version: 66.02
glider: 102
mission: 4
dive: 424
start: 2 9 108 7 5 44
data:
$ID,102
$MISSION,4
$DIVE,424
$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,-86921.484
$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,23
$R_STBD_OVSHOOT,38
$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
$GPS1,065037,6139.109,-917.383,30,1.1,30,-9.4
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-46.1
$GPS2,070400,6139.279,-917.397,13,1.5,16,-9.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.018,-0.237
$KALMAN_X,607134.5,-552.0,-732.6,-647596.6,1320.5
$KALMAN_Y,131384.2,478.1,-499.6,-119972.9,1000.2
$MHEAD_RNG_PITCHd_Wd,185.1,38907,-14.7,-8.000
$D_GRID,836
$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,-146.6,0.0,0.0,0,146,0.00,0.00,-120.30,0.000,2,0.000,0.000,29,1885,3077
$GC,150,-1.23,-146.6,4.2,-3.5,6,180,11.68,2.55,-9.88,0.000,4,0.141,0.058,2224,3295,3477
$GC,307,-1.23,-146.6,24.4,-12.0,13,312,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1898,3477
$GC,636,-1.23,-146.6,62.5,-9.5,29,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,944,-1.23,-146.6,90.7,-9.7,44,948,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3298,3477
$GC,1017,-1.23,-146.6,96.6,-7.4,47,1021,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1895,3476
$GC,1333,-1.23,-146.6,130.0,-10.7,62,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3477
$GC,1642,-1.23,-146.6,167.7,-9.7,77,1646,0.00,2.50,0.00,0.000,4,0.000,0.045,2224,3295,3477
$GC,1708,-1.23,-146.6,174.8,-10.4,80,1713,0.00,2.50,0.00,0.000,6,0.000,0.039,2224,1894,3476
$GC,2035,-1.23,-146.6,207.1,-9.1,96,2040,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3296,3477
$GC,2098,-1.23,-146.6,213.0,-8.8,99,2102,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1897,3476
$GC,2424,-1.23,-146.6,238.9,-7.7,115,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3477
$GC,2734,-1.23,-146.6,264.6,-8.4,130,2738,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3298,3477
$GC,2790,-1.23,-146.6,269.2,-7.9,132,2796,0.00,2.50,0.00,0.000,6,0.000,0.040,2223,1895,3476
$GC,3106,-1.23,-146.6,294.2,-7.5,148,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3476
$GC,3416,-1.23,-146.6,320.1,-8.9,163,3420,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3299,3477
$GC,3478,-1.23,-146.6,325.8,-9.2,166,3482,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1899,3477
$GC,3804,-1.23,-146.6,354.5,-9.0,182,3808,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3300,3477
$GC,3853,-1.23,-146.6,359.0,-8.4,184,3858,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1894,3477
$GC,4169,-1.23,-146.6,390.9,-11.3,199,4173,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3294,3477
$GC,4201,-1.23,-146.6,394.9,-11.7,200,4208,0.00,2.50,0.00,0.000,6,0.000,0.042,2224,1894,3477
$GC,4518,-1.23,-146.6,433.9,-12.5,216,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3477
