version: 66.02
glider: 102
mission: 4
dive: 394
start: 2 4 108 1 38 29
data:
$ID,102
$MISSION,4
$DIVE,394
$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,-86315.922
$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,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
$GPS1,012201,6214.029,-958.955,35,1.0,35,-10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-52.3
$GPS2,013645,6213.906,-959.061,14,1.9,14,-10.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,CE
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.096,-0.217
$KALMAN_X,570306.1,154.4,720.5,-649733.1,592.4
$KALMAN_Y,115258.4,-1917.4,-1470.9,-36309.7,6290.5
$MHEAD_RNG_PITCHd_Wd,213.8,18269,-14.7,-8.000
$D_GRID,723
$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,-146.6,0.0,0.0,0,166,0.00,0.00,-140.43,0.000,2,0.000,0.000,28,1886,3344
$GC,170,-1.23,-146.6,5.1,-4.3,7,193,11.70,2.62,-2.78,0.000,4,0.141,0.082,2220,503,3479
$GC,232,-1.23,-146.6,20.8,-12.2,9,238,0.00,2.45,0.00,0.000,6,0.000,0.040,2220,1910,3479
$GC,548,-1.23,-146.6,51.0,-10.0,25,552,0.00,2.50,0.00,0.000,4,0.000,0.048,2220,3296,3479
$GC,597,-1.23,-146.6,56.0,-9.7,27,602,0.00,2.47,0.00,0.000,6,0.000,0.043,2219,1907,3479
$GC,913,-1.23,-146.6,82.8,-8.6,42,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1907,3479
$GC,1222,-1.23,-146.6,113.6,-9.4,57,1227,0.00,2.50,0.00,0.000,4,0.000,0.047,2220,3297,3479
$GC,1263,-1.23,-146.6,117.7,-10.1,59,1267,0.00,2.53,0.00,0.000,6,0.000,0.043,2220,1891,3479
$GC,1589,-1.23,-146.6,148.1,-9.0,75,1594,0.00,2.53,0.00,0.000,4,0.000,0.046,2220,3297,3479
$GC,1632,-1.23,-146.6,150.5,-6.2,77,1636,0.00,2.50,0.00,0.000,6,0.000,0.043,2220,1897,3478
$GC,1958,-1.23,-146.6,174.1,-7.2,93,1963,0.00,2.53,0.00,0.000,4,0.000,0.046,2220,3302,3478
$GC,2003,-1.23,-146.6,177.4,-7.7,95,2007,0.00,2.50,0.00,0.000,6,0.000,0.043,2220,1902,3478
$GC,2324,-1.23,-146.6,207.7,-9.5,111,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1902,3479
$GC,2633,-1.23,-146.6,237.7,-9.4,126,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1901,3479
$GC,2943,-1.23,-146.6,268.2,-10.5,141,2947,0.00,2.53,0.00,0.000,4,0.000,0.047,2220,3302,3478
$GC,2998,-1.23,-146.6,273.9,-9.7,143,3004,0.00,2.50,0.00,0.000,6,0.000,0.042,2220,1899,3479
$GC,3314,-1.23,-146.6,305.4,-9.9,159,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1899,3479
$GC,3622,-1.23,-146.6,335.7,-10.0,174,3627,0.00,2.53,0.00,0.000,4,0.000,0.048,2220,3298,3479
$GC,3695,-1.23,-146.6,343.2,-10.4,177,3699,0.00,2.50,0.00,0.000,6,0.000,0.044,2220,1899,3479
$GC,4011,-1.23,-146.6,374.6,-10.0,192,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1899,3478
$GC,4319,-1.23,-146.6,406.3,-10.1,207,4324,0.00,2.53,0.00,0.000,4,0.000,0.048,2220,3297,3478
$GC,4397,-1.23,-146.6,414.3,-10.4,210,4404,0.00,2.50,0.00,0.000,6,0.000,0.044,2219,1899,3478
$GC,4714,-1.23,-146.6,446.7,-10.3,226,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1899,3478
$GC,5023,-1.23,-146.6,477.9,-9.8,241,5027,0.00,2.53,0.00,0.000,4,0.000,0.048,2220,3296,3478
