version: 66.02
glider: 102
mission: 4
dive: 399
start: 2 5 108 1 21 51
data:
$ID,102
$MISSION,4
$DIVE,399
$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,-86418.969
$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,34
$R_STBD_OVSHOOT,25
$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
$GPS1,010826,6155.602,-946.459,38,1.2,38,-9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-65.0
$GPS2,012009,6155.526,-946.642,10,1.9,10,-9.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.233,0.046
$KALMAN_X,581314.6,-1645.4,-853.0,-646335.9,3051.7
$KALMAN_Y,92890.3,1394.4,185.3,-53037.2,-6163.7
$MHEAD_RNG_PITCHd_Wd,88.7,33902,-14.7,-8.000
$D_GRID,773
$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,-146.6,0.0,0.0,0,107,0.00,0.00,-80.95,0.000,2,0.000,0.000,31,1882,3258
$GC,111,-1.23,-146.6,4.9,-5.7,4,132,11.65,0.00,-4.90,0.000,6,0.140,0.000,2221,1881,3477
$GC,444,-1.23,-146.6,48.5,-10.4,20,448,0.00,2.58,0.00,0.000,4,0.000,0.048,2221,3305,3477
$GC,493,-1.23,-146.6,53.9,-9.9,22,498,0.00,2.50,0.00,0.000,6,0.000,0.041,2222,1911,3477
$GC,811,-1.23,-146.6,87.4,-10.4,37,815,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3308,3477
$GC,844,-1.23,-146.6,91.1,-10.3,38,850,0.00,2.53,0.00,0.000,6,0.000,0.042,2221,1898,3477
$GC,1160,-1.23,-146.6,125.4,-11.2,54,1164,0.00,2.62,0.00,0.000,4,0.000,0.069,2222,492,3477
$GC,1181,-1.23,-146.6,127.7,-9.7,55,1186,0.00,2.47,0.00,0.000,6,0.000,0.039,2221,1913,3477
$GC,1502,-1.23,-146.6,163.3,-9.9,71,1506,0.00,2.47,0.00,0.000,4,0.000,0.048,2222,3295,3477
$GC,1542,-1.23,-146.6,166.9,-8.9,73,1546,0.00,2.50,0.00,0.000,6,0.000,0.042,2222,1898,3477
$GC,1868,-1.23,-146.6,198.1,-9.2,89,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3477
$GC,2178,-1.23,-146.6,226.6,-9.3,104,2182,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3298,3477
$GC,2228,-1.23,-146.6,231.0,-7.8,106,2232,0.00,2.47,0.00,0.000,6,0.000,0.041,2221,1904,3477
$GC,2544,-1.23,-146.6,257.0,-7.8,121,2548,0.00,2.53,0.00,0.000,4,0.000,0.046,2221,3301,3477
$GC,2572,-1.23,-146.6,259.4,-8.2,122,2576,0.00,2.50,0.00,0.000,6,0.000,0.041,2222,1897,3477
$GC,2888,-1.23,-146.6,287.5,-9.3,137,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3477
$GC,3197,-1.23,-146.6,316.2,-9.0,152,3201,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3302,3477
$GC,3236,-1.23,-146.6,320.3,-10.9,154,3241,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1900,3477
$GC,3564,-1.23,-146.6,351.6,-9.9,170,3569,0.00,2.62,0.00,0.000,4,0.000,0.069,2221,493,3477
$GC,3582,-1.23,-146.6,353.5,-9.9,171,3586,0.00,2.45,0.00,0.000,6,0.000,0.040,2221,1902,3477
$GC,3908,-1.23,-146.6,382.9,-8.2,187,3913,0.00,2.50,0.00,0.000,4,0.000,0.049,2222,3293,3477
$GC,3953,-1.23,-146.6,387.1,-9.6,189,3957,0.00,2.50,0.00,0.000,6,0.000,0.043,2221,1894,3477
$GC,4273,-1.23,-146.6,419.7,-11.0,205,4278,0.00,2.60,0.00,0.000,4,0.000,0.071,2221,495,3477
$GC,4320,-1.23,-146.6,425.0,-11.7,207,4325,0.00,2.45,0.00,0.000,6,0.000,0.040,2221,1900,3477
$GC,4641,-1.23,-146.6,458.8,-9.7,223,4646,0.00,2.53,0.00,0.000,4,0.000,0.051,2222,3295,3477
$GC,4674,-1.23,-146.6,462.2,-9.8,224,4680,0.00,2.50,0.00,0.000,6,0.000,0.045,2221,1901,3476
$GC,4993,-1.23,-146.6,502.0,-14.4,240,4997,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3295,3477
