version: 66.02
glider: 102
mission: 4
dive: 418
start: 2 8 108 7 33 18
data:
$ID,102
$MISSION,4
$DIVE,418
$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,-86804.766
$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,25
$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
$GPS1,072537,6147.948,-904.828,25,1.9,25,-9.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-59.4
$GPS2,073137,6147.997,-904.805,15,1.1,31,-9.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.219,-0.093
$KALMAN_X,604045.4,600.4,-209.9,-635081.1,2855.1
$KALMAN_Y,132649.7,-1645.8,-465.3,-102970.8,10504.8
$MHEAD_RNG_PITCHd_Wd,256.5,52026,-14.7,-8.000
$D_GRID,655
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.23,-146.6,0.0,0.0,0,108,0.00,0.00,-80.68,0.000,2,0.000,0.000,34,1882,3182
$GC,112,-1.23,-146.6,4.2,-4.2,4,137,11.62,2.62,-7.07,0.000,4,0.140,0.059,2225,3302,3478
$GC,390,-1.23,-146.6,39.6,-11.7,16,394,0.00,2.53,0.00,0.000,6,0.000,0.039,2225,1894,3478
$GC,706,-1.23,-146.6,73.3,-10.2,31,710,0.00,2.55,0.00,0.000,4,0.000,0.045,2224,3308,3478
$GC,784,-1.23,-146.6,81.1,-10.7,34,790,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1902,3478
$GC,1101,-1.23,-146.6,113.4,-9.6,50,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1902,3478
$GC,1410,-1.23,-146.6,151.5,-12.8,65,1414,0.00,2.55,0.00,0.000,4,0.000,0.045,2224,3314,3478
$GC,1476,-1.23,-146.6,159.9,-12.8,68,1481,0.00,2.53,0.00,0.000,6,0.000,0.040,2224,1895,3478
$GC,1797,-1.23,-146.6,196.1,-10.7,84,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1896,3478
$GC,2106,-1.23,-146.6,227.4,-10.5,99,2110,0.00,2.55,0.00,0.000,4,0.000,0.046,2225,3313,3478
$GC,2185,-1.23,-146.6,235.8,-10.9,102,2191,0.00,2.50,0.00,0.000,6,0.000,0.039,2225,1903,3478
$GC,2501,-1.23,-146.6,271.0,-11.2,118,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1903,3477
$GC,2811,-1.23,-146.6,303.2,-10.3,133,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1903,3478
$GC,3119,-1.23,-146.6,331.7,-8.7,148,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1903,3478
$GC,3429,-1.23,-146.6,355.7,-7.3,163,3433,0.00,2.55,0.00,0.000,4,0.000,0.047,2225,3313,3478
$GC,3492,-1.23,-146.6,360.0,-6.9,166,3497,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1900,3478
$GC,3819,-1.23,-146.6,384.5,-8.6,182,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3478
$GC,4128,-1.23,-146.6,412.1,-9.7,197,4132,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3308,3478
$GC,4207,-1.23,-146.6,419.7,-10.3,200,4213,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1901,3477
$GC,4523,-1.23,-146.6,452.7,-11.3,216,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3478
$GC,4832,-1.23,-146.6,485.2,-10.4,231,4836,0.00,2.53,0.00,0.000,4,0.000,0.049,2225,3306,3478
$GC,4921,-1.23,-146.6,494.1,-10.1,235,4926,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1902,3478
$GC,5243,-1.23,-146.6,527.1,-10.1,251,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1902,3478
$GC,5552,-1.23,-146.6,558.8,-10.5,266,5556,0.00,2.65,0.00,0.000,4,0.000,0.073,2225,490,3478
$GC,5636,-1.23,-146.6,567.0,-9.2,270,5641,0.00,2.47,0.00,0.000,6,0.000,0.041,2225,1908,3478
$GC,5963,-1.23,-146.6,589.3,-5.3,286,5967,0.00,2.53,0.00,0.000,4,0.000,0.057,2225,3294,3478
$GC,6093,-1.23,-146.6,595.4,-5.1,292,6097,0.00,2.53,0.00,0.000,6,0.000,0.048,2224,1901,3478
