version: 66.02
glider: 102
mission: 4
dive: 408
start: 2 6 108 11 30 28
data:
$ID,102
$MISSION,4
$DIVE,408
$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,-86607.156
$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,30
$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
$GPS1,111856,6148.829,-914.690,64,1.3,64,-9.5
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-60.1
$GPS2,112845,6148.633,-914.711,14,1.9,14,-9.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.133,-0.197
$KALMAN_X,596603.0,-1919.2,317.3,-634368.9,4266.3
$KALMAN_Y,103049.1,-2499.4,270.1,-72084.9,-13.3
$MHEAD_RNG_PITCHd_Wd,223.5,6733,-14.7,-8.000
$D_GRID,709
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-60.60,0.000,2,0.000,0.000,34,1885,2846
$GC,90,-1.23,-146.6,3.4,-3.6,3,132,11.65,2.60,-19.88,0.000,4,0.141,0.062,2221,3301,3476
$GC,300,-1.23,-146.6,27.1,-9.8,12,305,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1905,3476
$GC,616,-1.23,-146.6,58.8,-9.8,27,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1905,3476
$GC,925,-1.23,-146.6,90.8,-11.2,42,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1905,3477
$GC,1235,-1.23,-146.6,127.3,-11.5,57,1239,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3301,3476
$GC,1320,-1.23,-146.6,137.2,-11.9,61,1324,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1897,3476
$GC,1646,-1.23,-146.6,170.6,-15.8,77,1650,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3301,3476
$GC,1681,-1.23,-146.6,175.5,-13.0,78,1687,0.00,2.50,0.00,0.000,6,0.000,0.042,2221,1903,3476
$GC,1997,-1.23,-146.6,219.2,-14.1,94,2001,0.00,2.53,0.00,0.000,4,0.000,0.046,2221,3307,3476
$GC,2040,-1.23,-146.6,223.5,-8.6,96,2045,0.00,2.53,0.00,0.000,6,0.000,0.042,2221,1894,3476
$GC,2362,-1.23,-146.6,270.0,-15.2,112,2366,0.00,2.60,0.00,0.000,4,0.000,0.069,2221,495,3476
$GC,2402,-1.23,-146.6,275.1,-12.4,114,2406,0.00,2.45,0.00,0.000,6,0.000,0.040,2222,1902,3476
$GC,2729,-1.23,-146.6,321.1,-14.8,130,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1906,3476
$GC,3037,-1.23,-146.6,362.6,-12.1,145,3042,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3303,3476
$GC,3127,-1.23,-146.6,373.4,-11.8,149,3131,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1895,3476
$GC,3448,-1.23,-146.6,406.0,-9.6,165,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1894,3476
$GC,3757,-1.23,-146.6,439.0,-11.9,180,3761,0.00,2.55,0.00,0.000,4,0.000,0.048,2221,3307,3476
$GC,3868,-1.23,-146.6,453.0,-13.4,185,3872,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1900,3476
$GC,4190,-1.23,-146.6,494.5,-13.5,201,4194,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3301,3476
$GC,4240,-1.23,-146.6,500.6,-11.1,203,4245,0.00,2.53,0.00,0.000,6,0.000,0.045,2221,1895,3475
$GC,4556,-1.23,-146.6,536.0,-10.9,218,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1895,3476
$GC,4865,-1.23,-146.6,574.6,-13.6,233,4870,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3299,3475
$GC,5004,-1.23,-146.6,593.7,-13.4,239,5008,0.00,2.53,0.00,0.000,6,0.000,0.047,2221,1901,3476
$GC,5326,-1.23,-146.6,633.6,-11.5,255,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3476
$GC,5635,-1.23,-146.6,658.6,-6.8,270,5639,0.00,2.58,0.00,0.000,4,0.000,0.058,2221,3300,3476
$GC,5825,-1.23,-146.6,673.0,-4.0,278,5831,0.00,2.55,0.00,0.000,6,0.000,0.055,2221,1904,3476
$GC,6141,-1.23,-146.6,689.8,-2.0,294,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1904,3476
$STATE,6365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6365,begin apogee
$GC,6372,-0.36,0.0,709.1,9.2,305,6502,0.93,0.00,126.38,1.291,6,0.082,0.000,2417,2098,2878
$STATE,6503,end apogee,CONTROL_FINISHED_OK
$STATE,6503,begin climb
$GC,6505,1.23,146.6,712.3,0.0,311,6639,1.58,2.70,124.80,1.249,4,0.055,0.067,2764,3495,2279