$GC,4827,-1.23,-146.6,468.9,-11.3,231,4831,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3293,3477
$GC,4866,-1.23,-146.6,473.6,-12.3,233,4870,0.00,2.50,0.00,0.000,6,0.000,0.042,2224,1898,3477
$GC,5193,-1.23,-146.6,504.8,-8.9,249,5197,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3294,3477
$GC,5233,-1.23,-146.6,508.7,-9.4,251,5237,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1900,3477
$GC,5559,-1.23,-146.6,540.0,-9.3,267,5563,0.00,2.53,0.00,0.000,4,0.000,0.049,2224,3296,3476
$GC,5587,-1.23,-146.6,542.5,-9.5,268,5591,0.00,2.50,0.00,0.000,6,0.000,0.042,2224,1897,3477
$GC,5902,-1.23,-146.6,570.5,-9.4,283,5906,0.00,2.53,0.00,0.000,4,0.000,0.049,2224,3293,3476
$GC,5935,-1.23,-146.6,573.4,-8.9,284,5941,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1894,3477
$GC,6253,-1.23,-146.6,600.4,-8.4,300,6257,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3298,3477
$GC,6315,-1.23,-146.6,605.1,-7.0,303,6319,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1894,3476
$GC,6642,-1.23,-146.6,628.1,-5.8,319,6646,0.00,2.53,0.00,0.000,4,0.000,0.054,2224,3292,3476
$GC,6776,-1.23,-146.6,638.0,-7.6,325,6781,0.00,2.50,0.00,0.000,6,0.000,0.045,2224,1900,3476
$GC,7098,-1.23,-146.6,668.4,-10.4,341,7102,0.00,2.55,0.00,0.000,4,0.000,0.054,2224,3299,3476
$GC,7170,-1.23,-146.6,677.3,-13.3,344,7175,0.00,2.53,0.00,0.000,6,0.000,0.047,2224,1902,3476
$GC,7486,-1.23,-146.6,710.8,-9.7,359,7490,0.00,2.65,0.00,0.000,4,0.000,0.074,2224,492,3476
$GC,7547,-1.23,-146.6,716.8,-10.3,362,7552,0.00,2.45,0.00,0.000,6,0.000,0.042,2224,1892,3476
$GC,7875,-1.23,-146.6,742.8,-7.5,378,7879,0.00,2.55,0.00,0.000,4,0.000,0.054,2224,3301,3475
$GC,7964,-1.23,-146.6,749.4,-6.2,382,7968,0.00,2.53,0.00,0.000,6,0.000,0.048,2224,1898,3475
$GC,8285,-1.23,-146.6,770.2,-5.0,398,8290,0.00,2.55,0.00,0.000,4,0.000,0.054,2224,3300,3475
$GC,8464,-1.23,-146.6,784.3,-10.2,406,8469,0.00,2.55,0.00,0.000,6,0.000,0.049,2224,1895,3475
$GC,8787,-1.23,-146.6,817.0,-6.2,422,8791,0.00,2.60,0.00,0.000,4,0.000,0.059,2224,3303,3475
$GC,8876,-1.23,-146.6,823.5,-6.9,426,8880,0.00,2.58,0.00,0.000,6,0.000,0.055,2224,1902,3475
$STATE,9049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9049,begin apogee
$GC,9057,-0.36,0.0,836.1,8.7,435,9191,0.90,0.00,127.07,1.376,6,0.078,0.000,2416,2100,2878
$STATE,9192,end apogee,CONTROL_FINISHED_OK
$STATE,9192,begin climb
$GC,9195,1.23,146.6,854.9,0.0,442,9331,1.55,2.72,126.88,1.340,4,0.054,0.067,2761,3493,2280
$GC,9589,1.25,161.0,856.1,7.5,460,9611,0.00,2.58,13.25,1.342,6,0.000,0.054,2761,2099,2221
$GC,9920,1.25,161.0,814.7,23.4,476,9925,0.00,2.65,0.00,0.000,4,0.000,0.066,2760,3499,2219
$GC,10091,1.25,161.0,771.6,23.4,483,10097,0.00,2.60,0.00,0.000,6,0.000,0.054,2761,2096,2218
$GC,10406,1.25,161.0,715.1,14.4,499,10411,0.00,2.62,0.00,0.000,4,0.000,0.062,2761,3500,2216
$GC,10653,1.29,194.8,684.9,6.7,510,10690,0.00,2.55,28.83,1.324,6,0.000,0.048,2761,2096,2082