$GC,6420,-1.23,-146.6,613.2,-7.9,308,6424,0.00,2.55,0.00,0.000,4,0.000,0.057,2224,3296,3478
$GC,6486,-1.23,-146.6,619.1,-9.2,311,6491,0.00,2.55,0.00,0.000,6,0.000,0.051,2225,1895,3478
$GC,6807,-1.23,-146.6,646.8,-9.5,327,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1894,3478
$STATE,6928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6928,begin apogee
$GC,6935,-0.36,0.0,655.1,7.4,333,7064,0.90,0.00,125.25,1.255,6,0.082,0.000,2415,2099,2878
$STATE,7065,end apogee,CONTROL_FINISHED_OK
$STATE,7065,begin climb
$GC,7068,1.23,146.6,658.4,0.0,339,7200,1.58,2.75,123.55,1.211,4,0.059,0.077,2760,695,2280
$GC,7455,1.53,392.6,637.7,-1.4,357,7671,0.30,2.55,203.93,1.194,6,0.043,0.050,2836,2102,1276
$GC,7998,1.53,392.6,559.1,16.4,384,8002,0.00,2.72,0.00,0.000,4,0.000,0.081,2836,694,1274
$GC,8127,1.53,392.6,538.8,15.5,390,8132,0.00,2.53,0.00,0.000,6,0.000,0.048,2836,2100,1274
$GC,8455,1.53,392.6,494.3,13.8,406,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2104,1272
$GC,8764,1.53,392.6,452.7,14.2,421,8765,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2104,1272
$GC,9073,1.53,392.6,406.9,13.6,436,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2104,1272
$GC,9382,1.53,392.6,364.6,13.1,451,9387,0.00,2.65,0.00,0.000,4,0.000,0.069,2836,690,1273
$GC,9433,1.53,392.6,357.7,13.1,453,9438,0.00,2.50,0.00,0.000,6,0.000,0.040,2836,2110,1272
$GC,9749,1.53,392.6,317.0,13.1,468,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2114,1273
$GC,10058,1.53,392.6,279.2,11.3,483,10062,0.00,2.65,0.00,0.000,4,0.000,0.067,2836,694,1274
$GC,10124,1.53,392.6,271.4,12.6,486,10129,0.00,2.47,0.00,0.000,6,0.000,0.038,2836,2104,1274
$GC,10446,1.53,392.6,232.9,11.4,502,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2107,1275
$GC,10755,1.53,392.6,189.3,14.4,517,10759,0.00,2.65,0.00,0.000,4,0.000,0.065,2836,690,1275
$GC,10799,1.53,392.6,182.4,15.5,519,10803,0.00,2.47,0.00,0.000,6,0.000,0.038,2836,2104,1275
$GC,11120,1.53,392.6,132.7,15.7,535,11121,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2108,1275
$GC,11431,1.53,392.6,89.9,14.0,550,11435,0.00,2.62,0.00,0.000,4,0.000,0.064,2836,693,1276
$GC,11471,1.53,392.6,84.4,13.5,552,11475,0.00,2.45,0.00,0.000,6,0.000,0.038,2836,2104,1276
$GC,11797,1.53,392.6,44.8,14.1,568,11799,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2105,1276
$STATE,12083,end climb,SURFACE_DEPTH_REACHED
$STATE,12083,begin surface coast
$FINISH,0.9,1.003992
$STATE,12105,end surface coast,CONTROL_FINISHED_OK
$STATE,12105,begin surface
$SM_CCo,12189,0.00,0.000,0,0,1274,393.46
$SM_GC,1.74,12.10,0.00,0.00,0.032,0.000,0.000,36,1882,1274,-11.25,-0.51,393.46
$IRIDIUM_FIX,6121.73,-916.54,040597,030349
$TT8_MAMPS,0.026845
$HUMID,2095
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,17.6,999.0
$24V_AH,23.0,81.392
$10V_AH,10.1,39.323
$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,26.500,82.550,452.725,0.000,0.000,38.387,39.186,147.836,5.750,0.000,0.000,33.251,1089.523,9106.929,511.245,1411.172,481.338,33.372,1234.154,0.000,1358.800,0.000,36.539
$DEVICE_MAMPS,139.594,81.302,1254.812,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.147,391.707,361.727,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28525,583
$CFSIZE,260165632,233537536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,080208,105738,6148.796,-906.429,35,1.8,35,-9.4