version: 66.02
glider: 102
mission: 4
dive: 415
start: 2 7 108 19 49 58
data:
$ID,102
$MISSION,4
$DIVE,415
$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,-86741.438
$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,28
$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
$GPS1,193837,6145.059,-903.436,36,1.1,36,-9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-62.1
$GPS2,194814,6145.251,-903.287,9,1.2,14,-9.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.184,-0.151
$KALMAN_X,600084.3,-1295.6,86.1,-628198.0,3156.0
$KALMAN_Y,117607.9,31.6,1045.6,-96288.3,4810.7
$MHEAD_RNG_PITCHd_Wd,239.9,46856,-14.7,-8.000
$D_GRID,716
$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,25,-1.23,-146.6,0.0,0.0,0,87,0.00,0.00,-60.78,0.000,2,0.000,0.000,36,1878,2716
$GC,91,-1.23,-146.6,3.1,-3.2,3,134,11.65,0.00,-28.65,0.000,6,0.136,0.000,2226,1879,3476
$GC,438,-1.23,-146.6,41.3,-10.2,20,443,0.00,2.55,0.00,0.000,4,0.000,0.048,2226,3293,3476
$GC,595,-1.23,-146.6,59.2,-10.5,27,600,0.00,2.47,0.00,0.000,6,0.000,0.041,2226,1905,3476
$GC,917,-1.23,-146.6,87.4,-10.0,43,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1905,3476
$GC,1228,-1.23,-146.6,118.3,-9.6,58,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1905,3476
$GC,1536,-1.23,-146.6,150.4,-9.0,73,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1905,3476
$GC,1845,-1.23,-146.6,172.7,-6.5,88,1849,0.00,2.50,0.00,0.000,4,0.000,0.046,2226,3296,3476
$GC,1930,-1.23,-146.6,177.7,-5.6,92,1934,0.00,2.50,0.00,0.000,6,0.000,0.041,2226,1900,3476
$GC,2256,-1.23,-146.6,197.6,-5.9,108,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1900,3476
$GC,2565,-1.23,-146.6,215.0,-7.2,123,2570,0.00,2.53,0.00,0.000,4,0.000,0.047,2226,3303,3475
$GC,2629,-1.23,-146.6,220.3,-7.8,126,2633,0.00,2.50,0.00,0.000,6,0.000,0.041,2226,1899,3476
$GC,2955,-1.23,-146.6,249.4,-9.7,142,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1898,3476
$GC,3264,-1.23,-146.6,280.9,-11.3,157,3269,0.00,2.50,0.00,0.000,4,0.000,0.048,2226,3297,3476
$GC,3327,-1.23,-146.6,287.6,-10.9,160,3331,0.00,2.50,0.00,0.000,6,0.000,0.042,2226,1899,3476
$GC,3653,-1.23,-146.6,321.9,-10.9,176,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1898,3476
$GC,3963,-1.23,-146.6,355.1,-11.7,191,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1898,3476
$GC,4272,-1.23,-146.6,392.3,-11.2,206,4276,0.00,2.53,0.00,0.000,4,0.000,0.048,2226,3297,3476
$GC,4345,-1.23,-146.6,401.8,-12.8,209,4349,0.00,2.50,0.00,0.000,6,0.000,0.042,2226,1894,3476
$GC,4661,-1.23,-146.6,439.6,-11.2,224,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1894,3476
$GC,4969,-1.23,-146.6,474.4,-10.9,239,4974,0.00,2.55,0.00,0.000,4,0.000,0.049,2226,3303,3476
$GC,5087,-1.23,-146.6,485.9,-9.1,244,5091,0.00,2.53,0.00,0.000,6,0.000,0.043,2226,1896,3476
$GC,5403,-1.23,-146.6,510.6,-7.2,259,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1896,3476
$GC,5712,-1.23,-146.6,533.1,-7.0,274,5716,0.00,2.55,0.00,0.000,4,0.000,0.051,2226,3300,3476
$GC,5768,-1.23,-146.6,537.0,-7.0,276,5774,0.00,2.50,0.00,0.000,6,0.000,0.043,2226,1900,3476
$GC,6084,-1.23,-146.6,558.5,-6.9,292,6088,0.00,2.55,0.00,0.000,4,0.000,0.051,2226,3301,3476
$GC,6161,-1.23,-146.6,563.6,-5.9,295,6168,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1900,3476
$GC,6478,-1.23,-146.6,584.0,-6.5,311,6482,0.00,2.53,0.00,0.000,4,0.000,0.050,2226,3295,3476
$GC,6700,-1.23,-146.6,597.7,-4.7,321,6704,0.00,2.50,0.00,0.000,6,0.000,0.043,2226,1899,3476
$GC,7027,-1.23,-146.6,624.1,-8.5,337,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1898,3476
$GC,7336,-1.23,-146.6,655.5,-9.7,352,7340,0.00,2.58,0.00,0.000,4,0.000,0.060,2226,3293,3476
$GC,7399,-1.23,-146.6,657.7,-4.3,355,7403,0.00,2.55,0.00,0.000,6,0.000,0.054,2226,1902,3476
