version: 66.02
glider: 102
mission: 4
dive: 410
start: 2 6 108 19 44 44
data:
$ID,102
$MISSION,4
$DIVE,410
$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,-86636.406
$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,35
$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
$GPS1,193655,6140.995,-926.358,42,1.3,42,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-53.7
$GPS2,194302,6140.966,-926.231,12,1.2,12,-9.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.228,0.069
$KALMAN_X,590670.2,-305.0,-432.5,-639459.6,-306.9
$KALMAN_Y,91207.1,1656.7,217.9,-78574.1,-9445.2
$MHEAD_RNG_PITCHd_Wd,82.7,45285,-14.7,-8.000
$D_GRID,883
$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,-146.6,0.0,0.0,0,108,0.00,0.00,-80.45,0.000,2,0.000,0.000,33,1883,2808
$GC,112,-1.23,-146.6,3.1,-2.2,4,154,11.62,2.58,-23.17,0.000,4,0.140,0.057,2225,3301,3476
$GC,380,-1.23,-146.6,31.8,-10.4,16,385,0.00,2.50,0.00,0.000,6,0.000,0.041,2226,1906,3476
$GC,707,-1.23,-146.6,65.5,-10.4,32,712,0.00,2.53,0.00,0.000,4,0.000,0.046,2226,3303,3477
$GC,741,-1.23,-146.6,69.6,-11.9,33,747,0.00,2.50,0.00,0.000,6,0.000,0.041,2226,1899,3476
$GC,1058,-1.23,-146.6,101.0,-8.8,49,1063,0.00,2.53,0.00,0.000,4,0.000,0.045,2226,3302,3476
$GC,1087,-1.23,-146.6,104.1,-10.3,50,1092,0.00,2.50,0.00,0.000,6,0.000,0.040,2226,1897,3476
$GC,1404,-1.23,-146.6,137.8,-8.8,65,1408,0.00,2.53,0.00,0.000,4,0.000,0.045,2226,3299,3476
$GC,1436,-1.23,-146.6,141.8,-12.0,66,1442,0.00,2.50,0.00,0.000,6,0.000,0.041,2226,1900,3476
$GC,1752,-1.23,-146.6,180.2,-10.9,82,1756,0.00,2.53,0.00,0.000,4,0.000,0.046,2226,3302,3476
$GC,1785,-1.23,-146.6,184.0,-11.8,83,1791,0.00,2.50,0.00,0.000,6,0.000,0.041,2226,1902,3476
$GC,2101,-1.23,-146.6,217.5,-11.0,99,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3476
$GC,2411,-1.23,-146.6,250.9,-11.2,114,2415,0.00,2.53,0.00,0.000,4,0.000,0.046,2226,3300,3476
$GC,2451,-1.23,-146.6,255.3,-11.4,116,2455,0.00,2.50,0.00,0.000,6,0.000,0.041,2226,1897,3476
$GC,2777,-1.23,-146.6,291.5,-12.7,132,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1897,3476
$GC,3086,-1.23,-146.6,328.9,-12.1,147,3090,0.00,2.53,0.00,0.000,4,0.000,0.047,2226,3297,3476
$GC,3153,-1.23,-146.6,335.9,-9.5,150,3158,0.00,2.50,0.00,0.000,6,0.000,0.041,2226,1895,3477
$GC,3474,-1.23,-146.6,366.4,-9.5,166,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1895,3476
$GC,3784,-1.23,-146.6,393.7,-8.8,181,3788,0.00,2.55,0.00,0.000,4,0.000,0.048,2226,3302,3476
$GC,3817,-1.23,-146.6,395.9,-6.7,182,3824,0.00,2.50,0.00,0.000,6,0.000,0.041,2226,1897,3476
$GC,4133,-1.23,-146.6,416.7,-5.9,198,4137,0.00,2.62,0.00,0.000,4,0.000,0.069,2225,492,3476
