version: 66.02
glider: 102
mission: 4
dive: 401
start: 2 5 108 11 1 19
data:
$ID,102
$MISSION,4
$DIVE,401
$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,-86467.016
$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,25
$R_STBD_OVSHOOT,28
$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
$GPS1,104708,6156.716,-937.679,26,1.5,26,-9.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-57.1
$GPS2,105938,6156.986,-937.201,15,1.5,32,-9.7
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.235,-0.037
$KALMAN_X,577380.7,-150.4,665.4,-637138.0,202.2
$KALMAN_Y,94245.4,669.4,2071.6,-52880.6,-4034.6
$MHEAD_RNG_PITCHd_Wd,108.5,29521,-14.7,-8.000
$D_GRID,665
$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,-80.45,0.000,2,0.000,0.000,28,1892,3200
$GC,110,-1.23,-146.6,3.7,-3.4,4,135,11.70,2.60,-6.82,0.000,4,0.141,0.058,2225,3296,3478
$GC,388,-1.23,-146.6,39.1,-8.9,16,392,0.00,2.50,0.00,0.000,6,0.000,0.041,2225,1903,3478
$GC,704,-1.23,-146.6,69.5,-8.3,31,708,0.00,2.55,0.00,0.000,4,0.000,0.047,2225,3309,3478
$GC,798,-1.23,-146.6,77.3,-8.0,35,803,0.00,2.53,0.00,0.000,6,0.000,0.041,2225,1898,3478
$GC,1115,-1.23,-146.6,103.0,-7.8,50,1119,0.00,2.55,0.00,0.000,4,0.000,0.047,2225,3311,3479
$GC,1232,-1.23,-146.6,112.5,-8.2,55,1236,0.00,2.53,0.00,0.000,6,0.000,0.041,2225,1895,3478
$GC,1549,-1.23,-146.6,140.9,-10.0,70,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1896,3478
$GC,1857,-1.23,-146.6,172.8,-10.0,85,1861,0.00,2.55,0.00,0.000,4,0.000,0.047,2225,3308,3478
$GC,1885,-1.23,-146.6,175.4,-10.0,86,1889,0.00,2.53,0.00,0.000,6,0.000,0.041,2225,1893,3479
$GC,2201,-1.23,-146.6,206.6,-9.5,101,2205,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3303,3478
$GC,2251,-1.23,-146.6,211.2,-9.0,103,2255,0.00,2.50,0.00,0.000,6,0.000,0.041,2225,1899,3478
$GC,2566,-1.23,-146.6,240.7,-10.1,118,2570,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3311,3478
$GC,2587,-1.23,-146.6,242.8,-9.3,119,2591,0.00,2.53,0.00,0.000,6,0.000,0.041,2225,1898,3478
$GC,2909,-1.23,-146.6,274.0,-9.9,135,2913,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3308,3479
$GC,2936,-1.23,-146.6,276.7,-10.1,136,2940,0.00,2.53,0.00,0.000,6,0.000,0.042,2225,1902,3478
$GC,3252,-1.23,-146.6,310.4,-11.5,151,3256,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3309,3478
$GC,3341,-1.23,-146.6,320.8,-11.7,155,3345,0.00,2.53,0.00,0.000,6,0.000,0.043,2225,1897,3478
$GC,3662,-1.23,-146.6,357.2,-11.2,171,3666,0.00,2.55,0.00,0.000,4,0.000,0.048,2226,3303,3478
$GC,3705,-1.23,-146.6,362.2,-10.6,173,3710,0.00,2.53,0.00,0.000,6,0.000,0.043,2225,1896,3478
$GC,4027,-1.23,-146.6,397.3,-11.4,189,4031,0.00,2.55,0.00,0.000,4,0.000,0.049,2225,3302,3478
$GC,4060,-1.23,-146.6,401.3,-11.4,190,4066,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1894,3479
$GC,4376,-1.23,-146.6,439.3,-12.2,206,4380,0.00,2.55,0.00,0.000,4,0.000,0.049,2225,3303,3478
$GC,4403,-1.23,-146.6,442.9,-12.3,207,4407,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1895,3478
$GC,4719,-1.23,-146.6,479.6,-11.2,222,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3478
$GC,5028,-1.23,-146.6,505.9,-6.6,237,5032,0.00,2.55,0.00,0.000,4,0.000,0.050,2225,3302,3478
$GC,5114,-1.23,-146.6,510.3,-5.4,241,5119,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1895,3478
$GC,5441,-1.23,-146.6,515.6,1.0,257,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3479
