version: 66.02
glider: 102
mission: 4
dive: 406
start: 2 6 108 3 42 11
data:
$ID,102
$MISSION,4
$DIVE,406
$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,-86556.922
$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,32
$R_STBD_OVSHOOT,27
$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
$GPS1,033507,6155.422,-915.217,37,1.4,42,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-57.6
$GPS2,034029,6155.370,-915.248,11,1.9,12,-9.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.055,-0.231
$KALMAN_X,594964.4,-971.0,-1343.8,-632520.1,5969.9
$KALMAN_Y,110959.8,-2041.2,-2012.4,-65694.2,4897.1
$MHEAD_RNG_PITCHd_Wd,202.9,19206,-14.7,-8.000
$D_GRID,578
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-60.38,0.000,2,0.000,0.000,28,1884,2832
$GC,90,-1.23,-146.6,3.4,-3.5,3,132,11.62,2.62,-20.50,0.000,4,0.139,0.058,2222,3301,3477
$GC,262,-1.23,-146.6,23.9,-10.6,10,269,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1907,3477
$GC,578,-1.23,-146.6,52.7,-8.6,26,582,0.00,2.53,0.00,0.000,4,0.000,0.046,2223,3306,3477
$GC,640,-1.23,-146.6,57.9,-7.8,29,645,0.00,2.53,0.00,0.000,6,0.000,0.041,2223,1896,3477
$GC,968,-1.23,-146.6,93.8,-10.5,45,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1896,3477
$GC,1277,-1.23,-146.6,128.7,-11.1,60,1281,0.00,2.55,0.00,0.000,4,0.000,0.047,2223,3309,3477
$GC,1332,-1.23,-146.6,135.1,-10.0,62,1338,0.00,2.53,0.00,0.000,6,0.000,0.041,2223,1894,3476
$GC,1648,-1.23,-146.6,165.7,-10.0,78,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3477
$GC,1956,-1.23,-146.6,198.6,-10.1,93,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3477
$GC,2266,-1.23,-146.6,230.8,-10.2,108,2270,0.00,2.55,0.00,0.000,4,0.000,0.046,2223,3310,3477
$GC,2328,-1.23,-146.6,237.3,-10.7,111,2333,0.00,2.53,0.00,0.000,6,0.000,0.041,2223,1890,3477
$GC,2655,-1.23,-146.6,272.5,-10.9,127,2659,0.00,2.55,0.00,0.000,4,0.000,0.047,2223,3303,3477
$GC,2687,-1.23,-146.6,276.3,-10.9,128,2693,0.00,2.50,0.00,0.000,6,0.000,0.042,2223,1901,3477
$GC,3003,-1.23,-146.6,308.1,-9.3,144,3008,0.00,2.60,0.00,0.000,4,0.000,0.069,2223,499,3476
$GC,3044,-1.23,-146.6,312.0,-10.5,146,3048,0.00,2.45,0.00,0.000,6,0.000,0.039,2223,1908,3477
$GC,3370,-1.23,-146.6,344.7,-10.9,162,3374,0.00,2.50,0.00,0.000,4,0.000,0.048,2223,3298,3476
$GC,3414,-1.23,-146.6,349.9,-11.5,164,3418,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1900,3477
$GC,3740,-1.23,-146.6,385.0,-10.3,180,3744,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3302,3476
$GC,3772,-1.23,-146.6,388.7,-10.2,181,3778,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1902,3477
$GC,4088,-1.23,-146.6,419.3,-9.6,197,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1902,3476
$GC,4397,-1.23,-146.6,447.6,-9.2,212,4401,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3298,3477
$GC,4429,-1.23,-146.6,450.6,-9.4,213,4435,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1898,3477
$GC,4745,-1.23,-146.6,479.4,-8.7,229,4749,0.00,2.62,0.00,0.000,4,0.000,0.071,2223,492,3476
$GC,4801,-1.23,-146.6,484.7,-10.1,231,4808,0.00,2.47,0.00,0.000,6,0.000,0.040,2223,1910,3476
$GC,5117,-1.23,-146.6,514.0,-8.9,247,5121,0.00,2.50,0.00,0.000,4,0.000,0.051,2223,3292,3476
$GC,5202,-1.23,-146.6,524.5,-14.3,251,5210,0.00,2.50,0.00,0.000,6,0.000,0.045,2223,1900,3476
$GC,5537,-1.23,-146.6,560.3,-9.2,267,5541,0.00,2.65,0.00,0.000,4,0.000,0.075,2223,490,3476
$GC,5622,-1.23,-146.6,568.1,-10.1,271,5626,0.00,2.47,0.00,0.000,6,0.000,0.043,2223,1897,3476
$STATE,5739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5739,begin apogee
$GC,5746,-0.36,0.0,579.5,9.5,277,5873,0.90,0.00,123.82,1.168,6,0.080,0.000,2414,2107,2878
$STATE,5874,end apogee,CONTROL_FINISHED_OK
$STATE,5874,begin climb
$GC,5876,1.23,146.6,583.7,0.0,283,6004,1.58,0.00,122.30,1.134,6,0.054,0.000,2763,2107,2280
$GC,6313,1.25,161.6,562.2,7.4,305,6333,0.00,0.00,13.45,1.144,6,0.000,0.000,2763,2107,2219
