version: 66.02
glider: 102
mission: 4
dive: 407
start: 2 6 108 7 24 1
data:
$ID,102
$MISSION,4
$DIVE,407
$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,-86589.07
$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,29
$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
$GPS1,071625,6151.988,-915.513,38,1.1,38,-9.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-51.4
$GPS2,072220,6151.899,-915.443,13,1.1,30,-9.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.088,-0.221
$KALMAN_X,596253.2,-2028.7,-1073.9,-633161.1,7322.2
$KALMAN_Y,107956.9,-3217.8,-1141.2,-68802.7,4625.0
$MHEAD_RNG_PITCHd_Wd,211.3,12784,-14.7,-8.000
$D_GRID,649
$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,22,begin dive
$GC,26,-1.23,-146.6,0.0,0.0,0,98,0.00,0.00,-70.05,0.000,2,0.000,0.000,35,1890,3041
$GC,101,-1.23,-146.6,3.7,-2.7,4,131,11.65,2.60,-12.40,0.000,4,0.141,0.059,2223,3298,3478
$GC,384,-1.23,-146.6,41.5,-14.1,16,390,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1905,3479
$GC,700,-1.23,-146.6,72.2,-9.0,32,704,0.00,2.53,0.00,0.000,4,0.000,0.045,2222,3303,3479
$GC,807,-1.23,-146.6,83.7,-10.2,37,812,0.00,2.53,0.00,0.000,6,0.000,0.041,2223,1894,3479
$GC,1134,-1.23,-146.6,118.7,-10.4,53,1139,0.00,2.60,0.00,0.000,4,0.000,0.067,2223,498,3479
$GC,1175,-1.23,-146.6,122.5,-10.4,55,1179,0.00,2.42,0.00,0.000,6,0.000,0.038,2223,1905,3479
$GC,1507,-1.23,-146.6,155.0,-9.5,71,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1908,3479
$GC,1816,-1.23,-146.6,182.3,-8.9,86,1820,0.00,2.50,0.00,0.000,4,0.000,0.047,2223,3299,3479
$GC,1900,-1.23,-146.6,189.9,-9.7,90,1904,0.00,2.50,0.00,0.000,6,0.000,0.041,2222,1899,3479
$GC,2227,-1.23,-146.6,222.3,-10.3,106,2231,0.00,2.53,0.00,0.000,4,0.000,0.046,2223,3300,3479
$GC,2276,-1.23,-146.6,227.7,-10.3,108,2281,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1896,3479
$GC,2598,-1.23,-146.6,262.0,-10.7,124,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1897,3479
$GC,2907,-1.23,-146.6,293.6,-10.0,139,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3479
$GC,3216,-1.23,-146.6,324.8,-10.2,154,3221,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3296,3479
$GC,3272,-1.23,-146.6,330.5,-10.3,156,3276,0.00,2.50,0.00,0.000,6,0.000,0.042,2223,1897,3478
$GC,3588,-1.23,-146.6,362.9,-10.5,171,3592,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3297,3479
$GC,3627,-1.23,-146.6,367.3,-11.0,173,3631,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1904,3479
$GC,3956,-1.23,-146.6,400.5,-9.5,189,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1904,3479
$GC,4262,-1.23,-146.6,430.7,-9.9,204,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1904,3479
$GC,4572,-1.23,-146.6,460.4,-9.3,219,4576,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3297,3479
$GC,4657,-1.23,-146.6,468.5,-9.9,223,4661,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1893,3479
$GC,4983,-1.23,-146.6,498.2,-9.5,239,4987,0.00,2.55,0.00,0.000,4,0.000,0.050,2223,3296,3479
$GC,5067,-1.23,-146.6,506.4,-10.0,243,5071,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1893,3479
$GC,5394,-1.23,-146.6,531.7,-8.8,259,5398,0.00,2.55,0.00,0.000,4,0.000,0.052,2223,3295,3479
$GC,5455,-1.23,-146.6,538.1,-10.2,262,5460,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1894,3479
$GC,5782,-1.23,-146.6,572.5,-10.6,278,5787,0.00,2.55,0.00,0.000,4,0.000,0.055,2223,3293,3479
$GC,5827,-1.23,-146.6,577.4,-10.7,280,5831,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1898,3479
$GC,6148,-1.23,-146.6,609.4,-9.4,296,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3478
$GC,6458,-1.23,-146.6,635.5,-8.0,311,6462,0.00,2.58,0.00,0.000,4,0.000,0.061,2223,3292,3478
$GC,6542,-1.23,-146.6,642.6,-8.1,315,6546,0.00,2.53,0.00,0.000,6,0.000,0.052,2223,1899,3477
$STATE,6618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6618,begin apogee
$GC,6625,-0.36,0.0,649.0,8.2,319,6754,0.93,0.00,125.72,1.231,6,0.082,0.000,2418,2101,2878
$STATE,6754,end apogee,CONTROL_FINISHED_OK
$STATE,6755,begin climb
