version: 66.02
glider: 102
mission: 4
dive: 425
start: 2 9 108 11 31 51
data:
$ID,102
$MISSION,4
$DIVE,425
$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,-86936.562
$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,35
$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
$GPS1,112037,6138.363,-918.211,28,1.6,28,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-47.4
$GPS2,113009,6138.428,-918.143,13,1.5,13,-9.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.219,-0.092
$KALMAN_X,604454.3,-175.8,357.6,-647050.8,-2555.6
$KALMAN_Y,132916.5,568.6,1391.3,-125095.8,-2476.3
$MHEAD_RNG_PITCHd_Wd,122.2,37743,-14.7,-8.000
$D_GRID,845
$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,27,-1.23,-146.6,0.0,0.0,0,130,0.00,0.00,-100.97,0.000,2,0.000,0.000,32,1881,2735
$GC,133,-1.23,-146.6,3.3,-1.8,5,176,11.57,2.60,-23.05,0.000,4,0.139,0.059,2221,3291,3477
$GC,429,-1.23,-146.6,47.1,-14.2,18,434,0.00,2.47,0.00,0.000,6,0.000,0.040,2221,1907,3477
$GC,751,-1.23,-146.6,77.7,-7.9,34,756,0.00,2.50,0.00,0.000,4,0.000,0.044,2221,3297,3477
$GC,852,-1.23,-146.6,86.1,-8.6,38,858,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1899,3477
$GC,1170,-1.23,-146.6,116.1,-9.5,54,1174,0.00,2.53,0.00,0.000,4,0.000,0.045,2221,3301,3477
$GC,1197,-1.23,-146.6,118.7,-8.6,55,1201,0.00,2.50,0.00,0.000,6,0.000,0.040,2221,1899,3477
$GC,1513,-1.23,-146.6,148.7,-10.3,70,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3477
$GC,1822,-1.23,-146.6,174.7,-9.0,85,1830,0.00,2.53,0.00,0.000,4,0.000,0.045,2221,3302,3477
$GC,1852,-1.23,-146.6,177.3,-8.5,86,1856,0.00,2.50,0.00,0.000,6,0.000,0.040,2222,1898,3477
$GC,2179,-1.23,-146.6,214.2,-13.8,102,2183,0.00,2.53,0.00,0.000,4,0.000,0.045,2221,3302,3477
$GC,2212,-1.23,-146.6,217.7,-9.9,103,2218,0.00,2.50,0.00,0.000,6,0.000,0.040,2221,1898,3477
$GC,2528,-1.23,-146.6,251.0,-11.7,119,2533,0.00,2.60,0.00,0.000,4,0.000,0.066,2221,495,3477
$GC,2556,-1.23,-146.6,254.6,-12.3,120,2560,0.00,2.45,0.00,0.000,6,0.000,0.038,2221,1909,3477
$GC,2872,-1.23,-146.6,288.5,-9.4,135,2876,0.00,2.47,0.00,0.000,4,0.000,0.047,2221,3295,3477
$GC,2921,-1.23,-146.6,293.0,-10.2,137,2926,0.00,2.47,0.00,0.000,6,0.000,0.041,2221,1903,3477
$GC,3237,-1.23,-146.6,335.5,-13.3,152,3241,0.00,2.53,0.00,0.000,4,0.000,0.045,2221,3303,3477
$GC,3270,-1.23,-146.6,340.4,-13.4,153,3276,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1899,3477
$GC,3585,-1.23,-146.6,378.0,-11.7,169,3590,0.00,2.53,0.00,0.000,4,0.000,0.046,2221,3298,3477
$GC,3663,-1.23,-146.6,387.3,-12.1,172,3669,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1899,3477
$GC,3979,-1.23,-146.6,429.2,-15.6,188,3984,0.00,2.53,0.00,0.000,4,0.000,0.046,2221,3299,3477
$GC,4058,-1.23,-146.6,439.9,-13.5,191,4063,0.00,2.50,0.00,0.000,6,0.000,0.042,2221,1899,3477
$GC,4373,-1.23,-146.6,477.9,-10.6,207,4377,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3299,3477
$GC,4400,-1.23,-146.6,481.0,-11.2,208,4405,0.00,2.50,0.00,0.000,6,0.000,0.042,2221,1899,3477
$GC,4716,-1.23,-146.6,514.2,-10.3,223,4720,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3298,3477
$GC,4737,-1.23,-146.6,516.5,-10.3,224,4742,0.00,2.50,0.00,0.000,6,0.000,0.042,2221,1899,3477
$GC,5059,-1.23,-146.6,548.8,-10.0,240,5063,0.00,2.62,0.00,0.000,4,0.000,0.070,2221,497,3477