$GC,5751,-1.23,-146.6,515.5,0.2,272,5755,0.00,2.55,0.00,0.000,4,0.000,0.051,2225,3302,3478
$STATE,5759,end dive,NO_VERTICAL_VELOCITY
$STATE,5759,begin apogee
$GC,5767,-0.36,0.0,515.6,0.0,272,5894,0.88,0.00,123.57,1.114,6,0.086,0.000,2410,2097,2878
$STATE,5895,end apogee,CONTROL_FINISHED_OK
$STATE,5895,begin climb
$GC,5898,1.23,146.6,509.2,0.0,279,6028,1.60,2.70,121.00,1.078,4,0.059,0.055,2761,3499,2280
$GC,6085,1.23,146.6,493.1,8.2,288,6089,0.00,2.53,0.00,0.000,6,0.000,0.041,2761,2097,2279
$GC,6411,1.56,412.2,486.8,-2.1,304,6639,0.28,2.65,216.80,1.059,4,0.039,0.050,2839,3503,1196
$GC,6712,1.61,458.4,478.0,6.2,318,6756,0.00,2.58,38.38,1.039,6,0.000,0.046,2839,2095,1008
$GC,7082,1.61,458.4,449.7,8.2,336,7086,0.00,2.65,0.00,0.000,4,0.000,0.074,2839,693,1008
$GC,7159,1.61,458.4,441.5,10.5,339,7165,0.00,2.50,0.00,0.000,6,0.000,0.041,2839,2113,1008
$GC,7475,1.61,458.4,410.3,9.7,355,7479,0.00,2.70,0.00,0.000,4,0.000,0.071,2839,690,1007
$GC,7524,1.61,458.4,405.0,10.9,357,7529,0.00,2.47,0.00,0.000,6,0.000,0.041,2839,2098,1007
$GC,7840,1.61,458.4,369.4,12.2,372,7844,0.00,2.65,0.00,0.000,4,0.000,0.071,2838,693,1007
$GC,7879,1.61,458.4,364.0,14.3,374,7883,0.00,2.47,0.00,0.000,6,0.000,0.041,2839,2101,1007
$GC,8206,1.61,458.4,320.5,14.0,390,8210,0.00,2.65,0.00,0.000,4,0.000,0.070,2839,693,1007
$GC,8249,1.61,458.4,313.7,15.1,392,8254,0.00,2.47,0.00,0.000,6,0.000,0.040,2839,2110,1007
$GC,8570,1.61,458.4,266.5,14.9,408,8575,0.00,2.67,0.00,0.000,4,0.000,0.070,2839,690,1007
$GC,8626,1.61,458.4,257.4,16.9,410,8633,0.00,2.47,0.00,0.000,6,0.000,0.040,2839,2100,1007
$GC,8942,1.61,458.4,207.6,15.8,426,8947,0.00,2.62,0.00,0.000,4,0.000,0.069,2839,692,1007
$GC,8992,1.61,458.4,199.2,16.5,428,8996,0.00,2.47,0.00,0.000,6,0.000,0.039,2839,2105,1007
$GC,9308,1.61,458.4,152.6,14.2,443,9312,0.00,2.65,0.00,0.000,4,0.000,0.068,2839,688,1007
$GC,9370,1.61,458.4,143.2,15.0,446,9374,0.00,2.47,0.00,0.000,6,0.000,0.039,2839,2098,1006
$GC,9696,1.61,458.4,97.9,13.2,462,9701,0.00,2.65,0.00,0.000,4,0.000,0.068,2839,686,1006
$GC,9747,1.61,458.4,90.2,16.0,464,9751,0.00,2.47,0.00,0.000,6,0.000,0.038,2839,2101,1007
$GC,10063,1.61,458.4,45.8,14.0,479,10068,0.00,2.65,0.00,0.000,4,0.000,0.067,2839,687,1007
$GC,10103,1.61,458.4,40.0,13.9,481,10107,0.00,2.45,0.00,0.000,6,0.000,0.038,2839,2100,1007
$STATE,10365,end climb,SURFACE_DEPTH_REACHED
$STATE,10365,begin surface coast
$FINISH,0.8,1.004851
$STATE,10387,end surface coast,CONTROL_FINISHED_OK
$STATE,10387,begin surface
$SM_CCo,10471,0.00,0.000,0,0,1007,458.96
$SM_GC,1.53,12.02,0.00,0.00,0.027,0.000,0.000,33,1872,1007,-11.26,-0.76,458.96
$IRIDIUM_FIX,6130.75,-939.02,010597,101005
$TT8_MAMPS,0.026078
$HUMID,2061
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,15.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.1,999.0
$24V_AH,23.1,78.715
$10V_AH,10.1,38.114
$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,26.475,122.625,499.750,0.000,0.000,107.603,185.096,181.333,4.500,0.000,0.000,33.684,964.215,7705.890,557.263,1296.492,742.451,33.372,1263.244,0.000,1245.903,0.000,26.842
$DEVICE_MAMPS,141.128,74.399,1113.684,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,361.199,331.521,341.089,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25342,495
$CFSIZE,260165632,234414080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,050208,135702,6157.787,-931.901,37,1.4,37,-9.7