version: 66.02
glider: 102
mission: 4
dive: 395
start: 2 4 108 6 4 55
data:
$ID,102
$MISSION,4
$DIVE,395
$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,-86341.453
$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,20
$R_STBD_OVSHOOT,26
$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
$GPS1,055332,6209.623,-957.282,40,1.8,40,-10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-62.3
$GPS2,060314,6209.571,-957.188,12,1.2,23,-10.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,CE
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.007,-0.238
$KALMAN_X,575402.1,-332.1,-440.7,-651521.5,5963.8
$KALMAN_Y,111628.6,-2744.1,-1296.5,-40044.9,4527.5
$MHEAD_RNG_PITCHd_Wd,188.3,10513,-14.7,-8.000
$D_GRID,757
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.23,-146.6,0.0,0.0,0,93,0.00,0.00,-65.82,0.000,2,0.000,0.000,33,1896,2901
$GC,97,-1.23,-146.6,3.1,-2.5,4,133,11.65,2.58,-18.35,0.000,4,0.141,0.061,2223,3302,3477
$GC,263,-1.23,-146.6,23.4,-12.0,10,270,0.00,2.53,0.00,0.000,6,0.000,0.042,2223,1897,3477
$GC,579,-1.23,-146.6,57.9,-10.4,26,583,0.00,2.55,0.00,0.000,4,0.000,0.046,2223,3308,3477
$GC,641,-1.23,-146.6,64.0,-10.1,29,645,0.00,2.53,0.00,0.000,6,0.000,0.042,2223,1900,3477
$GC,968,-1.23,-146.6,97.8,-10.5,45,972,0.00,2.53,0.00,0.000,4,0.000,0.046,2223,3305,3477
$GC,1008,-1.23,-146.6,102.1,-10.8,47,1012,0.00,2.53,0.00,0.000,6,0.000,0.041,2223,1896,3477
$GC,1334,-1.23,-146.6,136.9,-10.7,63,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1896,3477
$GC,1643,-1.23,-146.6,170.7,-11.4,78,1648,0.00,2.55,0.00,0.000,4,0.000,0.047,2223,3309,3477
$GC,1694,-1.23,-146.6,176.5,-11.2,80,1698,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1898,3477
$GC,2009,-1.23,-146.6,211.6,-11.2,95,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3477
$GC,2318,-1.23,-146.6,244.2,-10.0,110,2323,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3305,3477
$GC,2352,-1.23,-146.6,247.9,-10.5,111,2358,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1902,3477
$GC,2667,-1.23,-146.6,281.4,-11.0,127,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1902,3477
$GC,2976,-1.23,-146.6,316.2,-11.2,142,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1902,3477
$GC,3287,-1.23,-146.6,350.4,-10.7,157,3291,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3312,3477
$GC,3331,-1.23,-146.6,355.3,-10.8,159,3335,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1898,3477
$GC,3657,-1.23,-146.6,389.2,-10.1,175,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3477
$GC,3967,-1.23,-146.6,418.9,-9.3,190,3971,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3307,3477
$GC,4011,-1.23,-146.6,423.1,-9.3,192,4015,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1898,3477
$GC,4331,-1.23,-146.6,451.9,-8.8,208,4336,0.00,2.55,0.00,0.000,4,0.000,0.049,2223,3305,3477
$GC,4359,-1.23,-146.6,454.5,-9.6,209,4363,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1897,3477
$GC,4674,-1.23,-146.6,481.1,-8.4,224,4679,0.00,2.55,0.00,0.000,4,0.000,0.049,2223,3304,3477
$GC,4702,-1.23,-146.6,483.6,-9.0,225,4706,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1895,3477
$GC,5024,-1.23,-146.6,510.8,-8.6,241,5028,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3304,3477
