version: 66.02
glider: 102
mission: 4
dive: 402
start: 2 5 108 14 7 29
data:
$ID,102
$MISSION,4
$DIVE,402
$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,-86481.234
$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,41
$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
$GPS1,135702,6157.787,-931.901,37,1.4,37,-9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-51.2
$GPS2,140545,6157.884,-931.741,12,1.4,12,-9.7
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.138,-0.194
$KALMAN_X,577176.0,1920.5,-281.0,-633244.6,-671.3
$KALMAN_Y,97911.4,1482.3,-21.8,-53593.9,632.7
$MHEAD_RNG_PITCHd_Wd,154.2,28013,-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,24,-1.23,-146.6,0.0,0.0,0,128,0.00,0.00,-101.68,0.000,2,0.000,0.000,32,1873,2934
$GC,131,-1.23,-146.6,3.3,-2.3,5,164,11.62,2.60,-15.15,0.000,4,0.140,0.060,2225,3300,3476
$GC,411,-1.23,-146.6,33.1,-9.7,17,417,0.00,2.47,0.00,0.000,6,0.000,0.041,2225,1915,3477
$GC,727,-1.23,-146.6,68.4,-11.1,33,731,0.00,2.50,0.00,0.000,4,0.000,0.045,2225,3301,3476
$GC,767,-1.23,-146.6,73.2,-12.0,35,771,0.00,2.50,0.00,0.000,6,0.000,0.041,2225,1901,3476
$GC,1094,-1.23,-146.6,104.6,-11.1,51,1098,0.00,2.62,0.00,0.000,4,0.000,0.069,2225,493,3476
$GC,1121,-1.23,-146.6,108.2,-13.0,52,1125,0.00,2.47,0.00,0.000,6,0.000,0.038,2225,1910,3476
$GC,1438,-1.23,-146.6,139.7,-10.3,67,1442,0.00,2.50,0.00,0.000,4,0.000,0.047,2225,3302,3476
$GC,1479,-1.23,-146.6,144.1,-10.6,69,1483,0.00,2.50,0.00,0.000,6,0.000,0.041,2225,1898,3476
$GC,1806,-1.23,-146.6,176.0,-10.1,85,1811,0.00,2.53,0.00,0.000,4,0.000,0.046,2225,3303,3476
$GC,1846,-1.23,-146.6,180.2,-10.1,87,1851,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1900,3476
$GC,2173,-1.23,-146.6,212.6,-9.8,103,2177,0.00,2.53,0.00,0.000,4,0.000,0.046,2225,3302,3476
$GC,2195,-1.23,-146.6,214.7,-8.9,104,2199,0.00,2.50,0.00,0.000,6,0.000,0.041,2225,1899,3476
$GC,2516,-1.23,-146.6,242.8,-8.8,120,2520,0.00,2.53,0.00,0.000,4,0.000,0.046,2225,3303,3476
$GC,2534,-1.23,-146.6,244.4,-8.5,121,2538,0.00,2.50,0.00,0.000,6,0.000,0.041,2225,1900,3476
$GC,2861,-1.23,-146.6,274.1,-10.2,137,2865,0.00,2.53,0.00,0.000,4,0.000,0.047,2225,3300,3476
$GC,2910,-1.23,-146.6,279.4,-10.3,139,2914,0.00,2.50,0.00,0.000,6,0.000,0.042,2225,1896,3476
$GC,3231,-1.23,-146.6,311.0,-9.9,155,3235,0.00,2.53,0.00,0.000,4,0.000,0.047,2225,3299,3476
$GC,3287,-1.23,-146.6,317.0,-10.8,157,3292,0.00,2.50,0.00,0.000,6,0.000,0.043,2225,1899,3476
$GC,3602,-1.23,-146.6,348.4,-9.7,173,3606,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3298,3476
$GC,3634,-1.23,-146.6,351.7,-10.6,174,3640,0.00,2.50,0.00,0.000,6,0.000,0.043,2225,1899,3476
$GC,3951,-1.23,-146.6,378.2,-7.6,190,3955,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3299,3476
$GC,4000,-1.23,-146.6,382.4,-8.2,192,4004,0.00,2.50,0.00,0.000,6,0.000,0.043,2225,1900,3476
$GC,4321,-1.23,-146.6,411.2,-9.5,208,4326,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3300,3476
$GC,4340,-1.23,-146.6,412.5,-8.6,209,4344,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1902,3476
$GC,4667,-1.23,-146.6,443.6,-10.3,225,4671,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3297,3476
$GC,4755,-1.23,-146.6,454.1,-11.4,229,4760,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1898,3476
$GC,5077,-1.23,-146.6,495.1,-13.9,245,5081,0.00,2.55,0.00,0.000,4,0.000,0.050,2225,3302,3476
$GC,5132,-1.23,-146.6,503.3,-14.8,247,5138,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1895,3476
$GC,5448,-1.23,-146.6,551.5,-17.3,263,5453,0.00,2.55,0.00,0.000,4,0.000,0.051,2225,3297,3475
$GC,5521,-1.23,-146.6,561.9,-13.7,266,5525,0.00,2.53,0.00,0.000,6,0.000,0.045,2225,1895,3475
$GC,5837,-1.23,-146.6,595.1,-8.6,281,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3475
$STATE,6102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6102,begin apogee