$GC,11000,1.57,420.5,676.5,-0.6,527,11199,0.30,2.65,189.60,1.253,4,0.042,0.052,2841,3502,1163
$GC,11216,1.68,510.4,669.2,4.6,537,11298,0.00,2.60,75.85,1.210,6,0.000,0.048,2841,2099,797
$GC,11614,1.71,538.1,645.4,6.9,557,11644,0.12,2.78,24.45,1.200,4,0.053,0.078,2882,694,684
$GC,11742,1.71,538.1,631.5,13.2,563,11747,0.00,2.53,0.00,0.000,6,0.000,0.043,2882,2114,684
$GC,12069,1.71,538.1,590.2,13.5,579,12074,0.00,2.72,0.00,0.000,4,0.000,0.076,2882,694,684
$GC,12131,1.71,538.1,580.8,19.3,582,12135,0.00,2.50,0.00,0.000,6,0.000,0.041,2882,2110,684
$GC,12457,1.71,538.1,528.3,16.9,598,12461,0.00,2.70,0.00,0.000,4,0.000,0.074,2882,693,684
$GC,12529,1.71,538.1,513.8,20.7,601,12534,0.00,2.47,0.00,0.000,6,0.000,0.041,2882,2103,684
$GC,12845,1.71,538.1,453.4,19.0,616,12850,0.00,2.67,0.00,0.000,4,0.000,0.074,2882,693,685
$GC,12930,1.71,538.1,436.5,20.5,620,12934,0.00,2.47,0.00,0.000,6,0.000,0.040,2882,2105,685
$GC,13257,1.71,538.1,375.4,19.4,636,13262,0.00,2.70,0.00,0.000,4,0.000,0.073,2883,686,685
$GC,13352,1.71,538.1,355.1,20.6,640,13356,0.00,2.47,0.00,0.000,6,0.000,0.038,2882,2102,685
$GC,13668,1.71,538.1,296.3,19.1,655,13672,0.00,2.65,0.00,0.000,4,0.000,0.068,2882,691,685
$GC,13757,1.71,538.1,276.5,24.9,659,13761,0.00,2.47,0.00,0.000,6,0.000,0.039,2883,2104,685
$GC,14077,1.71,538.1,212.2,17.0,675,14082,0.00,2.67,0.00,0.000,4,0.000,0.070,2882,687,686
$GC,14167,1.71,538.1,196.5,17.7,679,14171,0.00,2.47,0.00,0.000,6,0.000,0.039,2882,2100,686
$GC,14488,1.71,538.1,125.6,23.0,695,14492,0.00,2.65,0.00,0.000,4,0.000,0.069,2883,691,686
$GC,14575,1.71,538.1,105.6,23.6,699,14579,0.00,2.45,0.00,0.000,6,0.000,0.039,2882,2101,686
$GC,14901,1.71,538.1,46.5,19.9,715,14906,0.00,2.65,0.00,0.000,4,0.000,0.069,2882,691,686
$GC,14996,1.71,538.1,26.5,24.0,719,15001,0.00,2.47,0.00,0.000,6,0.000,0.038,2882,2106,686
$STATE,15124,end climb,SURFACE_DEPTH_REACHED
$STATE,15124,begin surface coast
$FINISH,1.1,1.015351
$STATE,15146,end surface coast,CONTROL_FINISHED_OK
$STATE,15146,begin surface
$SM_CCo,15230,0.00,0.000,0,0,687,537.45
$SM_GC,1.71,12.35,0.00,0.00,0.033,0.000,0.000,33,1876,687,-11.26,-0.68,537.45
$IRIDIUM_FIX,6117.23,-915.08,050597,070715
$TT8_MAMPS,0.026845
$HUMID,2071
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,15.40
$XPDR_PINGS,4
$ALTIM_TOP_PING,20.0,999.0
$24V_AH,22.9,82.540
$10V_AH,10.1,39.753
$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,26.900,164.175,585.925,0.000,0.000,109.617,306.680,144.453,8.250,0.000,0.000,17.859,1410.589,11161.268,692.232,1936.106,885.658,33.367,1717.677,0.000,1877.373,0.000,47.868
$DEVICE_MAMPS,141.128,78.234,1375.998,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,531.245,488.058,392.675,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38060,726
$CFSIZE,260165632,233189376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,090208,112037,6138.363,-918.211,28,1.6,28,-9.4