$GC,5084,-1.23,-146.6,484.0,-9.6,243,5090,0.00,2.50,0.00,0.000,6,0.000,0.044,2220,1899,3479
$GC,5400,-1.23,-146.6,515.1,-10.3,259,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1899,3479
$GC,5709,-1.23,-146.6,546.3,-9.9,274,5713,0.00,2.53,0.00,0.000,4,0.000,0.051,2220,3294,3478
$GC,5753,-1.23,-146.6,550.8,-9.5,276,5757,0.00,2.50,0.00,0.000,6,0.000,0.045,2220,1901,3478
$GC,6074,-1.23,-146.6,581.9,-9.9,292,6078,0.00,2.53,0.00,0.000,4,0.000,0.051,2220,3294,3478
$GC,6135,-1.23,-146.6,588.4,-10.2,295,6140,0.00,2.53,0.00,0.000,6,0.000,0.046,2220,1893,3478
$GC,6463,-1.23,-146.6,622.6,-10.5,311,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1893,3478
$GC,6772,-1.23,-146.6,656.7,-11.3,326,6776,0.00,2.55,0.00,0.000,4,0.000,0.054,2220,3294,3477
$GC,6860,-1.23,-146.6,666.9,-10.7,330,6865,0.00,2.53,0.00,0.000,6,0.000,0.048,2220,1897,3478
$GC,7182,-1.23,-146.6,696.9,-8.9,346,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1897,3478
$GC,7491,-1.23,-146.6,722.3,-8.3,361,7496,0.00,2.65,0.00,0.000,4,0.000,0.077,2220,489,3478
$STATE,7500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7500,begin apogee
$GC,7509,-0.36,0.0,723.3,8.5,361,7639,0.90,0.00,125.90,1.259,6,0.084,0.000,2412,2092,2878
$STATE,7639,end apogee,CONTROL_FINISHED_OK
$STATE,7639,begin climb
$GC,7643,1.23,146.6,728.7,0.0,368,7775,1.58,2.70,123.90,1.228,4,0.053,0.061,2762,3501,2280
$GC,7848,1.27,183.5,721.6,6.6,377,7887,0.00,2.58,31.92,1.220,6,0.000,0.048,2763,2097,2129
$GC,8204,1.32,219.4,696.8,6.6,395,8241,0.00,2.75,30.88,1.233,4,0.000,0.077,2763,690,1982
$GC,8269,1.33,229.6,692.0,7.6,397,8285,0.00,2.58,9.73,1.192,6,0.000,0.047,2762,2105,1941
$GC,8595,1.33,229.6,667.0,8.3,413,8600,0.10,2.70,0.00,0.000,4,0.057,0.074,2795,694,1940
$GC,8612,1.33,229.6,665.3,9.0,414,8616,0.00,2.53,0.00,0.000,6,0.000,0.047,2795,2103,1940
$GC,8938,1.33,229.6,633.5,9.8,430,8942,0.00,2.58,0.00,0.000,4,0.000,0.059,2794,3500,1939
$GC,9004,1.33,229.6,626.8,10.1,433,9009,0.00,2.55,0.00,0.000,6,0.000,0.049,2795,2102,1938
$GC,9325,1.33,229.6,592.7,10.4,449,9330,0.00,2.58,0.00,0.000,4,0.000,0.054,2795,3501,1938
$GC,9387,1.33,229.6,585.8,11.3,452,9392,0.00,2.53,0.00,0.000,6,0.000,0.046,2795,2098,1938
$GC,9714,1.33,229.6,551.6,10.4,468,9718,0.00,2.58,0.00,0.000,4,0.000,0.053,2795,3506,1938
$GC,9814,1.33,229.6,540.8,10.4,472,9820,0.00,2.53,0.00,0.000,6,0.000,0.045,2795,2100,1938
$GC,10129,1.33,229.6,508.9,10.1,488,10134,0.00,2.58,0.00,0.000,4,0.000,0.052,2795,3503,1938
$GC,10174,1.33,229.6,504.1,11.2,490,10178,0.00,2.53,0.00,0.000,6,0.000,0.044,2795,2100,1938
$GC,10495,1.33,229.6,471.4,10.1,506,10499,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3504,1938
$GC,10590,1.33,229.6,460.8,11.1,510,10594,0.00,2.53,0.00,0.000,6,0.000,0.044,2795,2098,1938
$GC,10905,1.33,229.6,428.7,10.5,525,10910,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3502,1938
$GC,10990,1.33,229.6,419.5,11.1,529,10994,0.00,2.50,0.00,0.000,6,0.000,0.043,2795,2100,1938
$GC,11316,1.33,229.6,386.8,9.7,545,11321,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3502,1938