$GC,6758,1.23,146.6,652.8,0.0,325,6890,1.55,2.65,123.70,1.196,4,0.054,0.062,2762,3494,2281
$GC,7004,1.24,157.6,642.3,7.6,336,7020,0.00,2.55,10.25,1.184,6,0.000,0.048,2762,2100,2235
$GC,7336,1.28,191.3,618.3,6.7,353,7370,0.00,2.65,29.02,1.205,4,0.000,0.059,2762,3497,2098
$GC,7493,1.30,204.8,606.7,7.5,360,7514,0.00,2.55,12.52,1.193,6,0.000,0.049,2762,2097,2042
$GC,7824,1.33,225.2,582.4,7.2,376,7847,0.00,2.65,18.00,1.208,4,0.000,0.057,2762,3495,1960
$GC,7875,1.33,225.2,578.4,8.3,378,7881,0.00,2.55,0.00,0.000,6,0.000,0.050,2762,2101,1959
$GC,8191,1.34,240.7,554.6,7.4,394,8211,0.12,0.00,13.93,1.213,6,0.055,0.000,2797,2101,1896
$GC,8520,1.34,240.7,523.4,9.8,410,8524,0.00,2.58,0.00,0.000,4,0.000,0.057,2797,3500,1896
$GC,8582,1.34,240.7,517.0,10.0,413,8586,0.00,2.55,0.00,0.000,6,0.000,0.049,2797,2099,1895
$GC,8909,1.34,240.7,487.7,9.2,429,8913,0.00,2.55,0.00,0.000,4,0.000,0.054,2797,3497,1895
$GC,8980,1.34,240.7,480.8,8.9,432,8985,0.00,2.53,0.00,0.000,6,0.000,0.047,2797,2094,1895
$GC,9296,1.34,240.7,449.9,10.1,447,9300,0.00,2.55,0.00,0.000,4,0.000,0.053,2797,3498,1894
$GC,9347,1.34,240.7,444.9,10.6,449,9351,0.00,2.53,0.00,0.000,6,0.000,0.044,2797,2097,1894
$GC,9662,1.34,240.7,409.8,11.9,464,9667,0.00,2.55,0.00,0.000,4,0.000,0.052,2797,3500,1894
$GC,9717,1.34,240.7,403.0,12.2,466,9723,0.00,2.53,0.00,0.000,6,0.000,0.043,2797,2094,1894
$GC,10033,1.34,240.7,369.7,9.7,482,10037,0.00,2.55,0.00,0.000,4,0.000,0.051,2797,3499,1895
$GC,10082,1.34,240.7,364.6,9.7,484,10087,0.00,2.53,0.00,0.000,6,0.000,0.042,2798,2093,1895
$GC,10398,1.34,240.7,332.4,10.5,499,10399,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2093,1895
$GC,10708,1.34,240.7,302.8,9.1,514,10712,0.00,2.55,0.00,0.000,4,0.000,0.050,2797,3499,1895
$GC,10779,1.34,240.7,295.8,9.4,517,10784,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2098,1895
$GC,11095,1.34,240.7,265.7,10.0,532,11099,0.00,2.55,0.00,0.000,4,0.000,0.050,2797,3502,1896
$GC,11139,1.34,240.7,260.9,11.1,534,11143,0.00,2.47,0.00,0.000,6,0.000,0.040,2797,2098,1896
$GC,11460,1.34,240.7,229.6,9.3,550,11464,0.00,2.55,0.00,0.000,4,0.000,0.049,2797,3499,1896
$GC,11509,1.34,240.7,224.6,10.5,552,11513,0.00,2.47,0.00,0.000,6,0.000,0.039,2797,2096,1896
$GC,11825,1.34,240.7,194.9,9.2,567,11826,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2096,1896
$GC,12134,1.34,240.7,165.2,9.5,582,12138,0.00,2.53,0.00,0.000,4,0.000,0.049,2797,3498,1897
$GC,12195,1.34,240.7,159.0,10.3,585,12200,0.00,2.50,0.00,0.000,6,0.000,0.038,2797,2092,1897
$GC,12523,1.34,240.7,128.3,9.5,601,12527,0.00,2.55,0.00,0.000,4,0.000,0.048,2797,3498,1897
$GC,12589,1.34,240.7,121.5,10.2,604,12593,0.00,2.47,0.00,0.000,6,0.000,0.039,2797,2099,1897
$GC,12911,1.34,240.7,91.8,9.8,620,12912,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2100,1898
$GC,13222,1.34,240.7,65.6,9.9,635,13226,0.00,2.55,0.00,0.000,4,0.000,0.049,2797,3500,1898
$GC,13311,1.34,240.7,55.6,10.2,639,13315,0.00,2.50,0.00,0.000,6,0.000,0.038,2797,2091,1898
$GC,13633,1.34,240.7,25.9,8.5,655,13634,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2092,1898
$STATE,13856,end climb,SURFACE_DEPTH_REACHED
$STATE,13856,begin surface coast
$FINISH,1.3,1.027408
$STATE,13878,end surface coast,CONTROL_FINISHED_OK
$STATE,13878,begin surface
$SM_CCo,13901,55.47,0.798,7,0,1655,300.00
$SM_GC,1.91,0.00,0.00,55.47,0.000,0.000,0.798,34,1886,1655,-11.32,-0.40,300.00
$IRIDIUM_FIX,6130.75,-919.48,020597,030349
$TT8_MAMPS,0.026845
$HUMID,2060
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.1,79.519
$10V_AH,10.1,38.496
$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,26.300,132.525,333.150,55.475,0.000,36.767,34.867,153.590,5.500,0.000,0.000,31.524,1278.866,10450.367,543.906,1614.813,513.749,33.371,1359.329,0.000,1563.141,0.000,34.938
$DEVICE_MAMPS,141.128,67.496,1231.035,797.680,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,495.271,449.190,428.597,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34820,667
$CFSIZE,260165632,234115072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,7,0
$GPS,060208,111856,6148.829,-914.690,64,1.3,64,-9.5