$GC,5055,-1.23,-146.6,509.8,-11.4,243,5059,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1901,3477
$GC,5381,-1.23,-146.6,546.0,-11.4,259,5385,0.00,2.53,0.00,0.000,4,0.000,0.050,2221,3298,3477
$GC,5423,-1.23,-146.6,550.3,-11.3,261,5427,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1894,3477
$GC,5749,-1.23,-146.6,580.2,-7.6,277,5753,0.00,2.55,0.00,0.000,4,0.000,0.052,2221,3294,3477
$GC,5811,-1.23,-146.6,585.3,-8.3,280,5816,0.00,2.53,0.00,0.000,6,0.000,0.046,2221,1896,3477
$GC,6139,-1.23,-146.6,611.6,-7.8,296,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3477
$GC,6448,-1.23,-146.6,638.9,-8.8,311,6452,0.00,2.62,0.00,0.000,4,0.000,0.074,2222,497,3476
$GC,6588,-1.23,-146.6,650.5,-7.4,317,6593,0.00,2.47,0.00,0.000,6,0.000,0.042,2221,1902,3477
$GC,6904,-1.23,-146.6,668.6,-5.3,332,6908,0.00,2.55,0.00,0.000,4,0.000,0.055,2222,3304,3477
$GC,6972,-1.23,-146.6,673.0,-6.8,335,6977,0.00,2.55,0.00,0.000,6,0.000,0.050,2221,1896,3476
$GC,7296,-1.23,-146.6,701.8,-9.5,351,7300,0.00,2.58,0.00,0.000,4,0.000,0.057,2222,3302,3476
$GC,7340,-1.23,-146.6,706.5,-9.8,353,7344,0.00,2.55,0.00,0.000,6,0.000,0.052,2221,1901,3476
$GC,7660,-1.23,-146.6,735.7,-9.2,369,7665,0.00,2.58,0.00,0.000,4,0.000,0.059,2221,3301,3476
$GC,7716,-1.23,-146.6,740.8,-9.1,371,7723,0.00,2.58,0.00,0.000,6,0.000,0.055,2221,1895,3476
$GC,8032,-1.23,-146.6,764.2,-6.8,387,8037,0.00,2.60,0.00,0.000,4,0.000,0.061,2221,3301,3475
$GC,8099,-1.23,-146.6,769.2,-7.6,390,8104,0.00,2.58,0.00,0.000,6,0.000,0.058,2221,1901,3475
$STATE,8170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8170,begin apogee
$GC,8178,-0.36,0.0,774.4,7.2,394,8308,0.93,0.00,127.10,1.326,6,0.082,0.000,2416,2101,2878
$STATE,8309,end apogee,CONTROL_FINISHED_OK
$STATE,8309,begin climb
$GC,8312,1.23,146.6,776.5,0.0,400,8447,1.58,2.70,125.50,1.287,4,0.056,0.064,2765,3497,2279
$GC,8456,1.32,218.0,773.6,5.3,407,8525,0.00,2.60,61.33,1.270,6,0.000,0.053,2765,2101,1989
$GC,8850,1.32,218.0,737.7,9.9,426,8854,0.00,2.62,0.00,0.000,4,0.000,0.063,2764,3497,1988
$GC,8967,1.32,222.2,727.5,7.8,431,8978,0.00,2.58,4.53,1.203,6,0.000,0.053,2765,2098,1972
$GC,9287,1.32,222.2,699.9,9.6,447,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2098,1972
$GC,9597,1.32,222.2,669.1,10.7,462,9601,0.00,2.62,0.00,0.000,4,0.000,0.063,2765,3497,1971
$GC,9754,1.32,222.2,650.4,12.1,469,9758,0.00,2.58,0.00,0.000,6,0.000,0.051,2764,2093,1970
$GC,10074,1.32,222.2,615.0,9.1,485,10079,0.00,2.65,0.00,0.000,4,0.000,0.077,2764,694,1969
$GC,10147,1.32,222.2,607.5,9.4,488,10151,0.00,2.53,0.00,0.000,6,0.000,0.046,2765,2103,1969
$GC,10462,1.32,222.2,574.6,11.0,503,10467,0.00,2.55,0.00,0.000,4,0.000,0.057,2765,3498,1969
$GC,10653,1.32,222.2,554.3,10.0,511,10659,0.00,2.53,0.00,0.000,6,0.000,0.047,2765,2100,1968
$GC,10969,1.32,222.2,521.7,10.7,527,10973,0.00,2.58,0.00,0.000,4,0.000,0.054,2764,3502,1968
$GC,11040,1.32,222.2,513.5,11.6,530,11045,0.00,2.53,0.00,0.000,6,0.000,0.044,2764,2094,1968
$GC,11356,1.32,222.2,482.9,8.8,545,11361,0.00,2.58,0.00,0.000,4,0.000,0.052,2764,3499,1969
$GC,11401,1.32,222.2,478.9,8.9,547,11405,0.00,2.50,0.00,0.000,6,0.000,0.043,2765,2094,1969
$GC,11721,1.32,222.2,451.0,9.4,563,11726,0.00,2.55,0.00,0.000,4,0.000,0.052,2765,3499,1970
$GC,11796,1.32,222.2,445.1,8.3,566,11800,0.00,2.53,0.00,0.000,6,0.000,0.043,2764,2093,1970
