version: 66.02
glider: 102
mission: 4
dive: 416
start: 2 8 108 0 5 3
data:
$ID,102
$MISSION,4
$DIVE,416
$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,-86756.438
$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,40
$R_STBD_OVSHOOT,22
$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
$GPS1,235201,6146.722,-904.029,36,1.4,36,-9.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-60.8
$GPS2,000321,6146.816,-903.774,12,1.5,12,-9.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.235,-0.032
$KALMAN_X,602532.6,-1120.8,315.8,-631476.2,3395.9
$KALMAN_Y,126211.8,-2034.4,160.1,-99014.7,8535.2
$MHEAD_RNG_PITCHd_Wd,271.6,49777,-14.7,-8.000
$D_GRID,668
$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,-146.5,0.0,0.0,0,109,0.00,0.00,-81.30,0.000,2,0.000,0.000,35,1877,3211
$GC,113,-1.23,-146.6,4.4,-4.5,4,138,11.65,2.62,-6.20,0.000,4,0.140,0.081,2222,514,3478
$GC,225,-1.23,-146.6,23.8,-10.9,9,229,0.00,2.45,0.00,0.000,6,0.000,0.037,2222,1922,3478
$GC,551,-1.23,-146.6,57.2,-9.8,25,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1925,3478
$GC,862,-1.23,-146.6,93.0,-10.5,40,866,0.00,2.45,0.00,0.000,4,0.000,0.046,2222,3292,3478
$GC,917,-1.23,-146.6,98.9,-10.6,42,924,0.00,2.47,0.00,0.000,6,0.000,0.041,2222,1910,3478
$GC,1235,-1.23,-146.6,130.4,-9.9,58,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1910,3478
$GC,1542,-1.23,-146.6,162.5,-9.6,73,1546,0.00,2.50,0.00,0.000,4,0.000,0.046,2222,3297,3478
$GC,1637,-1.23,-146.6,173.7,-11.4,77,1641,0.00,2.50,0.00,0.000,6,0.000,0.041,2222,1896,3478
$GC,1952,-1.23,-146.6,214.1,-13.6,92,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1896,3479
$GC,2262,-1.23,-146.6,249.2,-11.3,107,2266,0.00,2.53,0.00,0.000,4,0.000,0.046,2222,3299,3478
$GC,2328,-1.23,-146.6,255.9,-9.5,110,2332,0.00,2.50,0.00,0.000,6,0.000,0.041,2221,1896,3478
$GC,2650,-1.23,-146.6,287.6,-9.4,126,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1896,3478
$GC,2960,-1.23,-146.6,317.1,-10.6,141,2964,0.00,2.53,0.00,0.000,4,0.000,0.046,2222,3301,3478
$GC,3027,-1.23,-146.6,325.3,-11.9,144,3031,0.00,2.50,0.00,0.000,6,0.000,0.041,2222,1899,3478
$GC,3347,-1.23,-146.6,364.2,-11.7,160,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3478
$GC,3657,-1.23,-146.6,404.1,-12.5,175,3661,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3295,3478
$GC,3719,-1.23,-146.6,410.9,-10.5,178,3723,0.00,2.50,0.00,0.000,6,0.000,0.042,2222,1901,3478
$GC,4045,-1.23,-146.6,439.6,-8.1,194,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3478
$GC,4355,-1.23,-146.6,460.4,-6.9,209,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3479
$GC,4663,-1.23,-146.6,484.5,-8.9,224,4668,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3296,3478
$GC,4776,-1.23,-146.6,497.3,-11.9,229,4780,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1902,3478
$GC,5096,-1.23,-146.6,533.1,-10.3,245,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3478
$GC,5405,-1.23,-146.6,564.4,-9.0,260,5410,0.00,2.53,0.00,0.000,4,0.000,0.051,2222,3297,3478
$GC,5663,-1.23,-146.6,588.3,-9.0,271,5669,0.00,2.53,0.00,0.000,6,0.000,0.046,2222,1896,3478
$GC,5979,-1.23,-146.6,611.0,-7.5,287,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1896,3478
$GC,6288,-1.23,-146.6,649.4,-13.3,302,6293,0.00,2.60,0.00,0.000,4,0.000,0.062,2222,3290,3478
$GC,6389,-1.23,-146.6,659.4,-7.9,306,6393,0.00,2.55,0.00,0.000,6,0.000,0.053,2222,1901,3478
$STATE,6496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6496,begin apogee
$GC,6503,-0.36,0.0,669.4,9.3,311,6632,0.90,0.00,125.45,1.269,6,0.068,0.000,2418,2101,2878
