version: 66.02
glider: 102
mission: 4
dive: 442
start: 2 11 108 16 16 9
data:
$ID,102
$MISSION,4
$DIVE,442
$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,-87255.07
$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,38
$R_STBD_OVSHOOT,27
$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
$GPS1,160507,6128.202,-816.269,36,1.3,36,-8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-54.4
$GPS2,161426,6128.235,-816.159,19,1.2,31,-8.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FP_US
$TGT_LATLONG,6130.000,-810.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,0.183,0.151
$KALMAN_X,648101.6,-776.0,152.7,-635213.9,-233.6
$KALMAN_Y,108789.9,2139.8,249.6,-120295.2,-740.4
$MHEAD_RNG_PITCHd_Wd,59.2,6349,-14.7,-8.000
$D_GRID,600
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,86,0.00,0.00,-60.62,0.000,2,0.000,0.000,28,1866,2833
$GC,90,-1.23,-146.6,3.2,-3.8,3,126,11.68,2.60,-18.62,0.000,4,0.140,0.058,2224,3302,3476
$GC,132,-1.23,-146.6,10.2,-15.4,4,136,0.00,2.47,0.00,0.000,6,0.000,0.038,2224,1913,3477
$GC,453,-1.23,-146.6,40.4,-7.8,20,458,0.00,2.65,0.00,0.000,4,0.000,0.067,2224,497,3477
$GC,711,-1.23,-146.6,66.7,-12.9,31,717,0.00,2.47,0.00,0.000,6,0.000,0.037,2224,1920,3476
$GC,1027,-1.23,-146.6,101.3,-9.5,47,1031,0.00,2.65,0.00,0.000,4,0.000,0.062,2224,496,3476
$GC,1189,-1.23,-146.6,116.7,-9.9,54,1193,0.00,2.42,0.00,0.000,6,0.000,0.037,2224,1898,3476
$GC,1505,-1.23,-146.6,145.1,-8.8,69,1509,0.00,2.50,0.00,0.000,4,0.000,0.045,2224,3292,3476
$GC,1532,-1.23,-146.6,147.9,-9.5,70,1536,0.00,2.47,0.00,0.000,6,0.000,0.040,2224,1901,3476
$GC,1848,-1.23,-146.6,178.1,-9.6,85,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3476
$GC,2157,-1.23,-146.6,209.6,-10.3,100,2161,0.00,2.50,0.00,0.000,4,0.000,0.045,2224,3295,3476
$GC,2224,-1.23,-146.6,216.8,-10.5,103,2228,0.00,2.47,0.00,0.000,6,0.000,0.039,2224,1901,3476
$GC,2546,-1.23,-146.6,251.7,-11.0,119,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3476
$GC,2854,-1.23,-146.6,284.2,-10.1,134,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3476
$GC,3164,-1.23,-146.6,314.5,-9.5,149,3168,0.00,2.50,0.00,0.000,4,0.000,0.045,2224,3294,3476
$GC,3198,-1.23,-146.6,317.7,-9.0,150,3204,0.00,2.47,0.00,0.000,6,0.000,0.041,2224,1901,3476
$GC,3514,-1.23,-146.6,345.0,-8.6,166,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1901,3476
$GC,3824,-1.23,-146.6,377.8,-10.3,181,3828,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3300,3476
$GC,3856,-1.23,-146.6,381.6,-10.8,182,3862,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1897,3476
$GC,4172,-1.23,-146.6,414.5,-9.7,198,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3476
$GC,4482,-1.23,-146.6,446.8,-11.1,213,4486,0.00,2.60,0.00,0.000,4,0.000,0.069,2224,498,3476
$GC,4599,-1.23,-146.6,460.4,-8.2,218,4603,0.00,2.45,0.00,0.000,6,0.000,0.038,2224,1902,3476
$GC,4914,-1.23,-146.6,492.7,-10.5,233,4919,0.00,2.65,0.00,0.000,4,0.000,0.071,2224,493,3476
$GC,4948,-1.23,-146.6,496.6,-11.2,234,4954,0.00,2.47,0.00,0.000,6,0.000,0.040,2224,1909,3476
$GC,5264,-1.23,-146.6,530.5,-11.3,250,5268,0.00,2.65,0.00,0.000,4,0.000,0.071,2224,496,3476
$GC,5398,-1.23,-146.6,545.3,-9.7,256,5402,0.00,2.45,0.00,0.000,6,0.000,0.041,2224,1894,3476
$GC,5719,-1.23,-146.6,569.1,-7.8,272,5723,0.00,2.60,0.00,0.000,4,0.000,0.064,2224,3298,3477
$GC,5831,-1.23,-146.6,577.1,-5.7,277,5835,0.00,2.53,0.00,0.000,6,0.000,0.053,2224,1905,3477
$GC,6152,-1.23,-146.6,599.3,-9.5,293,6156,0.00,2.58,0.00,0.000,4,0.000,0.062,2224,3300,3477
$STATE,6162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6162,begin apogee