$GC,7726,-1.23,-146.6,684.2,-10.5,371,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1902,3475
$GC,8035,-1.23,-146.6,701.8,-1.5,386,8039,0.00,2.70,0.00,0.000,4,0.000,0.088,2226,496,3473
$GC,8075,-1.23,-146.6,701.8,0.4,388,8080,0.00,2.53,0.00,0.000,6,0.000,0.053,2227,1899,3472
$GC,8402,-1.23,-146.6,699.8,1.2,404,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1901,3470
$GC,8712,-1.23,-146.6,699.4,-0.1,419,8716,0.00,2.72,0.00,0.000,4,0.000,0.088,2226,496,3469
$STATE,8719,end dive,NO_VERTICAL_VELOCITY
$STATE,8719,begin apogee
$GC,8730,-0.36,0.0,699.4,0.0,419,8859,0.85,0.00,125.57,1.332,6,0.074,0.000,2412,2101,2878
$STATE,8859,end apogee,CONTROL_FINISHED_OK
$STATE,8859,begin climb
$GC,8862,1.23,146.6,698.8,0.0,426,8994,1.62,2.80,123.72,1.297,4,0.068,0.081,2760,690,2280
$GC,9253,1.27,179.5,666.6,6.7,444,9287,0.00,2.58,28.45,1.298,6,0.000,0.051,2759,2101,2145
$GC,9605,1.45,327.5,656.8,2.4,461,9736,0.20,2.85,123.15,1.285,4,0.047,0.086,2814,698,1543
$GC,9867,1.45,327.5,620.1,15.6,473,9872,0.00,2.55,0.00,0.000,6,0.000,0.051,2814,2100,1543
$GC,10189,1.45,327.5,569.1,13.8,489,10193,0.00,2.62,0.00,0.000,4,0.000,0.063,2814,3505,1542
$GC,10390,1.45,327.5,540.3,15.9,498,10395,0.00,2.60,0.00,0.000,6,0.000,0.054,2814,2096,1540
$GC,10712,1.45,327.5,491.3,14.5,514,10713,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2096,1539
$GC,11021,1.45,327.5,447.3,15.3,529,11022,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2096,1540
$GC,11330,1.45,327.5,403.7,13.6,544,11334,0.00,2.58,0.00,0.000,4,0.000,0.051,2814,3511,1540
$GC,11372,1.45,327.5,398.1,15.1,546,11376,0.00,2.55,0.00,0.000,6,0.000,0.043,2814,2091,1540
$GC,11698,1.45,327.5,351.4,15.6,562,11699,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2090,1541
$GC,12007,1.45,327.5,307.7,14.2,577,12011,0.00,2.58,0.00,0.000,4,0.000,0.048,2814,3506,1542
$GC,12051,1.45,327.5,301.1,14.4,579,12055,0.00,2.53,0.00,0.000,6,0.000,0.041,2814,2097,1541
$GC,12372,1.45,327.5,257.1,12.7,595,12373,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2097,1542
$GC,12681,1.45,327.5,214.9,13.0,610,12682,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2097,1543
$GC,12991,1.45,327.5,176.2,12.5,625,12992,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2097,1543
$GC,13300,1.45,327.5,138.0,14.0,640,13301,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2097,1544
$GC,13609,1.45,327.5,98.8,11.7,655,13610,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2097,1545
$GC,13919,1.45,327.5,55.6,14.2,670,13923,0.00,2.55,0.00,0.000,4,0.000,0.047,2814,3505,1545
$GC,13981,1.45,327.5,47.3,13.4,673,13985,0.00,2.50,0.00,0.000,6,0.000,0.038,2814,2096,1545
$GC,14308,1.45,327.5,4.7,12.9,689,14309,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2095,1545
$STATE,14346,end climb,SURFACE_DEPTH_REACHED
$STATE,14346,begin surface coast
$FINISH,1.0,1.025853
$STATE,14368,end surface coast,CONTROL_FINISHED_OK
$STATE,14368,begin surface
$SM_CCo,14452,0.00,0.000,0,0,1545,326.98
$SM_GC,1.63,12.07,0.00,0.00,0.034,0.000,0.000,34,1883,1545,-11.26,-0.48,326.98
$IRIDIUM_FIX,6121.73,-858.59,030597,191927
$TT8_MAMPS,0.026845
$HUMID,2098
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.2,999.0
$24V_AH,22.9,80.914
$10V_AH,10.1,39.129
$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,26.400,92.925,400.900,0.000,0.000,73.373,73.085,237.739,6.500,0.000,0.000,15.788,1293.772,11024.980,479.858,1596.988,682.491,33.374,1286.586,0.000,1561.151,0.000,39.770
$DEVICE_MAMPS,135.759,88.205,1331.512,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,516.663,467.038,414.924,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34851,692
$CFSIZE,260165632,233648128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,070208,235201,6146.722,-904.029,36,1.4,36,-9.4