version: 66.02
glider: 102
mission: 4
dive: 448
start: 2 12 108 10 5 43
data:
$ID,102
$MISSION,4
$DIVE,448
$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,-87377.109
$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,29
$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
$GPS1,095431,6131.512,-823.474,33,1.2,33,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-60.6
$GPS2,100402,6131.534,-823.614,42,1.3,42,-8.9
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FB_DS
$TGT_LATLONG,6127.000,-840.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,-0.151,-0.183
$KALMAN_X,643722.9,2116.4,-765.3,-639391.3,-1768.4
$KALMAN_Y,123466.2,-2233.1,-741.1,-123444.1,6929.9
$MHEAD_RNG_PITCHd_Wd,228.5,16759,-14.7,-8.000
$D_GRID,752
$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,-146.6,0.0,0.0,0,89,0.00,0.00,-60.95,0.000,2,0.000,0.000,29,1882,2843
$GC,93,-1.23,-146.6,3.7,-4.1,3,130,11.60,2.58,-19.48,0.000,4,0.138,0.058,2221,3298,3476
$GC,383,-1.23,-146.6,35.0,-10.7,15,388,0.00,2.50,0.00,0.000,6,0.000,0.040,2221,1899,3476
$GC,705,-1.23,-146.6,68.7,-10.1,31,709,0.00,2.53,0.00,0.000,4,0.000,0.045,2221,3301,3476
$GC,767,-1.23,-146.6,75.2,-10.4,34,771,0.00,2.50,0.00,0.000,6,0.000,0.040,2222,1902,3475
$GC,1094,-1.23,-146.6,106.5,-9.5,50,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3476
$GC,1403,-1.23,-146.6,136.8,-9.7,65,1407,0.00,2.50,0.00,0.000,4,0.000,0.044,2221,3295,3476
$GC,1458,-1.23,-146.6,142.2,-9.5,67,1464,0.00,2.47,0.00,0.000,6,0.000,0.040,2221,1899,3476
$GC,1774,-1.23,-146.6,171.7,-8.9,83,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1898,3476
$GC,2083,-1.23,-146.6,198.6,-8.5,98,2087,0.00,2.50,0.00,0.000,4,0.000,0.045,2221,3295,3476
$GC,2132,-1.23,-146.6,202.9,-8.2,100,2137,0.00,2.47,0.00,0.000,6,0.000,0.040,2221,1898,3476
$GC,2448,-1.23,-146.6,228.9,-8.2,115,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1898,3475
$GC,2757,-1.23,-146.6,254.0,-8.4,130,2761,0.00,2.53,0.00,0.000,4,0.000,0.045,2221,3301,3476
$GC,2819,-1.23,-146.6,259.7,-9.3,133,2823,0.00,2.50,0.00,0.000,6,0.000,0.039,2221,1900,3475
$GC,3146,-1.23,-146.6,286.2,-8.5,149,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3476
$GC,3454,-1.23,-146.6,313.3,-9.6,164,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3476
$GC,3764,-1.23,-146.6,338.4,-8.1,179,3768,0.00,2.53,0.00,0.000,4,0.000,0.046,2221,3301,3476
$GC,3808,-1.23,-146.6,342.5,-9.3,181,3813,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1901,3476
$GC,4129,-1.23,-146.6,372.5,-8.3,197,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3476
$GC,4439,-1.23,-146.6,401.2,-10.8,212,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3476
$GC,4748,-1.23,-146.6,432.7,-10.3,227,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3475
$GC,5057,-1.23,-146.6,462.2,-8.9,242,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3475