$STATE,6633,end apogee,CONTROL_FINISHED_OK
$STATE,6633,begin climb
$GC,6636,1.23,146.6,671.9,0.0,317,6767,1.55,2.70,123.95,1.227,4,0.049,0.062,2766,3502,2280
$GC,6818,1.23,146.6,668.4,9.7,326,6824,0.00,2.60,0.00,0.000,6,0.000,0.051,2766,2100,2279
$GC,7134,1.39,278.3,653.4,3.0,342,7248,0.15,0.00,110.90,1.239,6,0.054,0.000,2810,2100,1743
$GC,7549,1.39,278.3,599.7,19.3,362,7553,0.00,2.62,0.00,0.000,4,0.000,0.063,2811,3497,1743
$GC,7805,1.39,278.3,560.1,12.0,373,7811,0.00,2.58,0.00,0.000,6,0.000,0.053,2810,2101,1741
$GC,8121,1.39,278.3,532.4,9.0,389,8125,0.00,2.60,0.00,0.000,4,0.000,0.058,2810,3499,1740
$GC,8378,1.39,278.3,506.8,12.0,400,8384,0.00,2.53,0.00,0.000,6,0.000,0.047,2811,2098,1739
$GC,8694,1.39,278.3,468.6,12.9,416,8698,0.00,2.58,0.00,0.000,4,0.000,0.053,2810,3499,1739
$GC,8760,1.39,278.3,459.7,13.4,419,8765,0.00,2.53,0.00,0.000,6,0.000,0.044,2811,2100,1739
$GC,9081,1.39,278.3,418.1,12.8,435,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2100,1739
$GC,9391,1.39,278.3,380.7,11.8,450,9395,0.00,2.55,0.00,0.000,4,0.000,0.050,2811,3499,1739
$GC,9469,1.39,278.3,371.2,11.7,453,9475,0.00,2.50,0.00,0.000,6,0.000,0.041,2811,2097,1739
$GC,9785,1.39,278.3,336.4,10.8,469,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2097,1739
$GC,10094,1.39,278.3,301.1,12.4,484,10098,0.00,2.55,0.00,0.000,4,0.000,0.049,2811,3501,1740
$GC,10234,1.39,278.3,283.5,13.5,490,10238,0.00,2.50,0.00,0.000,6,0.000,0.039,2810,2097,1740
$GC,10549,1.39,278.3,244.3,12.7,505,10553,0.00,2.55,0.00,0.000,4,0.000,0.048,2811,3502,1741
$GC,10634,1.39,278.3,233.4,13.9,509,10638,0.00,2.50,0.00,0.000,6,0.000,0.038,2810,2086,1741
$GC,10960,1.39,278.3,193.7,12.4,525,10961,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2086,1742
$GC,11269,1.39,278.3,160.1,9.5,540,11273,0.00,2.58,0.00,0.000,4,0.000,0.050,2811,3502,1742
$GC,11392,1.39,278.3,146.4,11.7,545,11399,0.00,2.47,0.00,0.000,6,0.000,0.038,2811,2103,1742
$GC,11708,1.39,278.3,114.5,10.5,561,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2102,1743
$GC,12017,1.39,278.3,83.6,9.1,576,12021,0.00,2.53,0.00,0.000,4,0.000,0.048,2811,3499,1743
$GC,12084,1.39,278.3,77.2,9.5,579,12088,0.00,2.47,0.00,0.000,6,0.000,0.038,2811,2098,1743
$GC,12405,1.39,278.3,45.6,10.8,595,12409,0.00,2.55,0.00,0.000,4,0.000,0.048,2811,3504,1743
$GC,12460,1.39,278.3,39.3,11.9,597,12467,0.00,2.50,0.00,0.000,6,0.000,0.038,2811,2095,1744
$GC,12776,1.39,278.3,5.1,11.2,613,12777,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2094,1743
$STATE,12815,end climb,SURFACE_DEPTH_REACHED
$STATE,12815,begin surface coast
$FINISH,0.9,1.026896
$STATE,12837,end surface coast,CONTROL_FINISHED_OK
$STATE,12837,begin surface
$SM_CCo,12860,20.12,0.827,2,0,1654,300.00
$SM_GC,1.82,0.00,0.00,20.12,0.000,0.000,0.827,32,1881,1654,-11.33,-0.54,300.00
$IRIDIUM_FIX,6121.73,-908.29,040597,000044
$TT8_MAMPS,0.026845
$HUMID,2074
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,22.9,81.073
$10V_AH,10.1,39.198
$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,26.250,96.975,360.300,20.125,0.000,80.593,82.064,335.212,6.000,0.000,0.000,14.372,1171.565,9653.488,521.623,1500.192,778.094,33.367,1259.768,0.000,1469.030,0.000,36.550
$DEVICE_MAMPS,140.361,80.535,1268.618,826.826,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.695,414.399,399.429,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31655,616
$CFSIZE,260165632,233607168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$GPS,080208,034107,6147.256,-907.605,35,0.9,35,-9.4