version: 66.02
glider: 102
mission: 4
dive: 56
start: 11 21 107 9 47 39
data:
$ID,102
$MISSION,4
$DIVE,56
$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,-77306.648
$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,29
$R_STBD_OVSHOOT,30
$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
$GPS1,093908,6143.559,-911.760,38,1.3,38,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-61.8
$GPS2,094645,6143.570,-911.496,13,1.6,13,-9.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.017,-0.237
$KALMAN_X,28033.1,186.5,-229.4,-64555.2,6666.2
$KALMAN_Y,136480.0,546.2,-640.0,-117054.6,6217.0
$MHEAD_RNG_PITCHd_Wd,185.4,44831,-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,-146.6,0.0,0.0,0,142,0.00,0.00,-116.82,0.000,6,0.000,0.000,35,1882,3476
$GC,144,-1.23,-146.6,7.0,-7.5,6,166,11.60,2.60,0.00,0.000,4,0.143,0.045,2220,3303,3478
$GC,417,-1.23,-146.6,47.5,-10.2,18,422,0.00,2.55,0.00,0.000,6,0.000,0.044,2220,1907,3478
$GC,744,-1.23,-146.6,80.9,-9.6,34,748,0.00,2.53,0.00,0.000,4,0.000,0.048,2220,3305,3478
$GC,899,-1.23,-146.6,96.4,-10.2,41,904,0.00,2.55,0.00,0.000,6,0.000,0.044,2220,1905,3478
$GC,1227,-1.23,-146.6,130.2,-10.4,57,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1905,3478
$GC,1535,-1.23,-146.6,162.1,-10.9,72,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1905,3478
$GC,1845,-1.23,-146.6,195.7,-10.7,87,1849,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3304,3478
$GC,1883,-1.23,-146.6,199.9,-10.8,89,1888,0.00,2.53,0.00,0.000,6,0.000,0.044,2220,1900,3478
$GC,2214,-1.23,-146.6,234.0,-10.3,105,2218,0.00,2.53,0.00,0.000,4,0.000,0.048,2220,3302,3478
$GC,2242,-1.23,-146.6,236.9,-10.8,106,2246,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1900,3478
$GC,2557,-1.23,-146.6,269.2,-10.2,121,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1900,3478
$GC,2866,-1.23,-146.6,298.6,-9.4,136,2870,0.00,2.53,0.00,0.000,4,0.000,0.048,2220,3305,3478
$GC,2921,-1.23,-146.6,303.8,-9.6,138,2927,0.00,2.53,0.00,0.000,6,0.000,0.044,2220,1901,3478
$GC,3235,-1.23,-146.6,330.7,-8.5,154,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1901,3478
$GC,3544,-1.23,-146.6,358.1,-9.4,169,3548,0.00,2.53,0.00,0.000,4,0.000,0.049,2220,3301,3478
$GC,3587,-1.23,-146.6,362.4,-9.7,171,3592,0.00,2.55,0.00,0.000,6,0.000,0.044,2220,1900,3478
$GC,3914,-1.23,-146.6,394.3,-9.7,187,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3478
$GC,4224,-1.23,-146.6,425.7,-10.2,202,4228,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3300,3478
$GC,4255,-1.23,-146.6,428.9,-10.0,203,4262,0.00,2.55,0.00,0.000,6,0.000,0.045,2220,1901,3478
$GC,4571,-1.23,-146.6,457.3,-8.4,219,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1900,3478
$GC,4880,-1.23,-146.6,483.3,-8.3,234,4884,0.00,2.53,0.00,0.000,4,0.000,0.051,2220,3300,3478
$GC,4924,-1.23,-146.6,486.8,-7.9,236,4928,0.00,2.55,0.00,0.000,6,0.000,0.046,2220,1902,3479
$GC,5250,-1.23,-146.6,513.4,-8.3,252,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1902,3478
$GC,5559,-1.23,-146.6,538.9,-8.7,267,5563,0.00,2.55,0.00,0.000,4,0.000,0.053,2221,3301,3478
$GC,5608,-1.23,-146.6,543.3,-8.8,269,5613,0.00,2.58,0.00,0.000,6,0.000,0.048,2221,1898,3478
$GC,5929,-1.23,-146.6,572.9,-9.7,285,5934,0.00,2.55,0.00,0.000,4,0.000,0.054,2220,3299,3478
$GC,5984,-1.23,-146.6,578.6,-10.8,287,5991,0.00,2.55,0.00,0.000,6,0.000,0.048,2220,1903,3478
$GC,6299,-1.23,-146.6,610.9,-10.0,303,6303,0.00,2.55,0.00,0.000,4,0.000,0.056,2220,3301,3478
$GC,6321,-1.23,-146.6,613.3,-11.1,304,6325,0.00,2.55,0.00,0.000,6,0.000,0.049,2220,1894,3478
