version: 66.02
glider: 102
mission: 4
dive: 411
start: 2 7 108 1 23 29
data:
$ID,102
$MISSION,4
$DIVE,411
$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,-86652.375
$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,42
$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
$GPS1,011008,6139.878,-920.229,68,0.8,68,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-55.1
$GPS2,012145,6140.022,-919.979,13,1.2,13,-9.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.143,-0.190
$KALMAN_X,589603.2,110.8,721.1,-634485.6,-2867.5
$KALMAN_Y,87965.2,1325.4,899.0,-77472.6,-9885.3
$MHEAD_RNG_PITCHd_Wd,152.5,41111,-14.7,-8.000
$D_GRID,838
$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,-146.6,0.0,0.0,0,87,0.00,0.00,-60.95,0.000,2,0.000,0.000,27,1866,2863
$GC,91,-1.23,-146.6,3.3,-4.1,3,128,11.75,2.62,-19.83,0.000,4,0.138,0.058,2224,3304,3476
$GC,139,-1.23,-146.6,10.1,-16.5,5,144,0.00,2.47,0.00,0.000,6,0.000,0.037,2224,1913,3476
$GC,456,-1.23,-146.6,35.9,-10.8,20,460,0.00,2.53,0.00,0.000,4,0.000,0.044,2224,3313,3477
$GC,533,-1.23,-146.6,42.5,-8.3,23,540,0.00,2.53,0.00,0.000,6,0.000,0.041,2223,1903,3476
$GC,849,-1.23,-146.6,66.0,-8.1,39,853,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3306,3477
$GC,877,-1.23,-146.6,69.1,-10.3,40,881,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1894,3476
$GC,1193,-1.23,-146.6,104.7,-11.1,55,1197,0.00,2.58,0.00,0.000,4,0.000,0.048,2224,3313,3477
$GC,1220,-1.23,-146.6,107.7,-10.1,56,1224,0.00,2.53,0.00,0.000,6,0.000,0.040,2224,1898,3477
$GC,1538,-1.23,-146.6,139.8,-9.3,71,1542,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3309,3477
$GC,1582,-1.23,-146.6,144.2,-8.9,73,1586,0.00,2.53,0.00,0.000,6,0.000,0.041,2223,1894,3476
$GC,1903,-1.23,-146.6,175.1,-10.6,89,1907,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3307,3477
$GC,1930,-1.23,-146.6,178.1,-10.2,90,1934,0.00,2.53,0.00,0.000,6,0.000,0.040,2224,1893,3477
$GC,2246,-1.23,-146.6,207.7,-9.5,105,2250,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3306,3477
$GC,2278,-1.23,-146.6,211.0,-9.6,106,2284,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1893,3477
$GC,2594,-1.23,-146.6,239.2,-8.9,122,2598,0.00,2.58,0.00,0.000,4,0.000,0.048,2224,3314,3477
$GC,2638,-1.23,-146.6,243.8,-11.0,124,2642,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1896,3477
$GC,2958,-1.23,-146.6,279.6,-12.1,140,2963,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3308,3476
$GC,2991,-1.23,-146.6,283.6,-11.8,141,2998,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1894,3477
$GC,3307,-1.23,-146.6,315.7,-10.9,157,3312,0.00,2.58,0.00,0.000,4,0.000,0.048,2224,3314,3477
$GC,3380,-1.23,-146.6,324.0,-9.9,160,3384,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1898,3477
$GC,3696,-1.23,-146.6,354.5,-9.7,175,3700,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3306,3477
$GC,3723,-1.23,-146.6,357.4,-10.5,176,3727,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1895,3477
$GC,4039,-1.23,-146.6,388.3,-9.2,191,4043,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3308,3477
$GC,4106,-1.23,-146.6,395.3,-12.2,194,4110,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1894,3477
$GC,4426,-1.23,-146.6,430.9,-11.0,210,4430,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3308,3477
