version: 66.02
glider: 102
mission: 4
dive: 421
start: 2 8 108 18 55 13
data:
$ID,102
$MISSION,4
$DIVE,421
$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,-86851.344
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,184438,6144.458,-908.810,40,1.1,40,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-62.7
$GPS2,185329,6144.470,-908.875,11,1.5,13,-9.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.017,-0.237
$KALMAN_X,610118.0,-779.8,-728.5,-642839.0,4247.3
$KALMAN_Y,132320.5,-1297.0,-777.4,-109210.3,3156.2
$MHEAD_RNG_PITCHd_Wd,185.2,45999,-14.7,-8.000
$D_GRID,734
$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,-60.78,0.000,2,0.000,0.000,32,1888,2839
$GC,91,-1.23,-146.6,3.2,-3.2,3,133,11.60,2.60,-21.98,0.000,4,0.139,0.060,2222,3294,3477
$GC,279,-1.23,-146.6,23.0,-10.5,11,284,0.00,2.50,0.00,0.000,6,0.000,0.040,2222,1901,3477
$GC,596,-1.23,-146.6,58.2,-11.2,26,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3477
$GC,906,-1.23,-146.6,91.5,-12.2,41,910,0.00,2.53,0.00,0.000,4,0.000,0.046,2222,3302,3477
$GC,956,-1.23,-146.6,97.2,-11.2,43,960,0.00,2.53,0.00,0.000,6,0.000,0.041,2222,1894,3477
$GC,1274,-1.23,-146.6,130.6,-10.2,58,1278,0.00,2.55,0.00,0.000,4,0.000,0.046,2222,3303,3477
$GC,1314,-1.23,-146.6,135.2,-10.8,60,1319,0.00,2.53,0.00,0.000,6,0.000,0.040,2221,1894,3477
$GC,1641,-1.23,-146.6,164.5,-8.9,76,1645,0.00,2.55,0.00,0.000,4,0.000,0.047,2222,3307,3477
$GC,1668,-1.23,-146.6,167.2,-9.6,77,1673,0.00,2.53,0.00,0.000,6,0.000,0.041,2221,1892,3477
$GC,1984,-1.23,-146.6,198.5,-9.4,92,1988,0.00,2.55,0.00,0.000,4,0.000,0.047,2222,3302,3477
$GC,2016,-1.23,-146.6,201.8,-10.1,93,2022,0.00,2.53,0.00,0.000,6,0.000,0.041,2222,1894,3477
$GC,2332,-1.23,-146.6,240.6,-12.9,109,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1894,3477
$GC,2642,-1.23,-146.6,272.5,-7.8,124,2647,0.00,2.55,0.00,0.000,4,0.000,0.047,2222,3305,3477
$GC,2676,-1.23,-146.6,274.9,-6.8,125,2686,0.00,2.50,0.00,0.000,6,0.000,0.040,2222,1900,3477
$GC,2993,-1.23,-146.6,295.8,-6.3,141,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3476
$GC,3301,-1.23,-146.6,318.4,-7.2,156,3306,0.00,2.55,0.00,0.000,4,0.000,0.047,2222,3308,3477
$GC,3335,-1.23,-146.6,321.1,-7.6,157,3341,0.00,2.53,0.00,0.000,6,0.000,0.041,2222,1893,3477
$GC,3651,-1.23,-146.6,347.4,-8.7,173,3655,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3302,3476
$GC,3690,-1.23,-146.6,350.9,-9.1,175,3694,0.00,2.53,0.00,0.000,6,0.000,0.041,2222,1893,3477
$GC,4017,-1.23,-146.6,378.8,-9.1,191,4021,0.00,2.55,0.00,0.000,4,0.000,0.047,2222,3303,3477
$GC,4044,-1.23,-146.6,381.7,-10.1,192,4049,0.00,2.50,0.00,0.000,6,0.000,0.041,2222,1901,3477