$GC,5051,-1.23,-146.6,513.2,-8.9,242,5055,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1900,3477
$GC,5366,-1.23,-146.6,540.3,-8.9,257,5370,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3309,3477
$GC,5394,-1.23,-146.6,542.9,-9.5,258,5398,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1903,3477
$GC,5709,-1.23,-146.6,572.7,-9.6,273,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1902,3477
$GC,6019,-1.23,-146.6,602.6,-9.8,288,6023,0.00,2.58,0.00,0.000,4,0.000,0.054,2223,3308,3477
$GC,6074,-1.23,-146.6,608.1,-9.5,290,6080,0.00,2.55,0.00,0.000,6,0.000,0.047,2223,1894,3477
$GC,6390,-1.23,-146.6,636.5,-8.7,306,6394,0.00,2.65,0.00,0.000,4,0.000,0.076,2223,488,3477
$GC,6507,-1.23,-146.6,648.1,-10.6,311,6511,0.00,2.47,0.00,0.000,6,0.000,0.042,2223,1902,3477
$GC,6823,-1.23,-146.6,679.1,-10.3,326,6827,0.00,2.55,0.00,0.000,4,0.000,0.058,2223,3299,3477
$GC,6923,-1.23,-146.6,689.2,-9.3,330,6929,0.00,2.55,0.00,0.000,6,0.000,0.051,2223,1896,3477
$GC,7240,-1.23,-146.6,717.8,-8.7,346,7244,0.00,2.65,0.00,0.000,4,0.000,0.079,2223,496,3477
$GC,7268,-1.23,-146.6,720.5,-9.3,347,7272,0.00,2.50,0.00,0.000,6,0.000,0.048,2223,1902,3477
$GC,7584,-1.23,-146.6,742.2,-1.2,362,7588,0.00,2.58,0.00,0.000,4,0.000,0.061,2222,3303,3477
$GC,7819,-1.23,-146.6,742.2,-0.2,372,7825,0.00,2.58,0.00,0.000,6,0.000,0.058,2223,1902,3476
$STATE,7905,end dive,NO_VERTICAL_VELOCITY
$STATE,7905,begin apogee
$GC,7912,-0.36,0.0,742.3,0.0,377,8041,0.88,0.00,125.75,1.310,6,0.065,0.000,2417,2104,2878
$STATE,8042,end apogee,CONTROL_FINISHED_OK
$STATE,8042,begin climb
$GC,8045,1.23,146.6,741.9,0.0,383,8178,1.55,2.78,124.90,1.256,4,0.054,0.077,2760,693,2280
$GC,8438,1.23,150.1,728.9,7.9,401,8448,0.00,2.55,3.90,1.147,6,0.000,0.049,2760,2103,2266
$GC,8770,1.26,173.7,705.8,7.1,417,8799,0.00,2.67,21.25,1.280,4,0.000,0.065,2760,3501,2168
$GC,8839,1.26,173.7,700.0,8.9,420,8843,0.00,2.60,0.00,0.000,6,0.000,0.054,2760,2099,2168
$GC,9160,1.26,173.7,672.6,9.0,436,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2099,2166
$GC,9469,1.30,201.1,649.2,7.0,451,9499,0.00,2.72,23.30,1.287,4,0.000,0.061,2760,3504,2058
$GC,9562,1.30,201.1,641.7,8.1,455,9567,0.00,2.60,0.00,0.000,6,0.000,0.051,2760,2095,2057
$GC,9884,1.30,208.3,617.4,7.7,471,9898,0.00,2.78,7.10,1.252,4,0.000,0.077,2760,688,2028
$GC,9915,1.30,208.3,614.7,8.6,472,9920,0.00,2.55,0.00,0.000,6,0.000,0.046,2760,2104,2028
$GC,10231,1.30,208.3,589.4,8.1,487,10232,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2104,2028
$GC,10540,1.30,208.3,562.9,8.4,502,10544,0.00,2.58,0.00,0.000,4,0.000,0.057,2760,3503,2028
$GC,10573,1.30,208.3,560.1,8.3,503,10579,0.00,2.55,0.00,0.000,6,0.000,0.048,2760,2092,2028
$GC,10889,1.31,214.3,535.1,7.8,519,10900,0.00,2.62,6.15,1.192,4,0.000,0.054,2760,3499,2003
$GC,10922,1.32,216.8,532.2,7.9,520,10932,0.00,2.55,3.35,1.099,6,0.000,0.045,2760,2098,1993
$GC,11260,1.32,216.8,505.1,8.0,537,11261,0.10,0.00,0.00,0.000,6,0.055,0.000,2792,2098,1994
$GC,11569,1.32,216.8,476.7,9.2,552,11574,0.00,2.58,0.00,0.000,4,0.000,0.052,2793,3504,1994
$GC,11670,1.32,216.8,466.7,9.9,556,11676,0.00,2.55,0.00,0.000,6,0.000,0.043,2792,2090,1994
$GC,11986,1.32,216.8,437.6,9.2,572,11990,0.00,2.55,0.00,0.000,4,0.000,0.051,2793,3501,1994
