version: 66.02
glider: 102
mission: 4
dive: 397
start: 2 4 108 15 33 23
data:
$ID,102
$MISSION,4
$DIVE,397
$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,-86393.156
$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,30
$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
$GPS1,152207,6159.856,-951.554,26,1.2,26,-9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-59.8
$GPS2,153139,6159.753,-951.603,14,1.2,14,-9.9
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.097,-0.217
$KALMAN_X,581753.1,-268.5,-351.7,-653065.2,4895.8
$KALMAN_Y,99251.0,-388.5,-1327.1,-48199.0,-1596.7
$MHEAD_RNG_PITCHd_Wd,165.8,42143,-14.7,-8.000
$D_GRID,758
$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,23,-1.23,-146.6,0.0,0.0,0,106,0.00,0.00,-80.90,0.000,2,0.000,0.000,33,1887,3241
$GC,110,-1.23,-146.6,4.6,-5.0,4,133,11.68,2.65,-5.30,0.000,4,0.143,0.061,2221,3301,3478
$GC,183,-1.23,-146.6,20.1,-16.1,7,187,0.00,2.53,0.00,0.000,6,0.000,0.042,2221,1901,3478
$GC,504,-1.23,-146.6,58.4,-12.2,23,508,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3302,3479
$GC,536,-1.23,-146.6,62.4,-11.6,24,543,0.00,2.53,0.00,0.000,6,0.000,0.042,2221,1897,3479
$GC,854,-1.23,-146.6,93.5,-9.8,40,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1897,3479
$GC,1162,-1.23,-146.6,125.0,-10.3,55,1166,0.00,2.55,0.00,0.000,4,0.000,0.046,2220,3309,3479
$GC,1206,-1.23,-146.6,129.6,-10.1,57,1210,0.00,2.53,0.00,0.000,6,0.000,0.041,2221,1898,3479
$GC,1527,-1.23,-146.6,162.0,-10.3,73,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1897,3479
$GC,1836,-1.23,-146.6,194.1,-10.3,88,1840,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3302,3479
$GC,1870,-1.23,-146.6,197.8,-10.8,89,1876,0.00,2.50,0.00,0.000,6,0.000,0.041,2220,1897,3479
$GC,2186,-1.23,-146.6,230.5,-10.1,105,2190,0.00,2.53,0.00,0.000,4,0.000,0.047,2220,3305,3478
$GC,2213,-1.23,-146.6,233.4,-10.3,106,2217,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1900,3479
$GC,2529,-1.23,-146.6,263.3,-9.8,121,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3479
$GC,2838,-1.23,-146.6,294.1,-10.0,136,2843,0.00,2.53,0.00,0.000,4,0.000,0.047,2220,3302,3478
$GC,2888,-1.23,-146.6,298.9,-9.8,138,2893,0.00,2.50,0.00,0.000,6,0.000,0.042,2221,1902,3478
$GC,3204,-1.23,-146.6,329.1,-10.9,153,3208,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3301,3479
$GC,3233,-1.23,-146.6,332.2,-11.1,154,3237,0.00,2.50,0.00,0.000,6,0.000,0.042,2221,1898,3479
$GC,3548,-1.23,-146.6,364.5,-9.9,169,3552,0.00,2.55,0.00,0.000,4,0.000,0.048,2221,3309,3479
$GC,3575,-1.23,-146.6,367.2,-9.8,170,3579,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1897,3478
$GC,3891,-1.23,-146.6,398.6,-10.1,185,3895,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3305,3479
$GC,3929,-1.23,-146.6,402.9,-10.3,186,3935,0.00,2.53,0.00,0.000,6,0.000,0.043,2221,1894,3478
$GC,4245,-1.23,-146.6,433.3,-9.3,202,4249,0.00,2.55,0.00,0.000,4,0.000,0.049,2221,3305,3478
$GC,4272,-1.23,-146.6,435.9,-9.9,203,4277,0.00,2.50,0.00,0.000,6,0.000,0.044,2220,1902,3478
$GC,4588,-1.23,-146.6,466.8,-10.0,218,4592,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3305,3478
$GC,4650,-1.23,-146.6,473.0,-9.9,221,4654,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1895,3478
$GC,4976,-1.23,-146.6,504.7,-9.6,237,4981,0.00,2.62,0.00,0.000,4,0.000,0.072,2221,488,3478