$GC,6109,-0.36,0.0,621.4,9.3,294,6237,0.90,0.00,124.45,1.197,6,0.080,0.000,2416,2094,2878
$STATE,6238,end apogee,CONTROL_FINISHED_OK
$STATE,6238,begin climb
$GC,6241,1.23,146.6,624.8,0.0,300,6373,1.58,2.75,123.00,1.162,4,0.054,0.069,2764,696,2280
$GC,6406,1.23,146.6,617.9,9.8,308,6412,0.00,2.53,0.00,0.000,6,0.000,0.044,2764,2099,2280
$GC,6722,1.23,146.6,593.8,8.2,324,6726,0.00,2.65,0.00,0.000,4,0.000,0.068,2765,693,2279
$GC,6754,1.23,146.6,590.2,10.4,325,6761,0.00,2.53,0.00,0.000,6,0.000,0.044,2764,2108,2279
$GC,7070,1.23,146.6,557.4,10.8,341,7075,0.00,2.58,0.00,0.000,4,0.000,0.061,2764,3501,2278
$GC,7133,1.23,146.6,550.6,11.5,344,7138,0.00,2.53,0.00,0.000,6,0.000,0.046,2765,2102,2278
$GC,7460,1.26,173.0,521.7,7.0,360,7490,0.00,2.70,22.38,1.167,4,0.000,0.056,2765,3505,2172
$GC,7519,1.29,197.8,517.6,7.1,362,7546,0.00,2.58,21.50,1.141,6,0.000,0.045,2764,2095,2071
$GC,7855,1.40,287.8,499.5,4.6,379,7938,0.15,2.67,74.65,1.129,4,0.049,0.054,2812,3504,1704
$GC,8129,1.40,287.8,478.7,10.2,391,8134,0.00,2.58,0.00,0.000,6,0.000,0.046,2812,2094,1703
$GC,8445,1.40,287.8,443.7,12.0,406,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2094,1703
$GC,8755,1.40,287.8,404.4,13.2,421,8759,0.00,2.58,0.00,0.000,4,0.000,0.051,2812,3503,1703
$GC,8855,1.40,287.8,390.7,13.3,425,8861,0.00,2.53,0.00,0.000,6,0.000,0.043,2812,2099,1703
$GC,9171,1.40,287.8,350.3,12.6,441,9175,0.00,2.58,0.00,0.000,4,0.000,0.050,2813,3508,1703
$GC,9198,1.40,287.8,346.8,12.8,442,9202,0.00,2.53,0.00,0.000,6,0.000,0.041,2812,2091,1703
$GC,9514,1.40,287.8,307.6,12.5,457,9518,0.00,2.58,0.00,0.000,4,0.000,0.049,2812,3504,1703
$GC,9580,1.40,287.8,298.8,13.3,460,9585,0.00,2.50,0.00,0.000,6,0.000,0.040,2812,2098,1703
$GC,9901,1.40,287.8,256.1,13.9,476,9905,0.00,2.55,0.00,0.000,4,0.000,0.048,2812,3504,1703
$GC,9968,1.40,287.8,245.5,15.9,479,9972,0.00,2.50,0.00,0.000,6,0.000,0.039,2812,2099,1703
$GC,10288,1.40,287.8,205.3,10.3,495,10293,0.00,2.55,0.00,0.000,4,0.000,0.048,2811,3504,1704
$GC,10378,1.40,287.8,197.7,11.3,499,10382,0.00,2.50,0.00,0.000,6,0.000,0.038,2812,2098,1703
$GC,10699,1.40,287.8,167.9,10.5,515,10700,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2098,1704
$GC,11009,1.40,287.8,139.9,8.2,530,11014,0.00,2.55,0.00,0.000,4,0.000,0.048,2812,3504,1705
$GC,11095,1.40,287.8,132.4,9.8,534,11099,0.00,2.50,0.00,0.000,6,0.000,0.038,2812,2100,1705
$GC,11422,1.40,287.8,98.6,11.6,550,11426,0.00,2.55,0.00,0.000,4,0.000,0.047,2812,3506,1705
$GC,11477,1.40,287.8,92.3,12.5,552,11483,0.00,2.47,0.00,0.000,6,0.000,0.038,2813,2098,1704
$GC,11793,1.40,287.8,65.6,8.2,568,11798,0.00,2.55,0.00,0.000,4,0.000,0.048,2812,3505,1705
$GC,11888,1.40,287.8,55.4,8.8,572,11893,0.00,2.50,0.00,0.000,6,0.000,0.038,2812,2099,1705
$GC,12204,1.40,287.8,21.7,12.0,587,12205,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2098,1705
$STATE,12387,end climb,SURFACE_DEPTH_REACHED
$STATE,12387,begin surface coast
$FINISH,0.8,1.026989
$STATE,12409,end surface coast,CONTROL_FINISHED_OK
$STATE,12409,begin surface
$SM_CCo,12433,11.52,0.855,1,0,1655,300.00
$SM_GC,1.40,0.00,0.00,11.52,0.000,0.000,0.855,31,1882,1655,-11.33,-0.51,300.00
$IRIDIUM_FIX,6135.28,-930.00,010597,141432
$TT8_MAMPS,0.026845
$HUMID,2081
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,15.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.1,78.857
$10V_AH,10.1,38.180
$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,26.275,142.825,365.975,11.525,0.000,68.307,76.871,203.218,5.500,0.000,0.000,13.591,1155.447,9244.474,536.619,1461.802,634.442,33.375,1303.880,0.000,1429.295,0.000,33.309
$DEVICE_MAMPS,139.594,69.030,1197.287,855.205,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.082,401.331,402.580,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31599,597
$CFSIZE,260165632,234356736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,10,1,0
$GPS,050208,173608,6158.909,-925.882,31,1.9,31,-9.6