0.048,2221,3294,3478
$GC,1495,-1.23,-146.6,156.9,-12.1,70,1501,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1901,3478
$GC,1811,-1.23,-146.6,187.4,-10.0,86,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3478
$GC,2120,-1.23,-146.6,224.3,-11.6,101,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1901,3478
$GC,2430,-1.23,-146.6,270.3,-13.2,116,2434,0.00,2.53,0.00,0.000,4,0.000,0.046,2221,3300,3478
$GC,2502,-1.23,-146.6,278.5,-10.9,119,2506,0.00,2.53,0.00,0.000,6,0.000,0.044,2220,1897,3478
$GC,2817,-1.23,-146.6,311.6,-11.0,134,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1897,3478
$GC,3127,-1.23,-146.6,343.0,-9.9,149,3131,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3298,3478
$GC,3166,-1.23,-146.6,346.9,-9.7,151,3171,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1894,3478
$GC,3493,-1.23,-146.6,378.3,-9.6,167,3497,0.00,2.55,0.00,0.000,4,0.000,0.048,2221,3303,3478
$GC,3522,-1.23,-146.6,380.9,-9.5,168,3526,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1895,3478
$GC,3837,-1.23,-146.6,409.1,-9.5,183,3841,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3297,3478
$GC,3892,-1.23,-146.6,415.0,-11.2,185,3898,0.00,2.53,0.00,0.000,6,0.000,0.045,2221,1894,3478
$GC,4208,-1.23,-146.6,447.6,-10.0,201,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1894,3478
$GC,4517,-1.23,-146.6,483.2,-12.0,216,4522,0.00,2.55,0.00,0.000,4,0.000,0.049,2221,3295,3478
$GC,4567,-1.23,-146.6,489.4,-11.9,218,4572,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1899,3478
$GC,4883,-1.23,-146.6,524.5,-10.7,233,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3478
$GC,5192,-1.23,-146.6,556.5,-10.5,248,5196,0.00,2.55,0.00,0.000,4,0.000,0.051,2221,3302,3478
$GC,5236,-1.23,-146.6,561.3,-10.2,250,5240,0.00,2.53,0.00,0.000,6,0.000,0.046,2221,1901,3478
$GC,5557,-1.23,-146.6,591.9,-9.1,266,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3478
$GC,5866,-1.23,-146.6,621.5,-9.1,281,5870,0.00,2.55,0.00,0.000,4,0.000,0.053,2221,3302,3478
$GC,5951,-1.23,-146.6,630.1,-10.7,285,5955,0.00,2.55,0.00,0.000,6,0.000,0.048,2221,1893,3478
$GC,6278,-1.23,-146.6,662.5,-10.1,301,6282,0.00,2.55,0.00,0.000,4,0.000,0.055,2220,3294,3477
$GC,6362,-1.23,-146.6,670.9,-10.8,305,6366,0.00,2.53,0.00,0.000,6,0.000,0.048,2221,1901,3478
$GC,6689,-1.23,-146.6,698.9,-8.2,321,6693,0.00,2.58,0.00,0.000,4,0.000,0.057,2221,3299,3478
$STATE,6752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6753,begin apogee
$GC,6761,-0.36,0.0,705.1,9.7,324,6890,0.90,0.00,125.55,1.256,6,0.084,0.000,2413,2102,2878
$STATE,6891,end apogee,CONTROL_FINISHED_OK
$STATE,6891,begin climb
$GC,6894,1.23,146.6,709.5,0.0,330,7025,1.58,2.65,122.88,1.225,4,0.053,0.061,2763,3491,2280
$GC,7053,1.28,185.8,705.8,6.5,337,7093,0.00,2.58,33.83,1.213,6,0.000,0.048,2763,2095,2120
$GC,7410,1.30,200.9,679.3,7.4,355,7432,0.00,2.67,13.40,1.213,4,0.000,0.059,2763,3488,2058
$GC,7550,1.31,215.4,668.8,7.4,361,7570,0.00,2.55,13.12,1.224,6,0.000,0.050,2763,2103,1998
$GC,7898,1.31,215.4,641.2,9.1,378,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2103,1997
$GC,8207,1.31,215.4,612.6,8.9,393,8211,0.00,2.58,0.00,0.000,4,0.000,0.056,2763,3495,1996
$GC,8337,1.34,233.7,602.2,7.3,399,8359,0.10,2.53,15.43,1.242,6,0.061,0.045,2792,2094,1925
$GC,8667,1.34,233.7,575.6,8.3,415,8672,0.00,2.58,0.00,0.000,4,0.000,0.054,2792,3493,1924
$GC,8752,1.34,233.7,567.7,9.4,419,8757,0.00,2.55,0.00,0.000,6,0.000,0.046,2792,2094,1925
$GC,9079,1.34,233.7,536.7,10.3,435,9083,0.00,2.55,0.00,0.000,4,0.000,0.054,2792,3493,1925
