version: 66.02
glider: 102
mission: 4
dive: 405
start: 2 6 108 0 20 51
data:
$ID,102
$MISSION,4
$DIVE,405
$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,-86542.297
$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,31
$R_STBD_OVSHOOT,35
$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
$GPS1,001337,6159.011,-914.951,36,1.5,47,-9.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-57.9
$GPS2,001909,6158.944,-914.873,10,1.9,10,-9.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.081,-0.236
$KALMAN_X,590663.6,434.1,822.1,-631494.8,1029.4
$KALMAN_Y,110745.9,-218.9,107.2,-62840.4,1648.8
$MHEAD_RNG_PITCHd_Wd,208.5,25825,-13.7,-8.000
$D_GRID,508
$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,23,begin dive
$GC,26,-1.16,-146.6,0.0,0.0,0,86,0.00,0.00,-58.60,0.000,2,0.000,0.000,31,1886,2781
$GC,90,-1.16,-146.6,3.5,-4.7,3,132,11.62,2.60,-21.02,0.000,4,0.136,0.059,2241,3295,3477
$GC,385,-1.16,-146.6,37.2,-11.3,16,390,0.00,2.47,0.00,0.000,6,0.000,0.041,2240,1907,3477
$GC,707,-1.16,-146.6,72.8,-10.3,32,711,0.00,2.53,0.00,0.000,4,0.000,0.048,2240,3299,3477
$GC,920,-1.16,-146.6,92.7,-9.8,41,927,0.00,2.50,0.00,0.000,6,0.000,0.041,2241,1899,3477
$GC,1236,-1.16,-146.6,127.2,-14.4,57,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1899,3477
$GC,1546,-1.16,-146.6,163.3,-12.3,72,1550,0.00,2.53,0.00,0.000,4,0.000,0.047,2241,3298,3477
$GC,1579,-1.16,-146.6,166.7,-9.2,73,1585,0.00,2.50,0.00,0.000,6,0.000,0.040,2241,1895,3477
$GC,1894,-1.16,-146.6,197.1,-9.3,89,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1896,3477
$GC,2204,-1.16,-146.6,222.5,-8.4,104,2208,0.00,2.53,0.00,0.000,4,0.000,0.047,2241,3298,3477
$GC,2254,-1.16,-146.6,226.5,-7.3,106,2258,0.00,2.50,0.00,0.000,6,0.000,0.041,2241,1894,3477
$GC,2572,-1.16,-146.6,250.3,-7.2,121,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1894,3477
$GC,2879,-1.16,-146.6,274.7,-8.8,136,2884,0.00,2.53,0.00,0.000,4,0.000,0.047,2241,3297,3477
$GC,2946,-1.16,-146.6,280.8,-8.4,139,2951,0.00,2.47,0.00,0.000,6,0.000,0.041,2241,1900,3477
$GC,3273,-1.16,-146.6,309.7,-8.4,155,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1900,3477
$GC,3583,-1.16,-146.6,338.8,-11.2,170,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1900,3477
$GC,3893,-1.16,-146.6,375.1,-11.8,185,3897,0.00,2.53,0.00,0.000,4,0.000,0.048,2241,3303,3477
$GC,3937,-1.16,-146.6,380.3,-11.2,187,3941,0.00,2.53,0.00,0.000,6,0.000,0.042,2240,1894,3477
$GC,4258,-1.16,-146.6,413.7,-10.0,203,4262,0.00,2.55,0.00,0.000,4,0.000,0.049,2241,3303,3477
$GC,4347,-1.16,-146.6,423.0,-9.8,207,4351,0.00,2.53,0.00,0.000,6,0.000,0.044,2241,1894,3477
$GC,4668,-1.16,-146.6,454.8,-9.2,223,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1894,3477
$GC,4976,-1.16,-146.6,481.8,-8.5,238,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1894,3477
$GC,5286,-1.16,-146.6,505.8,-7.9,253,5290,0.00,2.55,0.00,0.000,4,0.000,0.051,2241,3299,3477
$STATE,5305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5305,begin apogee
$GC,5314,-0.36,0.0,508.3,11.3,254,5440,0.80,0.00,122.75,1.113,6,0.078,0.000,2413,2093,2878
$STATE,5441,end apogee,CONTROL_FINISHED_OK
$STATE,5441,begin climb
$GC,5444,1.16,146.6,516.9,0.0,260,5575,1.50,2.72,120.97,1.078,4,0.054,0.065,2746,696,2280
$GC,5661,1.16,146.6,507.3,9.9,270,5665,0.00,2.50,0.00,0.000,6,0.000,0.041,2746,2096,2280
