version: 66.02
glider: 102
mission: 4
dive: 409
start: 2 6 108 15 23 44
data:
$ID,102
$MISSION,4
$DIVE,409
$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,-86621.844
$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
$GPS1,151632,6144.787,-920.264,38,1.5,38,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-59.7
$GPS2,152202,6144.727,-920.377,12,1.4,12,-9.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.170,-0.166
$KALMAN_X,594625.4,-998.6,-1556.5,-636428.4,5022.5
$KALMAN_Y,98114.9,-44.3,-1170.9,-75419.2,-923.5
$MHEAD_RNG_PITCHd_Wd,235.2,49243,-14.7,-8.000
$D_GRID,793
$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,26,-1.23,-146.6,0.0,0.0,0,107,0.00,0.00,-79.03,0.000,2,0.000,0.000,28,1883,3060
$GC,111,-1.23,-146.6,3.4,-2.6,4,141,11.68,2.62,-11.65,0.000,4,0.141,0.059,2221,3302,3477
$GC,366,-1.23,-146.6,38.5,-11.3,15,370,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1906,3477
$GC,684,-1.23,-146.6,69.3,-9.5,30,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1906,3477
$GC,992,-1.23,-146.6,100.4,-9.7,45,996,0.00,2.53,0.00,0.000,4,0.000,0.046,2221,3308,3477
$GC,1035,-1.23,-146.6,104.8,-9.3,47,1040,0.00,2.53,0.00,0.000,6,0.000,0.041,2221,1896,3477
$GC,1357,-1.23,-146.6,135.0,-9.9,63,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3477
$GC,1666,-1.23,-146.6,167.5,-10.5,78,1671,0.00,2.55,0.00,0.000,4,0.000,0.046,2221,3309,3477
$GC,1733,-1.23,-146.6,174.5,-10.3,81,1737,0.00,2.53,0.00,0.000,6,0.000,0.041,2221,1896,3477
$GC,2059,-1.23,-146.6,207.7,-9.7,97,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3477
$GC,2368,-1.23,-146.6,237.0,-9.5,112,2373,0.00,2.55,0.00,0.000,4,0.000,0.047,2221,3312,3477
$GC,2424,-1.23,-146.6,242.6,-9.6,114,2430,0.00,2.53,0.00,0.000,6,0.000,0.041,2221,1895,3477
$GC,2740,-1.23,-146.6,276.1,-11.2,130,2745,0.00,2.55,0.00,0.000,4,0.000,0.048,2221,3308,3477
$GC,2796,-1.23,-146.6,282.8,-11.7,132,2802,0.00,2.53,0.00,0.000,6,0.000,0.042,2221,1896,3477
$GC,3112,-1.23,-146.6,319.0,-11.5,148,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1896,3477
$GC,3421,-1.23,-146.6,357.8,-12.8,163,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3477
$GC,3731,-1.23,-146.6,395.3,-11.6,178,3735,0.00,2.55,0.00,0.000,4,0.000,0.048,2221,3311,3477
$GC,3820,-1.23,-146.6,405.1,-10.1,182,3824,0.00,2.53,0.00,0.000,6,0.000,0.043,2221,1897,3477
$GC,4141,-1.23,-146.6,436.2,-9.6,198,4145,0.00,2.55,0.00,0.000,4,0.000,0.049,2221,3308,3477
$GC,4203,-1.23,-146.6,442.7,-10.5,201,4207,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1902,3477
$GC,4529,-1.23,-146.6,477.4,-11.0,217,4533,0.00,2.55,0.00,0.000,4,0.000,0.049,2221,3312,3477
$GC,4580,-1.23,-146.6,483.1,-11.1,219,4585,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1899,3477
$GC,4896,-1.23,-146.6,519.3,-11.5,234,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3477
$GC,5205,-1.23,-146.6,558.1,-13.5,249,5209,0.00,2.55,0.00,0.000,4,0.000,0.051,2221,3305,3477
$GC,5294,-1.23,-146.6,571.3,-14.4,253,5299,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1900,3477
$GC,5615,-1.23,-146.6,612.8,-10.8,269,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3476
$GC,5925,-1.23,-146.6,632.3,-3.6,284,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3476
$GC,6234,-1.23,-146.6,660.7,-12.8,299,6239,0.00,2.58,0.00,0.000,4,0.000,0.054,2221,3304,3477
$GC,6387,-1.23,-146.6,679.3,-11.2,306,6391,0.00,2.55,0.00,0.000,6,0.000,0.048,2221,1899,3476
$GC,6714,-1.23,-146.6,707.3,-8.2,322,6718,0.00,2.58,0.00,0.000,4,0.000,0.055,2221,3304,3476
$GC,6769,-1.23,-146.6,712.6,-9.6,324,6775,0.00,2.55,0.00,0.000,6,0.000,0.050,2220,1901,3476
$GC,7084,-1.23,-146.6,746.0,-9.1,340,7088,0.00,2.58,0.00,0.000,4,0.000,0.058,2221,3305,3476
$GC,7263,-1.23,-146.6,759.6,-6.9,348,7267,0.00,2.58,0.00,0.000,6,0.000,0.055,2221,1898,3476
$GC,7584,-1.23,-146.6,787.4,-14.7,364,7585,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1898,3476
