version: 66.02
glider: 102
mission: 4
dive: 55
start: 11 21 107 5 54 55
data:
$ID,102
$MISSION,4
$DIVE,55
$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,120
$USE_BATHY,0
$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,-77291.562
$T_RSLEEP,2
$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,2350
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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,0
$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,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,054910,6142.361,-908.642,41,1.2,41,-9.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-63.8
$GPS2,055403,6142.412,-908.459,33,1.6,33,-9.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.237,-0.013
$KALMAN_X,24384.5,59.7,313.8,-58657.5,2945.9
$KALMAN_Y,134640.5,-469.5,2.6,-116975.0,5229.9
$MHEAD_RNG_PITCHd_Wd,276.3,7473,-14.7,-8.000
$D_GRID,990
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.23,-146.6,0.0,0.0,0,103,0.00,0.00,-82.12,0.000,6,0.000,0.000,31,1888,3477
$GC,105,-1.23,-146.6,5.1,-7.4,4,123,11.80,0.00,0.00,0.000,6,0.143,0.000,2222,1889,3478
$GC,432,-1.23,-146.6,49.9,-10.4,20,437,0.00,2.55,0.00,0.000,4,0.000,0.047,2222,3304,3479
$GC,509,-1.23,-146.6,57.7,-10.0,23,516,0.00,2.55,0.00,0.000,6,0.000,0.043,2222,1903,3479
$GC,825,-1.23,-146.6,89.3,-9.9,39,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1903,3479
$GC,1134,-1.23,-146.6,121.4,-10.6,54,1138,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3305,3479
$GC,1188,-1.23,-146.6,127.3,-11.2,56,1195,0.00,2.55,0.00,0.000,6,0.000,0.043,2222,1902,3479
$GC,1503,-1.23,-146.6,160.4,-10.5,72,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3479
$GC,1812,-1.23,-146.6,192.3,-10.3,87,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1902,3480
$GC,2122,-1.23,-146.6,223.5,-10.0,102,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1902,3480
$GC,2431,-1.23,-146.6,255.5,-10.5,117,2435,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3305,3480
$GC,2497,-1.23,-146.6,262.6,-10.9,120,2501,0.00,2.55,0.00,0.000,6,0.000,0.043,2222,1898,3480
$GC,2824,-1.23,-146.6,296.2,-10.2,136,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3480
$GC,3134,-1.23,-146.6,325.9,-9.6,151,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3479
$GC,3443,-1.23,-146.6,356.1,-9.8,166,3447,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3305,3480
$GC,3508,-1.23,-146.6,362.6,-9.9,169,3512,0.00,2.55,0.00,0.000,6,0.000,0.044,2221,1901,3479
$GC,3834,-1.23,-146.6,395.1,-10.5,185,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3480
$GC,4145,-1.23,-146.6,425.3,-9.6,200,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3479
$GC,4453,-1.23,-146.6,454.0,-9.2,215,4457,0.00,2.55,0.00,0.000,4,0.000,0.049,2222,3311,3480
$GC,4536,-1.23,-146.6,462.0,-9.0,219,4541,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1900,3479
$GC,4862,-1.23,-146.6,490.9,-8.7,235,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3479
$GC,5171,-1.23,-146.6,519.1,-9.0,250,5176,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3309,3479
$GC,5239,-1.23,-146.6,525.1,-9.0,253,5244,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1901,3479
$GC,5559,-1.23,-146.6,553.4,-8.6,269,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3479
$GC,5868,-1.23,-146.6,582.8,-10.2,284,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3479
$GC,6178,-1.23,-146.6,613.2,-7.8,299,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3479
$GC,6487,-1.23,-146.6,635.8,-6.9,314,6492,0.00,2.58,0.00,0.000,4,0.000,0.058,2222,3301,3479
$GC,6593,-1.23,-146.6,640.9,-7.2,319,6598,0.00,2.55,0.00,0.000,6,0.000,0.049,2222,1899,3479
$GC,6919,-1.23,-146.6,666.2,-10.3,335,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3479
