version: 66.02
glider: 102
mission: 4
dive: 414
start: 2 7 108 15 21 39
data:
$ID,102
$MISSION,4
$DIVE,414
$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,-86725.023
$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,36
$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
$GPS1,150255,6143.524,-904.048,61,1.6,61,-9.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-49.8
$GPS2,151956,6143.647,-903.733,17,1.6,17,-9.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.043,-0.234
$KALMAN_X,597582.4,299.4,-233.5,-627373.6,960.8
$KALMAN_Y,108400.3,2692.0,43.5,-91724.8,2462.4
$MHEAD_RNG_PITCHd_Wd,199.8,43921,-14.7,-8.000
$D_GRID,751
$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,-146.6,0.0,0.0,0,127,0.00,0.00,-100.65,0.000,2,0.000,0.000,28,1890,3111
$GC,130,-1.23,-146.6,4.1,-2.9,5,157,11.73,2.58,-8.88,0.000,4,0.142,0.059,2224,3295,3478
$GC,343,-1.23,-146.6,33.1,-11.6,14,349,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1898,3478
$GC,660,-1.23,-146.6,74.7,-12.6,30,664,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3296,3478
$GC,700,-1.23,-146.6,78.8,-10.4,32,704,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1902,3478
$GC,1027,-1.23,-146.6,102.8,-8.4,48,1031,0.00,2.62,0.00,0.000,4,0.000,0.067,2224,495,3478
$GC,1082,-1.23,-146.6,113.5,-20.4,50,1089,0.00,2.45,0.00,0.000,6,0.000,0.038,2224,1909,3478
$GC,1398,-1.23,-146.6,168.6,-15.5,66,1402,0.00,2.50,0.00,0.000,4,0.000,0.048,2224,3293,3478
$GC,1470,-1.23,-146.6,179.2,-16.4,69,1474,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1896,3478
$GC,1786,-1.23,-146.6,220.1,-14.7,84,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3478
$GC,2095,-1.23,-146.6,258.1,-11.4,99,2099,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3295,3478
$GC,2145,-1.23,-146.6,264.3,-12.0,101,2149,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1896,3478
$GC,2461,-1.23,-146.6,294.6,-9.1,116,2466,0.00,2.62,0.00,0.000,4,0.000,0.068,2224,492,3478
$GC,2484,-1.23,-146.6,295.9,-5.7,117,2488,0.00,2.45,0.00,0.000,6,0.000,0.039,2224,1897,3478
$GC,2805,-1.23,-146.6,319.5,-6.8,133,2809,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3298,3478
$GC,2849,-1.23,-146.6,324.0,-10.7,135,2853,0.00,2.50,0.00,0.000,6,0.000,0.042,2224,1900,3478
$GC,3170,-1.23,-146.6,358.4,-10.9,151,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3478
$GC,3479,-1.23,-146.6,391.5,-11.9,166,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3477
$GC,3789,-1.23,-146.6,428.1,-12.6,181,3793,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3302,3478
$GC,3889,-1.23,-146.6,441.6,-14.7,185,3896,0.00,2.50,0.00,0.000,6,0.000,0.042,2224,1899,3478
$GC,4206,-1.23,-146.6,475.0,-7.8,201,4211,0.00,2.60,0.00,0.000,4,0.000,0.069,2224,497,3478
$GC,4238,-1.23,-146.6,478.1,-9.9,202,4243,0.00,2.45,0.00,0.000,6,0.000,0.039,2224,1906,3478
$GC,4554,-1.23,-146.6,512.9,-11.3,217,4559,0.00,2.50,0.00,0.000,4,0.000,0.051,2224,3296,3478
