version: 66.02
glider: 102
mission: 4
dive: 428
start: 2 10 108 2 9 0
data:
$ID,102
$MISSION,4
$DIVE,428
$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,-86981.055
$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,30
$R_STBD_OVSHOOT,34
$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
$GPS1,015701,6131.708,-907.913,69,1.5,69,-9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-57.0
$GPS2,020717,6131.560,-907.506,12,1.6,13,-9.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.217,-0.097
$KALMAN_X,599972.6,1369.8,803.6,-635228.6,-2773.4
$KALMAN_Y,131085.4,-1555.8,-465.7,-131963.2,-411.2
$MHEAD_RNG_PITCHd_Wd,123.4,22424,-14.7,-8.000
$D_GRID,621
$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,-60.80,0.000,2,0.000,0.000,28,1885,2853
$GC,91,-1.23,-146.6,3.9,-4.3,3,127,11.68,2.55,-18.70,0.000,4,0.140,0.058,2223,3297,3475
$GC,133,-1.23,-146.6,8.8,-7.7,4,138,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1905,3475
$GC,455,-1.23,-146.6,38.4,-10.6,20,459,0.00,2.62,0.00,0.000,4,0.000,0.069,2223,498,3475
$GC,472,-1.23,-146.6,39.6,-7.2,21,477,0.00,2.45,0.00,0.000,6,0.000,0.038,2223,1907,3475
$GC,799,-1.23,-146.6,75.0,-12.4,37,803,0.00,2.62,0.00,0.000,4,0.000,0.066,2223,497,3475
$GC,1056,-1.23,-146.6,108.0,-12.5,48,1063,0.00,2.42,0.00,0.000,6,0.000,0.037,2223,1903,3475
$GC,1374,-1.23,-146.6,136.1,-8.6,64,1378,0.00,2.62,0.00,0.000,4,0.000,0.066,2223,497,3475
$GC,1429,-1.23,-146.6,141.8,-9.8,66,1436,0.00,2.42,0.00,0.000,6,0.000,0.038,2223,1898,3475
$GC,1745,-1.23,-146.6,172.0,-9.1,82,1749,0.00,2.50,0.00,0.000,4,0.000,0.046,2223,3295,3475
$GC,1807,-1.23,-146.6,177.6,-9.1,85,1811,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1896,3475
$GC,2134,-1.23,-146.6,206.8,-9.5,101,2138,0.00,2.53,0.00,0.000,4,0.000,0.045,2223,3298,3475
$GC,2162,-1.23,-146.6,209.7,-10.3,102,2166,0.00,2.50,0.00,0.000,6,0.000,0.040,2223,1895,3475
$GC,2478,-1.23,-146.6,238.6,-8.9,117,2482,0.00,2.53,0.00,0.000,4,0.000,0.045,2223,3299,3475
$GC,2499,-1.23,-146.6,240.7,-9.4,118,2504,0.00,2.50,0.00,0.000,6,0.000,0.040,2223,1897,3475
$GC,2820,-1.23,-146.6,268.2,-8.3,134,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1897,3475
$GC,3130,-1.23,-146.6,293.2,-7.5,149,3135,0.00,2.53,0.00,0.000,4,0.000,0.046,2223,3299,3475
$GC,3175,-1.23,-146.6,296.7,-7.6,151,3180,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1896,3475
$GC,3497,-1.23,-146.6,318.1,-6.6,167,3501,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3299,3475
$GC,3530,-1.23,-146.6,320.4,-7.0,168,3536,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1894,3475
$GC,3847,-1.23,-146.6,341.2,-6.7,184,3851,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3295,3475
$GC,3887,-1.23,-146.6,343.9,-6.9,186,3891,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1897,3475
$GC,4214,-1.23,-146.6,367.7,-7.5,202,4218,0.00,2.62,0.00,0.000,4,0.000,0.068,2224,491,3475
$GC,4246,-1.23,-146.6,370.4,-8.1,203,4252,0.00,2.45,0.00,0.000,6,0.000,0.039,2223,1907,3475
$GC,4562,-1.23,-146.6,397.3,-8.8,219,4566,0.00,2.50,0.00,0.000,4,0.000,0.048,2223,3293,3475
$GC,4596,-1.23,-146.6,400.5,-8.9,220,4602,0.00,2.50,0.00,0.000,6,0.000,0.042,2223,1893,3475
$GC,4912,-1.23,-146.6,429.8,-9.5,236,4916,0.00,2.60,0.00,0.000,4,0.000,0.069,2223,496,3475
$GC,4961,-1.23,-146.6,434.3,-8.5,238,4966,0.00,2.45,0.00,0.000,6,0.000,0.039,2223,1901,3475
$GC,5278,-1.23,-146.6,458.4,-7.5,253,5282,0.00,2.53,0.00,0.000,4,0.000,0.050,2223,3298,3474
$GC,5327,-1.23,-146.6,462.1,-7.7,255,5332,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1901,3475
$GC,5643,-1.23,-146.6,479.5,-5.2,270,5648,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3298,3475
$GC,5729,-1.23,-146.6,485.8,-9.0,274,5733,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1893,3474