$GC,6171,-0.36,0.0,600.7,10.2,293,6298,0.88,0.00,124.38,1.223,6,0.084,0.000,2411,2098,2878
$STATE,6299,end apogee,CONTROL_FINISHED_OK
$STATE,6299,begin climb
$GC,6302,1.23,146.6,608.2,0.0,300,6434,1.55,2.70,123.15,1.167,4,0.043,0.065,2765,3493,2280
$GC,6691,1.23,146.6,576.7,8.0,317,6697,0.00,2.55,0.00,0.000,6,0.000,0.049,2766,2099,2278
$GC,7007,1.38,272.8,564.9,3.2,333,7120,0.15,2.67,105.35,1.168,4,0.053,0.062,2811,3493,1765
$GC,7345,1.38,272.8,535.1,9.0,348,7351,0.00,2.58,0.00,0.000,6,0.000,0.051,2811,2097,1764
$GC,7660,1.38,272.8,507.3,9.6,364,7665,0.00,2.67,0.00,0.000,4,0.000,0.079,2811,693,1763
$GC,7710,1.38,272.8,501.6,11.0,366,7715,0.00,2.50,0.00,0.000,6,0.000,0.047,2811,2093,1763
$GC,8027,1.38,272.8,469.0,10.9,381,8031,0.00,2.58,0.00,0.000,4,0.000,0.054,2811,3502,1761
$GC,8134,1.38,272.8,456.3,11.9,386,8139,0.00,2.55,0.00,0.000,6,0.000,0.046,2811,2092,1761
$GC,8461,1.38,272.8,420.9,10.5,402,8466,0.00,2.62,0.00,0.000,4,0.000,0.071,2811,693,1760
$GC,8511,1.38,272.8,415.0,12.1,404,8515,0.00,2.50,0.00,0.000,6,0.000,0.041,2811,2107,1761
$GC,8827,1.38,272.8,378.4,11.3,419,8831,0.00,2.53,0.00,0.000,4,0.000,0.051,2811,3499,1761
$GC,8894,1.38,272.8,370.4,12.1,422,8898,0.00,2.53,0.00,0.000,6,0.000,0.041,2811,2092,1761
$GC,9214,1.38,272.8,328.6,11.8,438,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2092,1761
$GC,9524,1.38,272.8,295.8,9.9,453,9528,0.00,2.55,0.00,0.000,4,0.000,0.048,2811,3500,1762
$GC,9613,1.38,272.8,286.2,10.7,457,9617,0.00,2.50,0.00,0.000,6,0.000,0.039,2811,2091,1762
$GC,9934,1.38,272.8,245.3,12.1,473,9938,0.00,2.55,0.00,0.000,4,0.000,0.048,2811,3496,1763
$GC,10000,1.38,272.8,236.5,12.4,476,10004,0.00,2.47,0.00,0.000,6,0.000,0.038,2811,2098,1763
$GC,10321,1.38,272.8,197.7,12.1,492,10325,0.00,2.55,0.00,0.000,4,0.000,0.048,2811,3503,1764
$GC,10387,1.38,272.8,189.2,12.2,495,10392,0.00,2.50,0.00,0.000,6,0.000,0.038,2811,2096,1763
$GC,10709,1.38,272.8,152.2,11.5,511,10713,0.00,2.55,0.00,0.000,4,0.000,0.048,2811,3498,1764
$GC,10798,1.38,272.8,140.5,12.7,515,10803,0.00,2.50,0.00,0.000,6,0.000,0.038,2811,2092,1764
$GC,11120,1.38,272.8,104.7,10.4,531,11121,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2092,1764
$GC,11429,1.38,272.8,68.1,12.9,546,11433,0.00,2.55,0.00,0.000,4,0.000,0.047,2811,3499,1765
$GC,11563,1.38,272.8,51.0,10.4,552,11568,0.00,2.50,0.00,0.000,6,0.000,0.038,2811,2088,1765
$GC,11886,1.38,272.8,19.2,9.0,568,11890,0.00,2.55,0.00,0.000,4,0.000,0.048,2811,3497,1765
$GC,12009,1.43,308.8,9.7,6.6,573,12044,0.00,2.47,28.98,0.819,6,0.000,0.036,2811,2093,1618
$STATE,12096,end climb,SURFACE_DEPTH_REACHED
$STATE,12096,begin surface coast
$FINISH,1.0,1.015239
$STATE,12118,end surface coast,CONTROL_FINISHED_OK
$STATE,12118,begin surface
$SM_CCo,12202,0.00,0.000,0,0,1618,309.08
$SM_GC,1.69,12.15,0.00,0.00,0.034,0.000,0.000,36,1881,1618,-11.25,-0.54,309.08
$IRIDIUM_FIX,6103.81,-803.35,070597,161657
$TT8_MAMPS,0.026845
$HUMID,2068
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.2,999.0
$24V_AH,22.9,84.989
$10V_AH,10.1,40.802
$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,26.400,121.975,381.850,0.000,0.000,75.455,79.721,197.069,5.500,0.000,0.000,35.041,1133.239,9004.272,467.923,1563.224,643.852,33.372,1261.269,0.000,1507.391,0.000,33.305
$DEVICE_MAMPS,140.361,79.001,1222.598,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.834,389.170,385.747,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28661,579
$CFSIZE,260165632,232464384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,110208,194037,6130.138,-815.368,30,1.0,30,-8.8