$GC,5983,1.21,191.6,483.3,6.5,286,6027,0.00,2.70,37.85,1.078,4,0.000,0.057,2746,3501,2096
$GC,6138,1.21,191.6,470.3,9.1,293,6142,0.00,2.53,0.00,0.000,6,0.000,0.044,2746,2103,2095
$GC,6464,1.25,218.6,444.5,7.1,309,6489,0.00,0.00,22.83,1.077,6,0.000,0.000,2746,2101,1986
$GC,6793,1.25,222.2,419.7,7.9,325,6799,0.00,0.00,3.95,1.020,6,0.000,0.000,2746,2101,1972
$GC,7103,1.28,243.2,396.5,7.3,340,7124,0.12,0.00,18.20,1.067,6,0.051,0.000,2784,2101,1886
$GC,7432,1.29,251.0,370.5,7.7,356,7446,0.00,2.65,7.20,1.042,4,0.000,0.051,2785,3506,1854
$GC,7499,1.29,251.0,364.7,8.6,359,7503,0.00,2.53,0.00,0.000,6,0.000,0.041,2785,2098,1854
$GC,7825,1.29,251.0,334.2,9.4,375,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2099,1854
$GC,8134,1.29,251.0,304.8,9.4,390,8139,0.00,2.58,0.00,0.000,4,0.000,0.050,2784,3508,1854
$GC,8162,1.29,251.0,301.9,10.5,391,8166,0.00,2.53,0.00,0.000,6,0.000,0.039,2785,2094,1854
$GC,8478,1.29,251.0,271.7,9.8,406,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2094,1854
$GC,8787,1.29,251.0,242.3,9.0,421,8791,0.00,2.58,0.00,0.000,4,0.000,0.049,2785,3502,1854
$GC,8837,1.29,251.0,237.8,9.4,423,8841,0.00,2.50,0.00,0.000,6,0.000,0.040,2785,2100,1854
$GC,9153,1.31,269.9,213.7,7.4,438,9172,0.00,0.00,16.33,0.963,6,0.000,0.000,2784,2100,1777
$GC,9481,1.31,269.9,185.5,8.9,454,9482,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2100,1777
$GC,9790,1.31,269.9,158.9,8.5,469,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2100,1777
$GC,10101,1.31,269.9,133.3,8.5,484,10106,0.00,2.55,0.00,0.000,4,0.000,0.048,2785,3501,1777
$GC,10134,1.31,269.9,129.4,10.7,485,10141,0.00,2.53,0.00,0.000,6,0.000,0.041,2784,2094,1777
$GC,10450,1.31,269.9,99.5,9.9,501,10455,0.00,2.55,0.00,0.000,4,0.000,0.048,2785,3502,1777
$GC,10478,1.31,269.9,97.0,9.3,502,10483,0.00,2.50,0.00,0.000,6,0.000,0.038,2785,2092,1777
$GC,10795,1.31,269.9,71.4,9.1,517,10800,0.00,2.55,0.00,0.000,4,0.000,0.048,2785,3501,1777
$GC,10851,1.31,269.9,64.3,11.3,519,10858,0.00,2.50,0.00,0.000,6,0.000,0.038,2785,2098,1777
$GC,11168,1.34,298.0,39.1,7.1,535,11193,0.00,0.00,23.00,0.844,6,0.000,0.000,2785,2098,1663
$GC,11497,1.34,298.0,5.5,9.8,551,11501,0.00,2.58,0.00,0.000,4,0.000,0.048,2785,3506,1663
$GC,11514,1.34,298.0,3.3,11.9,552,11518,0.00,2.50,0.00,0.000,6,0.000,0.039,2784,2100,1662
$STATE,11528,end climb,SURFACE_DEPTH_REACHED
$STATE,11528,begin surface coast
$FINISH,1.0,1.024474
$STATE,11550,end surface coast,CONTROL_FINISHED_OK
$STATE,11550,begin surface
$SM_CCo,11573,2.28,0.850,0,0,1655,300.00
$SM_GC,2.66,0.00,0.00,2.28,0.000,0.000,0.850,29,1886,1655,-11.34,-0.40,300.00
$IRIDIUM_FIX,6135.28,-916.45,010597,212136
$TT8_MAMPS,0.026845
$HUMID,2085
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.9,999.0
$24V_AH,23.2,79.249
$10V_AH,10.1,38.362
$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,25.875,86.400,373.075,2.275,0.000,36.787,34.325,143.943,4.250,0.000,0.000,11.539,1045.487,8711.756,467.487,1260.358,479.012,33.367,1117.730,0.000,1241.316,0.000,26.853
$DEVICE_MAMPS,135.759,65.195,1112.917,849.836,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.645,372.066,389.088,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28546,554
$CFSIZE,260165632,234242048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,060208,033507,6155.422,-915.217,37,1.4,42,-9.5