$GC,5366,-1.23,-146.6,490.9,-9.4,257,5370,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3293,3475
$GC,5428,-1.23,-146.6,496.7,-9.7,260,5432,0.00,2.47,0.00,0.000,6,0.000,0.042,2221,1899,3475
$GC,5756,-1.23,-146.6,526.2,-9.2,276,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3476
$GC,6066,-1.23,-146.6,555.8,-9.7,291,6070,0.00,2.53,0.00,0.000,4,0.000,0.050,2222,3293,3476
$GC,6150,-1.23,-146.6,564.2,-9.5,295,6154,0.00,2.47,0.00,0.000,6,0.000,0.042,2221,1899,3476
$GC,6484,-1.23,-146.6,591.7,-7.9,311,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3475
$GC,6793,-1.23,-146.6,615.3,-8.7,326,6798,0.00,2.55,0.00,0.000,4,0.000,0.052,2221,3297,3475
$GC,6856,-1.23,-146.6,621.3,-9.3,329,6860,0.00,2.50,0.00,0.000,6,0.000,0.046,2221,1898,3475
$GC,7182,-1.23,-146.6,658.3,-11.5,345,7186,0.00,2.55,0.00,0.000,4,0.000,0.054,2221,3293,3475
$GC,7440,-1.23,-146.6,695.2,-14.7,356,7446,0.00,2.50,0.00,0.000,6,0.000,0.047,2221,1903,3475
$GC,7756,-1.23,-146.6,732.5,-9.8,372,7760,0.00,2.53,0.00,0.000,4,0.000,0.056,2221,3292,3475
$GC,7915,-1.23,-146.6,741.1,-2.9,379,7919,0.00,2.53,0.00,0.000,6,0.000,0.051,2221,1902,3474
$STATE,8191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8192,begin apogee
$GC,8199,-0.36,0.0,752.2,6.7,393,8334,0.93,0.00,128.05,1.288,6,0.082,0.000,2416,2093,2877
$STATE,8335,end apogee,CONTROL_FINISHED_OK
$STATE,8335,begin climb
$GC,8338,1.23,146.6,755.8,0.0,400,8474,1.58,2.72,126.07,1.255,4,0.056,0.061,2764,3495,2279
$GC,8488,1.23,146.6,748.4,8.2,407,8492,0.00,2.60,0.00,0.000,6,0.000,0.050,2764,2100,2279
$GC,8809,1.24,158.3,719.7,7.6,423,8825,0.00,2.75,11.07,1.253,4,0.000,0.077,2764,693,2231
$GC,9079,1.25,165.0,699.9,7.7,434,9095,0.00,2.55,6.68,1.234,6,0.000,0.048,2764,2101,2205
$GC,9404,1.25,165.0,673.6,8.2,450,9408,0.00,2.60,0.00,0.000,4,0.000,0.062,2764,3503,2204
$GC,9555,1.25,165.0,659.7,9.0,457,9560,0.00,2.58,0.00,0.000,6,0.000,0.051,2764,2093,2203
$GC,9882,1.25,165.0,628.2,10.5,473,9887,0.00,2.62,0.00,0.000,4,0.000,0.061,2764,3507,2202
$GC,10005,1.25,165.0,615.9,9.8,478,10011,0.00,2.58,0.00,0.000,6,0.000,0.049,2764,2096,2201
$GC,10322,1.26,175.6,590.9,7.6,494,10333,0.00,0.00,9.55,1.262,6,0.000,0.000,2764,2096,2161
$GC,10630,1.26,175.6,566.5,9.7,509,10635,0.00,2.58,0.00,0.000,4,0.000,0.056,2764,3500,2161
$GC,10715,1.26,175.6,558.4,9.2,513,10720,0.00,2.53,0.00,0.000,6,0.000,0.044,2764,2093,2160
$GC,11042,1.27,182.9,531.8,7.7,529,11051,0.00,0.00,7.10,1.202,6,0.000,0.000,2764,2093,2132
$GC,11351,1.27,182.9,506.9,8.5,544,11355,0.00,2.58,0.00,0.000,4,0.000,0.052,2764,3505,2132
$GC,11515,1.28,187.5,493.2,7.8,551,11527,0.00,2.53,5.45,1.145,6,0.000,0.041,2764,2093,2113
$GC,11836,1.34,233.9,471.2,6.2,567,11881,0.00,2.65,39.62,1.118,4,0.000,0.050,2764,3505,1924
$GC,11949,1.37,257.2,462.8,7.1,572,11976,0.12,2.55,20.62,1.098,6,0.054,0.040,2800,2095,1829