$GC,4664,-1.23,-146.6,525.6,-11.6,222,4668,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1894,3478
$GC,4991,-1.23,-146.6,558.0,-9.5,238,4995,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3299,3478
$GC,5075,-1.23,-146.6,566.8,-9.5,242,5080,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1898,3478
$GC,5402,-1.23,-146.6,595.8,-8.1,258,5406,0.00,2.62,0.00,0.000,4,0.000,0.073,2224,497,3477
$GC,5446,-1.23,-146.6,599.6,-8.7,260,5451,0.00,2.47,0.00,0.000,6,0.000,0.041,2224,1904,3478
$GC,5768,-1.23,-146.6,627.7,-8.7,276,5772,0.00,2.53,0.00,0.000,4,0.000,0.056,2224,3298,3478
$GC,6024,-1.23,-146.6,651.8,-10.8,287,6030,0.00,2.53,0.00,0.000,6,0.000,0.048,2224,1897,3478
$GC,6340,-1.23,-146.6,687.2,-9.9,303,6344,0.00,2.60,0.00,0.000,4,0.000,0.058,2224,3306,3478
$GC,6463,-1.23,-146.6,696.7,-8.1,308,6469,0.00,2.58,0.00,0.000,6,0.000,0.053,2224,1902,3478
$GC,6778,-1.23,-146.6,716.6,-9.5,324,6783,0.00,2.60,0.00,0.000,4,0.000,0.060,2224,3305,3478
$GC,6874,-1.23,-146.6,728.5,-7.6,328,6878,0.00,2.60,0.00,0.000,6,0.000,0.058,2223,1901,3477
$STATE,7166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7166,begin apogee
$GC,7173,-0.36,0.0,752.1,6.7,342,7303,0.93,0.00,126.95,1.332,6,0.083,0.000,2418,2102,2878
$STATE,7304,end apogee,CONTROL_FINISHED_OK
$STATE,7304,begin climb
$GC,7307,1.23,146.6,759.0,0.0,348,7440,1.58,2.75,124.85,1.309,4,0.062,0.074,2760,691,2280
$GC,7700,1.23,146.6,738.6,15.4,366,7705,0.00,2.55,0.00,0.000,6,0.000,0.054,2760,2094,2278
$GC,8027,1.23,146.6,704.5,14.7,382,8031,0.00,2.70,0.00,0.000,4,0.000,0.080,2761,692,2277
$GC,8172,1.30,203.8,692.4,5.8,388,8227,0.00,2.58,48.50,1.339,6,0.000,0.053,2761,2106,2046
$GC,8552,1.35,248.2,670.0,6.3,407,8597,0.12,2.72,37.55,1.332,4,0.055,0.067,2795,3501,1866
$GC,8799,1.35,248.2,640.2,12.7,418,8804,0.00,2.60,0.00,0.000,6,0.000,0.057,2795,2099,1865
$GC,9121,1.35,248.2,601.2,12.0,434,9125,0.00,2.62,0.00,0.000,4,0.000,0.061,2795,3508,1864
$GC,9176,1.35,248.2,593.8,13.4,436,9182,0.00,2.58,0.00,0.000,6,0.000,0.051,2795,2097,1864
$GC,9492,1.35,248.2,554.3,12.8,452,9496,0.00,2.58,0.00,0.000,4,0.000,0.055,2795,3502,1864
$GC,9554,1.35,248.2,546.1,12.8,455,9558,0.00,2.55,0.00,0.000,6,0.000,0.046,2795,2090,1864
$GC,9880,1.35,248.2,508.8,10.3,471,9885,0.00,2.60,0.00,0.000,4,0.000,0.053,2795,3506,1864
$GC,9913,1.35,248.2,505.4,10.2,472,9919,0.00,2.53,0.00,0.000,6,0.000,0.044,2795,2101,1864
$GC,10230,1.36,251.2,478.8,7.9,488,10239,0.00,2.60,3.58,1.142,4,0.000,0.051,2795,3498,1854
$GC,10324,1.36,251.2,470.8,8.9,492,10328,0.00,2.53,0.00,0.000,6,0.000,0.043,2795,2099,1854
$GC,10645,1.36,251.2,439.2,10.6,508,10649,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3504,1855
$GC,10707,1.36,251.2,432.3,11.5,511,10712,0.00,2.53,0.00,0.000,6,0.000,0.042,2795,2093,1855
$GC,11033,1.36,251.2,400.3,9.1,527,11038,0.00,2.58,0.00,0.000,4,0.000,0.050,2795,3504,1855
$GC,11134,1.36,251.2,390.9,10.5,531,11140,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2098,1855
