version: 66.02
glider: 102
mission: 4
dive: 422
start: 2 8 108 23 1 57
data:
$ID,102
$MISSION,4
$DIVE,422
$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,-86868.094
$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,36
$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
$GPS1,224631,6143.753,-907.267,40,1.2,40,-9.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-57.2
$GPS2,230015,6143.871,-907.125,14,1.6,14,-9.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.186,-0.148
$KALMAN_X,610861.2,-1098.8,-101.9,-642350.4,3554.8
$KALMAN_Y,134069.6,-1503.5,870.5,-113562.8,2208.2
$MHEAD_RNG_PITCHd_Wd,240.9,44660,-14.7,-8.000
$D_GRID,747
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.23,-146.6,0.0,0.0,0,130,0.00,0.00,-101.60,0.000,2,0.000,0.000,27,1878,3186
$GC,133,-1.23,-146.6,3.9,-2.6,5,159,11.65,2.60,-7.00,0.000,4,0.139,0.080,2224,518,3477
$GC,202,-1.23,-146.6,16.7,-11.7,8,206,0.00,2.42,0.00,0.000,6,0.000,0.038,2224,1907,3477
$GC,529,-1.23,-146.6,53.9,-10.0,24,533,0.00,2.50,0.00,0.000,4,0.000,0.046,2224,3298,3477
$GC,601,-1.23,-146.6,61.5,-10.1,27,605,0.00,2.47,0.00,0.000,6,0.000,0.040,2224,1909,3477
$GC,919,-1.23,-146.6,97.1,-9.1,42,923,0.00,2.50,0.00,0.000,4,0.000,0.045,2224,3298,3477
$GC,983,-1.23,-146.6,103.4,-9.9,45,987,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1902,3477
$GC,1310,-1.23,-146.6,135.8,-10.0,61,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1902,3477
$GC,1619,-1.23,-146.6,168.0,-10.7,76,1623,0.00,2.53,0.00,0.000,4,0.000,0.045,2224,3302,3477
$GC,1686,-1.23,-146.6,175.4,-10.7,79,1690,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1897,3477
$GC,2007,-1.23,-146.6,212.0,-11.6,95,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,2316,-1.23,-146.6,249.7,-11.9,110,2323,0.00,2.53,0.00,0.000,4,0.000,0.045,2224,3298,3477
$GC,2396,-1.23,-146.6,259.2,-11.6,113,2401,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1896,3477
$GC,2712,-1.23,-146.6,292.2,-10.0,128,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3477
$GC,3021,-1.23,-146.6,318.7,-7.8,143,3026,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3296,3477
$GC,3090,-1.23,-146.6,323.6,-6.9,146,3095,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1897,3477
$GC,3411,-1.23,-146.6,344.3,-6.6,162,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,3720,-1.23,-146.6,368.2,-8.7,177,3724,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3296,3478
$GC,3786,-1.23,-146.6,374.4,-9.2,180,3790,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1897,3477
$GC,4108,-1.23,-146.6,403.0,-8.7,196,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,4416,-1.23,-146.6,430.0,-9.2,211,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,4726,-1.23,-146.6,458.7,-9.3,226,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,5035,-1.23,-146.6,489.5,-9.9,241,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,5345,-1.23,-146.6,526.8,-12.6,256,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,5654,-1.23,-146.6,568.5,-13.9,271,5659,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3299,3477
$GC,5824,-1.23,-146.6,589.5,-12.0,278,5830,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1895,3477
$GC,6140,-1.23,-146.6,622.1,-8.8,294,6145,0.00,2.55,0.00,0.000,4,0.000,0.053,2224,3293,3477
$GC,6208,-1.23,-146.6,627.6,-7.4,297,6212,0.00,2.50,0.00,0.000,6,0.000,0.045,2224,1900,3476
$GC,6529,-1.23,-146.6,647.1,-4.5,313,6533,0.00,2.55,0.00,0.000,4,0.000,0.054,2224,3293,3477
$GC,6694,-1.23,-146.6,653.8,-6.6,320,6698,0.00,2.53,0.00,0.000,6,0.000,0.047,2224,1896,3477
$GC,7009,-1.23,-146.6,693.1,-17.3,335,7014,0.00,2.55,0.00,0.000,4,0.000,0.055,2224,3293,3477
$GC,7174,-1.23,-146.6,715.4,-13.9,342,7179,0.00,2.53,0.00,0.000,6,0.000,0.050,2224,1902,3476
