version: 66.02
glider: 102
mission: 4
dive: 423
start: 2 9 108 3 10 4
data:
$ID,102
$MISSION,4
$DIVE,423
$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,-86903
$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,34
$R_STBD_OVSHOOT,24
$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
$GPS1,030221,6141.491,-912.577,41,2.2,60,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-53.5
$GPS2,030823,6141.506,-912.637,13,2.3,32,-9.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.118,-0.206
$KALMAN_X,609471.6,-1025.6,-470.9,-645516.2,2457.0
$KALMAN_Y,133230.4,-574.6,-1056.3,-116083.9,3787.6
$MHEAD_RNG_PITCHd_Wd,219.1,41381,-14.7,-8.000
$D_GRID,801
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,106,0.00,0.00,-80.57,0.000,2,0.000,0.000,34,1882,3018
$GC,110,-1.23,-146.6,4.0,-4.1,4,140,11.60,2.62,-11.62,0.000,4,0.139,0.062,2225,3302,3477
$GC,153,-1.23,-146.6,12.8,-15.1,6,157,0.00,2.53,0.00,0.000,6,0.000,0.041,2225,1903,3477
$GC,480,-1.23,-146.6,53.7,-10.0,22,484,0.00,2.53,0.00,0.000,4,0.000,0.045,2225,3307,3477
$GC,524,-1.23,-146.6,58.3,-10.1,24,528,0.00,2.53,0.00,0.000,6,0.000,0.040,2225,1894,3477
$GC,846,-1.23,-146.6,92.7,-13.4,40,850,0.00,2.55,0.00,0.000,4,0.000,0.047,2225,3307,3477
$GC,901,-1.23,-146.6,98.7,-7.6,42,908,0.00,2.50,0.00,0.000,6,0.000,0.040,2225,1897,3477
$GC,1217,-1.23,-146.6,128.3,-11.6,58,1221,0.00,2.55,0.00,0.000,4,0.000,0.045,2225,3314,3477
$GC,1261,-1.23,-146.6,133.3,-10.8,60,1265,0.00,2.53,0.00,0.000,6,0.000,0.040,2225,1900,3477
$GC,1582,-1.23,-146.6,164.2,-9.5,76,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3477
$GC,1892,-1.23,-146.6,191.7,-7.8,91,1896,0.00,2.53,0.00,0.000,4,0.000,0.045,2224,3307,3477
$GC,1964,-1.23,-146.6,197.6,-8.3,94,1969,0.00,2.53,0.00,0.000,6,0.000,0.040,2225,1893,3477
$GC,2280,-1.23,-146.6,220.7,-7.7,109,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1893,3477
$GC,2590,-1.23,-146.6,247.6,-9.8,124,2594,0.00,2.55,0.00,0.000,4,0.000,0.047,2225,3306,3477
$GC,2645,-1.23,-146.6,253.6,-10.9,126,2652,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1893,3477
$GC,2961,-1.23,-146.6,290.1,-12.1,142,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1893,3478
$GC,3270,-1.23,-146.6,331.6,-14.6,157,3275,0.00,2.55,0.00,0.000,4,0.000,0.047,2225,3307,3477
$GC,3333,-1.23,-146.6,340.8,-15.1,160,3337,0.00,2.53,0.00,0.000,6,0.000,0.042,2225,1898,3477
$GC,3660,-1.23,-146.6,393.7,-15.6,176,3664,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3309,3477
$GC,3731,-1.23,-146.6,405.6,-15.6,179,3736,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1898,3477
$GC,4047,-1.23,-146.6,453.0,-14.6,194,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1898,3477
$GC,4356,-1.23,-146.6,496.8,-14.7,209,4360,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3309,3477
$GC,4412,-1.23,-146.6,504.3,-13.5,211,4418,0.00,2.53,0.00,0.000,6,0.000,0.043,2225,1900,3477
$GC,4728,-1.23,-146.6,550.1,-14.6,227,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3477
$GC,5036,-1.23,-146.6,588.1,-9.3,242,5041,0.00,2.55,0.00,0.000,4,0.000,0.051,2225,3305,3477
$GC,5127,-1.23,-146.6,592.8,-3.7,246,5131,0.00,2.53,0.00,0.000,6,0.000,0.045,2225,1902,3477
$GC,5447,-1.23,-146.6,596.4,1.8,262,5452,0.00,2.65,0.00,0.000,4,0.000,0.072,2225,488,3477
$GC,5503,-1.23,-146.6,594.6,2.7,264,5509,0.00,2.50,0.00,0.000,6,0.000,0.041,2225,1911,3477
$GC,5819,-1.23,-146.6,612.9,-10.3,280,5824,0.00,2.53,0.00,0.000,4,0.000,0.056,2224,3298,3477
$GC,5927,-1.23,-146.6,622.9,-7.8,285,5931,0.00,2.53,0.00,0.000,6,0.000,0.047,2225,1894,3477
$GC,6254,-1.23,-146.6,667.6,-12.5,301,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3477
