version: 66.02
glider: 102
mission: 4
dive: 413
start: 2 7 108 10 44 34
data:
$ID,102
$MISSION,4
$DIVE,413
$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,-86705.445
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,102751,6142.617,-907.444,58,2.4,77,-9.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-51.9
$GPS2,104251,6142.820,-906.643,16,2.3,35,-9.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.122,-0.204
$KALMAN_X,594801.8,1661.7,865.6,-629631.1,-1500.1
$KALMAN_Y,100106.5,3300.1,1806.8,-87372.7,-2175.1
$MHEAD_RNG_PITCHd_Wd,158.5,42674,-14.7,-8.000
$D_GRID,771
$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,-61.35,0.000,2,0.000,0.000,35,1895,2881
$GC,91,-1.23,-146.6,4.2,-7.2,3,126,11.73,2.62,-16.45,0.000,4,0.144,0.074,2223,499,3478
$GC,373,-1.23,-146.6,44.1,-9.3,15,379,0.00,2.45,0.00,0.000,6,0.000,0.039,2223,1906,3478
$GC,689,-1.23,-146.6,105.7,-18.4,31,693,0.00,2.50,0.00,0.000,4,0.000,0.046,2223,3293,3478
$GC,870,-1.23,-146.6,131.9,-5.1,39,875,0.00,2.50,0.00,0.000,6,0.000,0.040,2223,1894,3478
$GC,1194,-1.23,-146.6,132.8,3.9,55,1198,0.00,2.60,0.00,0.000,4,0.000,0.068,2223,499,3478
$GC,1221,-1.23,-146.6,131.9,3.4,56,1225,0.00,2.45,0.00,0.000,6,0.000,0.038,2223,1908,3478
$GC,1537,-1.23,-146.6,144.9,-9.5,71,1542,0.00,2.47,0.00,0.000,4,0.000,0.047,2223,3291,3478
$GC,1610,-1.23,-146.6,148.6,-4.0,74,1614,0.00,2.47,0.00,0.000,6,0.000,0.041,2223,1898,3478
$GC,1925,-1.23,-146.6,182.7,-13.0,89,1929,0.00,2.50,0.00,0.000,4,0.000,0.045,2223,3293,3478
$GC,1952,-1.23,-146.6,186.6,-13.5,90,1957,0.00,2.47,0.00,0.000,6,0.000,0.040,2222,1897,3478
$GC,2268,-1.23,-146.6,218.2,-7.5,105,2272,0.00,2.60,0.00,0.000,4,0.000,0.067,2223,499,3478
$GC,2302,-1.23,-146.6,221.0,-7.8,106,2308,0.00,2.45,0.00,0.000,6,0.000,0.038,2223,1907,3478
$GC,2618,-1.23,-146.6,232.9,-7.0,122,2622,0.00,2.62,0.00,0.000,4,0.000,0.067,2223,499,3478
$GC,2703,-1.23,-146.6,242.5,-10.0,126,2707,0.00,2.42,0.00,0.000,6,0.000,0.039,2223,1897,3478
$GC,3029,-1.23,-146.6,279.3,-12.7,142,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3478
$GC,3338,-1.23,-146.6,315.9,-11.1,157,3342,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3297,3478
$GC,3366,-1.23,-146.6,318.4,-8.9,158,3370,0.00,2.50,0.00,0.000,6,0.000,0.042,2223,1902,3478
$GC,3688,-1.23,-146.6,342.0,-6.8,174,3692,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3299,3478
$GC,3709,-1.23,-146.6,343.5,-6.4,175,3714,0.00,2.50,0.00,0.000,6,0.000,0.042,2223,1900,3478
$GC,4031,-1.23,-146.6,360.4,-5.1,191,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3478
$GC,4341,-1.23,-146.6,374.9,-4.8,206,4346,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3302,3478
$GC,4397,-1.23,-146.6,378.1,-5.9,208,4401,0.00,2.50,0.00,0.000,6,0.000,0.042,2223,1899,3478
$GC,4712,-1.23,-146.6,398.3,-7.5,223,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3478
$GC,5023,-1.23,-146.6,425.1,-8.7,238,5027,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3297,3478
