version: 66.02
glider: 102
mission: 4
dive: 412
start: 2 7 108 5 58 51
data:
$ID,102
$MISSION,4
$DIVE,412
$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,-86667.055
$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,34
$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
$GPS1,054608,6139.764,-913.883,39,0.9,39,-9.4
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-52.6
$GPS2,055709,6140.026,-913.622,10,1.6,10,-9.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.115,-0.208
$KALMAN_X,592129.0,1284.6,-78.3,-631805.9,543.3
$KALMAN_Y,92004.9,1670.7,1257.7,-82259.9,-4633.3
$MHEAD_RNG_PITCHd_Wd,160.6,39014,-14.7,-8.000
$D_GRID,825
$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,-146.6,0.0,0.0,0,87,0.00,0.00,-61.30,0.000,2,0.000,0.000,28,1876,2823
$GC,91,-1.23,-146.6,3.2,-4.1,3,128,11.60,2.60,-18.98,0.000,4,0.139,0.058,2222,3303,3477
$GC,248,-1.23,-146.6,28.5,-15.3,9,252,0.00,2.50,0.00,0.000,6,0.000,0.041,2222,1911,3477
$GC,569,-1.23,-146.6,61.4,-10.6,25,574,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3306,3477
$GC,610,-1.23,-146.6,64.6,-8.6,27,614,0.00,2.53,0.00,0.000,6,0.000,0.041,2222,1897,3477
$GC,937,-1.23,-146.6,96.7,-8.2,43,941,0.00,2.62,0.00,0.000,4,0.000,0.071,2222,495,3477
$GC,976,-1.23,-146.6,102.3,-15.1,45,981,0.00,2.45,0.00,0.000,6,0.000,0.040,2222,1908,3477
$GC,1304,-1.23,-146.6,144.6,-13.8,61,1308,0.00,2.50,0.00,0.000,4,0.000,0.046,2222,3298,3477
$GC,1411,-1.23,-146.6,159.2,-8.5,66,1415,0.00,2.50,0.00,0.000,6,0.000,0.041,2222,1897,3476
$GC,1737,-1.23,-146.6,182.8,-8.9,82,1742,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3301,3477
$GC,1823,-1.23,-146.6,192.1,-11.3,86,1827,0.00,2.50,0.00,0.000,6,0.000,0.041,2222,1900,3477
$GC,2149,-1.23,-146.6,224.8,-10.4,102,2157,0.00,2.50,0.00,0.000,4,0.000,0.046,2222,3293,3477
$GC,2179,-1.23,-146.6,228.2,-10.4,103,2184,0.00,2.47,0.00,0.000,6,0.000,0.041,2222,1901,3477
$GC,2500,-1.23,-146.6,260.2,-9.9,119,2505,0.00,2.50,0.00,0.000,4,0.000,0.046,2222,3294,3477
$GC,2533,-1.23,-146.6,263.6,-9.8,120,2541,0.00,2.50,0.00,0.000,6,0.000,0.041,2222,1892,3477
$GC,2850,-1.23,-146.6,293.3,-9.3,136,2854,0.00,2.50,0.00,0.000,4,0.000,0.047,2222,3293,3476
$GC,2894,-1.23,-146.6,298.0,-10.7,138,2898,0.00,2.47,0.00,0.000,6,0.000,0.042,2222,1896,3477
$GC,3220,-1.23,-146.6,330.0,-9.9,154,3225,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3294,3477
$GC,3283,-1.23,-146.6,336.3,-9.9,157,3288,0.00,2.50,0.00,0.000,6,0.000,0.042,2222,1900,3477
$GC,3610,-1.23,-146.6,371.0,-10.7,173,3614,0.00,2.50,0.00,0.000,4,0.000,0.047,2222,3299,3477
$GC,3643,-1.23,-146.6,374.8,-11.3,174,3651,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1901,3476
$GC,3967,-1.23,-146.6,409.1,-10.4,190,3971,0.00,2.50,0.00,0.000,4,0.000,0.047,2222,3293,3477
$GC,3994,-1.23,-146.6,412.0,-10.3,191,3998,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1899,3476
$GC,4310,-1.23,-146.6,445.1,-10.7,206,4314,0.00,2.62,0.00,0.000,4,0.000,0.070,2222,492,3477
$GC,4332,-1.23,-146.6,447.9,-12.4,207,4336,0.00,2.45,0.00,0.000,6,0.000,0.040,2222,1904,3477