$GC,6564,-1.23,-146.6,692.1,-6.4,316,6568,0.00,2.58,0.00,0.000,4,0.000,0.053,2225,3302,3477
$GC,6816,-1.23,-146.6,704.4,-5.7,327,6820,0.00,2.55,0.00,0.000,6,0.000,0.049,2224,1899,3477
$GC,7132,-1.23,-146.6,725.2,-9.3,342,7136,0.00,2.58,0.00,0.000,4,0.000,0.055,2225,3304,3477
$GC,7255,-1.23,-146.6,740.1,-11.4,347,7261,0.00,2.55,0.00,0.000,6,0.000,0.051,2225,1901,3477
$GC,7570,-1.23,-146.6,781.0,-10.4,363,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1901,3477
$STATE,7794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7795,begin apogee
$GC,7801,-0.36,0.0,802.8,10.6,374,7937,0.93,0.00,127.60,1.348,6,0.084,0.000,2420,2100,2878
$STATE,7938,end apogee,CONTROL_FINISHED_OK
$STATE,7938,begin climb
$GC,7941,1.23,146.6,809.6,0.0,381,8078,1.58,2.80,126.45,1.308,4,0.051,0.077,2767,693,2280
$GC,8305,1.28,191.4,796.3,6.3,398,8350,0.00,2.55,39.38,1.312,6,0.000,0.052,2767,2097,2097
$GC,8674,1.31,213.8,766.6,7.1,416,8699,0.00,2.70,19.65,1.323,4,0.000,0.066,2767,3499,2006
$GC,8936,1.72,544.6,761.8,-4.6,428,9224,0.45,2.60,277.60,1.322,6,0.038,0.058,2880,2102,657
$GC,9551,1.72,544.6,669.9,22.8,458,9556,0.00,2.72,0.00,0.000,4,0.000,0.084,2880,693,655
$GC,9613,1.72,544.6,654.9,27.1,461,9618,0.00,2.53,0.00,0.000,6,0.000,0.047,2880,2104,656
$GC,9940,1.72,544.6,583.8,23.1,477,9944,0.00,2.70,0.00,0.000,4,0.000,0.077,2880,692,656
$GC,10007,1.72,544.6,567.4,24.5,480,10011,0.00,2.50,0.00,0.000,6,0.000,0.043,2880,2102,655
$GC,10327,1.72,544.6,507.1,18.1,496,10332,0.00,2.67,0.00,0.000,4,0.000,0.075,2880,692,656
$GC,10390,1.72,544.6,496.0,20.9,499,10394,0.00,2.47,0.00,0.000,6,0.000,0.041,2879,2101,655
$GC,10716,1.72,544.6,434.1,17.2,515,10720,0.00,2.70,0.00,0.000,4,0.000,0.074,2880,685,656
$GC,10800,1.72,544.6,417.7,19.2,519,10805,0.00,2.50,0.00,0.000,6,0.000,0.040,2880,2112,656
$GC,11127,1.72,544.6,361.3,18.0,535,11131,0.00,2.70,0.00,0.000,4,0.000,0.073,2880,691,656
$GC,11216,1.72,544.6,342.7,20.6,539,11220,0.00,2.47,0.00,0.000,6,0.000,0.040,2880,2098,656
$GC,11537,1.72,544.6,286.9,16.6,555,11541,0.00,2.67,0.00,0.000,4,0.000,0.071,2880,685,657
$GC,11614,1.72,544.6,272.6,19.0,558,11620,0.00,2.50,0.00,0.000,6,0.000,0.038,2880,2111,657
$GC,11930,1.72,544.6,213.6,18.1,574,11934,0.00,2.67,0.00,0.000,4,0.000,0.070,2880,691,658
$GC,12007,1.72,544.6,199.4,17.7,577,12013,0.00,2.47,0.00,0.000,6,0.000,0.038,2880,2105,658
$GC,12324,1.72,544.6,139.3,18.7,593,12328,0.00,2.67,0.00,0.000,4,0.000,0.070,2880,683,658
$GC,12431,1.72,544.6,122.8,14.5,598,12435,0.00,2.47,0.00,0.000,6,0.000,0.038,2880,2106,659
$GC,12758,1.72,544.6,62.2,17.5,614,12762,0.00,2.67,0.00,0.000,4,0.000,0.069,2880,685,659
$GC,12847,1.72,544.6,42.0,18.8,618,12851,0.00,2.47,0.00,0.000,6,0.000,0.038,2880,2104,659
$STATE,13062,end climb,SURFACE_DEPTH_REACHED
$STATE,13062,begin surface coast
$FINISH,0.9,1.003549
$STATE,13084,end surface coast,CONTROL_FINISHED_OK
$STATE,13084,begin surface
$SM_CCo,13168,0.00,0.000,0,0,658,544.32
$SM_GC,1.55,12.35,0.00,0.00,0.033,0.000,0.000,31,1887,658,-11.27,-0.37,544.32
$IRIDIUM_FIX,6117.23,-915.81,040597,232334
$TT8_MAMPS,0.026845
$HUMID,2104
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,16.5,999.0
$24V_AH,22.9,82.299
$10V_AH,10.1,39.672
$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,26.900,129.175,590.675,0.000,0.000,38.470,42.337,142.864,7.250,0.000,0.000,34.282,1207.976,9536.825,651.253,1670.008,513.750,33.373,1531.424,0.000,1607.115,0.000,46.235
$DEVICE_MAMPS,138.827,84.370,1347.619,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.495,422.846,365.265,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31639,630
$CFSIZE,260165632,233267200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,090208,065037,6139.109,-917.383,30,1.1,30,-9.4