$GC,5072,-1.23,-146.6,429.6,-8.5,240,5077,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1899,3478
$GC,5388,-1.23,-146.6,458.1,-9.2,255,5392,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3302,3478
$GC,5429,-1.23,-146.6,461.9,-9.2,257,5434,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1896,3478
$GC,5756,-1.23,-146.6,491.6,-8.8,273,5760,0.00,2.60,0.00,0.000,4,0.000,0.070,2223,497,3478
$GC,5777,-1.23,-146.6,493.7,-9.4,274,5782,0.00,2.45,0.00,0.000,6,0.000,0.040,2223,1904,3478
$GC,6099,-1.23,-146.6,523.7,-10.0,290,6103,0.00,2.50,0.00,0.000,4,0.000,0.051,2223,3295,3478
$GC,6193,-1.23,-146.6,532.9,-10.0,294,6197,0.00,2.50,0.00,0.000,6,0.000,0.045,2223,1901,3478
$GC,6510,-1.23,-146.6,557.6,-6.8,309,6514,0.00,2.53,0.00,0.000,4,0.000,0.050,2223,3298,3478
$GC,6599,-1.23,-146.6,563.9,-7.8,313,6603,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1901,3478
$GC,6920,-1.23,-146.6,590.0,-8.5,329,6925,0.00,2.55,0.00,0.000,4,0.000,0.052,2223,3300,3478
$GC,6983,-1.23,-146.6,596.3,-9.6,332,6987,0.00,2.53,0.00,0.000,6,0.000,0.046,2222,1896,3478
$GC,7309,-1.23,-146.6,629.0,-9.9,348,7313,0.00,2.55,0.00,0.000,4,0.000,0.052,2223,3297,3478
$GC,7561,-1.23,-146.6,651.4,-9.4,359,7565,0.00,2.50,0.00,0.000,6,0.000,0.048,2223,1903,3478
$GC,7879,-1.23,-146.6,676.2,-9.2,374,7883,0.00,2.58,0.00,0.000,4,0.000,0.057,2223,3301,3478
$GC,8014,-1.23,-146.6,690.3,-9.2,380,8019,0.00,2.55,0.00,0.000,6,0.000,0.054,2222,1903,3478
$GC,8336,-1.23,-146.6,724.3,-13.7,396,8341,0.00,2.58,0.00,0.000,4,0.000,0.061,2223,3300,3478
$GC,8408,-1.23,-146.6,734.2,-14.1,399,8413,0.00,2.62,0.00,0.000,6,0.000,0.072,2223,1905,3477
$GC,8729,-1.23,-146.6,756.0,-7.1,415,8734,0.00,2.70,0.00,0.000,4,0.000,0.086,2223,488,3476
$GC,8740,-1.23,-146.6,757.1,-9.8,415,8746,0.00,2.53,0.00,0.000,6,0.000,0.055,2223,1897,3475
$GC,9056,-1.23,-146.6,770.2,-0.1,431,9061,0.00,2.78,0.00,0.000,4,0.000,0.097,2223,490,3474
$GC,9175,-1.23,-146.6,770.5,-0.6,436,9179,0.00,2.55,0.00,0.000,6,0.000,0.054,2223,1903,3472
$STATE,9282,end dive,NO_VERTICAL_VELOCITY
$STATE,9282,begin apogee
$GC,9289,-0.36,0.0,770.6,0.0,441,9419,0.88,0.00,126.97,1.374,6,0.061,0.000,2421,2110,2878
$STATE,9420,end apogee,CONTROL_FINISHED_OK
$STATE,9420,begin climb
$GC,9423,1.23,146.6,769.6,0.0,447,9559,1.62,2.85,125.72,1.312,4,0.077,0.081,2761,691,2280
$GC,9818,1.49,357.3,739.6,-0.0,465,10007,0.25,2.58,178.23,1.292,6,0.044,0.054,2824,2100,1420
$GC,10334,1.49,357.3,660.2,16.9,490,10338,0.00,2.65,0.00,0.000,4,0.000,0.065,2824,3504,1420
$GC,10378,1.49,357.3,652.5,16.2,492,10383,0.00,2.62,0.00,0.000,6,0.000,0.058,2824,2095,1419
$GC,10699,1.49,357.3,602.9,14.8,508,10703,0.00,2.62,0.00,0.000,4,0.000,0.060,2823,3503,1417
$GC,10748,1.49,357.3,595.3,14.9,510,10752,0.00,2.60,0.00,0.000,6,0.000,0.054,2824,2095,1417
$GC,11064,1.49,357.3,553.9,12.2,525,11068,0.00,2.60,0.00,0.000,4,0.000,0.054,2824,3501,1417
$GC,11097,1.49,357.3,549.6,12.3,526,11103,0.00,2.55,0.00,0.000,6,0.000,0.049,2824,2100,1417