$GC,4182,-1.23,-146.6,420.9,-8.9,200,4186,0.00,2.45,0.00,0.000,6,0.000,0.040,2226,1901,3476
$GC,4499,-1.23,-146.6,443.2,-7.5,215,4503,0.00,2.53,0.00,0.000,4,0.000,0.050,2226,3299,3476
$GC,4532,-1.23,-146.6,446.0,-7.5,216,4538,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1893,3476
$GC,4848,-1.23,-146.6,471.0,-7.3,232,4852,0.00,2.55,0.00,0.000,4,0.000,0.048,2226,3302,3476
$GC,4892,-1.23,-146.6,474.4,-6.8,234,4897,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1894,3476
$GC,5214,-1.23,-146.6,494.7,-5.9,250,5218,0.00,2.55,0.00,0.000,4,0.000,0.048,2226,3300,3476
$GC,5258,-1.23,-146.6,497.4,-6.3,252,5262,0.00,2.50,0.00,0.000,6,0.000,0.044,2226,1901,3476
$GC,5579,-1.23,-146.6,516.9,-6.8,268,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1901,3476
$GC,5888,-1.23,-146.6,543.6,-8.9,283,5892,0.00,2.53,0.00,0.000,4,0.000,0.048,2226,3296,3475
$GC,5927,-1.23,-146.6,547.3,-9.2,285,5931,0.00,2.50,0.00,0.000,6,0.000,0.044,2226,1900,3476
$GC,6254,-1.23,-146.6,582.2,-11.3,301,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1899,3476
$GC,6563,-1.23,-146.6,615.2,-10.8,316,6567,0.00,2.53,0.00,0.000,4,0.000,0.051,2226,3295,3476
$GC,6595,-1.23,-146.6,618.9,-11.0,317,6601,0.00,2.50,0.00,0.000,6,0.000,0.045,2226,1900,3476
$GC,6911,-1.23,-146.6,647.2,-8.5,333,6912,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1900,3476
$GC,7220,-1.23,-146.6,673.8,-8.5,348,7224,0.00,2.55,0.00,0.000,4,0.000,0.053,2226,3296,3476
$GC,7247,-1.23,-146.6,676.0,-7.6,349,7251,0.00,2.53,0.00,0.000,6,0.000,0.046,2226,1894,3476
$GC,7563,-1.23,-146.6,702.6,-8.4,364,7567,0.00,2.55,0.00,0.000,4,0.000,0.053,2226,3294,3475
$GC,7652,-1.23,-146.6,710.6,-8.2,368,7656,0.00,2.53,0.00,0.000,6,0.000,0.046,2226,1894,3476
$GC,7973,-1.23,-146.6,741.3,-10.0,384,7977,0.00,2.62,0.00,0.000,4,0.000,0.075,2226,496,3475
$GC,8022,-1.23,-146.6,746.6,-10.2,386,8026,0.00,2.45,0.00,0.000,6,0.000,0.043,2225,1894,3475
$GC,8338,-1.23,-146.6,779.1,-11.2,401,8342,0.00,2.55,0.00,0.000,4,0.000,0.054,2226,3300,3474
$GC,8478,-1.23,-146.6,798.1,-11.5,407,8482,0.00,2.53,0.00,0.000,6,0.000,0.050,2225,1903,3474
$GC,8793,-1.23,-146.6,828.0,-8.7,422,8798,0.00,2.65,0.00,0.000,4,0.000,0.079,2226,492,3475
$GC,8815,-1.23,-146.6,830.0,-8.9,423,8819,0.00,2.50,0.00,0.000,6,0.000,0.049,2226,1895,3474
$GC,9136,-1.23,-146.6,866.0,-11.3,439,9140,0.00,2.60,0.00,0.000,4,0.000,0.066,2226,3302,3475
$GC,9230,-1.23,-146.6,877.0,-9.4,443,9235,0.00,2.60,0.00,0.000,6,0.000,0.061,2225,1896,3474
$STATE,9296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9296,begin apogee
$GC,9304,-0.36,0.0,884.1,11.3,446,9439,0.93,0.00,129.10,1.397,6,0.089,0.000,2418,2097,2878
$STATE,9440,end apogee,CONTROL_FINISHED_OK
