version: 66.02
glider: 102
mission: 4
dive: 420
start: 2 8 108 15 12 15
data:
$ID,102
$MISSION,4
$DIVE,420
$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,-86835.961
$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,31
$R_STBD_OVSHOOT,23
$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
$GPS1,145737,6146.902,-904.372,36,1.1,36,-9.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-61.7
$GPS2,151032,6146.760,-904.436,13,1.1,13,-9.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.206,-0.120
$KALMAN_X,609403.2,-73.9,-123.2,-639553.3,3077.4
$KALMAN_Y,134818.3,-332.3,-1646.7,-107574.8,6480.0
$MHEAD_RNG_PITCHd_Wd,249.2,49717,-14.7,-8.000
$D_GRID,668
$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,-61.15,0.000,2,0.000,0.000,32,1884,2853
$GC,91,-1.23,-146.6,3.1,-2.8,3,133,11.62,2.62,-21.30,0.000,4,0.139,0.060,2224,3302,3477
$GC,386,-1.23,-146.6,37.0,-6.8,16,391,0.00,2.50,0.00,0.000,6,0.000,0.039,2224,1903,3477
$GC,708,-1.23,-146.6,67.5,-10.1,32,712,0.00,2.55,0.00,0.000,4,0.000,0.046,2224,3313,3477
$GC,797,-1.23,-146.6,77.0,-11.1,36,802,0.00,2.53,0.00,0.000,6,0.000,0.040,2224,1897,3477
$GC,1118,-1.23,-146.6,108.7,-9.7,52,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,1429,-1.23,-146.6,139.9,-9.4,67,1433,0.00,2.55,0.00,0.000,4,0.000,0.045,2224,3313,3477
$GC,1491,-1.23,-146.6,145.3,-9.0,70,1496,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1901,3477
$GC,1818,-1.23,-146.6,177.7,-10.6,86,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1902,3477
$GC,2127,-1.23,-146.6,215.0,-11.4,101,2131,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3308,3477
$GC,2190,-1.23,-146.6,222.2,-10.8,104,2194,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1903,3477
$GC,2516,-1.23,-146.6,261.1,-12.2,120,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1903,3477
$GC,2825,-1.23,-146.6,294.9,-10.9,135,2830,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3308,3477
$GC,2893,-1.23,-146.6,303.0,-11.8,138,2897,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1895,3477
$GC,3213,-1.23,-146.6,342.5,-12.6,154,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3477
$GC,3523,-1.23,-146.6,379.8,-11.5,169,3527,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3308,3477
$GC,3585,-1.23,-146.6,386.6,-11.0,172,3589,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1900,3477
$GC,3913,-1.23,-146.6,426.2,-11.5,188,3917,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3311,3477
$GC,3986,-1.23,-146.6,434.2,-10.4,191,3991,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1897,3477
$GC,4302,-1.23,-146.6,464.4,-8.7,206,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,4611,-1.23,-146.6,496.4,-11.2,221,4616,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3308,3477
$GC,4712,-1.23,-146.6,508.0,-11.7,225,4719,0.00,2.50,0.00,0.000,6,0.000,0.044,2224,1903,3477
$GC,5028,-1.23,-146.6,543.4,-11.5,241,5033,0.00,2.55,0.00,0.000,4,0.000,0.050,2223,3308,3477
$GC,5113,-1.23,-146.6,552.2,-10.4,245,5117,0.00,2.55,0.00,0.000,6,0.000,0.045,2223,1894,3477
$GC,5440,-1.23,-146.6,585.5,-11.0,261,5444,0.00,2.58,0.00,0.000,4,0.000,0.051,2224,3308,3477
$GC,5489,-1.23,-146.6,591.5,-11.3,263,5493,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1899,3477
$GC,5805,-1.23,-146.6,623.2,-7.7,278,5810,0.00,2.58,0.00,0.000,4,0.000,0.054,2224,3308,3477
$GC,5991,-1.23,-146.6,631.9,-6.1,286,5996,0.00,2.55,0.00,0.000,6,0.000,0.049,2224,1899,3477
$GC,6308,-1.23,-146.6,657.5,-10.1,301,6312,0.00,2.58,0.00,0.000,4,0.000,0.058,2224,3305,3477
$GC,6374,-1.23,-146.6,665.1,-11.2,304,6379,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1900,3477
$STATE,6405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6405,begin apogee