$GC,6646,-1.23,-146.6,645.4,-9.8,320,6651,0.00,2.58,0.00,0.000,4,0.000,0.060,2220,3300,3478
$GC,6904,-1.23,-146.6,658.7,-2.6,331,6911,0.00,2.58,0.00,0.000,6,0.000,0.052,2221,1904,3478
$GC,7219,-1.23,-146.6,685.3,-7.4,347,7223,0.00,2.58,0.00,0.000,4,0.000,0.061,2220,3297,3478
$GC,7475,-1.23,-146.6,711.8,-9.2,358,7482,0.00,2.58,0.00,0.000,6,0.000,0.058,2220,1902,3478
$GC,7790,-1.23,-146.6,748.2,-10.6,374,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1903,3478
$STATE,8016,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8016,begin apogee
$GC,8021,-0.36,0.0,759.8,6.7,385,8149,0.95,0.00,124.20,1.331,6,0.096,0.000,2416,2349,2878
$STATE,8149,end apogee,CONTROL_FINISHED_OK
$STATE,8150,begin climb
$GC,8151,1.23,146.6,760.7,0.0,391,8282,1.58,2.80,122.00,1.294,4,0.051,0.078,2766,939,2280
$GC,8534,1.64,478.9,754.9,-4.7,409,8816,0.38,2.62,272.30,1.292,6,0.037,0.060,2862,2356,925
$GC,9124,1.64,478.9,654.5,18.7,438,9129,0.00,2.75,0.00,0.000,4,0.000,0.083,2862,939,925
$GC,9149,1.64,478.9,650.3,14.5,439,9155,0.00,2.60,0.00,0.000,6,0.000,0.056,2862,2342,925
$GC,9471,1.64,478.9,597.1,16.7,455,9475,0.00,2.67,0.00,0.000,4,0.000,0.076,2863,940,923
$GC,9531,1.64,478.9,585.6,19.2,458,9536,0.00,2.55,0.00,0.000,6,0.000,0.049,2862,2352,923
$GC,9857,1.64,478.9,527.7,17.5,474,9861,0.00,2.67,0.00,0.000,4,0.000,0.072,2863,933,923
$GC,9979,1.64,478.9,504.7,18.5,479,9986,0.00,2.55,0.00,0.000,6,0.000,0.046,2862,2343,924
$GC,10294,1.64,478.9,446.2,18.7,495,10298,0.00,2.62,0.00,0.000,4,0.000,0.068,2862,933,924
$GC,10394,1.64,478.9,426.1,20.0,499,10399,0.00,2.55,0.00,0.000,6,0.000,0.044,2862,2351,924
$GC,10715,1.64,478.9,367.3,18.3,515,10719,0.00,2.65,0.00,0.000,4,0.000,0.067,2862,937,925
$GC,10820,1.64,478.9,346.4,20.1,520,10824,0.00,2.50,0.00,0.000,6,0.000,0.043,2862,2352,925
$GC,11146,1.64,478.9,282.8,19.4,536,11151,0.00,2.65,0.00,0.000,4,0.000,0.065,2862,940,926
$GC,11253,1.64,478.9,260.7,20.8,541,11257,0.00,2.50,0.00,0.000,6,0.000,0.042,2862,2352,927
$GC,11577,1.64,478.9,198.7,18.3,557,11582,0.00,2.62,0.00,0.000,4,0.000,0.064,2862,940,927
$GC,11676,1.64,478.9,178.6,19.8,561,11683,0.00,2.50,0.00,0.000,6,0.000,0.041,2862,2342,927
$GC,11992,1.64,478.9,122.0,18.0,577,11996,0.00,2.62,0.00,0.000,4,0.000,0.063,2862,935,928
$GC,12076,1.64,478.9,106.2,19.8,581,12080,0.00,2.50,0.00,0.000,6,0.000,0.041,2863,2354,927
$GC,12401,1.64,478.9,46.3,17.7,597,12405,0.00,2.65,0.00,0.000,4,0.000,0.063,2862,932,928
$GC,12506,1.64,478.9,26.5,19.2,602,12511,0.00,2.50,0.00,0.000,6,0.000,0.041,2863,2353,928
$STATE,12666,end climb,SURFACE_DEPTH_REACHED
$STATE,12666,begin surface coast
$FINISH,-0.4,1.025665
$STATE,12688,end surface coast,CONTROL_FINISHED_OK
$STATE,12688,begin surface
$SM_CCo,12768,0.00,0.000,0,0,927,478.58
$SM_GC,0.28,12.20,0.00,0.00,0.033,0.000,0.000,37,1887,927,-11.25,-0.40,478.58
$IRIDIUM_FIX,6117.23,-906.85,211107,131338
$TT8_MAMPS,0.026845
$HUMID,2095
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,15.60
$XPDR_PINGS,389
$ALTIM_BOTTOM_PING,677.1,91.4
$24V_AH,23.3,20.467
$10V_AH,10.1,8.403
$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,26.700,120.025,518.500,0.000,0.000,79.420,57.746,175.318,103.000,0.000,0.000,14.461,1166.154,9402.733,626.877,1627.462,411.658,33.350,1479.088,0.000,1588.863,0.000,39.549
$DEVICE_MAMPS,142.662,82.836,1330.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.296,410.120,356.611,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31720,611
$CFSIZE,260165632,255324160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,211107,132155,6142.370,-909.314,37,1.6,55,-9.4