$GC,6055,-1.23,-146.6,515.6,-10.5,290,6059,0.00,2.60,0.00,0.000,4,0.000,0.071,2223,498,3475
$GC,6112,-1.23,-146.6,520.9,-9.1,292,6118,0.00,2.45,0.00,0.000,6,0.000,0.040,2223,1902,3475
$GC,6428,-1.23,-146.6,537.1,0.0,308,6432,0.00,2.53,0.00,0.000,4,0.000,0.056,2223,3291,3474
$GC,6686,-1.23,-146.6,537.1,0.1,319,6692,0.00,2.47,0.00,0.000,6,0.000,0.041,2224,1898,3474
$STATE,6711,end dive,NO_VERTICAL_VELOCITY
$STATE,6711,begin apogee
$GC,6718,-0.36,0.0,537.1,0.0,321,6844,0.88,0.00,122.82,1.121,6,0.058,0.000,2422,2104,2878
$STATE,6845,end apogee,CONTROL_FINISHED_OK
$STATE,6845,begin climb
$GC,6848,1.23,146.6,536.9,0.0,327,6979,1.52,2.72,121.20,1.091,4,0.051,0.063,2763,702,2280
$GC,7225,1.34,235.3,515.9,4.6,344,7306,0.10,2.47,73.38,1.087,6,0.054,0.038,2796,2104,1918
$GC,7633,1.34,235.3,476.3,9.7,364,7638,0.00,2.55,0.00,0.000,4,0.000,0.053,2796,3497,1917
$GC,7667,1.34,235.3,473.1,9.5,365,7673,0.00,2.53,0.00,0.000,6,0.000,0.043,2796,2104,1917
$GC,7983,1.34,235.3,443.3,9.6,381,7987,0.00,2.55,0.00,0.000,4,0.000,0.050,2796,3498,1917
$GC,8095,1.34,235.3,430.5,11.7,386,8099,0.00,2.53,0.00,0.000,6,0.000,0.041,2796,2093,1916
$GC,8415,1.34,235.3,393.6,10.7,402,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2093,1917
$GC,8725,1.34,235.3,360.7,10.3,417,8730,0.00,2.55,0.00,0.000,4,0.000,0.049,2796,3499,1916
$GC,8770,1.34,235.3,355.7,10.8,419,8774,0.00,2.53,0.00,0.000,6,0.000,0.041,2796,2091,1916
$GC,9091,1.34,235.3,322.8,10.0,435,9095,0.00,2.55,0.00,0.000,4,0.000,0.050,2796,3499,1916
$GC,9134,1.34,235.3,318.0,10.7,437,9139,0.00,2.50,0.00,0.000,6,0.000,0.039,2796,2097,1916
$GC,9456,1.34,235.3,283.8,10.9,453,9460,0.00,2.55,0.00,0.000,4,0.000,0.049,2796,3498,1916
$GC,9483,1.34,235.3,280.8,10.1,454,9487,0.00,2.50,0.00,0.000,6,0.000,0.039,2796,2099,1916
$GC,9798,1.34,235.3,249.9,9.8,469,9803,0.00,2.55,0.00,0.000,4,0.000,0.049,2796,3498,1916
$GC,9856,1.34,235.3,243.5,10.7,471,9862,0.00,2.50,0.00,0.000,6,0.000,0.038,2796,2090,1916
$GC,10171,1.34,235.3,215.5,8.0,487,10175,0.00,2.55,0.00,0.000,4,0.000,0.048,2796,3498,1917
$GC,10243,1.34,235.3,209.8,8.4,490,10247,0.00,2.47,0.00,0.000,6,0.000,0.038,2796,2101,1916
$GC,10560,1.45,325.8,186.2,4.5,505,10637,0.00,2.62,71.47,0.908,4,0.000,0.048,2796,3505,1548
$GC,10715,1.45,325.8,171.5,12.9,511,10719,0.00,2.50,0.00,0.000,6,0.000,0.038,2796,2100,1548
$GC,11031,1.45,325.8,136.9,11.9,526,11033,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2100,1548
$GC,11340,1.45,325.8,101.9,11.1,541,11345,0.00,2.62,0.00,0.000,4,0.000,0.064,2797,690,1548
$GC,11368,1.45,325.8,98.9,11.5,542,11372,0.00,2.47,0.00,0.000,6,0.000,0.036,2796,2108,1548
$GC,11686,1.45,325.8,58.2,13.0,557,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2111,1548
$GC,11994,1.45,325.8,19.2,13.6,572,11995,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2111,1548
$STATE,12155,end climb,SURFACE_DEPTH_REACHED
$STATE,12155,begin surface coast
$FINISH,1.5,1.027385
$STATE,12177,end surface coast,CONTROL_FINISHED_OK
$STATE,12177,begin surface
$SM_CCo,12261,0.00,0.000,0,0,1548,326.25
$SM_GC,2.22,11.88,0.00,0.00,0.028,0.000,0.000,35,1889,1548,-11.25,-0.31,326.25
$IRIDIUM_FIX,6103.81,-907.73,060597,020250
$TT8_MAMPS,0.026078
$HUMID,2062
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,23.1,83.215
$10V_AH,10.1,40.072
$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,26.050,137.150,388.875,0.000,0.000,75.678,79.657,267.636,4.750,0.000,0.000,17.267,1135.425,9107.312,490.495,1467.354,726.155,33.367,1265.904,0.000,1432.944,0.000,28.461
$DEVICE_MAMPS,140.361,71.331,1121.354,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.537,389.990,378.850,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28469,581
$CFSIZE,260165632,232980480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,100208,053437,6129.031,-900.305,40,1.4,40,-9.2