version: 66.02
glider: 102
mission: 4
dive: 404
start: 2 5 108 21 10 27
data:
$ID,102
$MISSION,4
$DIVE,404
$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,-86530.133
$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,34
$R_STBD_OVSHOOT,26
$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
$GPS1,205507,6159.892,-920.263,37,1.6,48,-9.6
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-55.7
$GPS2,210847,6159.943,-919.869,12,2.1,31,-9.6
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.077,-0.225
$KALMAN_X,584623.8,1907.1,1844.8,-632365.9,-801.4
$KALMAN_Y,107230.7,1191.3,1126.4,-59916.8,1619.4
$MHEAD_RNG_PITCHd_Wd,170.7,28001,-14.7,-8.000
$D_GRID,523
$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,-61.03,0.000,2,0.000,0.000,33,1876,2835
$GC,93,-1.23,-146.6,3.2,-3.8,3,135,11.65,2.65,-20.55,0.000,4,0.142,0.060,2221,3302,3477
$GC,316,-1.23,-146.6,33.4,-15.0,13,321,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1906,3478
$GC,644,-1.23,-146.6,66.8,-12.0,29,648,0.00,2.53,0.00,0.000,4,0.000,0.045,2220,3308,3477
$GC,699,-1.23,-146.6,72.8,-11.4,31,705,0.00,2.53,0.00,0.000,6,0.000,0.041,2221,1892,3477
$GC,1015,-1.23,-146.6,108.2,-10.0,47,1019,0.00,2.55,0.00,0.000,4,0.000,0.046,2221,3305,3477
$GC,1048,-1.23,-146.6,111.3,-9.1,48,1054,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1899,3478
$GC,1365,-1.23,-146.6,140.4,-9.4,64,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3478
$GC,1672,-1.23,-146.6,169.8,-8.8,79,1676,0.00,2.53,0.00,0.000,4,0.000,0.046,2221,3305,3477
$GC,1728,-1.23,-146.6,174.5,-8.3,81,1734,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1899,3478
$GC,2044,-1.23,-146.6,201.8,-9.1,97,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3477
$GC,2353,-1.23,-146.6,235.3,-11.3,112,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3477
$GC,2662,-1.23,-146.6,274.4,-12.3,127,2667,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3307,3477
$GC,2712,-1.23,-146.6,280.5,-11.9,129,2716,0.00,2.53,0.00,0.000,6,0.000,0.041,2221,1894,3477
$GC,3032,-1.23,-146.6,317.1,-11.2,145,3037,0.00,2.60,0.00,0.000,4,0.000,0.070,2221,497,3477
$GC,3066,-1.23,-146.6,321.3,-12.5,146,3072,0.00,2.47,0.00,0.000,6,0.000,0.039,2221,1917,3477
$GC,3381,-1.23,-146.6,356.4,-11.1,162,3385,0.00,2.47,0.00,0.000,4,0.000,0.048,2221,3293,3477
$GC,3437,-1.23,-146.6,362.7,-11.0,164,3443,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1896,3477
$GC,3753,-1.23,-146.6,396.7,-10.8,180,3757,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3296,3478
$GC,3786,-1.23,-146.6,400.3,-11.1,181,3792,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1898,3477
$GC,4102,-1.23,-146.6,436.5,-11.7,197,4105,0.00,2.50,0.00,0.000,4,0.000,0.048,2221,3294,3477
$GC,4125,-1.23,-146.6,439.1,-11.5,198,4129,0.00,2.50,0.00,0.000,6,0.000,0.043,2221,1899,3477
$GC,4451,-1.23,-146.6,468.4,-7.5,214,4456,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3298,3477
$GC,4526,-1.23,-146.6,473.9,-7.1,217,4530,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1899,3477
$GC,4842,-1.23,-146.6,496.0,-8.6,232,4846,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3293,3477
$GC,4908,-1.23,-146.6,502.4,-9.5,235,4913,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1900,3477
$STATE,5165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5165,begin apogee
$GC,5172,-0.36,0.0,523.3,8.2,248,5299,0.93,0.00,123.15,1.123,6,0.081,0.000,2417,2099,2878
$STATE,5300,end apogee,CONTROL_FINISHED_OK
$STATE,5300,begin climb
$GC,5302,1.23,146.6,527.0,0.0,254,5433,1.55,2.65,121.00,1.089,4,0.058,0.055,2759,3490,2280
