version: 66.02
glider: 102
mission: 4
dive: 426
start: 2 9 108 16 26 45
data:
$ID,102
$MISSION,4
$DIVE,426
$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,-86950.602
$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,26
$R_STBD_OVSHOOT,36
$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
$GPS1,161101,6136.818,-918.663,37,1.0,42,-9.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-51.4
$GPS2,162503,6136.784,-918.612,12,1.2,12,-9.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.159,-0.177
$KALMAN_X,600194.0,-97.6,-696.0,-642228.7,-2769.6
$KALMAN_Y,134775.3,222.6,-1107.1,-127150.1,2724.7
$MHEAD_RNG_PITCHd_Wd,147.4,35208,-14.7,-8.000
$D_GRID,810
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.23,-146.6,0.0,0.0,0,105,0.00,0.00,-76.12,0.000,2,0.000,0.000,33,1891,2862
$GC,109,-1.23,-146.6,3.3,-2.2,4,152,11.48,2.55,-20.38,0.000,4,0.133,0.058,2224,3293,3477
$GC,288,-1.23,-146.6,20.4,-11.0,12,292,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1901,3477
$GC,615,-1.23,-146.6,51.3,-9.8,28,619,0.00,2.53,0.00,0.000,4,0.000,0.045,2224,3298,3477
$GC,679,-1.23,-146.6,58.3,-13.7,31,683,0.00,2.50,0.00,0.000,6,0.000,0.038,2224,1895,3478
$GC,1005,-1.23,-146.6,81.1,-9.6,47,1010,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3297,3477
$GC,1107,-1.23,-146.6,91.3,-4.9,51,1113,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1894,3477
$GC,1424,-1.23,-146.6,123.9,-10.9,67,1428,0.00,2.53,0.00,0.000,4,0.000,0.045,2224,3297,3477
$GC,1480,-1.23,-146.6,130.0,-10.4,69,1486,0.00,2.47,0.00,0.000,6,0.000,0.040,2224,1898,3478
$GC,1795,-1.23,-146.6,158.6,-9.1,85,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,2104,-1.23,-146.6,193.3,-11.4,100,2109,0.00,2.53,0.00,0.000,4,0.000,0.045,2224,3304,3478
$GC,2132,-1.23,-146.6,196.7,-12.0,101,2136,0.00,2.50,0.00,0.000,6,0.000,0.039,2224,1900,3478
$GC,2450,-1.23,-146.6,225.7,-8.9,116,2454,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3301,3478
$GC,2477,-1.23,-146.6,228.0,-8.0,117,2482,0.00,2.50,0.00,0.000,6,0.000,0.040,2224,1895,3477
$GC,2793,-1.23,-146.6,251.7,-8.9,132,2797,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3296,3478
$GC,2838,-1.23,-146.6,255.3,-7.0,134,2842,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1895,3477
$GC,3159,-1.23,-146.6,279.2,-8.4,150,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3478
$GC,3469,-1.23,-146.6,298.5,-5.8,165,3473,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3296,3477
$GC,3513,-1.23,-146.6,301.5,-6.8,167,3517,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1896,3477
$GC,3834,-1.23,-146.6,320.9,-6.4,183,3838,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3297,3478
$GC,3858,-1.23,-146.6,322.3,-6.6,184,3862,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1898,3477
$GC,4179,-1.23,-146.6,346.6,-7.9,200,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,4488,-1.23,-146.6,371.2,-8.3,215,4492,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3297,3477
$GC,4515,-1.23,-146.6,373.7,-9.2,216,4520,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1895,3477
$GC,4837,-1.23,-146.6,402.0,-8.6,232,4841,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3296,3477
$GC,4864,-1.23,-146.6,404.7,-9.2,233,4868,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1899,3477
$GC,5180,-1.23,-146.6,439.1,-11.2,248,5184,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3295,3477