$STATE,9440,begin climb
$GC,9442,1.23,146.6,884.9,0.0,453,9579,1.58,2.75,127.03,1.359,4,0.061,0.068,2765,3498,2280
$GC,9839,1.27,181.1,869.3,6.7,471,9875,0.00,2.60,30.62,1.368,6,0.000,0.057,2765,2098,2139
$GC,10185,1.27,181.1,848.6,9.7,487,10189,0.00,2.67,0.00,0.000,4,0.000,0.069,2765,3508,2137
$GC,10444,1.27,181.1,816.8,11.6,498,10450,0.00,2.62,0.00,0.000,6,0.000,0.059,2765,2102,2136
$GC,10760,1.27,181.1,790.0,8.3,514,10764,0.00,2.65,0.00,0.000,4,0.000,0.067,2765,3505,2135
$GC,10844,1.27,181.1,781.9,9.3,518,10848,0.00,2.60,0.00,0.000,6,0.000,0.057,2765,2097,2134
$GC,11170,1.27,181.1,754.6,9.4,534,11174,0.00,2.67,0.00,0.000,4,0.000,0.081,2765,691,2132
$GC,11210,1.27,181.1,751.2,9.0,536,11215,0.00,2.55,0.00,0.000,6,0.000,0.050,2765,2104,2133
$GC,11536,1.27,181.1,726.9,9.1,552,11540,0.00,2.58,0.00,0.000,4,0.000,0.061,2765,3502,2132
$GC,11788,1.27,181.1,697.2,11.3,563,11793,0.00,2.55,0.00,0.000,6,0.000,0.047,2764,2094,2131
$GC,12104,1.27,184.0,673.7,7.9,578,12108,0.00,2.58,0.00,0.000,4,0.000,0.054,2765,3502,2131
$GC,12188,1.27,184.0,667.9,9.2,582,12193,0.00,2.53,0.00,0.000,6,0.000,0.046,2765,2101,2131
$GC,12515,1.27,184.0,636.7,8.9,598,12519,0.00,2.58,0.00,0.000,4,0.000,0.054,2765,3509,2132
$GC,12599,1.27,184.0,628.8,9.3,602,12603,0.00,2.53,0.00,0.000,6,0.000,0.044,2765,2097,2132
$GC,12925,1.27,184.0,599.1,8.8,618,12926,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2097,2133
$GC,13234,1.27,184.0,573.7,8.0,633,13238,0.00,2.55,0.00,0.000,4,0.000,0.053,2765,3504,2133
$GC,13345,1.28,185.9,564.7,7.9,638,13355,0.00,2.53,4.12,1.153,6,0.000,0.042,2765,2094,2120
$GC,13672,1.32,219.1,541.5,6.7,654,13707,0.00,2.67,28.65,1.179,4,0.000,0.051,2765,3503,1984
$GC,13815,1.32,219.1,530.1,8.6,660,13819,0.00,2.55,0.00,0.000,6,0.000,0.041,2765,2094,1984
$GC,14130,1.32,219.1,505.3,8.1,675,14135,0.00,2.58,0.00,0.000,4,0.000,0.051,2765,3504,1984
$GC,14186,1.32,219.1,500.4,8.2,677,14192,0.00,2.50,0.00,0.000,6,0.000,0.041,2765,2100,1984
$GC,14502,1.33,225.4,475.4,7.8,693,14515,0.00,2.65,6.57,1.117,4,0.000,0.051,2765,3508,1959
$GC,14556,1.33,225.4,470.8,8.8,695,14560,0.00,2.55,0.00,0.000,6,0.000,0.041,2765,2095,1959
$GC,14872,1.33,225.4,444.4,8.4,710,14876,0.00,2.58,0.00,0.000,4,0.000,0.050,2765,3503,1959
$GC,14921,1.33,225.4,439.9,8.8,712,14925,0.00,2.53,0.00,0.000,6,0.000,0.041,2765,2098,1959
$GC,15237,1.33,225.4,412.5,8.9,727,15238,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2098,1960
$GC,15546,1.33,225.4,384.9,8.8,742,15550,0.00,2.58,0.00,0.000,4,0.000,0.051,2765,3504,1960
$GC,15617,1.33,225.4,378.6,8.9,745,15622,0.00,2.50,0.00,0.000,6,0.000,0.040,2765,2095,1960