$GC,7228,-1.23,-146.6,678.0,-3.2,350,7233,0.00,2.58,0.00,0.000,4,0.000,0.056,2222,3305,3479
$GC,7413,-1.23,-146.6,698.0,-7.5,358,7417,0.00,2.58,0.00,0.000,6,0.000,0.056,2222,1896,3478
$GC,7727,-1.23,-146.6,732.8,-10.0,373,7732,0.00,2.62,0.00,0.000,4,0.000,0.067,2222,3302,3478
$GC,7815,-1.23,-146.6,742.4,-13.2,377,7820,0.00,2.60,0.00,0.000,6,0.000,0.064,2222,1908,3477
$GC,8143,-1.23,-146.6,761.3,-4.6,393,8147,0.00,2.58,0.00,0.000,4,0.000,0.064,2222,3301,3476
$GC,8191,-1.23,-146.6,761.7,-1.0,395,8195,0.00,2.62,0.00,0.000,6,0.000,0.061,2222,1897,3475
$STATE,8325,end dive,NO_VERTICAL_VELOCITY
$STATE,8325,begin apogee
$GC,8330,-0.36,0.0,761.6,0.0,402,8458,0.93,0.00,124.55,1.348,6,0.094,0.000,2413,2351,2878
$STATE,8459,end apogee,CONTROL_FINISHED_OK
$STATE,8459,begin climb
$GC,8460,1.23,146.6,767.2,0.0,408,8588,1.60,0.00,122.62,1.301,6,0.063,0.000,2761,2349,2280
$GC,8891,1.61,460.0,771.9,-3.9,429,9159,0.35,2.88,259.55,1.303,4,0.041,0.089,2853,943,1002
$GC,9338,1.61,460.0,696.6,23.7,450,9342,0.00,2.62,0.00,0.000,6,0.000,0.057,2854,2343,1002
$GC,9665,1.61,460.0,631.1,18.1,466,9669,0.00,2.60,0.00,0.000,4,0.000,0.062,2854,3751,1002
$GC,9819,1.61,460.0,603.5,18.8,473,9824,0.00,2.60,0.00,0.000,6,0.000,0.055,2854,2351,1001
$GC,10146,1.61,460.0,544.3,18.2,489,10151,0.00,2.67,0.00,0.000,4,0.000,0.072,2854,934,1001
$GC,10240,1.61,460.0,526.5,18.5,493,10245,0.00,2.58,0.00,0.000,6,0.000,0.047,2854,2352,1000
$GC,10561,1.61,460.0,472.3,16.3,509,10566,0.00,2.65,0.00,0.000,4,0.000,0.068,2854,939,1002
$GC,10649,1.61,460.0,456.0,18.6,513,10654,0.00,2.53,0.00,0.000,6,0.000,0.044,2853,2342,1002
$GC,10976,1.61,460.0,399.9,17.3,529,10980,0.00,2.62,0.00,0.000,4,0.000,0.066,2854,936,1003
$GC,11075,1.61,460.0,381.6,19.6,533,11082,0.00,2.55,0.00,0.000,6,0.000,0.044,2854,2354,1003
$GC,11390,1.61,460.0,327.1,17.4,549,11395,0.00,2.62,0.00,0.000,4,0.000,0.064,2854,933,1004
$GC,11478,1.61,460.0,310.7,18.8,553,11483,0.00,2.53,0.00,0.000,6,0.000,0.042,2854,2348,1004
$GC,11805,1.61,460.0,256.7,16.6,569,11809,0.00,2.62,0.00,0.000,4,0.000,0.064,2854,937,1004
$GC,11904,1.61,460.0,238.6,17.8,573,11911,0.00,2.53,0.00,0.000,6,0.000,0.042,2854,2351,1005
$GC,12220,1.61,460.0,186.0,17.0,589,12224,0.00,2.62,0.00,0.000,4,0.000,0.064,2854,935,1005
$GC,12313,1.61,460.0,169.1,17.1,593,12318,0.00,2.55,0.00,0.000,6,0.000,0.041,2854,2354,1005
$GC,12635,1.61,460.0,114.3,16.6,609,12639,0.00,2.65,0.00,0.000,4,0.000,0.063,2854,931,1006
$GC,12722,1.61,460.0,98.3,18.4,613,12727,0.00,2.53,0.00,0.000,6,0.000,0.041,2854,2352,1006
$GC,13049,1.61,460.0,42.9,16.8,629,13053,0.00,2.65,0.00,0.000,4,0.000,0.063,2854,932,1006
$GC,13159,1.61,460.0,22.4,18.2,634,13163,0.00,2.53,0.00,0.000,6,0.000,0.041,2854,2350,1006
$STATE,13278,end climb,SURFACE_DEPTH_REACHED
$STATE,13278,begin surface coast
$FINISH,-0.5,1.013703
$STATE,13302,end surface coast,CONTROL_FINISHED_OK
$STATE,13302,begin surface
$SM_CCo,13382,0.00,0.000,0,0,1006,459.45
$SM_GC,0.28,12.10,0.00,0.00,0.029,0.000,0.000,35,1883,1006,-11.26,-0.48,459.45
$IRIDIUM_FIX,6112.75,-905.42,211107,050501
$TT8_MAMPS,0.026845
$HUMID,2078
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.70
$XPDR_PINGS,451
$ALTIM_BOTTOM_PING,676.1,100.2
$24V_AH,23.3,20.249
$10V_AH,10.1,8.338
$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,26.775,104.975,506.725,0.000,0.000,38.756,30.746,123.115,118.500,0.000,0.000,35.292,1197.830,10021.121,597.701,1578.619,285.528,33.356,1395.323,0.000,1525.358,0.000,39.893
$DEVICE_MAMPS,142.662,88.972,1348.386,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.695,431.336,370.347,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31672,641
$CFSIZE,260165632,255369216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,211107,093908,6143.559,-911.760,38,1.3,38,-9.4