$GC,11412,1.49,357.3,515.9,10.7,542,11416,0.00,2.55,0.00,0.000,4,0.000,0.052,2824,3499,1417
$GC,11457,1.49,357.3,510.8,11.5,544,11461,0.00,2.55,0.00,0.000,6,0.000,0.046,2824,2092,1416
$GC,11777,1.49,357.3,472.4,12.6,560,11779,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2092,1417
$GC,12087,1.49,357.3,431.4,13.6,575,12091,0.00,2.58,0.00,0.000,4,0.000,0.049,2824,3502,1418
$GC,12120,1.49,357.3,426.8,12.7,576,12126,0.00,2.53,0.00,0.000,6,0.000,0.043,2824,2097,1418
$GC,12435,1.49,357.3,386.5,12.7,592,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2097,1418
$GC,12744,1.49,357.3,351.0,11.4,607,12746,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2097,1419
$GC,13054,1.49,357.3,302.8,15.0,622,13055,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2097,1419
$GC,13363,1.49,357.3,258.4,12.8,637,13367,0.00,2.55,0.00,0.000,4,0.000,0.046,2824,3507,1420
$GC,13390,1.49,357.3,255.4,10.6,638,13394,0.00,2.50,0.00,0.000,6,0.000,0.039,2824,2093,1419
$GC,13705,1.49,357.3,214.6,12.7,653,13710,0.00,2.58,0.00,0.000,4,0.000,0.064,2824,694,1420
$GC,13738,1.49,357.3,208.6,16.9,654,13745,0.00,2.45,0.00,0.000,6,0.000,0.038,2824,2105,1421
$GC,14054,1.49,357.3,173.2,9.9,670,14058,0.00,2.50,0.00,0.000,4,0.000,0.047,2824,3502,1421
$GC,14064,1.49,357.3,171.9,10.9,670,14071,0.00,2.50,0.00,0.000,6,0.000,0.040,2824,2099,1421
$GC,14380,1.49,357.3,127.7,15.6,686,14385,0.00,2.53,0.00,0.000,4,0.000,0.047,2824,3498,1421
$GC,14447,1.49,357.3,115.0,20.6,689,14451,0.00,2.50,0.00,0.000,6,0.000,0.039,2824,2094,1421
$GC,14769,1.49,357.3,67.3,13.2,705,14774,0.00,2.60,0.00,0.000,4,0.000,0.066,2824,691,1422
$GC,14797,1.49,357.3,63.7,11.8,706,14801,0.00,2.45,0.00,0.000,6,0.000,0.038,2824,2104,1422
$GC,15113,1.49,357.3,23.8,13.3,721,15117,0.00,2.50,0.00,0.000,4,0.000,0.047,2824,3495,1422
$GC,15168,1.59,441.5,19.3,4.8,723,15239,0.00,2.47,65.82,0.814,6,0.000,0.038,2824,2098,1078
$STATE,15298,end climb,SURFACE_DEPTH_REACHED
$STATE,15298,begin surface coast
$FINISH,0.8,1.003618
$STATE,15321,end surface coast,CONTROL_FINISHED_OK
$STATE,15321,begin surface
$SM_CCo,15405,0.00,0.000,0,0,1076,442.03
$SM_GC,1.47,12.07,0.00,0.00,0.027,0.000,0.000,29,1890,1076,-11.27,-0.25,442.03
$IRIDIUM_FIX,6117.23,-911.33,030597,101046
$TT8_MAMPS,0.026845
$HUMID,2062
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,16.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,22.8,80.564
$10V_AH,10.1,38.975
$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,26.550,168.475,496.750,0.000,0.000,110.671,115.232,382.051,7.250,0.000,0.000,37.763,1408.293,11540.313,577.963,1863.714,962.426,33.366,1555.723,0.000,1792.978,0.000,43.030
$DEVICE_MAMPS,144.196,97.409,1374.464,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,543.290,493.762,423.546,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38040,731
$CFSIZE,260165632,233746432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,070208,150255,6143.524,-904.048,61,1.6,61,-9.3