$GC,15934,1.37,259.3,354.8,6.7,760,15969,0.12,2.65,28.90,1.040,4,0.053,0.050,2801,3497,1820
$GC,16043,1.37,259.3,344.5,9.7,765,16047,0.00,2.53,0.00,0.000,6,0.000,0.041,2801,2100,1820
$GC,16370,1.37,259.3,314.1,9.7,781,16374,0.00,2.55,0.00,0.000,4,0.000,0.049,2801,3504,1820
$GC,16454,1.37,259.3,305.0,10.6,785,16458,0.00,2.53,0.00,0.000,6,0.000,0.040,2801,2096,1821
$GC,16781,1.37,259.3,271.3,10.2,801,16785,0.00,2.58,0.00,0.000,4,0.000,0.049,2801,3506,1821
$GC,16830,1.37,259.3,266.1,10.6,803,16835,0.00,2.53,0.00,0.000,6,0.000,0.039,2801,2091,1821
$GC,17146,1.37,259.3,233.1,10.3,818,17150,0.00,2.58,0.00,0.000,4,0.000,0.048,2801,3507,1821
$GC,17208,1.37,259.3,226.0,10.5,821,17213,0.00,2.50,0.00,0.000,6,0.000,0.039,2801,2094,1821
$GC,17535,1.37,259.3,190.9,9.7,837,17540,0.00,2.58,0.00,0.000,4,0.000,0.048,2801,3505,1821
$GC,17613,1.37,259.3,182.6,10.8,840,17620,0.00,2.50,0.00,0.000,6,0.000,0.039,2801,2098,1821
$GC,17929,1.37,259.3,151.5,10.5,856,17934,0.00,2.55,0.00,0.000,4,0.000,0.048,2801,3504,1821
$GC,17987,1.37,259.3,145.4,10.2,858,17993,0.00,2.50,0.00,0.000,6,0.000,0.038,2800,2094,1821
$GC,18303,1.37,259.3,111.9,11.0,874,18307,0.00,2.58,0.00,0.000,4,0.000,0.048,2801,3510,1821
$GC,18410,1.37,259.3,99.4,16.3,879,18415,0.00,2.50,0.00,0.000,6,0.000,0.038,2801,2090,1821
$GC,18737,1.37,259.3,56.5,11.1,895,18742,0.00,2.58,0.00,0.000,4,0.000,0.049,2801,3505,1821
$GC,18787,1.37,259.3,51.3,8.8,897,18791,0.00,2.50,0.00,0.000,6,0.000,0.038,2801,2096,1821
$GC,19110,1.39,280.6,31.1,7.2,913,19134,0.00,2.65,17.77,0.849,4,0.000,0.049,2801,3503,1734
$GC,19276,1.39,280.6,9.0,12.8,920,19280,0.00,2.47,0.00,0.000,6,0.000,0.039,2801,2103,1733
$STATE,19343,end climb,SURFACE_DEPTH_REACHED
$STATE,19343,begin surface coast
$FINISH,1.1,1.027366
$STATE,19364,end surface coast,CONTROL_FINISHED_OK
$STATE,19364,begin surface
$SM_CCo,19388,18.25,0.819,2,0,1655,300.00
$SM_GC,1.49,0.00,0.00,18.25,0.000,0.000,0.819,28,1868,1655,-11.35,-0.90,300.00
$IRIDIUM_FIX,6121.73,-921.02,020597,151516
$TT8_MAMPS,0.026078
$HUMID,2065
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,999.0
$24V_AH,22.9,80.023
$10V_AH,10.1,38.729
$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,26.125,214.975,372.775,18.250,0.000,31.753,45.092,176.312,8.000,0.000,0.000,13.938,1791.062,14504.504,582.173,2327.358,631.978,33.373,1771.403,0.000,2271.737,0.000,51.082
$DEVICE_MAMPS,139.594,81.302,1396.707,819.156,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,686.314,623.375,505.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47441,924
$CFSIZE,260165632,233897984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,2,0
$GPS,070208,011008,6139.878,-920.229,68,0.8,68,-9.5