version: 66.02
glider: 102
mission: 4
dive: 417
start: 2 8 108 3 48 39
data:
$ID,102
$MISSION,4
$DIVE,417
$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,-86770.891
$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,29
$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
$GPS1,034107,6147.256,-907.605,35,0.9,35,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-64.3
$GPS2,034657,6147.294,-907.574,12,1.1,12,-9.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.008,-0.238
$KALMAN_X,603253.7,-93.0,-931.4,-635311.6,4394.3
$KALMAN_Y,129963.6,-2427.4,-1961.7,-99309.3,12836.3
$MHEAD_RNG_PITCHd_Wd,187.4,50994,-14.7,-8.000
$D_GRID,670
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-60.33,0.000,2,0.000,0.000,31,1880,2853
$GC,90,-1.23,-146.6,3.3,-3.4,3,132,11.60,2.65,-20.40,0.000,4,0.137,0.059,2223,3307,3477
$GC,263,-1.23,-146.6,21.5,-10.3,10,269,0.00,2.50,0.00,0.000,6,0.000,0.040,2223,1909,3477
$GC,579,-1.23,-146.6,52.7,-9.6,26,583,0.00,2.53,0.00,0.000,4,0.000,0.045,2223,3309,3477
$GC,623,-1.23,-146.6,57.1,-9.6,28,627,0.00,2.53,0.00,0.000,6,0.000,0.040,2223,1894,3477
$GC,944,-1.23,-146.6,90.4,-9.1,44,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1893,3477
$GC,1254,-1.23,-146.6,118.6,-9.8,59,1259,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3306,3477
$GC,1304,-1.23,-146.6,123.1,-8.4,61,1309,0.00,2.50,0.00,0.000,6,0.000,0.038,2223,1898,3477
$GC,1621,-1.23,-146.6,153.4,-8.3,76,1625,0.00,2.53,0.00,0.000,4,0.000,0.045,2224,3303,3477
$GC,1649,-1.23,-146.6,156.1,-9.8,77,1653,0.00,2.50,0.00,0.000,6,0.000,0.040,2223,1896,3477
$GC,1970,-1.23,-146.6,186.4,-10.2,93,1974,0.00,2.55,0.00,0.000,4,0.000,0.046,2224,3311,3477
$GC,2014,-1.23,-146.6,190.8,-9.9,95,2018,0.00,2.53,0.00,0.000,6,0.000,0.040,2223,1893,3477
$GC,2335,-1.23,-146.6,223.2,-10.0,111,2339,0.00,2.55,0.00,0.000,4,0.000,0.047,2223,3304,3477
$GC,2378,-1.23,-146.6,228.5,-11.3,113,2383,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1894,3477
$GC,2700,-1.23,-146.6,266.4,-12.3,129,2704,0.00,2.55,0.00,0.000,4,0.000,0.047,2223,3305,3477
$GC,2727,-1.23,-146.6,270.0,-12.8,130,2732,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1901,3477
$GC,3043,-1.23,-146.6,305.8,-11.1,145,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3477
$GC,3353,-1.23,-146.6,336.6,-10.0,160,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3477
$GC,3661,-1.23,-146.6,367.1,-10.3,175,3666,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3303,3477
$GC,3724,-1.23,-146.6,373.5,-10.2,178,3728,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1894,3477
$GC,4051,-1.23,-146.6,405.9,-9.9,194,4055,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3304,3477
$GC,4083,-1.23,-146.6,409.6,-10.6,195,4090,0.00,2.53,0.00,0.000,6,0.000,0.042,2223,1895,3477
$GC,4400,-1.23,-146.6,440.9,-9.9,211,4404,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3305,3477
$GC,4444,-1.23,-146.6,445.4,-9.9,213,4448,0.00,2.53,0.00,0.000,6,0.000,0.042,2223,1894,3477
$GC,4767,-1.23,-146.6,475.9,-9.7,229,4771,0.00,2.55,0.00,0.000,4,0.000,0.049,2223,3302,3477
$GC,4839,-1.23,-146.6,483.1,-10.7,232,4843,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1896,3477
$GC,5155,-1.23,-146.6,516.6,-11.3,247,5159,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3303,3477
$GC,5187,-1.23,-146.6,521.2,-14.1,248,5194,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1906,3477
$GC,5503,-1.23,-146.6,560.4,-11.9,264,5507,0.00,2.62,0.00,0.000,4,0.000,0.072,2223,496,3477
$GC,5626,-1.23,-146.6,577.2,-14.3,269,5632,0.00,2.47,0.00,0.000,6,0.000,0.041,2223,1903,3477
$GC,5941,-1.23,-146.6,610.2,-8.0,285,5946,0.00,2.55,0.00,0.000,4,0.000,0.057,2223,3299,3477
$GC,6139,-1.23,-146.6,623.7,-7.4,294,6143,0.00,2.55,0.00,0.000,6,0.000,0.050,2223,1898,3477
$GC,6466,-1.23,-146.6,651.2,-9.8,310,6470,0.00,2.60,0.00,0.000,4,0.000,0.058,2223,3306,3477