$GC,12287,1.37,257.2,429.1,10.7,588,12291,0.00,2.55,0.00,0.000,4,0.000,0.049,2800,3503,1830
$GC,12389,1.37,257.2,414.8,14.9,592,12395,0.00,2.53,0.00,0.000,6,0.000,0.041,2800,2100,1829
$GC,12705,1.37,257.2,374.5,12.4,608,12709,0.00,2.58,0.00,0.000,4,0.000,0.049,2800,3507,1830
$GC,12789,1.37,257.2,363.9,9.8,612,12794,0.00,2.50,0.00,0.000,6,0.000,0.039,2800,2097,1830
$GC,13116,1.37,257.2,325.5,11.3,628,13120,0.00,2.55,0.00,0.000,4,0.000,0.049,2800,3503,1831
$GC,13179,1.37,257.2,318.3,12.7,631,13183,0.00,2.53,0.00,0.000,6,0.000,0.040,2800,2095,1832
$GC,13505,1.37,257.2,281.5,11.7,647,13507,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2095,1831
$GC,13815,1.37,257.2,243.1,12.3,662,13819,0.00,2.58,0.00,0.000,4,0.000,0.048,2800,3507,1832
$GC,13960,1.37,257.2,227.2,9.6,668,13966,0.00,2.53,0.00,0.000,6,0.000,0.038,2800,2088,1832
$GC,14276,1.37,257.2,197.0,10.6,684,14280,0.00,2.58,0.00,0.000,4,0.000,0.048,2800,3508,1833
$GC,14353,1.37,257.2,188.2,11.6,687,14359,0.00,2.50,0.00,0.000,6,0.000,0.038,2800,2101,1832
$GC,14669,1.37,257.2,155.8,10.5,703,14673,0.00,2.55,0.00,0.000,4,0.000,0.048,2800,3507,1832
$GC,14709,1.37,257.2,151.6,10.4,705,14713,0.00,2.50,0.00,0.000,6,0.000,0.038,2800,2098,1833
$GC,15036,1.37,257.2,121.7,9.0,721,15037,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2097,1833
$GC,15345,1.37,257.2,90.6,10.8,736,15349,0.00,2.55,0.00,0.000,4,0.000,0.048,2800,3504,1833
$GC,15423,1.37,257.2,80.8,11.5,739,15430,0.00,2.47,0.00,0.000,6,0.000,0.036,2800,2097,1833
$GC,15739,1.37,257.2,47.5,10.0,755,15740,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2097,1834
$GC,16048,1.37,257.2,15.2,10.9,770,16053,0.00,2.55,0.00,0.000,4,0.000,0.048,2800,3502,1834
$GC,16093,1.37,257.2,10.3,11.5,772,16098,0.00,2.47,0.00,0.000,6,0.000,0.036,2800,2100,1834
$STATE,16186,end climb,SURFACE_DEPTH_REACHED
$STATE,16186,begin surface coast
$FINISH,1.2,1.013445
$STATE,16207,end surface coast,CONTROL_FINISHED_OK
$STATE,16208,begin surface
$SM_CCo,16231,41.20,0.798,5,0,1655,300.00
$SM_GC,1.99,0.00,0.00,41.20,0.000,0.000,0.798,33,1875,1655,-11.33,-0.68,300.00
$IRIDIUM_FIX,6108.28,-826.94,080597,101009
$TT8_MAMPS,0.026845
$HUMID,2073
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,22.8,85.785
$10V_AH,10.1,41.154
$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,26.175,132.825,354.225,41.200,0.000,71.771,89.141,204.173,7.000,0.000,0.000,43.685,1479.262,12253.777,543.562,1951.813,698.038,33.371,1500.159,0.000,1877.891,0.000,43.006
$DEVICE_MAMPS,138.060,76.700,1287.793,798.447,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,573.103,524.574,464.578,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37999,778
$CFSIZE,260165632,232189952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,12,5,0
$GPS,120208,143838,6130.810,-825.847,37,1.2,37,-8.9