$GC,12111,1.32,222.2,413.9,8.7,581,12116,0.00,2.58,0.00,0.000,4,0.000,0.052,2765,3501,1970
$GC,12189,1.32,222.2,406.9,8.3,584,12195,0.00,2.50,0.00,0.000,6,0.000,0.042,2765,2094,1971
$GC,12505,1.32,222.2,376.4,8.6,600,12510,0.00,2.58,0.00,0.000,4,0.000,0.051,2765,3505,1971
$GC,12568,1.32,222.2,370.1,10.6,603,12572,0.00,2.53,0.00,0.000,6,0.000,0.041,2764,2095,1972
$GC,12894,1.32,222.2,342.4,10.0,619,12895,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2095,1971
$GC,13203,1.32,222.2,319.9,8.4,634,13208,0.00,2.58,0.00,0.000,4,0.000,0.051,2765,3505,1972
$GC,13337,1.32,222.2,306.9,9.0,640,13342,0.00,2.47,0.00,0.000,6,0.000,0.040,2765,2098,1972
$GC,13659,1.32,222.2,280.0,8.9,656,13663,0.00,2.55,0.00,0.000,4,0.000,0.051,2765,3504,1972
$GC,13714,1.32,222.2,274.0,10.3,658,13720,0.00,2.50,0.00,0.000,6,0.000,0.039,2765,2098,1972
$GC,14030,1.32,222.2,245.8,8.8,674,14034,0.00,2.60,0.00,0.000,4,0.000,0.067,2765,693,1973
$GC,14046,1.32,222.2,244.1,9.0,675,14051,0.00,2.47,0.00,0.000,6,0.000,0.039,2765,2110,1973
$GC,14374,1.32,222.2,212.8,10.3,691,14378,0.00,2.50,0.00,0.000,4,0.000,0.050,2765,3494,1973
$GC,14446,1.32,222.2,204.4,11.7,694,14450,0.00,2.47,0.00,0.000,6,0.000,0.039,2764,2098,1973
$GC,14762,1.32,222.2,174.8,8.1,709,14766,0.00,2.55,0.00,0.000,4,0.000,0.049,2765,3501,1973
$GC,14811,1.35,247.4,171.2,7.0,711,14838,0.12,2.47,20.90,0.946,6,0.054,0.039,2801,2099,1869
$GC,15150,1.35,247.4,140.2,8.7,727,15154,0.00,2.55,0.00,0.000,4,0.000,0.048,2801,3497,1869
$GC,15245,1.35,247.4,131.6,9.2,731,15249,0.00,2.50,0.00,0.000,6,0.000,0.038,2801,2093,1869
$GC,15560,1.35,247.4,101.5,9.9,746,15565,0.00,2.55,0.00,0.000,4,0.000,0.048,2801,3494,1869
$GC,15646,1.35,247.4,91.8,11.7,750,15650,0.00,2.50,0.00,0.000,6,0.000,0.039,2801,2094,1869
$GC,15973,1.35,247.4,57.9,11.3,766,15977,0.00,2.55,0.00,0.000,4,0.000,0.048,2801,3498,1869
$GC,16022,1.35,247.4,52.2,11.3,768,16026,0.00,2.47,0.00,0.000,6,0.000,0.038,2801,2100,1869
$GC,16339,1.35,247.4,18.4,10.0,783,16344,0.00,2.53,0.00,0.000,4,0.000,0.049,2801,3494,1869
$GC,16384,1.35,247.4,13.2,10.3,785,16388,0.00,2.47,0.00,0.000,6,0.000,0.038,2801,2098,1869
$STATE,16517,end climb,SURFACE_DEPTH_REACHED
$STATE,16517,begin surface coast
$FINISH,0.6,1.017088
$STATE,16539,end surface coast,CONTROL_FINISHED_OK
$STATE,16539,begin surface
$SM_CCo,16562,45.12,0.804,5,0,1655,300.00
$SM_GC,1.42,0.00,0.00,45.12,0.000,0.000,0.804,35,1892,1655,-11.32,-0.25,300.00
$IRIDIUM_FIX,6130.75,-943.53,010597,010130
$TT8_MAMPS,0.026845
$HUMID,2069
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,15.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,18.4,999.0
$24V_AH,23.0,78.378
$10V_AH,10.1,37.967
$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,26.225,193.575,339.350,45.125,0.000,115.034,107.441,229.600,7.250,0.000,0.000,11.553,1537.247,12562.050,565.941,1913.480,806.914,33.371,1557.464,0.000,1868.575,0.000,42.998
$DEVICE_MAMPS,140.361,77.467,1326.143,803.816,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,584.148,535.266,459.388,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41040,793
$CFSIZE,260165632,234475520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,5,0
$GPS,050208,060025,6155.017,-945.704,25,1.5,42,-9.8