$GC,6643,1.32,217.5,537.6,5.9,321,6697,0.00,2.70,46.95,1.150,4,0.000,0.063,2763,3494,1991
$GC,6716,1.33,225.4,532.5,7.7,324,6730,0.00,2.58,7.90,1.102,6,0.000,0.048,2763,2103,1958
$GC,7058,1.33,225.4,506.5,8.4,341,7062,0.00,2.58,0.00,0.000,4,0.000,0.057,2763,3495,1957
$GC,7177,1.33,225.4,495.9,9.3,346,7181,0.00,2.55,0.00,0.000,6,0.000,0.045,2763,2092,1956
$GC,7494,1.34,234.7,471.5,7.6,361,7504,0.10,0.00,8.30,1.151,6,0.058,0.000,2795,2092,1921
$GC,7802,1.34,234.7,442.2,9.7,376,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2091,1920
$GC,8112,1.34,234.7,413.6,8.5,391,8116,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3499,1921
$GC,8138,1.34,234.7,410.9,9.2,392,8143,0.00,2.53,0.00,0.000,6,0.000,0.042,2795,2096,1920
$GC,8454,1.34,234.7,382.8,9.2,407,8458,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3502,1921
$GC,8521,1.34,234.7,376.4,9.6,410,8525,0.00,2.53,0.00,0.000,6,0.000,0.041,2795,2093,1920
$GC,8842,1.34,234.7,346.4,9.5,426,8846,0.00,2.55,0.00,0.000,4,0.000,0.050,2795,3498,1920
$GC,8897,1.34,234.7,340.6,10.6,428,8903,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2097,1921
$GC,9213,1.34,234.7,310.3,9.8,444,9217,0.00,2.53,0.00,0.000,4,0.000,0.050,2795,3497,1921
$GC,9285,1.34,234.7,303.1,9.8,447,9289,0.00,2.50,0.00,0.000,6,0.000,0.040,2795,2096,1921
$GC,9600,1.34,234.7,276.0,8.6,462,9605,0.00,2.55,0.00,0.000,4,0.000,0.050,2795,3497,1921
$GC,9673,1.34,234.7,268.8,10.0,465,9678,0.00,2.50,0.00,0.000,6,0.000,0.039,2795,2091,1921
$GC,9989,1.34,234.7,239.7,9.2,480,9994,0.00,2.55,0.00,0.000,4,0.000,0.049,2795,3497,1921
$GC,10029,1.34,234.7,235.9,9.5,482,10034,0.00,2.50,0.00,0.000,6,0.000,0.039,2795,2093,1921
$GC,10356,1.34,234.7,206.5,9.1,498,10361,0.00,2.55,0.00,0.000,4,0.000,0.049,2795,3497,1921
$GC,10411,1.34,234.7,201.3,9.1,500,10418,0.00,2.47,0.00,0.000,6,0.000,0.038,2795,2099,1921
$GC,10727,1.34,234.7,173.4,8.8,516,10732,0.00,2.55,0.00,0.000,4,0.000,0.049,2795,3502,1922
$GC,10790,1.34,234.7,168.0,9.3,519,10794,0.00,2.50,0.00,0.000,6,0.000,0.038,2795,2096,1922
$GC,11117,1.34,234.7,141.0,8.2,535,11118,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2096,1922
$GC,11426,1.34,234.7,116.6,8.2,550,11430,0.00,2.55,0.00,0.000,4,0.000,0.048,2795,3501,1922
$GC,11470,1.34,234.7,112.4,8.8,552,11475,0.00,2.47,0.00,0.000,6,0.000,0.038,2795,2100,1922
$GC,11792,1.34,234.7,83.7,9.2,568,11796,0.00,2.55,0.00,0.000,4,0.000,0.048,2795,3505,1922
$GC,11831,1.34,234.7,80.0,9.0,570,11836,0.00,2.47,0.00,0.000,6,0.000,0.037,2795,2091,1922
$GC,12159,1.34,234.7,53.9,9.1,586,12163,0.00,2.55,0.00,0.000,4,0.000,0.048,2795,3499,1923
$GC,12270,1.34,234.7,42.2,11.0,591,12274,0.00,2.45,0.00,0.000,6,0.000,0.038,2794,2102,1922
$GC,12592,1.34,234.7,6.7,12.0,607,12596,0.00,2.53,0.00,0.000,4,0.000,0.049,2795,3498,1923
$GC,12647,1.37,264.2,2.2,6.9,609,12657,0.00,2.47,4.90,0.861,2,0.000,0.037,2795,2086,1905
$STATE,12658,end climb,SURFACE_DEPTH_REACHED
$STATE,12658,begin surface coast
$FINISH,1.3,1.027401
$STATE,12662,end surface coast,CONTROL_FINISHED_OK
$STATE,12662,begin surface
$SM_CCo,12685,56.17,0.789,7,0,1655,300.00
$SM_GC,1.79,0.00,0.00,56.17,0.000,0.000,0.789,35,1892,1655,-11.32,-0.23,300.00
$IRIDIUM_FIX,6135.28,-915.71,020597,000014
$TT8_MAMPS,0.026845
$HUMID,2059
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,18.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,23.1,79.379
$10V_AH,10.1,38.426
$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,26.200,132.250,327.625,56.175,0.000,36.079,38.130,134.295,5.000,0.000,0.000,13.998,1167.386,9509.602,556.085,1431.751,491.123,33.374,1301.783,0.000,1400.185,0.000,31.712
$DEVICE_MAMPS,138.827,75.166,1168.141,789.243,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.169,410.009,414.863,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31693,610
$CFSIZE,260165632,234172416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,7,0
$GPS,060208,071625,6151.988,-915.513,38,1.1,38,-9.5