$STATE,7663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7663,begin apogee
$GC,7671,-0.36,0.0,793.1,6.5,368,7806,0.93,0.00,127.80,1.338,6,0.081,0.000,2416,2108,2878
$STATE,7807,end apogee,CONTROL_FINISHED_OK
$STATE,7807,begin climb
$GC,7810,1.23,146.6,803.5,0.0,375,7946,1.58,2.72,126.15,1.305,4,0.056,0.067,2763,3498,2280
$GC,8056,1.23,146.6,803.0,8.1,386,8061,0.00,2.60,0.00,0.000,6,0.000,0.057,2763,2102,2278
$GC,8373,1.37,264.0,791.2,3.5,401,8479,0.15,2.72,100.10,1.328,4,0.056,0.067,2806,3499,1801
$GC,8649,1.37,264.0,764.3,13.7,414,8653,0.00,2.62,0.00,0.000,6,0.000,0.057,2806,2100,1801
$GC,8975,1.37,264.0,724.2,10.2,430,8979,0.00,2.65,0.00,0.000,4,0.000,0.064,2806,3504,1800
$GC,9015,1.37,264.0,720.4,10.3,432,9019,0.00,2.60,0.00,0.000,6,0.000,0.057,2806,2098,1800
$GC,9341,1.47,339.4,697.9,5.1,448,9411,0.00,2.70,63.05,1.337,4,0.000,0.059,2806,3497,1494
$GC,9545,1.47,339.4,682.8,9.3,457,9550,0.00,2.55,0.00,0.000,6,0.000,0.051,2806,2100,1493
$GC,9861,1.47,339.4,647.1,11.4,472,9862,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2100,1493
$GC,10170,1.47,339.4,612.3,12.9,487,10175,0.00,2.55,0.00,0.000,4,0.000,0.051,2806,3505,1493
$GC,10226,1.47,339.4,604.1,14.4,489,10233,0.00,2.58,0.00,0.000,6,0.000,0.047,2806,2092,1493
$GC,10542,1.47,339.4,558.8,13.8,505,10543,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2092,1493
$GC,10851,1.47,339.4,511.3,15.5,520,10852,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2092,1494
$GC,11161,1.47,339.4,463.3,15.3,535,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2092,1494
$GC,11470,1.47,339.4,415.6,15.2,550,11471,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2093,1495
$GC,11779,1.47,339.4,370.9,13.7,565,11780,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2092,1496
$GC,12089,1.47,339.4,331.3,12.6,580,12090,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2092,1496
$GC,12397,1.47,339.4,297.2,10.3,595,12399,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2092,1496
$GC,12707,1.47,339.4,267.8,8.9,610,12708,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2092,1496
$GC,13017,1.51,371.5,244.5,6.8,625,13046,0.00,0.00,27.35,0.985,6,0.000,0.000,2806,2092,1363
$GC,13346,1.51,371.5,215.5,9.2,641,13347,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2092,1362
$GC,13655,1.55,405.5,188.5,6.7,656,13686,0.12,0.00,28.08,0.937,6,0.055,0.000,2844,2092,1225
$GC,13984,1.55,405.5,152.7,12.3,672,13986,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2092,1224
$GC,14294,1.55,405.5,107.8,15.4,687,14295,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2092,1224
$GC,14603,1.55,405.5,64.3,13.6,702,14604,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2091,1224
$GC,14913,1.55,405.5,14.6,14.5,717,14917,0.00,2.62,0.00,0.000,4,0.000,0.067,2844,688,1224
$GC,14952,1.55,405.5,8.1,16.6,719,14957,0.00,2.47,0.00,0.000,6,0.000,0.038,2844,2109,1225
$STATE,15010,end climb,SURFACE_DEPTH_REACHED
$STATE,15010,begin surface coast
$FINISH,1.0,1.014034
$STATE,15030,end surface coast,CONTROL_FINISHED_OK
$STATE,15030,begin surface
$SM_CCo,15114,0.00,0.000,0,0,1224,405.73
$SM_GC,1.75,12.15,0.00,0.00,0.031,0.000,0.000,34,1885,1224,-11.26,-0.40,405.73
$IRIDIUM_FIX,6126.23,-918.01,020597,111122
$TT8_MAMPS,0.026845
$HUMID,2086
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,17.7,999.0
$24V_AH,23.0,79.865
$10V_AH,10.1,38.637
$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,26.600,93.225,472.525,0.000,0.000,39.126,37.772,135.993,7.000,0.000,0.000,14.066,1326.564,11480.328,551.571,1633.248,502.869,33.366,1385.534,0.000,1597.841,0.000,44.630
$DEVICE_MAMPS,141.128,67.496,1337.648,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,535.657,487.192,411.472,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34861,723
$CFSIZE,260165632,234012672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,060208,193655,6140.995,-926.358,42,1.3,42,-9.5