$GC,4652,-1.23,-146.6,483.7,-11.1,223,4657,0.00,2.53,0.00,0.000,4,0.000,0.050,2222,3300,3476
$GC,4719,-1.23,-146.6,491.4,-11.6,226,4724,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1900,3477
$GC,5042,-1.23,-146.6,526.2,-10.9,242,5046,0.00,2.50,0.00,0.000,4,0.000,0.049,2222,3298,3476
$GC,5074,-1.23,-146.6,530.0,-10.8,243,5081,0.00,2.47,0.00,0.000,6,0.000,0.044,2222,1908,3477
$GC,5390,-1.23,-146.6,565.3,-11.3,259,5394,0.00,2.53,0.00,0.000,4,0.000,0.050,2222,3301,3477
$GC,5430,-1.23,-146.6,569.7,-11.6,261,5434,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1898,3476
$GC,5756,-1.23,-146.6,603.6,-10.3,277,5760,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3301,3477
$GC,5822,-1.23,-146.6,610.6,-9.8,280,5827,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1896,3476
$GC,6144,-1.23,-146.6,641.3,-9.1,296,6149,0.00,2.55,0.00,0.000,4,0.000,0.053,2222,3295,3476
$GC,6177,-1.23,-146.6,644.6,-8.9,297,6183,0.00,2.50,0.00,0.000,6,0.000,0.048,2222,1901,3476
$GC,6493,-1.23,-146.6,673.8,-9.2,313,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3476
$GC,6803,-1.23,-146.6,706.1,-11.7,328,6807,0.00,2.55,0.00,0.000,4,0.000,0.053,2222,3299,3476
$GC,7061,-1.23,-146.6,736.7,-11.3,339,7067,0.00,2.53,0.00,0.000,6,0.000,0.050,2222,1901,3476
$GC,7377,-1.23,-146.6,775.5,-11.4,355,7381,0.00,2.58,0.00,0.000,4,0.000,0.058,2222,3299,3476
$GC,7560,-1.23,-146.6,784.1,-3.1,363,7564,0.00,2.58,0.00,0.000,6,0.000,0.055,2222,1898,3476
$GC,7881,-1.23,-146.6,805.9,-5.9,379,7885,0.00,2.60,0.00,0.000,4,0.000,0.066,2222,3295,3475
$GC,7975,-1.23,-146.6,810.3,-4.6,383,7980,0.00,2.55,0.00,0.000,6,0.000,0.055,2222,1899,3475
$GC,8292,-1.23,-146.6,819.2,0.0,398,8296,0.00,2.67,0.00,0.000,4,0.000,0.087,2222,497,3473
$STATE,8487,end dive,NO_VERTICAL_VELOCITY
$STATE,8488,begin apogee
$GC,8497,-0.36,0.0,819.3,0.0,407,8629,0.90,0.00,127.22,1.391,6,0.073,0.000,2416,2098,2878
$STATE,8630,end apogee,CONTROL_FINISHED_OK
$STATE,8630,begin climb
$GC,8633,1.23,146.6,818.8,0.0,414,8771,1.62,2.78,126.55,1.335,4,0.063,0.077,2764,700,2280
$GC,9027,1.23,146.6,777.6,15.4,432,9031,0.00,2.58,0.00,0.000,6,0.000,0.053,2764,2105,2279
$GC,9348,1.23,146.6,743.9,9.4,448,9352,0.00,2.75,0.00,0.000,4,0.000,0.083,2764,690,2277
$GC,9525,1.23,146.6,726.9,9.2,456,9529,0.00,2.55,0.00,0.000,6,0.000,0.054,2764,2104,2277
$GC,9851,1.30,204.9,703.7,5.8,472,9906,0.00,2.70,49.33,1.338,4,0.000,0.069,2763,3499,2042
$GC,10052,1.31,210.0,687.8,7.8,480,10064,0.00,2.60,5.55,1.228,6,0.000,0.054,2764,2103,2021
$GC,10373,1.31,210.0,658.3,9.7,496,10377,0.00,2.62,0.00,0.000,4,0.000,0.061,2764,3503,2021
$GC,10490,1.31,210.0,645.8,10.4,501,10495,0.00,2.58,0.00,0.000,6,0.000,0.049,2764,2096,2021
$GC,10806,1.31,210.0,612.9,11.3,516,10811,0.00,2.62,0.00,0.000,4,0.000,0.057,2764,3506,2021
$GC,10884,1.31,210.0,604.3,10.3,519,10890,0.00,2.55,0.00,0.000,6,0.000,0.047,2764,2097,2021
$GC,11201,1.31,210.0,571.7,10.6,535,11205,0.00,2.60,0.00,0.000,4,0.000,0.054,2764,3508,2021
$GC,11278,1.31,210.0,563.4,10.7,538,11284,0.00,2.55,0.00,0.000,6,0.000,0.044,2764,2092,2021