$GC,4471,-1.23,-146.6,436.0,-11.1,212,4475,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1898,3476
$GC,4792,-1.23,-146.6,471.0,-10.4,228,4796,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3306,3477
$GC,4832,-1.23,-146.6,475.1,-10.2,230,4836,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1900,3477
$GC,5158,-1.23,-146.6,504.1,-8.9,246,5163,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3307,3477
$GC,5199,-1.23,-146.6,508.0,-10.0,248,5203,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1902,3477
$GC,5525,-1.23,-146.6,536.7,-9.4,264,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1902,3477
$GC,5834,-1.23,-146.6,567.1,-10.6,279,5838,0.00,2.58,0.00,0.000,4,0.000,0.051,2224,3313,3476
$GC,5878,-1.23,-146.6,572.0,-11.1,281,5883,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1890,3476
$GC,6199,-1.23,-146.6,606.8,-11.3,297,6204,0.00,2.58,0.00,0.000,4,0.000,0.052,2224,3305,3476
$GC,6239,-1.23,-146.6,611.1,-10.8,299,6244,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1903,3477
$GC,6566,-1.23,-146.6,641.5,-7.9,315,6570,0.00,2.58,0.00,0.000,4,0.000,0.054,2224,3308,3476
$GC,6599,-1.23,-146.6,644.4,-8.8,316,6605,0.00,2.55,0.00,0.000,6,0.000,0.047,2224,1896,3476
$GC,6917,-1.23,-146.6,675.8,-10.1,332,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3476
$GC,7224,-1.23,-146.6,709.0,-10.5,347,7228,0.00,2.62,0.00,0.000,4,0.000,0.073,2224,494,3476
$GC,7256,-1.23,-146.6,712.6,-11.0,348,7263,0.00,2.47,0.00,0.000,6,0.000,0.043,2224,1907,3476
$GC,7572,-1.23,-146.6,740.2,-7.7,364,7577,0.00,2.53,0.00,0.000,4,0.000,0.054,2224,3302,3475
$GC,7707,-1.23,-146.6,751.8,-10.2,370,7711,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1901,3475
$GC,8028,-1.23,-146.6,783.8,-10.5,386,8032,0.00,2.58,0.00,0.000,4,0.000,0.054,2224,3305,3476
$GC,8212,-1.23,-146.6,804.2,-13.9,394,8216,0.00,2.58,0.00,0.000,6,0.000,0.051,2224,1893,3476
$STATE,8484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8484,begin apogee
$GC,8490,-0.36,0.0,839.2,10.9,407,8626,0.93,0.00,128.32,1.343,6,0.084,0.000,2419,2106,2878
$STATE,8627,end apogee,CONTROL_FINISHED_OK
$STATE,8627,begin climb
$GC,8630,1.23,146.6,844.5,0.0,414,8767,1.55,2.85,126.20,1.315,4,0.053,0.080,2764,693,2280
$GC,8789,1.37,263.9,840.2,3.5,421,8898,0.15,2.60,100.90,1.295,6,0.050,0.051,2803,2103,1801
$GC,9206,1.40,283.0,816.1,7.3,442,9228,0.00,2.72,17.08,1.310,4,0.000,0.062,2803,3499,1724
$GC,9410,1.40,283.0,786.2,24.9,451,9414,0.00,2.60,0.00,0.000,6,0.000,0.055,2803,2093,1723
$GC,9736,1.40,283.0,749.6,8.1,467,9740,0.00,2.65,0.00,0.000,4,0.000,0.063,2802,3503,1722
$GC,9780,1.40,283.0,744.3,12.6,469,9784,0.00,2.60,0.00,0.000,6,0.000,0.057,2803,2100,1721
$GC,10101,1.40,283.0,705.5,11.5,485,10105,0.00,2.60,0.00,0.000,4,0.000,0.058,2803,3506,1720
$GC,10150,1.40,283.0,698.4,14.5,487,10154,0.00,2.55,0.00,0.000,6,0.000,0.052,2803,2100,1719
$GC,10465,1.40,283.0,661.4,12.8,502,10470,0.00,2.60,0.00,0.000,4,0.000,0.054,2803,3508,1719
$GC,10555,1.40,283.0,648.4,14.3,506,10560,0.00,2.58,0.00,0.000,6,0.000,0.048,2803,2095,1719
$GC,10876,1.40,283.0,601.6,14.7,522,10877,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2095,1719