$GC,11450,1.36,251.2,364.5,9.0,547,11454,0.00,2.58,0.00,0.000,4,0.000,0.049,2795,3510,1855
$GC,11534,1.36,251.2,356.5,9.4,551,11539,0.00,2.53,0.00,0.000,6,0.000,0.041,2795,2093,1856
$GC,11861,1.36,251.2,326.7,9.9,567,11866,0.00,2.55,0.00,0.000,4,0.000,0.049,2795,3505,1856
$GC,11939,1.36,251.2,318.6,10.5,570,11946,0.00,2.53,0.00,0.000,6,0.000,0.040,2795,2091,1856
$GC,12256,1.36,252.7,293.2,7.9,586,12265,0.00,2.60,3.45,1.016,4,0.000,0.049,2795,3501,1847
$GC,12369,1.36,252.7,282.9,8.9,591,12374,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2096,1847
$GC,12695,1.36,252.7,254.7,9.4,607,12699,0.00,2.58,0.00,0.000,4,0.000,0.049,2795,3510,1847
$GC,12735,1.36,252.7,251.0,9.1,609,12740,0.00,2.50,0.00,0.000,6,0.000,0.039,2795,2098,1847
$GC,13062,1.36,252.7,213.9,11.4,625,13066,0.00,2.55,0.00,0.000,4,0.000,0.049,2795,3505,1848
$GC,13101,1.36,252.7,209.5,11.3,627,13106,0.00,2.50,0.00,0.000,6,0.000,0.038,2795,2090,1848
$GC,13428,1.36,252.7,175.3,11.8,643,13433,0.00,2.58,0.00,0.000,4,0.000,0.048,2795,3505,1848
$GC,13473,1.36,252.7,170.0,11.7,645,13477,0.00,2.47,0.00,0.000,6,0.000,0.038,2795,2098,1848
$GC,13794,1.46,336.7,152.9,4.8,661,13866,0.00,2.60,65.95,0.915,4,0.000,0.047,2795,3505,1504
$GC,13895,1.46,336.7,144.1,9.2,666,13900,0.00,2.53,0.00,0.000,6,0.000,0.039,2795,2103,1504
$GC,14223,1.46,336.7,113.7,10.1,682,14227,0.00,2.62,0.00,0.000,4,0.000,0.065,2795,696,1504
$GC,14244,1.46,336.7,111.2,11.1,683,14249,0.00,2.50,0.00,0.000,6,0.000,0.038,2795,2117,1504
$GC,14566,1.46,336.7,79.7,11.1,699,14567,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2122,1504
$GC,14875,1.46,336.7,38.6,12.6,714,14879,0.00,2.67,0.00,0.000,4,0.000,0.064,2795,690,1505
$GC,14907,1.46,336.7,35.1,10.4,715,14914,0.00,2.45,0.00,0.000,6,0.000,0.038,2795,2103,1505
$GC,15224,1.46,336.7,4.0,13.2,731,15225,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2105,1504
$STATE,15241,end climb,SURFACE_DEPTH_REACHED
$STATE,15241,begin surface coast
$FINISH,1.1,1.026864
$STATE,15263,end surface coast,CONTROL_FINISHED_OK
$STATE,15263,begin surface
$SM_CCo,15347,0.00,0.000,0,0,1504,337.04
$SM_GC,1.83,11.95,0.00,0.00,0.032,0.000,0.000,37,1879,1504,-11.25,-0.59,337.04
$IRIDIUM_FIX,6117.23,-906.85,030597,151523
$TT8_MAMPS,0.026845
$HUMID,2090
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.50
$XPDR_PINGS,4
$ALTIM_TOP_PING,18.8,999.0
$24V_AH,22.9,80.746
$10V_AH,10.1,39.058
$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,26.300,169.175,410.825,0.000,0.000,144.433,159.545,383.940,7.500,0.000,0.000,18.953,1429.109,11489.381,556.411,1908.028,1033.790,33.366,1540.257,0.000,1856.651,0.000,43.015
$DEVICE_MAMPS,141.895,79.768,1339.182,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,542.840,494.487,430.313,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38103,733
$CFSIZE,260165632,233684992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,070208,193837,6145.059,-903.436,36,1.1,36,-9.3