$GC,11594,1.31,210.0,532.8,9.6,554,11598,0.00,2.62,0.00,0.000,4,0.000,0.071,2764,695,2022
$GC,11621,1.31,210.0,529.8,11.1,555,11625,0.00,2.50,0.00,0.000,6,0.000,0.041,2764,2109,2021
$GC,11936,1.31,210.0,498.8,9.9,570,11941,0.00,2.53,0.00,0.000,4,0.000,0.053,2764,3497,2022
$GC,12009,1.31,210.0,490.6,11.1,573,12013,0.00,2.53,0.00,0.000,6,0.000,0.044,2763,2095,2022
$GC,12325,1.31,210.0,453.2,12.9,588,12329,0.00,2.58,0.00,0.000,4,0.000,0.051,2764,3501,2023
$GC,12391,1.31,210.0,443.8,13.7,591,12395,0.00,2.53,0.00,0.000,6,0.000,0.041,2764,2096,2023
$GC,12712,1.31,210.0,400.3,13.5,607,12717,0.00,2.55,0.00,0.000,4,0.000,0.051,2764,3498,2023
$GC,12730,1.31,210.0,397.9,14.0,608,12734,0.00,2.50,0.00,0.000,6,0.000,0.041,2764,2093,2023
$GC,13056,1.31,210.0,353.0,13.5,624,13061,0.00,2.55,0.00,0.000,4,0.000,0.051,2764,3501,2024
$GC,13096,1.31,210.0,347.6,13.4,626,13101,0.00,2.50,0.00,0.000,6,0.000,0.040,2764,2091,2024
$GC,13423,1.31,210.0,301.5,13.5,642,13427,0.00,2.58,0.00,0.000,4,0.000,0.050,2764,3503,2025
$GC,13478,1.31,210.0,293.2,15.1,644,13484,0.00,2.47,0.00,0.000,6,0.000,0.038,2764,2100,2025
$GC,13794,1.31,210.0,249.7,13.6,660,13798,0.00,2.55,0.00,0.000,4,0.000,0.050,2764,3499,2026
$GC,13815,1.31,210.0,246.7,13.3,661,13820,0.00,2.50,0.00,0.000,6,0.000,0.038,2764,2090,2026
$GC,14136,1.31,210.0,204.5,13.8,677,14141,0.00,2.58,0.00,0.000,4,0.000,0.050,2764,3502,2027
$GC,14176,1.31,210.0,198.8,15.5,679,14180,0.00,2.45,0.00,0.000,6,0.000,0.038,2763,2100,2026
$GC,14503,1.31,210.0,146.9,16.8,695,14508,0.00,2.53,0.00,0.000,4,0.000,0.048,2764,3499,2027
$GC,14559,1.31,210.0,140.0,9.7,697,14566,0.00,2.45,0.00,0.000,6,0.000,0.036,2763,2097,2027
$GC,14875,1.31,210.0,108.8,13.7,713,14879,0.00,2.55,0.00,0.000,4,0.000,0.048,2764,3503,2027
$GC,15059,1.31,210.0,96.5,12.4,721,15064,0.00,2.47,0.00,0.000,6,0.000,0.038,2764,2102,2027
$GC,15377,1.43,310.5,69.0,4.2,736,15464,0.15,2.60,79.90,0.836,4,0.050,0.045,2813,3494,1612
$GC,15616,1.43,310.5,44.4,19.0,747,15620,0.00,2.50,0.00,0.000,6,0.000,0.037,2813,2099,1611
$STATE,15919,end climb,SURFACE_DEPTH_REACHED
$STATE,15919,begin surface coast
$FINISH,1.1,1.027408
$STATE,15941,end surface coast,CONTROL_FINISHED_OK
$STATE,15944,begin surface
$SM_CCo,16027,0.00,0.000,0,0,1607,311.78
$SM_GC,1.53,12.12,0.00,0.00,0.035,0.000,0.000,36,1898,1607,-11.27,-0.06,311.78
$IRIDIUM_FIX,6117.23,-919.55,030597,050557
$TT8_MAMPS,0.026845
$HUMID,2079
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,17.6,999.0
$24V_AH,22.9,80.355
$10V_AH,10.1,38.892
$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,26.400,193.900,388.550,0.000,0.000,75.728,160.679,213.253,7.500,0.000,0.000,14.053,1503.394,11838.920,529.393,2029.500,834.688,33.363,1576.247,0.000,1982.448,0.000,46.254
$DEVICE_MAMPS,138.827,87.438,1391.338,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,565.846,515.660,440.630,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37916,763
$CFSIZE,260165632,233803776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,070208,102751,6142.617,-907.444,58,2.4,77,-9.4