version: 66.02
glider: 102
mission: 4
dive: 398
start: 2 4 108 20 36 4
data:
$ID,102
$MISSION,4
$DIVE,398
$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,-86406.781
$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,19
$R_STBD_OVSHOOT,31
$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
$GPS1,201931,6157.223,-948.277,42,1.2,42,-9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-61.1
$GPS2,203420,6157.242,-948.387,11,1.2,11,-9.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.236,-0.030
$KALMAN_X,583366.3,-742.2,-593.8,-651113.7,4775.4
$KALMAN_Y,95019.1,1051.1,902.2,-52341.7,-6601.2
$MHEAD_RNG_PITCHd_Wd,107.0,37021,-14.7,-8.000
$D_GRID,770
$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,-80.80,0.000,2,0.000,0.000,27,1898,3213
$GC,110,-1.23,-146.6,4.3,-4.5,4,132,11.70,0.00,-6.10,0.000,6,0.141,0.000,2224,1900,3476
$GC,443,-1.23,-146.6,47.3,-11.1,20,447,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3298,3477
$GC,464,-1.23,-146.6,50.6,-12.6,21,468,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1893,3477
$GC,791,-1.23,-146.6,94.3,-11.1,37,796,0.00,2.55,0.00,0.000,4,0.000,0.047,2225,3303,3477
$GC,819,-1.23,-146.6,97.8,-13.0,38,824,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1890,3477
$GC,1137,-1.23,-146.6,138.6,-11.1,53,1141,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3302,3477
$GC,1154,-1.23,-146.6,140.6,-11.0,54,1158,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1898,3477
$GC,1481,-1.23,-146.6,176.2,-9.7,70,1486,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3301,3477
$GC,1544,-1.23,-146.6,182.9,-11.5,73,1548,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1898,3477
$GC,1870,-1.23,-146.6,219.3,-10.8,89,1874,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3301,3477
$GC,1903,-1.23,-146.6,223.0,-10.4,90,1909,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1899,3477
$GC,2218,-1.23,-146.6,257.1,-10.8,106,2223,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3299,3477
$GC,2246,-1.23,-146.6,260.1,-10.8,107,2250,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1897,3477
$GC,2562,-1.23,-146.6,293.0,-10.0,122,2566,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3301,3477
$GC,2595,-1.23,-146.6,296.3,-9.9,123,2601,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1900,3477
$GC,2911,-1.23,-146.6,327.6,-10.2,139,2915,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3303,3477
$GC,2928,-1.23,-146.6,329.5,-10.2,140,2932,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1894,3477
$GC,3254,-1.23,-146.6,365.2,-10.8,156,3259,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3303,3477
$GC,3276,-1.23,-146.6,367.8,-11.1,157,3281,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1894,3477
$GC,3598,-1.23,-146.6,399.0,-8.1,173,3602,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3303,3477
$GC,3630,-1.23,-146.6,401.7,-8.3,174,3636,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1896,3477
$GC,3946,-1.23,-146.6,432.1,-11.1,190,3950,0.00,2.60,0.00,0.000,4,0.000,0.070,2224,495,3477
$GC,4035,-1.23,-146.6,440.8,-9.9,194,4039,0.00,2.47,0.00,0.000,6,0.000,0.041,2224,1910,3477
$GC,4355,-1.23,-146.6,474.6,-11.5,210,4360,0.00,2.50,0.00,0.000,4,0.000,0.051,2224,3302,3477
$GC,4405,-1.23,-146.6,480.1,-10.6,212,4409,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1896,3477