$GC,5131,-1.23,-146.6,556.7,-10.7,243,5135,0.00,2.45,0.00,0.000,6,0.000,0.039,2221,1899,3477
$GC,5447,-1.23,-146.6,589.7,-10.2,258,5451,0.00,2.53,0.00,0.000,4,0.000,0.051,2221,3293,3477
$GC,5542,-1.23,-146.6,598.8,-8.8,262,5546,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1902,3477
$GC,5858,-1.23,-146.6,624.7,-8.0,277,5863,0.00,2.53,0.00,0.000,4,0.000,0.052,2221,3295,3477
$GC,5881,-1.23,-146.6,626.5,-7.9,278,5885,0.00,2.50,0.00,0.000,6,0.000,0.045,2221,1898,3477
$GC,6208,-1.23,-146.6,649.7,-7.4,294,6213,0.00,2.65,0.00,0.000,4,0.000,0.074,2221,494,3477
$GC,6235,-1.23,-146.6,652.2,-8.8,295,6239,0.00,2.45,0.00,0.000,6,0.000,0.041,2221,1895,3477
$GC,6557,-1.23,-146.6,680.8,-9.8,311,6561,0.00,2.55,0.00,0.000,4,0.000,0.054,2221,3298,3477
$GC,6600,-1.23,-146.6,685.4,-10.1,313,6605,0.00,2.53,0.00,0.000,6,0.000,0.048,2221,1901,3477
$GC,6922,-1.23,-146.6,716.1,-8.4,329,6926,0.00,2.55,0.00,0.000,4,0.000,0.052,2221,3301,3477
$GC,7140,-1.23,-146.6,735.4,-9.3,339,7144,0.00,2.55,0.00,0.000,6,0.000,0.049,2221,1897,3477
$GC,7466,-1.23,-146.6,767.8,-9.9,355,7471,0.00,2.65,0.00,0.000,4,0.000,0.076,2221,495,3477
$GC,7696,-1.23,-146.6,792.2,-13.8,365,7701,0.00,2.47,0.00,0.000,6,0.000,0.045,2221,1898,3477
$GC,8012,-1.23,-146.6,825.7,-11.5,380,8017,0.00,2.60,0.00,0.000,4,0.000,0.064,2221,3303,3477
$GC,8136,-1.23,-146.6,839.6,-8.9,385,8142,0.00,2.60,0.00,0.000,6,0.000,0.060,2221,1901,3477
$STATE,8243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8243,begin apogee
$GC,8250,-0.36,0.0,845.9,5.2,391,8385,0.93,0.00,127.78,1.367,6,0.078,0.000,2419,2100,2878
$STATE,8386,end apogee,CONTROL_FINISHED_OK
$STATE,8386,begin climb
$GC,8389,1.23,146.6,847.9,0.0,398,8524,1.55,2.80,126.72,1.326,4,0.050,0.080,2765,696,2280
$GC,8534,1.24,152.3,840.9,7.8,405,8545,0.00,2.60,6.00,1.211,6,0.000,0.052,2765,2106,2257
$GC,8861,1.27,180.6,818.3,6.9,421,8892,0.00,2.70,25.33,1.332,4,0.000,0.065,2765,3501,2141
$GC,9094,1.35,243.0,798.4,5.6,431,9154,0.10,2.62,53.55,1.338,6,0.067,0.058,2792,2097,1887
$GC,9470,1.35,245.1,774.3,7.9,450,9475,0.00,2.65,0.00,0.000,4,0.000,0.062,2792,3504,1884
$GC,9498,1.36,249.1,771.9,7.8,451,9509,0.00,2.60,5.90,1.295,6,0.000,0.054,2792,2100,1862
$GC,9818,1.36,249.1,741.3,9.6,467,9823,0.00,2.60,0.00,0.000,4,0.000,0.060,2792,3498,1861
$GC,9874,1.36,249.1,735.4,10.8,469,9880,0.00,2.58,0.00,0.000,6,0.000,0.051,2792,2099,1860
$GC,10190,1.36,249.1,701.8,10.8,485,10194,0.00,2.60,0.00,0.000,4,0.000,0.055,2792,3507,1859
$GC,10355,1.36,249.1,683.8,12.2,492,10360,0.00,2.58,0.00,0.000,6,0.000,0.047,2792,2093,1859
$GC,10671,1.36,249.1,643.9,12.0,507,10675,0.00,2.65,0.00,0.000,4,0.000,0.074,2792,690,1859
$GC,10710,1.36,249.1,639.0,13.2,509,10715,0.00,2.50,0.00,0.000,6,0.000,0.041,2792,2105,1859
$GC,11037,1.36,249.1,603.0,8.9,525,11042,0.00,2.67,0.00,0.000,4,0.000,0.070,2792,684,1860
$GC,11065,1.39,279.1,601.2,6.9,526,11096,0.00,2.50,25.73,1.232,6,0.000,0.041,2792,2101,1740
$GC,11405,1.39,279.1,565.9,11.5,543,11410,0.00,2.55,0.00,0.000,4,0.000,0.051,2792,3504,1740
$GC,11501,1.39,279.1,553.5,12.7,547,11505,0.00,2.53,0.00,0.000,6,0.000,0.043,2792,2099,1740
$GC,11816,1.39,279.1,516.0,10.3,562,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2099,1741