$GC,6699,1.39,278.9,709.6,3.0,320,6818,0.15,2.60,111.70,1.235,6,0.052,0.054,2804,2098,1740
$GC,7126,1.39,278.9,671.5,14.4,341,7130,0.00,2.72,0.00,0.000,4,0.000,0.083,2804,694,1740
$GC,7383,1.39,278.9,635.9,14.5,352,7389,0.00,2.53,0.00,0.000,6,0.000,0.051,2804,2095,1739
$GC,7698,1.39,278.9,593.2,13.8,368,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2100,1737
$GC,8008,1.39,278.9,555.5,9.8,383,8012,0.00,2.60,0.00,0.000,4,0.000,0.058,2804,3507,1737
$GC,8071,1.39,278.9,549.1,10.9,386,8075,0.00,2.55,0.00,0.000,6,0.000,0.050,2804,2103,1736
$GC,8397,1.39,278.9,519.5,8.6,402,8401,0.00,2.58,0.00,0.000,4,0.000,0.055,2804,3506,1736
$GC,8441,1.39,278.9,515.6,9.0,404,8445,0.00,2.55,0.00,0.000,6,0.000,0.046,2804,2097,1736
$GC,8761,1.39,278.9,487.4,9.2,420,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2097,1736
$GC,9070,1.39,278.9,455.3,10.4,435,9075,0.00,2.58,0.00,0.000,4,0.000,0.051,2804,3508,1736
$GC,9110,1.39,278.9,451.1,10.6,437,9115,0.00,2.53,0.00,0.000,6,0.000,0.044,2804,2100,1736
$GC,9437,1.39,278.9,417.0,10.2,453,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2100,1736
$GC,9746,1.39,278.9,386.6,10.3,468,9750,0.00,2.58,0.00,0.000,4,0.000,0.050,2804,3509,1736
$GC,9846,1.39,278.9,374.5,12.6,472,9852,0.00,2.53,0.00,0.000,6,0.000,0.042,2804,2093,1737
$GC,10162,1.39,278.9,335.5,12.9,488,10166,0.00,2.58,0.00,0.000,4,0.000,0.049,2804,3504,1737
$GC,10224,1.39,278.9,327.2,13.8,491,10228,0.00,2.53,0.00,0.000,6,0.000,0.041,2804,2099,1737
$GC,10551,1.39,278.9,283.9,13.4,507,10552,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2098,1737
$GC,10860,1.39,278.9,245.9,11.1,522,10864,0.00,2.55,0.00,0.000,4,0.000,0.048,2804,3507,1738
$GC,10949,1.39,278.9,235.7,11.3,526,10953,0.00,2.53,0.00,0.000,6,0.000,0.039,2804,2094,1738
$GC,11270,1.41,290.4,201.0,7.6,542,11285,0.00,2.62,10.25,0.980,4,0.000,0.048,2804,3509,1693
$GC,11325,1.41,290.4,195.8,10.3,543,11331,0.00,2.50,0.00,0.000,6,0.000,0.038,2804,2099,1693
$GC,11640,1.41,290.4,167.5,8.6,559,11644,0.00,2.55,0.00,0.000,4,0.000,0.048,2804,3507,1693
$GC,11685,1.41,290.4,161.9,14.4,561,11689,0.00,2.50,0.00,0.000,6,0.000,0.039,2804,2099,1693
$GC,12008,1.43,306.9,135.9,7.4,577,12026,0.00,0.00,14.10,0.920,6,0.000,0.000,2804,2099,1626
$GC,12338,1.47,342.1,102.2,6.7,593,12372,0.00,2.62,28.42,0.875,4,0.000,0.045,2803,3503,1483
$GC,12471,1.47,342.1,92.3,10.3,599,12475,0.00,2.53,0.00,0.000,6,0.000,0.038,2804,2094,1483
$GC,12798,1.47,342.1,63.5,10.7,615,12802,0.00,2.58,0.00,0.000,4,0.000,0.048,2804,3507,1483
$GC,12860,1.47,342.1,56.8,12.9,618,12865,0.00,2.53,0.00,0.000,6,0.000,0.039,2803,2097,1483
$GC,13188,1.47,342.1,23.8,9.1,634,13192,0.00,2.55,0.00,0.000,4,0.000,0.047,2804,3504,1483
$GC,13231,1.47,342.1,17.8,13.4,636,13236,0.00,2.53,0.00,0.000,6,0.000,0.041,2804,2094,1483
$STATE,13385,end climb,SURFACE_DEPTH_REACHED
$STATE,13386,begin surface coast
$FINISH,1.0,1.014433
$STATE,13407,end surface coast,CONTROL_FINISHED_OK
$STATE,13407,begin surface
$SM_CCo,13491,0.00,0.000,0,0,1483,342.19
$SM_GC,1.75,11.98,0.00,0.00,0.030,0.000,0.000,29,1886,1483,-11.27,-0.42,342.19
$IRIDIUM_FIX,6121.73,-917.27,020597,111144
$TT8_MAMPS,0.026078
$HUMID,2078
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,999.0
$24V_AH,23.0,79.683
$10V_AH,10.1,38.567
$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,26.275,118.000,415.650,0.000,0.000,75.828,73.086,248.462,6.500,0.000,0.000,17.462,1229.483,10117.091,502.639,1588.664,693.505,33.374,1317.183,0.000,1550.058,0.000,39.784
$DEVICE_MAMPS,141.128,82.836,1290.861,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.008,433.796,425.200,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31630,645
$CFSIZE,260165632,234070016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,060208,151632,6144.787,-920.264,38,1.5,38,-9.5