$GC,4726,-1.23,-146.6,514.0,-10.6,228,4730,0.00,2.53,0.00,0.000,4,0.000,0.049,2224,3300,3477
$GC,4753,-1.23,-146.6,517.1,-11.0,229,4757,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1897,3477
$GC,5068,-1.23,-146.6,548.2,-9.5,244,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,5379,-1.23,-146.6,576.3,-8.9,259,5383,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3300,3477
$GC,5422,-1.23,-146.6,580.4,-9.3,261,5427,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1893,3477
$GC,5744,-1.23,-146.6,613.3,-10.9,277,5748,0.00,2.58,0.00,0.000,4,0.000,0.053,2224,3302,3477
$GC,5788,-1.23,-146.6,618.2,-11.0,279,5792,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1898,3477
$GC,6108,-1.23,-146.6,652.3,-10.4,295,6113,0.00,2.62,0.00,0.000,4,0.000,0.074,2224,496,3476
$GC,6141,-1.23,-146.6,655.6,-10.0,296,6147,0.00,2.45,0.00,0.000,6,0.000,0.042,2224,1900,3477
$GC,6457,-1.23,-146.6,682.1,-8.6,312,6462,0.00,2.67,0.00,0.000,4,0.000,0.077,2224,491,3477
$GC,6558,-1.23,-146.6,691.5,-9.3,316,6564,0.00,2.47,0.00,0.000,6,0.000,0.044,2224,1898,3477
$GC,6873,-1.23,-146.6,718.0,-9.4,332,6878,0.00,2.58,0.00,0.000,4,0.000,0.061,2224,3305,3477
$GC,6946,-1.23,-146.6,724.7,-9.8,335,6951,0.00,2.58,0.00,0.000,6,0.000,0.054,2224,1896,3477
$GC,7267,-1.23,-146.6,752.4,-7.0,351,7272,0.00,2.60,0.00,0.000,4,0.000,0.060,2224,3305,3476
$GC,7323,-1.23,-146.6,757.3,-9.0,353,7330,0.00,2.58,0.00,0.000,6,0.000,0.057,2224,1903,3477
$STATE,7472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7472,begin apogee
$GC,7479,-0.36,0.0,770.3,9.4,361,7608,0.93,0.00,126.32,1.327,6,0.084,0.000,2418,2101,2878
$STATE,7609,end apogee,CONTROL_FINISHED_OK
$STATE,7609,begin climb
$GC,7612,1.23,146.6,772.9,0.0,367,7745,1.55,2.70,124.80,1.278,4,0.056,0.064,2761,3501,2280
$GC,7972,1.23,146.6,752.5,9.4,383,7978,0.00,2.58,0.00,0.000,6,0.000,0.051,2761,2093,2279
$GC,8288,1.27,181.3,727.7,6.7,399,8324,0.00,2.70,30.20,1.282,4,0.000,0.061,2761,3498,2137
$GC,8464,1.27,181.3,714.1,8.2,406,8468,0.00,2.55,0.00,0.000,6,0.000,0.051,2761,2102,2137
$GC,8785,1.27,181.3,688.8,8.1,422,8789,0.00,2.60,0.00,0.000,4,0.000,0.061,2761,3499,2136
$GC,8824,1.27,181.3,685.6,8.7,424,8828,0.00,2.58,0.00,0.000,6,0.000,0.053,2761,2095,2136
$GC,9150,1.27,181.3,657.9,8.7,440,9154,0.00,2.67,0.00,0.000,4,0.000,0.080,2761,692,2136
$GC,9222,1.27,181.3,650.7,10.7,443,9227,0.00,2.53,0.00,0.000,6,0.000,0.048,2761,2095,2136
$GC,9538,1.29,196.9,625.2,7.4,458,9559,0.00,2.67,13.38,1.276,4,0.000,0.060,2761,3493,2075
$GC,9650,1.30,205.9,616.5,7.7,463,9665,0.00,2.55,8.88,1.250,6,0.000,0.049,2761,2098,2038
$GC,9982,1.30,205.9,587.3,8.7,479,9987,0.00,2.60,0.00,0.000,4,0.000,0.056,2761,3507,2038
$GC,10055,1.30,205.9,580.5,9.1,482,10059,0.00,2.53,0.00,0.000,6,0.000,0.046,2761,2101,2038
$GC,10370,1.30,205.9,553.6,8.4,497,10374,0.00,2.58,0.00,0.000,4,0.000,0.054,2761,3501,2038
$GC,10410,1.30,205.9,550.5,8.1,499,10414,0.00,2.53,0.00,0.000,6,0.000,0.045,2761,2099,2038
$GC,10736,1.31,214.1,526.1,7.7,515,10750,0.00,2.65,7.82,1.183,4,0.000,0.053,2761,3504,2005
$GC,10808,1.31,214.1,520.2,8.2,518,10812,0.00,2.55,0.00,0.000,6,0.000,0.044,2761,2095,2005
$GC,11128,1.33,228.3,495.6,7.5,534,11150,0.10,2.65,12.95,1.157,4,0.057,0.052,2793,3498,1947
$GC,11189,1.33,228.3,489.9,9.9,536,11195,0.00,2.55,0.00,0.000,6,0.000,0.044,2793,2098,1948