$GC,5242,-1.23,-146.6,446.7,-12.2,251,5247,0.00,2.50,0.00,0.000,6,0.000,0.042,2224,1899,3477
$GC,5569,-1.23,-146.6,490.6,-12.8,267,5574,0.00,2.62,0.00,0.000,4,0.000,0.070,2224,491,3477
$GC,5603,-1.23,-146.6,494.8,-12.3,268,5609,0.00,2.47,0.00,0.000,6,0.000,0.039,2224,1909,3477
$GC,5919,-1.23,-146.6,527.9,-9.8,284,5923,0.00,2.50,0.00,0.000,4,0.000,0.050,2224,3291,3477
$GC,5975,-1.23,-146.6,534.6,-12.6,286,5981,0.00,2.50,0.00,0.000,6,0.000,0.044,2224,1898,3477
$GC,6291,-1.23,-146.6,567.8,-10.2,302,6296,0.00,2.53,0.00,0.000,4,0.000,0.049,2225,3293,3477
$GC,6319,-1.23,-146.6,570.8,-10.8,303,6323,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1897,3477
$GC,6637,-1.23,-146.6,601.5,-9.4,318,6641,0.00,2.53,0.00,0.000,4,0.000,0.050,2224,3293,3477
$GC,6681,-1.23,-146.6,605.9,-9.3,320,6685,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1896,3477
$GC,7002,-1.23,-146.6,634.3,-8.8,336,7007,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3299,3477
$GC,7030,-1.23,-146.6,637.0,-9.7,337,7034,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1896,3477
$GC,7346,-1.23,-146.6,667.4,-10.2,352,7350,0.00,2.55,0.00,0.000,4,0.000,0.052,2224,3296,3477
$GC,7395,-1.23,-146.6,672.5,-10.1,354,7399,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1896,3477
$GC,7711,-1.23,-146.6,706.4,-11.5,369,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3477
$GC,8020,-1.23,-146.6,735.7,-9.1,384,8025,0.00,2.53,0.00,0.000,4,0.000,0.051,2224,3293,3477
$GC,8054,-1.23,-146.6,738.7,-8.2,385,8060,0.00,2.50,0.00,0.000,6,0.000,0.046,2224,1900,3477
$GC,8370,-1.23,-146.6,768.0,-9.3,401,8374,0.00,2.62,0.00,0.000,4,0.000,0.071,2224,496,3477
$GC,8437,-1.23,-146.6,773.9,-8.9,404,8441,0.00,2.45,0.00,0.000,6,0.000,0.042,2224,1894,3477
$GC,8758,-1.23,-146.6,797.5,-7.1,420,8762,0.00,2.55,0.00,0.000,4,0.000,0.054,2224,3298,3476
$GC,8917,-1.23,-146.6,809.9,-9.3,427,8921,0.00,2.50,0.00,0.000,3,0.000,0.049,2224,1908,3477
$STATE,8922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8922,begin apogee
$GC,8929,-0.36,0.0,810.7,9.9,427,9061,0.88,0.00,127.82,1.299,6,0.084,0.000,2412,2099,2878
$STATE,9062,end apogee,CONTROL_FINISHED_OK
$STATE,9062,begin climb
$GC,9065,1.23,146.6,818.5,0.0,434,9201,1.58,2.75,126.07,1.270,4,0.051,0.067,2764,700,2280
$GC,9210,1.33,227.1,823.1,4.9,441,9285,0.00,2.53,69.18,1.252,6,0.000,0.043,2764,2095,1952
$GC,9601,1.33,227.1,759.3,16.9,460,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2100,1950
$GC,9911,1.33,227.1,716.2,12.1,475,9912,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2100,1950
$GC,10220,1.33,227.1,681.9,8.5,490,10221,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2100,1949
$GC,10529,1.33,227.1,656.9,9.6,505,10534,0.00,2.58,0.00,0.000,4,0.000,0.053,2764,3508,1950
$GC,10570,1.33,227.1,653.0,10.2,507,10574,0.00,2.53,0.00,0.000,6,0.000,0.044,2764,2104,1949
$GC,10896,1.34,238.2,631.1,7.6,523,10912,0.10,2.60,10.15,1.203,4,0.058,0.048,2796,3502,1905
$GC,11021,1.34,238.2,617.9,11.5,527,11027,0.00,2.55,0.00,0.000,6,0.000,0.043,2796,2094,1905
$GC,11337,1.34,238.2,588.6,8.3,543,11341,0.00,2.58,0.00,0.000,4,0.000,0.050,2796,3502,1904
$GC,11443,1.34,238.2,578.3,10.2,548,11448,0.00,2.55,0.00,0.000,6,0.000,0.043,2796,2092,1905
$GC,11770,1.34,238.2,543.0,11.3,564,11775,0.00,2.58,0.00,0.000,4,0.000,0.050,2796,3508,1905
$GC,11855,1.34,238.2,533.3,11.8,568,11860,0.00,2.53,0.00,0.000,6,0.000,0.041,2797,2098,1905
