version: 66.02
glider: 102
mission: 4
dive: 403
start: 2 5 108 17 43 33
data:
$ID,102
$MISSION,4
$DIVE,403
$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,-86495.484
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,173608,6158.909,-925.882,31,1.9,31,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-54.7
$GPS2,174151,6158.984,-925.691,12,1.9,12,-9.6
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.070,-0.227
$KALMAN_X,579639.4,2668.0,-165.3,-631258.9,654.6
$KALMAN_Y,103078.7,1851.1,-322.1,-56780.1,3954.6
$MHEAD_RNG_PITCHd_Wd,206.8,27542,-14.7,-8.000
$D_GRID,548
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,106,0.00,0.00,-80.55,0.000,2,0.000,0.000,31,1880,3221
$GC,110,-1.23,-146.6,4.4,-4.1,4,135,11.70,2.62,-6.00,0.000,4,0.143,0.059,2222,3304,3477
$GC,343,-1.23,-146.6,37.5,-14.2,14,347,0.00,2.50,0.00,0.000,6,0.000,0.041,2222,1908,3478
$GC,659,-1.23,-146.6,69.7,-9.7,29,663,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3308,3478
$GC,721,-1.23,-146.6,76.9,-11.7,32,726,0.00,2.53,0.00,0.000,6,0.000,0.040,2222,1893,3478
$GC,1049,-1.23,-146.6,105.3,-5.9,48,1053,0.00,2.55,0.00,0.000,4,0.000,0.046,2222,3307,3478
$GC,1093,-1.23,-146.6,109.6,-8.7,50,1097,0.00,2.50,0.00,0.000,6,0.000,0.040,2222,1899,3478
$GC,1414,-1.23,-146.6,145.2,-15.1,66,1418,0.00,2.55,0.00,0.000,4,0.000,0.046,2222,3314,3477
$GC,1454,-1.23,-146.6,149.8,-10.2,68,1459,0.00,2.53,0.00,0.000,6,0.000,0.041,2222,1890,3477
$GC,1786,-1.23,-146.6,186.9,-13.8,84,1790,0.00,2.55,0.00,0.000,4,0.000,0.045,2222,3309,3477
$GC,1819,-1.23,-146.6,192.0,-13.8,85,1825,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1895,3478
$GC,2135,-1.23,-146.6,237.6,-13.4,101,2139,0.00,2.55,0.00,0.000,4,0.000,0.047,2222,3308,3477
$GC,2196,-1.23,-146.6,245.9,-12.7,104,2201,0.00,2.53,0.00,0.000,6,0.000,0.042,2222,1897,3478
$GC,2523,-1.23,-146.6,286.2,-12.3,120,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3477
$GC,2832,-1.23,-146.6,321.3,-11.4,135,2836,0.00,2.55,0.00,0.000,4,0.000,0.047,2222,3313,3477
$GC,2876,-1.23,-146.6,326.4,-11.2,137,2880,0.00,2.53,0.00,0.000,6,0.000,0.041,2222,1898,3478
$GC,3197,-1.23,-146.6,363.9,-12.6,153,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3478
$GC,3506,-1.23,-146.6,402.6,-12.5,168,3511,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3310,3478
$GC,3591,-1.23,-146.6,413.6,-13.1,172,3595,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1899,3478
$GC,3918,-1.23,-146.6,453.2,-11.6,188,3923,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3306,3478
$GC,3958,-1.23,-146.6,457.5,-10.8,190,3962,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1899,3477
$GC,4285,-1.23,-146.6,493.4,-11.0,206,4290,0.00,2.55,0.00,0.000,4,0.000,0.049,2222,3308,3478
$GC,4330,-1.23,-146.6,498.4,-10.8,208,4334,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1902,3478
$GC,4650,-1.23,-146.6,531.7,-9.2,224,4651,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1902,3477
$STATE,4854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4855,begin apogee
$GC,4862,-0.36,0.0,550.5,8.2,234,4989,0.93,0.00,123.68,1.143,6,0.079,0.000,2419,2114,2878
$STATE,4990,end apogee,CONTROL_FINISHED_OK
$STATE,4990,begin climb
$GC,4993,1.23,146.6,555.2,0.0,240,5124,1.55,2.75,121.43,1.110,4,0.058,0.065,2761,693,2281
$GC,5306,1.23,146.6,532.0,11.3,254,5311,0.00,2.50,0.00,0.000,6,0.000,0.041,2760,2093,2280
$GC,5621,1.23,146.6,504.4,8.5,269,5626,0.00,2.60,0.00,0.000,4,0.000,0.058,2761,3504,2279