$GC,6412,-0.36,0.0,668.2,10.1,306,6540,0.93,0.00,125.40,1.239,6,0.089,0.000,2415,2114,2878
$STATE,6541,end apogee,CONTROL_FINISHED_OK
$STATE,6541,begin climb
$GC,6545,1.23,146.6,673.9,0.0,312,6673,1.58,0.00,124.32,1.200,6,0.055,0.000,2764,2115,2280
$GC,6977,1.40,286.0,660.0,2.7,333,7101,0.17,2.67,116.35,1.218,4,0.046,0.063,2815,3501,1711
$GC,7242,1.42,299.1,645.0,7.5,345,7259,0.00,2.60,11.85,1.203,6,0.000,0.053,2815,2100,1658
$GC,7568,1.42,299.1,613.0,12.3,361,7572,0.00,2.60,0.00,0.000,4,0.000,0.061,2815,3499,1657
$GC,7640,1.42,299.1,603.2,13.6,364,7644,0.00,2.58,0.00,0.000,6,0.000,0.051,2815,2100,1656
$GC,7955,1.42,299.1,551.1,17.8,379,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2100,1655
$GC,8264,1.42,299.1,502.3,13.9,394,8269,0.00,2.58,0.00,0.000,4,0.000,0.053,2815,3502,1655
$GC,8354,1.42,299.1,490.2,12.9,398,8359,0.00,2.53,0.00,0.000,6,0.000,0.044,2815,2097,1654
$GC,8675,1.42,299.1,454.0,11.0,414,8680,0.00,2.58,0.00,0.000,4,0.000,0.051,2815,3502,1654
$GC,8731,1.42,299.1,447.7,11.4,416,8737,0.00,2.55,0.00,0.000,6,0.000,0.044,2815,2094,1654
$GC,9047,1.42,299.1,413.8,10.8,432,9051,0.00,2.55,0.00,0.000,4,0.000,0.050,2815,3498,1654
$GC,9102,1.42,299.1,407.8,10.9,434,9108,0.00,2.53,0.00,0.000,6,0.000,0.042,2815,2095,1654
$GC,9418,1.42,299.1,374.7,10.3,450,9422,0.00,2.55,0.00,0.000,4,0.000,0.049,2815,3505,1655
$GC,9467,1.42,299.1,369.3,10.5,452,9472,0.00,2.53,0.00,0.000,6,0.000,0.041,2815,2092,1655
$GC,9783,1.42,299.1,335.4,10.8,467,9787,0.00,2.55,0.00,0.000,4,0.000,0.048,2815,3499,1656
$GC,9855,1.42,299.1,326.7,12.2,470,9859,0.00,2.50,0.00,0.000,6,0.000,0.040,2816,2098,1655
$GC,10170,1.42,299.1,288.2,12.7,485,10175,0.00,2.53,0.00,0.000,4,0.000,0.048,2815,3499,1655
$GC,10226,1.42,299.1,281.2,12.9,487,10232,0.00,2.50,0.00,0.000,6,0.000,0.040,2815,2097,1656
$GC,10542,1.42,299.1,244.7,11.6,503,10543,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2097,1657
$GC,10851,1.42,299.1,208.9,10.3,518,10855,0.00,2.55,0.00,0.000,4,0.000,0.047,2815,3506,1657
$GC,10913,1.42,299.1,201.5,12.3,521,10917,0.00,2.50,0.00,0.000,6,0.000,0.038,2815,2101,1657
$GC,11240,1.42,299.1,164.0,12.0,537,11241,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2101,1657
$GC,11550,1.42,299.1,129.3,11.4,552,11555,0.00,2.53,0.00,0.000,4,0.000,0.047,2815,3500,1658
$GC,11606,1.42,299.1,122.8,11.1,554,11613,0.00,2.47,0.00,0.000,6,0.000,0.038,2816,2100,1658
$GC,11922,1.42,299.1,84.2,12.3,570,11924,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2100,1658
$GC,12231,1.42,299.1,47.6,12.3,585,12232,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2099,1658
$GC,12540,1.42,299.1,11.3,11.7,600,12545,0.00,2.53,0.00,0.000,4,0.000,0.046,2815,3501,1658
$GC,12603,1.42,299.1,3.7,12.1,603,12607,0.00,2.50,0.00,0.000,6,0.000,0.038,2816,2096,1658
$STATE,12618,end climb,SURFACE_DEPTH_REACHED
$STATE,12618,begin surface coast
$FINISH,1.0,1.014912
$STATE,12640,end surface coast,CONTROL_FINISHED_OK
$STATE,12640,begin surface
$SM_CCo,12663,0.52,1.088,0,0,1655,300.00
$SM_GC,2.65,0.00,0.00,0.52,0.000,0.000,1.088,33,1894,1655,-11.33,-0.17,300.00
$IRIDIUM_FIX,6121.73,-908.29,040597,151553
$TT8_MAMPS,0.026845
$HUMID,2068
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,18.5,999.0
$24V_AH,23.0,81.689
$10V_AH,10.1,39.459
$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,26.250,117.675,377.925,0.525,0.000,116.742,185.368,227.262,6.250,0.000,0.000,15.057,1168.599,9530.038,486.256,1491.482,818.261,33.374,1250.106,0.000,1453.924,0.000,36.541
$DEVICE_MAMPS,138.827,62.894,1238.705,1087.606,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.071,407.112,392.561,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28555,605
$CFSIZE,260165632,233426944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,080208,184438,6144.458,-908.810,40,1.1,40,-9.4