$GC,12058,1.32,216.8,430.6,9.8,575,12062,0.00,2.50,0.00,0.000,6,0.000,0.043,2793,2100,1994
$GC,12373,1.32,216.8,400.9,9.5,590,12377,0.00,2.55,0.00,0.000,4,0.000,0.051,2793,3501,1995
$GC,12417,1.32,216.8,396.6,9.9,592,12422,0.00,2.50,0.00,0.000,6,0.000,0.041,2792,2100,1995
$GC,12738,1.32,216.8,366.8,9.1,608,12742,0.00,2.55,0.00,0.000,4,0.000,0.051,2793,3502,1995
$GC,12817,1.32,216.8,359.4,9.0,611,12823,0.00,2.53,0.00,0.000,6,0.000,0.042,2793,2090,1996
$GC,13132,1.32,216.8,331.9,8.7,627,13137,0.00,2.55,0.00,0.000,4,0.000,0.051,2793,3501,1995
$GC,13217,1.32,216.8,324.2,8.6,631,13222,0.00,2.50,0.00,0.000,6,0.000,0.041,2793,2093,1996
$GC,13544,1.32,216.8,295.4,8.8,647,13548,0.00,2.58,0.00,0.000,4,0.000,0.051,2793,3505,1996
$GC,13611,1.32,216.8,289.0,9.5,650,13615,0.00,2.50,0.00,0.000,6,0.000,0.041,2793,2102,1996
$GC,13932,1.32,216.8,259.7,9.7,666,13936,0.00,2.55,0.00,0.000,4,0.000,0.050,2793,3501,1997
$GC,13998,1.32,216.8,253.0,9.8,669,14002,0.00,2.50,0.00,0.000,6,0.000,0.040,2793,2098,1997
$GC,14319,1.32,216.8,223.2,8.7,685,14323,0.00,2.55,0.00,0.000,4,0.000,0.050,2793,3501,1997
$GC,14368,1.32,216.8,218.6,9.0,687,14372,0.00,2.47,0.00,0.000,6,0.000,0.039,2793,2098,1997
$GC,14684,1.32,216.8,189.6,9.0,702,14688,0.00,2.55,0.00,0.000,4,0.000,0.050,2793,3501,1997
$GC,14769,1.32,216.8,181.3,10.1,706,14773,0.00,2.50,0.00,0.000,6,0.000,0.040,2793,2098,1997
$GC,15095,1.32,216.8,152.0,9.8,722,15097,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2098,1998
$GC,15406,1.32,216.8,126.2,8.2,737,15411,0.00,2.55,0.00,0.000,4,0.000,0.050,2793,3504,1998
$GC,15471,1.32,222.7,121.3,7.8,740,15485,0.00,2.50,6.93,0.930,6,0.000,0.040,2793,2096,1969
$GC,15802,1.33,228.2,95.0,7.8,756,15813,0.00,2.58,5.68,0.912,4,0.000,0.048,2793,3501,1946
$GC,15945,1.34,236.5,84.1,7.7,762,15957,0.00,2.47,7.45,0.904,6,0.000,0.038,2793,2100,1913
$GC,16267,1.34,236.5,55.1,9.6,778,16271,0.00,2.55,0.00,0.000,4,0.000,0.049,2793,3504,1913
$GC,16307,1.34,236.5,50.9,10.9,780,16311,0.00,2.50,0.00,0.000,6,0.000,0.038,2793,2098,1913
$GC,16634,1.34,236.5,19.1,9.1,796,16639,0.00,2.55,0.00,0.000,4,0.000,0.049,2793,3505,1913
$GC,16721,1.34,236.5,11.0,9.1,800,16725,0.00,2.50,0.00,0.000,6,0.000,0.038,2793,2095,1913
$STATE,16818,end climb,SURFACE_DEPTH_REACHED
$STATE,16819,begin surface coast
$FINISH,0.7,1.027473
$STATE,16840,end surface coast,CONTROL_FINISHED_OK
$STATE,16840,begin surface
$SM_CCo,16864,49.33,0.791,5,0,1655,300.00
$SM_GC,1.35,0.00,0.00,49.33,0.000,0.000,0.791,31,1884,1655,-11.33,-0.42,300.00
$IRIDIUM_FIX,6144.36,-1001.81,300497,060619
$TT8_MAMPS,0.026845
$HUMID,2057
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.1,999.0
$24V_AH,23.1,77.750
$10V_AH,10.1,37.639
$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,26.000,179.375,335.750,49.325,0.000,75.348,72.969,235.861,6.750,0.000,0.000,24.906,1550.091,12775.312,557.842,1951.017,737.086,33.374,1555.752,0.000,1899.472,0.000,41.395
$DEVICE_MAMPS,141.128,79.001,1310.036,790.777,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,602.184,544.119,483.437,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41150,806
$CFSIZE,260165632,234729472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,5,0
$GPS,040208,104831,6205.518,-952.411,39,1.2,39,-9.9