$GC,5752,1.23,146.6,491.9,11.3,275,5756,0.00,2.53,0.00,0.000,6,0.000,0.044,2761,2099,2278
$GC,6079,1.23,146.6,458.8,9.1,291,6083,0.00,2.60,0.00,0.000,4,0.000,0.055,2761,3507,2278
$GC,6190,1.23,146.6,448.9,8.2,296,6194,0.00,2.53,0.00,0.000,6,0.000,0.044,2761,2097,2277
$GC,6511,1.27,181.9,424.7,6.7,312,6546,0.00,2.65,29.17,1.101,4,0.000,0.053,2761,3506,2136
$GC,6586,1.27,181.9,419.2,8.5,315,6590,0.00,2.55,0.00,0.000,6,0.000,0.042,2760,2091,2135
$GC,6902,1.27,181.9,394.5,8.0,330,6906,0.00,2.58,0.00,0.000,4,0.000,0.051,2760,3502,2135
$GC,6946,1.27,181.9,390.4,9.7,332,6950,0.00,2.53,0.00,0.000,6,0.000,0.041,2760,2097,2135
$GC,7266,1.27,181.9,362.9,8.7,348,7271,0.00,2.55,0.00,0.000,4,0.000,0.051,2760,3502,2135
$GC,7367,1.27,181.9,353.2,9.5,352,7373,0.00,2.53,0.00,0.000,6,0.000,0.041,2761,2090,2135
$GC,7682,1.27,181.9,323.4,9.3,368,7687,0.00,2.55,0.00,0.000,4,0.000,0.051,2761,3502,2135
$GC,7760,1.27,181.9,315.9,10.0,371,7766,0.00,2.47,0.00,0.000,6,0.000,0.040,2761,2099,2135
$GC,8076,1.27,181.9,288.4,8.6,387,8081,0.00,2.55,0.00,0.000,4,0.000,0.050,2761,3502,2135
$GC,8149,1.27,181.9,282.4,8.3,390,8153,0.00,2.47,0.00,0.000,6,0.000,0.038,2760,2098,2135
$GC,8464,1.27,181.9,256.6,8.6,405,8469,0.00,2.55,0.00,0.000,4,0.000,0.050,2760,3503,2135
$GC,8509,1.27,181.9,252.5,8.7,407,8513,0.00,2.47,0.00,0.000,6,0.000,0.038,2761,2101,2135
$GC,8829,1.27,181.9,226.9,8.0,423,8834,0.00,2.55,0.00,0.000,4,0.000,0.051,2761,3508,2136
$GC,8862,1.27,181.9,224.0,8.5,424,8868,0.00,2.47,0.00,0.000,6,0.000,0.038,2761,2100,2135
$GC,9179,1.30,200.7,202.2,7.3,440,9201,0.00,2.62,16.12,0.966,4,0.000,0.049,2761,3508,2059
$GC,9247,1.32,216.9,196.8,7.4,443,9268,0.00,2.50,14.00,0.944,6,0.000,0.038,2761,2099,1993
$GC,9577,1.32,216.9,171.2,9.9,459,9582,0.00,2.55,0.00,0.000,4,0.000,0.050,2761,3502,1992
$GC,9645,1.32,216.9,163.9,11.1,462,9649,0.00,2.50,0.00,0.000,6,0.000,0.038,2760,2095,1992
$GC,9966,1.32,216.9,130.0,10.0,478,9967,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2095,1993
$GC,10275,1.32,216.9,99.1,9.5,493,10280,0.00,2.58,0.00,0.000,4,0.000,0.049,2760,3508,1993
$GC,10342,1.32,216.9,92.8,10.0,496,10346,0.00,2.50,0.00,0.000,6,0.000,0.038,2761,2096,1993
$GC,10663,1.32,216.9,62.6,8.9,512,10667,0.00,2.55,0.00,0.000,4,0.000,0.049,2761,3502,1993
$GC,10695,1.32,216.9,59.8,8.1,513,10702,0.00,2.47,0.00,0.000,6,0.000,0.038,2760,2101,1993
$GC,11013,1.38,268.7,36.9,6.0,529,11057,0.15,0.00,41.17,0.833,6,0.048,0.000,2804,2101,1781
$STATE,11317,end climb,SURFACE_DEPTH_REACHED
$STATE,11317,begin surface coast
$FINISH,0.8,1.013499
$STATE,11340,end surface coast,CONTROL_FINISHED_OK
$STATE,11341,begin surface
$SM_CCo,11364,28.38,0.798,3,0,1655,300.00
$SM_GC,1.48,0.00,0.00,28.38,0.000,0.000,0.798,34,1876,1655,-11.32,-0.68,300.00
$IRIDIUM_FIX,6130.75,-934.51,010597,141457
$TT8_MAMPS,0.026845
$HUMID,2056
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.0,999.0
$24V_AH,23.2,78.981
$10V_AH,10.1,38.240
$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,26.450,122.675,345.575,28.375,0.000,39.986,41.100,145.397,4.750,0.000,0.000,13.626,1065.541,8383.057,507.191,1361.760,488.470,33.376,1212.756,0.000,1328.891,0.000,30.082
$DEVICE_MAMPS,142.662,65.195,1142.830,797.680,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.176,367.137,385.652,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28485,545
$CFSIZE,260165632,234319872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,3,0
$GPS,050208,205507,6159.892,-920.263,37,1.6,48,-9.6