$GC,4360,-1.23,-146.6,411.8,-10.1,207,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3477
$GC,4669,-1.23,-146.6,445.7,-11.5,222,4673,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3302,3477
$GC,4737,-1.23,-146.6,454.0,-11.7,225,4741,0.00,2.50,0.00,0.000,6,0.000,0.042,2222,1900,3477
$GC,5058,-1.23,-146.6,491.3,-11.1,241,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3476
$GC,5369,-1.23,-146.6,527.2,-11.8,256,5373,0.00,2.60,0.00,0.000,4,0.000,0.070,2222,499,3476
$GC,5435,-1.23,-146.6,535.9,-12.7,259,5440,0.00,2.45,0.00,0.000,6,0.000,0.040,2222,1906,3476
$GC,5756,-1.23,-146.6,571.4,-10.5,275,5761,0.00,2.53,0.00,0.000,4,0.000,0.053,2222,3299,3477
$GC,5865,-1.23,-146.6,582.9,-10.0,280,5869,0.00,2.53,0.00,0.000,6,0.000,0.046,2222,1898,3476
$GC,6191,-1.23,-146.6,615.6,-10.5,296,6196,0.00,2.55,0.00,0.000,4,0.000,0.052,2222,3297,3477
$GC,6254,-1.23,-146.6,622.2,-10.6,299,6258,0.00,2.53,0.00,0.000,6,0.000,0.046,2221,1898,3477
$GC,6581,-1.23,-146.6,655.7,-12.0,315,6585,0.00,2.65,0.00,0.000,4,0.000,0.077,2222,497,3477
$GC,6680,-1.23,-146.6,667.8,-11.5,319,6687,0.00,2.47,0.00,0.000,6,0.000,0.043,2222,1900,3477
$GC,6997,-1.23,-146.6,703.7,-11.2,335,7001,0.00,2.58,0.00,0.000,4,0.000,0.061,2222,3301,3476
$GC,7104,-1.23,-146.6,713.9,-9.8,340,7108,0.00,2.55,0.00,0.000,6,0.000,0.054,2222,1899,3477
$STATE,7325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7325,begin apogee
$GC,7332,-0.36,0.0,734.3,8.1,351,7461,0.93,0.00,125.62,1.304,6,0.081,0.000,2418,2101,2878
$STATE,7462,end apogee,CONTROL_FINISHED_OK
$STATE,7462,begin climb
$GC,7465,1.23,146.6,735.6,0.0,357,7597,1.55,2.70,123.80,1.269,4,0.051,0.064,2764,3497,2280
$GC,7741,1.29,197.6,729.4,6.1,370,7791,0.00,2.58,43.70,1.280,6,0.000,0.053,2764,2103,2071
$GC,8115,1.29,197.6,703.2,11.8,388,8120,0.00,2.62,0.00,0.000,4,0.000,0.064,2764,3495,2070
$GC,8373,1.29,197.6,659.1,19.6,399,8379,0.00,2.58,0.00,0.000,6,0.000,0.053,2764,2091,2068
$GC,8689,1.29,197.6,610.1,15.3,415,8693,0.00,2.67,0.00,0.000,4,0.000,0.080,2764,691,2067
$GC,8706,1.29,197.6,607.3,15.6,416,8711,0.00,2.53,0.00,0.000,6,0.000,0.049,2764,2094,2067
$GC,9033,1.29,197.6,562.1,13.2,432,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2095,2065
$GC,9341,1.29,197.6,528.4,9.0,447,9346,0.00,2.58,0.00,0.000,4,0.000,0.057,2764,3502,2065
$GC,9507,1.34,239.0,516.4,6.4,454,9547,0.10,2.55,33.53,1.232,6,0.063,0.046,2794,2092,1903
$GC,9871,1.42,300.3,491.4,5.7,472,9931,0.00,2.65,51.17,1.165,4,0.000,0.051,2794,3503,1653
$GC,9966,1.47,346.1,485.9,6.3,476,10011,0.00,2.58,38.28,1.122,6,0.000,0.044,2794,2094,1466
$GC,10330,1.56,418.0,464.7,5.3,494,10396,0.17,2.72,59.90,1.098,4,0.044,0.074,2848,695,1173