$GC,7490,-1.23,-146.6,740.6,-8.9,357,7494,0.00,2.67,0.00,0.000,4,0.000,0.081,2224,494,3476
$GC,7552,-1.23,-146.6,746.7,-7.2,360,7556,0.00,2.47,0.00,0.000,6,0.000,0.050,2224,1888,3476
$STATE,7559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7559,begin apogee
$GC,7567,-0.36,0.0,747.4,5.8,360,7697,0.88,0.00,126.72,1.304,6,0.082,0.000,2412,2111,2878
$STATE,7698,end apogee,CONTROL_FINISHED_OK
$STATE,7698,begin climb
$GC,7701,1.23,146.6,759.0,0.0,367,7835,1.65,0.00,125.43,1.275,6,0.062,0.000,2765,2115,2280
$GC,8145,1.25,164.5,757.4,7.3,389,8167,0.00,2.80,16.23,1.292,4,0.000,0.077,2765,694,2207
$GC,8352,1.25,164.5,731.3,14.5,398,8356,0.00,2.55,0.00,0.000,6,0.000,0.050,2765,2100,2205
$GC,8673,1.26,168.7,703.1,7.8,414,8679,0.00,0.00,4.32,1.230,6,0.000,0.000,2765,2101,2189
$GC,8982,1.30,201.2,681.2,6.8,429,9017,0.00,2.72,28.45,1.302,4,0.000,0.067,2765,3498,2057
$GC,9209,1.49,362.2,672.0,1.9,439,9351,0.25,2.60,135.45,1.274,6,0.045,0.053,2829,2095,1401
$GC,9675,1.49,362.2,631.5,11.2,462,9679,0.00,2.60,0.00,0.000,4,0.000,0.057,2829,3501,1399
$GC,9837,1.49,362.2,611.4,13.3,469,9841,0.00,2.58,0.00,0.000,6,0.000,0.049,2829,2101,1399
$GC,10153,1.49,362.2,567.4,12.8,484,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2101,1398
$GC,10462,1.49,362.2,518.6,16.7,499,10463,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2101,1398
$GC,10771,1.49,362.2,473.4,14.1,514,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2101,1399
$GC,11081,1.49,362.2,427.4,13.4,529,11082,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2101,1400
$GC,11389,1.49,362.2,384.0,13.9,544,11391,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2101,1400
$GC,11699,1.49,362.2,343.5,13.6,559,11703,0.00,2.55,0.00,0.000,4,0.000,0.048,2829,3507,1400
$GC,11777,1.49,362.2,331.7,14.7,562,11783,0.00,2.55,0.00,0.000,6,0.000,0.041,2829,2088,1400
$GC,12092,1.49,362.2,288.2,14.4,578,12093,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2088,1400
$GC,12401,1.49,362.2,246.2,14.1,593,12403,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2088,1401
$GC,12711,1.49,362.2,201.7,13.3,608,12712,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2088,1402
$GC,13020,1.49,362.2,163.0,11.6,623,13021,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2087,1402
$GC,13330,1.49,362.2,123.9,12.8,638,13334,0.00,2.58,0.00,0.000,4,0.000,0.046,2829,3509,1403
$GC,13379,1.49,362.2,116.7,13.5,640,13384,0.00,2.53,0.00,0.000,6,0.000,0.038,2829,2090,1402
$GC,13697,1.49,362.2,76.4,12.5,655,13698,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2090,1403
$GC,14005,1.49,362.2,31.4,13.7,670,14009,0.00,2.55,0.00,0.000,4,0.000,0.047,2829,3505,1403
$GC,14032,1.49,362.2,27.8,11.8,671,14036,0.00,2.53,0.00,0.000,6,0.000,0.040,2829,2095,1403
$STATE,14222,end climb,SURFACE_DEPTH_REACHED
$STATE,14222,begin surface coast
$FINISH,0.9,1.027393
$STATE,14244,end surface coast,CONTROL_FINISHED_OK
$STATE,14244,begin surface
$SM_CCo,14328,0.00,0.000,0,0,1402,362.06
$SM_GC,1.67,12.02,0.00,0.00,0.029,0.000,0.000,35,1887,1402,-11.25,-0.37,362.06
$IRIDIUM_FIX,6121.73,-912.06,040597,222218
$TT8_MAMPS,0.026845
$HUMID,2093
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,15.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,22.9,82.067
$10V_AH,10.1,39.603
$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,26.450,92.350,436.600,0.000,0.000,75.000,87.104,466.217,6.750,0.000,0.000,16.126,1267.508,10885.018,529.035,1587.236,933.059,33.368,1343.152,0.000,1551.420,0.000,41.399
$DEVICE_MAMPS,138.827,81.302,1303.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,507.280,458.717,397.834,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34782,681
$CFSIZE,260165632,233312256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,090208,030221,6141.491,-912.577,41,2.2,60,-9.4