$GC,5004,-1.23,-146.6,507.7,-11.1,238,5008,0.00,2.47,0.00,0.000,6,0.000,0.041,2221,1908,3478
$GC,5319,-1.23,-146.6,539.1,-9.9,253,5323,0.00,2.53,0.00,0.000,4,0.000,0.051,2221,3302,3478
$GC,5359,-1.23,-146.6,543.1,-9.9,255,5363,0.00,2.53,0.00,0.000,6,0.000,0.046,2221,1901,3478
$GC,5686,-1.23,-146.6,575.6,-9.4,271,5690,0.00,2.55,0.00,0.000,4,0.000,0.051,2221,3304,3478
$GC,5719,-1.23,-146.6,578.9,-9.6,272,5725,0.00,2.53,0.00,0.000,6,0.000,0.046,2221,1900,3478
$GC,6035,-1.23,-146.6,607.8,-9.1,288,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3479
$GC,6343,-1.23,-146.6,634.9,-8.5,303,6348,0.00,2.55,0.00,0.000,4,0.000,0.053,2220,3298,3478
$GC,6421,-1.23,-146.6,641.8,-8.9,306,6428,0.00,2.50,0.00,0.000,6,0.000,0.046,2221,1902,3478
$GC,6737,-1.23,-146.6,670.7,-9.0,322,6742,0.00,2.65,0.00,0.000,4,0.000,0.075,2221,490,3479
$GC,6787,-1.23,-146.6,675.7,-9.9,324,6791,0.00,2.47,0.00,0.000,6,0.000,0.044,2221,1902,3478
$GC,7108,-1.23,-146.6,706.6,-8.8,340,7113,0.00,2.55,0.00,0.000,4,0.000,0.058,2221,3299,3479
$GC,7159,-1.23,-146.6,711.4,-9.4,342,7163,0.00,2.53,0.00,0.000,6,0.000,0.052,2221,1904,3478
$GC,7474,-1.23,-146.6,738.3,-8.7,357,7478,0.00,2.58,0.00,0.000,4,0.000,0.058,2221,3303,3478
$GC,7542,-1.23,-146.6,744.0,-8.2,360,7546,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,1893,3478
$STATE,7715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7715,begin apogee
$GC,7723,-0.36,0.0,758.3,8.1,369,7853,0.93,0.00,126.97,1.299,6,0.080,0.000,2417,2106,2878
$STATE,7854,end apogee,CONTROL_FINISHED_OK
$STATE,7854,begin climb
$GC,7857,1.23,146.6,761.8,0.0,375,7990,1.55,2.67,125.35,1.261,4,0.053,0.065,2762,3493,2279
$GC,7999,1.23,146.6,757.5,8.0,382,8003,0.00,2.60,0.00,0.000,6,0.000,0.052,2762,2095,2279
$GC,8325,1.24,153.7,732.1,7.7,398,8339,0.00,2.70,6.80,1.225,4,0.000,0.063,2762,3494,2250
$GC,8587,1.28,184.1,712.3,6.8,409,8618,0.00,2.55,26.55,1.286,6,0.000,0.051,2762,2101,2127
$GC,8940,1.28,184.1,683.7,8.4,427,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2101,2125
$GC,9250,1.28,188.4,658.9,7.8,442,9259,0.00,2.65,4.60,1.215,4,0.000,0.061,2762,3501,2109
$GC,9349,1.28,188.4,650.2,8.6,446,9355,0.00,2.55,0.00,0.000,6,0.000,0.050,2762,2102,2108
$GC,9665,1.28,188.4,624.8,8.1,462,9669,0.00,2.58,0.00,0.000,4,0.000,0.057,2762,3497,2108
$GC,9720,1.28,188.4,619.8,9.4,464,9726,0.00,2.55,0.00,0.000,6,0.000,0.048,2762,2096,2108
$GC,10036,1.28,188.4,592.2,8.2,480,10038,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2096,2108
$GC,10346,1.30,205.3,568.9,7.4,495,10368,0.00,2.65,14.48,1.239,4,0.000,0.055,2762,3501,2041
$GC,10468,1.30,205.3,559.0,8.0,500,10473,0.00,2.53,0.00,0.000,6,0.000,0.044,2762,2100,2041
$GC,10784,1.30,206.4,535.2,8.0,515,10789,0.00,2.55,0.00,0.000,4,0.000,0.054,2762,3504,2041
$GC,10874,1.30,206.4,527.4,8.7,519,10878,0.00,2.53,0.00,0.000,6,0.000,0.043,2762,2093,2041
$GC,11194,1.30,206.4,500.9,8.8,535,11199,0.00,2.58,0.00,0.000,4,0.000,0.052,2762,3497,2041
$GC,11267,1.30,206.4,494.0,9.2,538,11272,0.00,2.53,0.00,0.000,6,0.000,0.043,2762,2094,2041
$GC,11583,1.30,206.4,466.3,8.7,553,11587,0.00,2.55,0.00,0.000,4,0.000,0.052,2762,3497,2042
$GC,11604,1.30,206.4,464.2,9.4,554,11608,0.00,2.53,0.00,0.000,6,0.000,0.043,2762,2095,2042
$GC,11925,1.30,206.4,437.2,8.4,570,11930,0.00,2.55,0.00,0.000,4,0.000,0.052,2762,3496,2043