$GC,12182,1.34,238.2,497.9,11.7,584,12186,0.00,2.58,0.00,0.000,4,0.000,0.049,2796,3507,1904
$GC,12277,1.34,238.2,486.6,11.3,588,12281,0.00,2.53,0.00,0.000,6,0.000,0.041,2796,2099,1905
$GC,12592,1.34,238.2,454.8,9.2,603,12597,0.00,2.58,0.00,0.000,4,0.000,0.049,2796,3510,1904
$GC,12648,1.34,238.2,449.2,9.7,605,12655,0.00,2.53,0.00,0.000,6,0.000,0.041,2797,2099,1905
$GC,12965,1.34,238.2,417.0,10.2,621,12969,0.00,2.55,0.00,0.000,4,0.000,0.048,2796,3502,1905
$GC,13026,1.34,238.2,410.8,8.4,624,13031,0.00,2.53,0.00,0.000,6,0.000,0.040,2796,2094,1904
$GC,13354,1.34,238.2,378.2,11.2,640,13358,0.00,2.55,0.00,0.000,4,0.000,0.048,2796,3505,1905
$GC,13483,1.34,238.2,360.6,12.2,646,13488,0.00,2.50,0.00,0.000,6,0.000,0.039,2796,2094,1905
$GC,13810,1.34,238.2,326.8,9.6,662,13814,0.00,2.55,0.00,0.000,4,0.000,0.048,2797,3503,1905
$GC,13837,1.34,238.2,324.2,8.9,663,13842,0.00,2.50,0.00,0.000,6,0.000,0.040,2797,2100,1905
$GC,14153,1.34,238.2,296.6,10.1,678,14157,0.00,2.55,0.00,0.000,4,0.000,0.049,2796,3508,1905
$GC,14225,1.34,238.2,289.3,10.0,681,14229,0.00,2.50,0.00,0.000,6,0.000,0.038,2796,2098,1905
$GC,14542,1.35,243.3,260.6,7.8,696,14552,0.00,2.58,5.00,0.977,4,0.000,0.048,2797,3504,1885
$GC,14591,1.35,243.3,256.5,8.1,698,14595,0.00,2.50,0.00,0.000,6,0.000,0.038,2796,2098,1885
$GC,14907,1.35,243.3,231.2,8.9,713,14911,0.00,2.55,0.00,0.000,4,0.000,0.049,2796,3503,1885
$GC,14970,1.35,243.3,224.6,9.8,716,14974,0.00,2.50,0.00,0.000,6,0.000,0.037,2796,2095,1886
$GC,15296,1.35,243.3,189.4,11.0,732,15300,0.00,2.55,0.00,0.000,4,0.000,0.050,2796,3505,1885
$GC,15328,1.35,243.3,185.3,11.8,733,15334,0.00,2.50,0.00,0.000,6,0.000,0.037,2797,2093,1886
$GC,15644,1.35,243.3,150.2,10.2,749,15649,0.00,2.55,0.00,0.000,4,0.000,0.048,2796,3504,1886
$GC,15711,1.35,243.3,142.7,10.2,752,15716,0.00,2.47,0.00,0.000,6,0.000,0.037,2797,2100,1886
$GC,16033,1.35,243.3,109.0,12.5,768,16038,0.00,2.55,0.00,0.000,4,0.000,0.048,2797,3507,1886
$GC,16129,1.35,243.3,95.7,10.7,772,16133,0.00,2.50,0.00,0.000,6,0.000,0.037,2796,2090,1886
$GC,16445,1.47,339.9,78.2,4.3,787,16528,0.00,2.62,75.93,0.825,4,0.000,0.046,2797,3503,1491
$GC,16646,1.48,350.3,63.0,7.6,796,16663,0.00,2.50,9.30,0.845,6,0.000,0.037,2797,2101,1448
$GC,16974,1.48,350.3,29.8,14.3,812,16978,0.00,2.60,0.00,0.000,4,0.000,0.063,2797,698,1448
$GC,17014,1.48,350.3,23.6,13.5,814,17019,0.00,2.47,0.00,0.000,6,0.000,0.037,2797,2114,1448
$STATE,17256,end climb,SURFACE_DEPTH_REACHED
$STATE,17256,begin surface coast
$FINISH,1.5,1.027334
$STATE,17277,end surface coast,CONTROL_FINISHED_OK
$STATE,17277,begin surface
$SM_CCo,17361,0.00,0.000,0,0,1446,350.78
$SM_GC,2.49,11.95,0.00,0.00,0.031,0.000,0.000,35,1883,1446,-11.26,-0.42,350.78
$IRIDIUM_FIX,6112.75,-846.83,050597,161656
$TT8_MAMPS,0.026845
$HUMID,2066
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.60
$XPDR_PINGS,3
$ALTIM_TOP_PING,18.9,999.0
$24V_AH,23.0,82.892
$10V_AH,10.1,39.924
$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,25.975,198.075,423.450,0.000,0.000,113.084,112.099,347.031,7.750,0.000,0.000,13.417,1583.878,13135.984,561.811,2000.026,967.729,33.374,1614.295,0.000,1953.336,0.000,46.240
$DEVICE_MAMPS,133.458,71.331,1299.298,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,610.457,557.508,498.831,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41020,827
$CFSIZE,260165632,233041920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,090208,211738,6134.501,-915.747,56,1.0,56,-9.4