$GC,11372,1.33,229.6,380.8,11.0,547,11378,0.00,2.50,0.00,0.000,6,0.000,0.042,2795,2098,1938
$GC,11687,1.33,229.6,348.6,10.0,563,11692,0.00,2.55,0.00,0.000,4,0.000,0.050,2795,3502,1938
$GC,11744,1.33,229.6,342.9,9.8,565,11750,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2098,1939
$GC,12060,1.33,229.6,312.2,10.1,581,12064,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3504,1939
$GC,12121,1.33,229.6,305.8,9.6,584,12126,0.00,2.53,0.00,0.000,6,0.000,0.041,2795,2094,1939
$GC,12448,1.33,229.6,273.2,9.7,600,12453,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3507,1939
$GC,12504,1.33,229.6,267.6,9.4,602,12511,0.00,2.47,0.00,0.000,6,0.000,0.041,2795,2098,1939
$GC,12819,1.33,229.6,236.8,10.0,618,12824,0.00,2.55,0.00,0.000,4,0.000,0.050,2795,3502,1939
$GC,12870,1.33,229.6,231.7,9.9,620,12874,0.00,2.50,0.00,0.000,6,0.000,0.040,2795,2097,1940
$GC,13185,1.33,229.6,200.2,9.8,635,13189,0.00,2.55,0.00,0.000,4,0.000,0.050,2795,3502,1940
$GC,13251,1.33,229.6,193.2,10.2,638,13256,0.00,2.47,0.00,0.000,6,0.000,0.040,2795,2098,1940
$GC,13573,1.33,229.6,160.7,10.3,654,13577,0.00,2.55,0.00,0.000,4,0.000,0.049,2795,3503,1940
$GC,13629,1.33,229.6,154.7,11.1,656,13635,0.00,2.50,0.00,0.000,6,0.000,0.039,2795,2094,1940
$GC,13947,1.33,229.6,122.5,10.2,672,13951,0.00,2.58,0.00,0.000,4,0.000,0.050,2795,3509,1940
$GC,13996,1.33,229.6,116.6,11.4,674,14001,0.00,2.50,0.00,0.000,6,0.000,0.040,2795,2101,1940
$GC,14314,1.33,229.6,84.1,10.2,689,14318,0.00,2.55,0.00,0.000,4,0.000,0.048,2795,3505,1941
$GC,14357,1.33,229.6,78.8,11.1,691,14362,0.00,2.50,0.00,0.000,6,0.000,0.038,2795,2093,1940
$GC,14680,1.33,229.6,45.6,9.8,707,14684,0.00,2.58,0.00,0.000,4,0.000,0.049,2795,3509,1940
$GC,14735,1.33,229.6,39.4,11.3,709,14741,0.00,2.50,0.00,0.000,6,0.000,0.039,2795,2090,1940
$GC,15051,1.33,229.6,9.9,9.3,725,15056,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3505,1941
$STATE,15121,end climb,SURFACE_DEPTH_REACHED
$STATE,15121,begin surface coast
$FINISH,0.9,1.027402
$STATE,15128,end surface coast,CONTROL_FINISHED_OK
$STATE,15128,begin surface
$SM_CCo,15154,50.42,0.796,4,0,1654,300.00
$SM_GC,1.45,0.00,0.00,50.42,0.000,0.000,0.796,34,1897,1654,-11.32,-0.08,300.00
$IRIDIUM_FIX,6148.92,-1002.62,300497,010107
$TT8_MAMPS,0.026845
$HUMID,2037
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,18.60
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,23.1,77.599
$10V_AH,10.1,37.555
$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,26.175,168.350,322.325,50.425,0.000,107.262,125.070,390.507,6.750,0.000,0.000,15.525,1383.648,11535.100,601.113,1689.591,954.410,33.373,1481.647,0.000,1651.476,0.000,39.768
$DEVICE_MAMPS,141.128,82.069,1259.414,796.146,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,540.146,489.953,447.366,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38033,728
$CFSIZE,260165632,234803200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,4,0
$GPS,040208,055332,6209.623,-957.282,40,1.8,40,-10.0