$GC,9133,1.34,233.7,530.4,10.5,437,9139,0.00,2.53,0.00,0.000,6,0.000,0.045,2792,2098,1925
$GC,9449,1.34,233.7,495.3,11.5,453,9453,0.00,2.53,0.00,0.000,4,0.000,0.052,2792,3492,1925
$GC,9488,1.34,233.7,490.6,13.1,455,9493,0.00,2.53,0.00,0.000,6,0.000,0.044,2792,2091,1924
$GC,9815,1.34,233.7,451.6,11.3,471,9819,0.00,2.58,0.00,0.000,4,0.000,0.051,2792,3499,1925
$GC,9892,1.34,233.7,442.9,11.4,474,9898,0.00,2.53,0.00,0.000,6,0.000,0.044,2792,2096,1925
$GC,10208,1.34,233.7,411.2,9.6,490,10212,0.00,2.55,0.00,0.000,4,0.000,0.051,2792,3493,1925
$GC,10270,1.34,233.7,405.0,9.5,493,10275,0.00,2.50,0.00,0.000,6,0.000,0.043,2792,2098,1925
$GC,10597,1.34,233.7,375.2,9.4,509,10601,0.00,2.55,0.00,0.000,4,0.000,0.051,2792,3494,1925
$GC,10720,1.34,233.7,362.0,10.8,514,10726,0.00,2.50,0.00,0.000,6,0.000,0.041,2792,2097,1925
$GC,11035,1.34,233.7,329.3,9.2,530,11039,0.00,2.53,0.00,0.000,4,0.000,0.051,2792,3494,1925
$GC,11142,1.34,233.7,319.1,10.1,535,11146,0.00,2.50,0.00,0.000,6,0.000,0.041,2792,2096,1925
$GC,11468,1.34,233.7,289.2,8.3,551,11473,0.00,2.55,0.00,0.000,4,0.000,0.050,2792,3497,1925
$GC,11546,1.34,233.7,281.9,9.4,554,11552,0.00,2.50,0.00,0.000,6,0.000,0.041,2792,2096,1926
$GC,11862,1.34,233.7,251.7,10.0,570,11867,0.00,2.55,0.00,0.000,4,0.000,0.049,2792,3499,1926
$GC,11952,1.34,233.7,243.2,9.1,574,11956,0.00,2.50,0.00,0.000,6,0.000,0.041,2792,2094,1926
$GC,12272,1.35,242.3,215.9,7.7,590,12286,0.00,2.60,8.18,0.994,4,0.000,0.050,2792,3491,1889
$GC,12322,1.38,268.2,212.2,7.0,592,12350,0.00,2.50,21.55,0.974,6,0.000,0.041,2792,2097,1784
$GC,12667,1.38,268.2,182.2,9.7,609,12672,0.00,2.55,0.00,0.000,4,0.000,0.048,2792,3494,1784
$GC,12734,1.38,268.2,176.0,8.9,612,12739,0.00,2.50,0.00,0.000,6,0.000,0.041,2792,2095,1784
$GC,13056,1.38,268.2,146.9,9.9,628,13060,0.00,2.55,0.00,0.000,4,0.000,0.049,2792,3496,1784
$GC,13100,1.38,268.2,142.2,10.7,630,13104,0.00,2.47,0.00,0.000,6,0.000,0.041,2792,2098,1784
$GC,13421,1.38,268.2,109.6,10.1,646,13422,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2098,1784
$GC,13730,1.38,268.2,78.8,10.2,661,13734,0.00,2.53,0.00,0.000,4,0.000,0.048,2792,3494,1784
$GC,13785,1.38,268.2,72.4,11.1,663,13791,0.00,2.50,0.00,0.000,6,0.000,0.040,2792,2093,1784
$GC,14101,1.38,268.2,39.5,10.7,679,14105,0.00,2.55,0.00,0.000,4,0.000,0.049,2791,3498,1784
$GC,14145,1.38,268.2,34.3,11.9,681,14149,0.00,2.50,0.00,0.000,6,0.000,0.040,2792,2097,1784
$STATE,14442,end climb,SURFACE_DEPTH_REACHED
$STATE,14443,begin surface coast
$FINISH,0.8,1.027390
$STATE,14464,end surface coast,CONTROL_FINISHED_OK
$STATE,14465,begin surface
$SM_CCo,14488,164.35,0.775,5,0,602,558.06
$SM_GC,1.18,0.00,0.00,164.35,0.000,0.000,0.775,28,1886,602,-11.34,-0.40,558.06
$IRIDIUM_FIX,6153.50,-959.68,290497,212116
$TT8_MAMPS,0.026845
$HUMID,2015
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.50
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,23.1,77.440
$10V_AH,10.1,37.476
$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,26.100,142.150,353.925,164.350,0.000,188.712,277.432,286.740,7.250,0.000,0.000,14.629,1318.109,11167.747,670.535,1646.991,1067.466,33.375,1518.435,0.000,1609.934,0.000,39.782
$DEVICE_MAMPS,141.895,79.001,1256.346,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,513.752,469.414,430.228,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34825,697
$CFSIZE,260165632,234864640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,5,0
$GPS,040208,012201,6214.029,-958.955,35,1.0,35,-10.0