$GC,12125,1.39,279.1,480.7,11.5,577,12130,0.00,2.55,0.00,0.000,4,0.000,0.051,2792,3498,1742
$GC,12176,1.39,279.1,475.2,11.4,579,12180,0.00,2.50,0.00,0.000,6,0.000,0.039,2792,2096,1742
$GC,12491,1.39,279.1,440.0,12.9,594,12496,0.00,2.55,0.00,0.000,4,0.000,0.049,2792,3499,1742
$GC,12558,1.39,279.1,431.4,12.7,597,12563,0.00,2.50,0.00,0.000,6,0.000,0.041,2792,2099,1742
$GC,12880,1.39,279.1,393.6,12.4,613,12884,0.00,2.53,0.00,0.000,4,0.000,0.048,2792,3500,1742
$GC,12952,1.39,279.1,384.3,12.0,616,12956,0.00,2.50,0.00,0.000,6,0.000,0.040,2792,2099,1742
$GC,13268,1.39,279.1,356.2,9.6,631,13272,0.00,2.53,0.00,0.000,4,0.000,0.048,2792,3499,1743
$GC,13307,1.39,279.1,351.8,11.8,633,13312,0.00,2.50,0.00,0.000,6,0.000,0.040,2792,2099,1743
$GC,13634,1.39,279.1,314.6,12.4,649,13638,0.00,2.53,0.00,0.000,4,0.000,0.048,2792,3499,1743
$GC,13696,1.39,279.1,306.5,13.2,652,13700,0.00,2.50,0.00,0.000,6,0.000,0.039,2792,2098,1743
$GC,14022,1.39,279.1,272.2,9.9,668,14027,0.00,2.60,0.00,0.000,4,0.000,0.067,2792,694,1743
$GC,14040,1.39,279.1,270.2,10.1,669,14044,0.00,2.47,0.00,0.000,6,0.000,0.038,2792,2113,1743
$GC,14366,1.39,279.1,233.3,12.1,685,14367,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2117,1743
$GC,14676,1.39,279.1,193.4,12.1,700,14680,0.00,2.50,0.00,0.000,4,0.000,0.048,2792,3499,1744
$GC,14720,1.39,279.1,187.6,12.2,702,14724,0.00,2.50,0.00,0.000,6,0.000,0.038,2792,2090,1744
$GC,15041,1.41,292.1,151.6,7.5,718,15059,0.00,0.00,12.55,0.931,6,0.000,0.000,2792,2090,1687
$GC,15371,1.41,292.1,117.1,10.9,734,15376,0.00,2.55,0.00,0.000,4,0.000,0.046,2792,3497,1687
$GC,15436,1.41,292.1,110.7,8.4,737,15440,0.00,2.47,0.00,0.000,6,0.000,0.036,2792,2100,1687
$GC,15763,1.41,292.1,75.6,11.7,753,15768,0.00,2.60,0.00,0.000,4,0.000,0.063,2792,693,1687
$GC,15781,1.41,292.1,73.5,11.0,754,15785,0.00,2.45,0.00,0.000,6,0.000,0.036,2792,2103,1687
$GC,16108,1.41,292.1,35.2,11.9,770,16112,0.00,2.50,0.00,0.000,4,0.000,0.046,2792,3498,1687
$GC,16172,1.41,292.1,28.2,11.0,773,16176,0.00,2.47,0.00,0.000,6,0.000,0.038,2792,2100,1687
$GC,16501,1.51,378.0,9.5,4.7,789,16574,0.15,2.58,66.65,0.788,4,0.051,0.045,2841,3496,1336
$STATE,16578,end climb,SURFACE_DEPTH_REACHED
$STATE,16578,begin surface coast
$FINISH,1.1,1.027386
$STATE,16585,end surface coast,CONTROL_FINISHED_OK
$STATE,16586,begin surface
$SM_CCo,16672,0.00,0.000,0,0,1334,378.50
$SM_GC,1.98,12.35,0.00,0.00,0.034,0.000,0.000,34,1895,1334,-11.26,-0.11,378.50
$IRIDIUM_FIX,6112.75,-914.35,050597,111130
$TT8_MAMPS,0.026845
$HUMID,2057
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,18.70
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.8,999.0
$24V_AH,22.9,82.719
$10V_AH,10.1,39.836
$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,26.650,198.875,450.200,0.000,0.000,76.098,78.799,227.609,7.750,0.000,0.000,14.451,1535.542,12381.273,628.407,2000.929,745.949,33.373,1672.047,0.000,1948.306,0.000,47.887
$DEVICE_MAMPS,138.827,79.768,1366.794,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,581.116,533.694,469.800,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41049,793
$CFSIZE,260165632,233111552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,090208,161101,6136.818,-918.663,37,1.0,42,-9.4