$GC,5464,1.26,170.5,521.3,7.1,261,5491,0.00,2.53,20.70,1.069,6,0.000,0.041,2759,2098,2182
$GC,5799,1.26,170.5,495.5,8.2,278,5804,0.00,2.55,0.00,0.000,4,0.000,0.053,2759,3492,2181
$GC,5862,1.26,170.5,490.0,8.6,281,5866,0.00,2.50,0.00,0.000,6,0.000,0.044,2759,2101,2181
$GC,6189,1.31,215.3,465.1,6.3,297,6231,0.00,2.67,37.10,1.088,4,0.000,0.053,2760,3498,2000
$GC,6351,1.35,248.3,455.4,6.7,304,6389,0.15,2.53,27.98,1.075,6,0.051,0.043,2800,2102,1864
$GC,6699,1.35,248.3,420.7,10.0,321,6704,0.00,2.53,0.00,0.000,4,0.000,0.051,2800,3493,1864
$GC,6800,1.35,248.3,409.5,11.2,325,6806,0.00,2.53,0.00,0.000,6,0.000,0.042,2800,2094,1864
$GC,7116,1.35,248.3,376.6,9.7,341,7121,0.00,2.55,0.00,0.000,4,0.000,0.051,2800,3495,1864
$GC,7156,1.35,248.3,372.3,10.9,343,7160,0.00,2.53,0.00,0.000,6,0.000,0.042,2800,2094,1864
$GC,7482,1.35,248.3,340.8,10.1,359,7486,0.00,2.55,0.00,0.000,4,0.000,0.050,2800,3497,1864
$GC,7531,1.35,248.3,335.5,11.4,361,7536,0.00,2.50,0.00,0.000,6,0.000,0.041,2800,2094,1864
$GC,7848,1.35,248.3,301.9,11.1,376,7852,0.00,2.58,0.00,0.000,4,0.000,0.050,2800,3501,1864
$GC,7880,1.35,248.3,297.8,11.4,377,7886,0.00,2.53,0.00,0.000,6,0.000,0.041,2800,2095,1864
$GC,8196,1.35,248.3,265.6,8.8,393,8200,0.00,2.55,0.00,0.000,4,0.000,0.050,2800,3494,1864
$GC,8268,1.35,248.3,258.8,9.5,396,8273,0.00,2.50,0.00,0.000,6,0.000,0.040,2800,2093,1864
$GC,8584,1.35,248.3,231.5,8.7,411,8588,0.00,2.55,0.00,0.000,4,0.000,0.049,2800,3495,1864
$GC,8623,1.35,248.3,227.0,11.5,413,8627,0.00,2.50,0.00,0.000,6,0.000,0.039,2800,2093,1864
$GC,8950,1.35,248.3,195.0,9.8,429,8954,0.00,2.55,0.00,0.000,4,0.000,0.049,2800,3496,1865
$GC,8989,1.35,248.3,190.8,11.0,431,8993,0.00,2.50,0.00,0.000,6,0.000,0.038,2800,2093,1864
$GC,9316,1.35,248.3,156.9,9.7,447,9320,0.00,2.55,0.00,0.000,4,0.000,0.048,2800,3499,1864
$GC,9367,1.35,248.3,152.3,9.3,449,9371,0.00,2.47,0.00,0.000,6,0.000,0.039,2800,2100,1864
$GC,9683,1.35,248.3,122.8,9.0,464,9687,0.00,2.53,0.00,0.000,4,0.000,0.048,2800,3494,1864
$GC,9727,1.35,248.3,118.4,10.9,466,9731,0.00,2.47,0.00,0.000,6,0.000,0.038,2800,2097,1865
$GC,10049,1.35,248.3,87.0,11.1,482,10053,0.00,2.53,0.00,0.000,4,0.000,0.048,2800,3494,1865
$GC,10093,1.35,248.3,81.0,13.6,484,10097,0.00,2.47,0.00,0.000,6,0.000,0.038,2800,2096,1865
$GC,10414,1.35,248.3,44.1,11.5,500,10418,0.00,2.53,0.00,0.000,4,0.000,0.048,2800,3495,1865
$GC,10509,1.35,248.3,30.6,12.6,504,10513,0.00,2.45,0.00,0.000,6,0.000,0.038,2800,2098,1865
$STATE,10780,end climb,SURFACE_DEPTH_REACHED
$STATE,10781,begin surface coast
$FINISH,0.9,1.017119
$STATE,10803,end surface coast,CONTROL_FINISHED_OK
$STATE,10803,begin surface
$SM_CCo,10826,47.80,0.800,6,0,1655,300.00
$SM_GC,1.69,0.00,0.00,47.80,0.000,0.000,0.800,31,1885,1655,-11.33,-0.42,300.00
$IRIDIUM_FIX,6135.28,-920.22,010597,212139
$TT8_MAMPS,0.028379
$HUMID,2060
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,15.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.0,999.0
$24V_AH,23.2,79.124
$10V_AH,10.1,38.303
$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,26.250,126.950,329.925,47.800,0.000,106.421,119.109,327.879,4.750,0.000,0.000,34.025,1010.419,8127.486,525.302,1283.790,832.285,33.368,1202.898,0.000,1240.060,0.000,26.847
$DEVICE_MAMPS,141.895,69.797,1122.888,799.981,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.177,347.402,365.077,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25472,518
$CFSIZE,260165632,234274816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,6,0
$GPS,060208,001337,6159.011,-914.951,36,1.5,47,-9.5