$GC,11965,1.30,206.4,433.7,9.2,572,11970,0.00,2.50,0.00,0.000,6,0.000,0.041,2762,2100,2042
$GC,12292,1.30,206.4,407.2,8.2,588,12296,0.00,2.53,0.00,0.000,4,0.000,0.051,2762,3496,2044
$GC,12331,1.30,206.4,403.7,9.2,590,12336,0.00,2.50,0.00,0.000,6,0.000,0.041,2762,2099,2043
$GC,12659,1.30,206.4,376.3,8.2,606,12663,0.00,2.55,0.00,0.000,4,0.000,0.051,2762,3504,2043
$GC,12736,1.30,206.4,369.4,8.1,609,12742,0.00,2.50,0.00,0.000,6,0.000,0.041,2763,2099,2043
$GC,13052,1.30,206.4,342.9,8.2,625,13057,0.00,2.53,0.00,0.000,4,0.000,0.051,2762,3497,2044
$GC,13130,1.30,206.4,336.1,8.2,628,13136,0.00,2.50,0.00,0.000,6,0.000,0.040,2762,2091,2044
$GC,13446,1.31,215.8,311.2,7.6,644,13461,0.00,2.62,10.38,1.048,4,0.000,0.050,2762,3502,1997
$GC,13490,1.31,215.8,307.6,8.2,645,13494,0.00,2.53,0.00,0.000,6,0.000,0.040,2762,2097,1997
$GC,13811,1.31,215.8,281.4,8.4,661,13815,0.00,2.58,0.00,0.000,4,0.000,0.051,2762,3502,1997
$GC,13843,1.31,215.8,278.4,8.8,662,13849,0.00,2.47,0.00,0.000,6,0.000,0.039,2762,2101,1997
$GC,14159,1.31,215.8,252.4,8.2,678,14164,0.00,2.55,0.00,0.000,4,0.000,0.050,2762,3502,1997
$GC,14209,1.31,215.8,247.7,8.9,680,14214,0.00,2.50,0.00,0.000,6,0.000,0.038,2762,2094,1997
$GC,14525,1.33,228.8,223.2,7.5,695,14547,0.10,2.65,11.38,1.019,4,0.061,0.050,2793,3502,1944
$GC,14597,1.33,228.8,216.7,8.8,698,14602,0.00,2.50,0.00,0.000,6,0.000,0.039,2793,2100,1944
$GC,14918,1.33,228.8,188.1,8.9,714,14923,0.00,2.55,0.00,0.000,4,0.000,0.049,2792,3498,1945
$GC,14991,1.33,228.8,180.7,10.6,717,14995,0.00,2.50,0.00,0.000,6,0.000,0.039,2792,2093,1944
$GC,15307,1.33,228.8,150.5,8.8,732,15311,0.00,2.55,0.00,0.000,4,0.000,0.049,2793,3498,1944
$GC,15362,1.33,228.8,145.2,9.6,734,15368,0.00,2.50,0.00,0.000,6,0.000,0.039,2792,2093,1944
$GC,15678,1.35,248.7,118.6,7.2,750,15701,0.00,2.60,16.75,0.901,4,0.000,0.048,2793,3498,1863
$GC,15824,1.35,248.7,106.8,8.1,756,15829,0.00,2.47,0.00,0.000,6,0.000,0.038,2793,2097,1863
$GC,16140,1.35,248.7,81.2,9.5,771,16141,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2097,1863
$GC,16450,1.35,248.7,57.7,8.3,786,16454,0.00,2.55,0.00,0.000,4,0.000,0.048,2793,3499,1863
$GC,16580,1.35,248.7,44.0,10.8,792,16584,0.00,2.50,0.00,0.000,6,0.000,0.039,2793,2096,1863
$GC,16908,1.35,248.7,11.5,10.1,808,16913,0.00,2.55,0.00,0.000,4,0.000,0.049,2793,3499,1863
$STATE,16984,end climb,SURFACE_DEPTH_REACHED
$STATE,16984,begin surface coast
$FINISH,1.2,1.027406
$STATE,16992,end surface coast,CONTROL_FINISHED_OK
$STATE,16992,begin surface
$SM_CCo,17018,43.53,0.793,5,0,1655,300.00
$SM_GC,1.23,0.00,0.00,43.53,0.000,0.000,0.793,28,1900,1655,-11.35,0.00,300.00
$IRIDIUM_FIX,6135.28,-948.81,300497,151555
$TT8_MAMPS,0.026845
$HUMID,2062
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.0,78.057
$10V_AH,10.1,37.800
$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,26.175,199.125,343.250,43.525,0.000,77.156,151.400,159.874,7.000,0.000,0.000,16.174,1554.923,12905.339,584.442,1931.952,736.377,33.371,1583.201,0.000,1888.735,0.000,44.835
$DEVICE_MAMPS,142.662,75.166,1299.298,793.078,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,598.193,547.582,479.966,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41064,812
$CFSIZE,260165632,234610688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,5,0
$GPS,040208,201931,6157.223,-948.277,42,1.2,42,-9.8