$GC,10431,1.56,418.0,456.0,9.8,499,10436,0.00,2.53,0.00,0.000,6,0.000,0.040,2848,2113,1173
$GC,10758,1.56,418.0,430.2,8.2,515,10763,0.00,2.70,0.00,0.000,4,0.000,0.071,2848,694,1173
$GC,10791,1.56,418.0,426.9,10.1,516,10797,0.00,2.47,0.00,0.000,6,0.000,0.039,2848,2104,1172
$GC,11107,1.56,418.0,392.2,11.9,532,11111,0.00,2.67,0.00,0.000,4,0.000,0.069,2848,691,1173
$GC,11134,1.56,418.0,388.6,13.5,533,11138,0.00,2.50,0.00,0.000,6,0.000,0.039,2847,2106,1173
$GC,11449,1.56,418.0,349.7,12.8,548,11454,0.00,2.67,0.00,0.000,4,0.000,0.069,2848,691,1173
$GC,11476,1.56,418.0,345.9,13.7,549,11481,0.00,2.50,0.00,0.000,6,0.000,0.040,2847,2107,1173
$GC,11792,1.56,418.0,303.0,13.8,564,11796,0.00,2.67,0.00,0.000,4,0.000,0.068,2848,690,1173
$GC,11819,1.56,418.0,298.9,15.1,565,11823,0.00,2.47,0.00,0.000,6,0.000,0.039,2847,2106,1173
$GC,12135,1.56,418.0,251.4,14.3,580,12139,0.00,2.65,0.00,0.000,4,0.000,0.067,2848,694,1173
$GC,12174,1.56,418.0,245.1,16.0,582,12178,0.00,2.45,0.00,0.000,6,0.000,0.039,2848,2100,1174
$GC,12500,1.56,418.0,194.4,15.3,598,12505,0.00,2.65,0.00,0.000,4,0.000,0.067,2847,688,1174
$GC,12518,1.56,418.0,191.7,15.5,599,12523,0.00,2.50,0.00,0.000,6,0.000,0.038,2847,2110,1174
$GC,12846,1.56,418.0,140.1,16.7,615,12850,0.00,2.65,0.00,0.000,4,0.000,0.066,2847,694,1174
$GC,12867,1.56,418.0,135.8,18.7,616,12871,0.00,2.45,0.00,0.000,6,0.000,0.038,2847,2101,1174
$GC,13190,1.56,418.0,83.6,16.1,632,13191,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2103,1174
$GC,13498,1.56,418.0,34.7,16.3,647,13502,0.00,2.62,0.00,0.000,4,0.000,0.065,2848,694,1175
$GC,13516,1.56,418.0,31.5,18.3,648,13520,0.00,2.47,0.00,0.000,6,0.000,0.038,2847,2104,1175
$STATE,13696,end climb,SURFACE_DEPTH_REACHED
$STATE,13696,begin surface coast
$FINISH,0.9,1.017754
$STATE,13719,end surface coast,CONTROL_FINISHED_OK
$STATE,13719,begin surface
$SM_CCo,13803,0.00,0.000,0,0,1174,417.99
$SM_GC,1.76,12.07,0.00,0.00,0.027,0.000,0.000,28,1880,1174,-11.27,-0.59,417.99
$IRIDIUM_FIX,6117.23,-906.85,040597,181823
$TT8_MAMPS,0.026845
$HUMID,2078
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,17.1,999.0
$24V_AH,23.0,81.873
$10V_AH,10.1,39.529
$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,26.425,149.200,476.000,0.000,0.000,77.347,71.764,199.889,6.750,0.000,0.000,14.754,1261.055,10296.448,563.485,1600.849,665.651,33.391,1423.874,0.000,1558.166,0.000,41.403
$DEVICE_MAMPS,138.827,79.768,1303.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.336,442.507,382.378,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31686,658
$CFSIZE,260165632,233361408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,080208,224631,6143.753,-907.267,40,1.2,40,-9.4