$GC,11505,1.33,228.3,458.0,10.3,552,11510,0.00,2.58,0.00,0.000,4,0.000,0.051,2793,3506,1947
$GC,11568,1.33,228.3,451.2,11.1,555,11572,0.00,2.53,0.00,0.000,6,0.000,0.043,2793,2099,1947
$GC,11894,1.33,228.3,419.4,9.7,571,11898,0.00,2.58,0.00,0.000,4,0.000,0.051,2793,3507,1948
$GC,11950,1.33,228.3,413.4,10.1,573,11956,0.00,2.53,0.00,0.000,6,0.000,0.041,2793,2100,1948
$GC,12265,1.33,228.3,383.4,9.5,589,12269,0.00,2.55,0.00,0.000,4,0.000,0.051,2793,3502,1948
$GC,12309,1.33,228.3,378.9,9.4,591,12314,0.00,2.53,0.00,0.000,6,0.000,0.041,2793,2091,1949
$GC,12630,1.33,228.3,349.2,9.2,607,12635,0.00,2.58,0.00,0.000,4,0.000,0.050,2793,3505,1948
$GC,12697,1.33,228.3,342.5,10.7,610,12702,0.00,2.50,0.00,0.000,6,0.000,0.040,2793,2098,1949
$GC,13019,1.33,228.3,312.9,9.4,626,13023,0.00,2.55,0.00,0.000,4,0.000,0.051,2793,3505,1949
$GC,13069,1.33,228.3,307.9,9.8,628,13073,0.00,2.50,0.00,0.000,6,0.000,0.040,2793,2100,1949
$GC,13384,1.33,228.3,279.3,9.1,643,13388,0.00,2.55,0.00,0.000,4,0.000,0.051,2793,3504,1949
$GC,13507,1.33,228.3,266.9,9.8,648,13513,0.00,2.50,0.00,0.000,6,0.000,0.039,2793,2094,1950
$GC,13822,1.33,228.3,232.2,11.4,664,13826,0.00,2.58,0.00,0.000,4,0.000,0.051,2793,3508,1950
$GC,13916,1.33,228.3,220.5,11.7,668,13921,0.00,2.50,0.00,0.000,6,0.000,0.039,2793,2101,1950
$GC,14232,1.33,228.3,189.4,9.9,683,14237,0.00,2.55,0.00,0.000,4,0.000,0.050,2793,3508,1951
$GC,14299,1.33,228.3,182.4,9.9,686,14303,0.00,2.50,0.00,0.000,6,0.000,0.038,2793,2100,1951
$GC,14620,1.33,228.3,150.6,11.0,702,14624,0.00,2.55,0.00,0.000,4,0.000,0.049,2793,3504,1951
$GC,14714,1.33,228.3,140.1,10.3,706,14719,0.00,2.50,0.00,0.000,6,0.000,0.038,2793,2095,1951
$GC,15030,1.33,228.3,107.0,9.6,721,15034,0.00,2.55,0.00,0.000,4,0.000,0.048,2793,3504,1951
$GC,15115,1.33,228.3,97.4,11.4,725,15119,0.00,2.50,0.00,0.000,6,0.000,0.038,2792,2093,1951
$GC,15442,1.33,230.9,68.3,7.9,741,15452,0.00,2.55,4.47,0.892,4,0.000,0.048,2793,3504,1936
$GC,15542,1.33,230.9,58.8,10.3,745,15546,0.00,2.50,0.00,0.000,6,0.000,0.038,2793,2100,1935
$GC,15858,1.33,230.9,29.3,8.7,760,15863,0.00,2.55,0.00,0.000,4,0.000,0.048,2793,3505,1935
$GC,15921,1.33,230.9,23.4,10.0,763,15925,0.00,2.50,0.00,0.000,6,0.000,0.038,2793,2097,1935
$STATE,16142,end climb,SURFACE_DEPTH_REACHED
$STATE,16142,begin surface coast
$FINISH,0.6,1.003370
$STATE,16164,end surface coast,CONTROL_FINISHED_OK
$STATE,16164,begin surface
$SM_CCo,16188,51.75,0.790,5,0,1654,300.00
$SM_GC,1.32,0.00,0.00,51.75,0.000,0.000,0.790,31,1879,1654,-11.33,-0.59,300.00
$IRIDIUM_FIX,6135.28,-943.53,300497,202053
$TT8_MAMPS,0.026845
$HUMID,2070
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,15.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,23.0,78.222
$10V_AH,10.1,37.884
$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,26.250,204.575,328.825,51.750,0.000,110.627,133.830,370.068,7.250,0.000,0.000,12.998,1503.249,12241.504,577.440,1899.228,983.394,33.401,1569.653,0.000,1854.640,0.000,43.025
$DEVICE_MAMPS,141.128,79.768,1326.910,790.010,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,576.888,522.326,443.937,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37907,775
$CFSIZE,260165632,234541056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,5,0
$GPS,050208,010826,6155.602,-946.459,38,1.2,38,-9.8