$GC,11185,1.40,283.0,558.3,13.5,537,11186,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2095,1719
$GC,11495,1.40,283.0,515.3,14.2,552,11499,0.00,2.58,0.00,0.000,4,0.000,0.051,2803,3507,1719
$GC,11596,1.40,283.0,500.7,14.7,556,11602,0.00,2.55,0.00,0.000,6,0.000,0.044,2803,2091,1720
$GC,11911,1.40,283.0,459.5,12.7,572,11916,0.00,2.62,0.00,0.000,4,0.000,0.071,2803,690,1720
$GC,11929,1.40,283.0,457.4,12.1,573,11934,0.00,2.47,0.00,0.000,6,0.000,0.040,2803,2106,1720
$GC,12256,1.40,283.0,419.2,11.9,589,12260,0.00,2.53,0.00,0.000,4,0.000,0.050,2803,3503,1720
$GC,12277,1.40,283.0,416.6,11.3,590,12281,0.00,2.53,0.00,0.000,6,0.000,0.042,2803,2096,1720
$GC,12599,1.40,283.0,379.9,11.9,606,12603,0.00,2.55,0.00,0.000,4,0.000,0.048,2803,3502,1720
$GC,12654,1.40,283.0,373.2,12.2,608,12661,0.00,2.53,0.00,0.000,6,0.000,0.041,2803,2090,1721
$GC,12970,1.40,283.0,334.9,12.1,624,12974,0.00,2.58,0.00,0.000,4,0.000,0.049,2803,3504,1721
$GC,13025,1.40,283.0,327.6,13.7,626,13031,0.00,2.50,0.00,0.000,6,0.000,0.040,2803,2100,1722
$GC,13341,1.40,283.0,287.1,12.8,642,13345,0.00,2.55,0.00,0.000,4,0.000,0.048,2803,3505,1722
$GC,13373,1.40,283.0,282.7,11.9,643,13379,0.00,2.50,0.00,0.000,6,0.000,0.039,2803,2098,1721
$GC,13689,1.40,283.0,243.7,12.5,659,13693,0.00,2.55,0.00,0.000,4,0.000,0.048,2803,3502,1723
$GC,13755,1.40,283.0,235.2,12.2,662,13760,0.00,2.47,0.00,0.000,6,0.000,0.038,2803,2101,1722
$GC,14077,1.40,283.0,198.5,10.0,678,14078,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2101,1722
$GC,14386,1.40,283.0,164.6,11.8,693,14390,0.00,2.55,0.00,0.000,4,0.000,0.048,2803,3504,1722
$GC,14453,1.40,283.0,154.7,14.7,696,14457,0.00,2.50,0.00,0.000,6,0.000,0.038,2803,2095,1722
$GC,14775,1.40,283.0,114.3,9.9,712,14779,0.00,2.55,0.00,0.000,4,0.000,0.047,2803,3502,1723
$GC,14824,1.40,283.0,108.3,12.2,714,14829,0.00,2.47,0.00,0.000,6,0.000,0.038,2803,2100,1723
$GC,15140,1.40,283.0,63.7,15.0,729,15145,0.00,2.53,0.00,0.000,4,0.000,0.048,2803,3498,1724
$GC,15185,1.40,283.0,56.3,17.0,731,15189,0.00,2.47,0.00,0.000,6,0.000,0.037,2802,2097,1724
$GC,15506,1.40,283.0,12.2,15.9,747,15510,0.00,2.55,0.00,0.000,4,0.000,0.048,2803,3504,1724
$GC,15584,1.40,283.0,2.6,10.1,750,15590,0.00,2.47,0.00,0.000,6,0.000,0.038,2803,2103,1724
$STATE,15608,end climb,SURFACE_DEPTH_REACHED
$STATE,15608,begin surface coast
$FINISH,0.9,1.027376
$STATE,15630,end surface coast,CONTROL_FINISHED_OK
$STATE,15630,begin surface
$SM_CCo,15654,16.27,0.839,2,0,1654,300.00
$SM_GC,1.69,0.00,0.00,16.27,0.000,0.000,0.839,29,1876,1654,-11.34,-0.68,300.00
$IRIDIUM_FIX,6112.75,-919.55,030597,010109
$TT8_MAMPS,0.026845
$HUMID,2078
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,18.1,999.0
$24V_AH,23.0,80.193
$10V_AH,10.1,38.809
$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,26.275,189.525,372.500,16.275,0.000,76.803,90.608,325.908,8.000,0.000,0.000,15.342,1440.557,11809.748,552.659,1777.773,845.045,33.369,1484.698,0.000,1731.891,0.000,47.855
$DEVICE_MAMPS,138.060,79.768,1343.017,839.098,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,553.355,506.931,438.892,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38007,753
$CFSIZE,260165632,233861120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,2,0
$GPS,070208,054608,6139.764,-913.883,39,0.9,39,-9.4