$GC,6522,-1.23,-146.6,656.1,-6.1,312,6528,0.00,2.58,0.00,0.000,6,0.000,0.053,2223,1899,3477
$STATE,6628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6628,begin apogee
$GC,6635,-0.36,0.0,670.7,13.9,318,6764,0.90,0.00,124.78,1.266,6,0.080,0.000,2414,2100,2878
$STATE,6764,end apogee,CONTROL_FINISHED_OK
$STATE,6764,begin climb
$GC,6767,1.23,146.6,676.6,0.0,324,6895,1.58,0.00,123.53,1.228,6,0.054,0.000,2762,2100,2280
$GC,7199,1.23,146.6,656.6,8.8,345,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2100,2278
$GC,7508,1.23,146.6,634.7,9.9,360,7512,0.00,2.62,0.00,0.000,4,0.000,0.064,2762,3500,2277
$GC,7665,1.23,146.6,611.6,15.1,367,7669,0.00,2.58,0.00,0.000,6,0.000,0.051,2762,2100,2276
$GC,7986,1.30,205.5,581.3,5.8,383,8040,0.00,2.70,49.22,1.253,4,0.000,0.064,2762,3506,2040
$GC,8058,1.45,325.2,578.0,3.4,386,8164,0.22,2.62,99.45,1.213,6,0.048,0.053,2817,2102,1552
$GC,8475,1.45,325.2,541.2,10.6,406,8479,0.00,2.60,0.00,0.000,4,0.000,0.057,2817,3505,1551
$GC,8508,1.45,325.2,537.4,11.5,407,8514,0.00,2.58,0.00,0.000,6,0.000,0.049,2817,2093,1551
$GC,8823,1.45,325.2,502.0,11.7,423,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2092,1550
$GC,9132,1.45,325.2,463.7,12.7,438,9137,0.00,2.58,0.00,0.000,4,0.000,0.051,2817,3505,1550
$GC,9188,1.45,325.2,456.6,12.6,440,9195,0.00,2.55,0.00,0.000,6,0.000,0.044,2817,2097,1549
$GC,9505,1.45,325.2,418.6,12.1,456,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2097,1550
$GC,9813,1.45,325.2,377.7,13.4,471,9818,0.00,2.58,0.00,0.000,4,0.000,0.050,2817,3506,1550
$GC,9835,1.45,325.2,374.7,12.8,472,9840,0.00,2.55,0.00,0.000,6,0.000,0.042,2817,2095,1550
$GC,10157,1.45,325.2,333.5,12.9,488,10158,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2095,1551
$GC,10466,1.45,325.2,292.6,13.0,503,10470,0.00,2.55,0.00,0.000,4,0.000,0.048,2817,3506,1551
$GC,10493,1.45,325.2,288.7,13.3,504,10497,0.00,2.50,0.00,0.000,6,0.000,0.040,2817,2096,1552
$GC,10809,1.45,325.2,247.6,13.0,519,10810,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2096,1552
$GC,11118,1.45,325.2,208.2,12.6,534,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2096,1552
$GC,11427,1.45,325.2,165.7,14.1,549,11428,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2096,1552
$GC,11737,1.45,325.2,125.5,12.6,564,11739,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2096,1553
$GC,12046,1.45,325.2,86.4,13.1,579,12050,0.00,2.55,0.00,0.000,4,0.000,0.047,2817,3504,1553
$GC,12073,1.45,325.2,83.1,11.6,580,12077,0.00,2.50,0.00,0.000,6,0.000,0.037,2817,2097,1553
$GC,12389,1.45,325.2,54.4,8.9,595,12390,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2097,1554
$GC,12698,1.45,325.2,21.4,11.8,610,12702,0.00,2.55,0.00,0.000,4,0.000,0.047,2817,3504,1554
$GC,12725,1.45,325.2,17.6,12.3,611,12729,0.00,2.50,0.00,0.000,6,0.000,0.038,2817,2098,1554
$STATE,12854,end climb,SURFACE_DEPTH_REACHED
$STATE,12854,begin surface coast
$FINISH,1.0,1.027406
$STATE,12874,end surface coast,CONTROL_FINISHED_OK
$STATE,12875,begin surface
$SM_CCo,12958,0.00,0.000,0,0,1553,324.78
$SM_GC,1.73,12.02,0.00,0.00,0.031,0.000,0.000,34,1887,1553,-11.26,-0.40,324.78
$IRIDIUM_FIX,6126.23,-903.80,040597,000040
$TT8_MAMPS,0.026845
$HUMID,2082
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.0,81.224
$10V_AH,10.1,39.261
$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,26.325,117.925,396.975,0.000,0.000,39.613,42.630,151.194,5.750,0.000,0.000,13.826,1164.774,9779.062,497.007,1396.948,522.327,33.365,1233.740,0.000,1372.040,0.000,36.540
$DEVICE_MAMPS,137.293,72.098,1266.317,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.860,415.541,401.131,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31788,618
$CFSIZE,260165632,233566208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,080208,072537,6147.948,-904.828,25,1.9,25,-9.4