version: 66.02
glider: 102
mission: 4
dive: 57
start: 11 21 107 13 30 16
data:
$ID,102
$MISSION,4
$DIVE,57
$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,-77341.297
$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,26
$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
$GPS1,132155,6142.370,-909.314,37,1.6,55,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-51.0
$GPS2,132923,6142.339,-909.202,12,2.6,31,-9.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.002,-0.238
$KALMAN_X,29925.8,-340.5,-479.3,-63621.9,7776.6
$KALMAN_Y,139473.2,178.0,46.9,-122649.8,6757.3
$MHEAD_RNG_PITCHd_Wd,189.0,42172,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.23,-146.6,0.0,0.0,0,142,0.00,0.00,-122.38,0.000,2,0.000,0.000,37,1883,3458
$GC,145,-1.23,-146.6,4.7,-5.1,6,167,11.57,2.60,-0.40,0.000,4,0.142,0.058,2221,3304,3478
$GC,418,-1.23,-146.6,42.4,-10.4,18,423,0.00,2.55,0.00,0.000,6,0.000,0.043,2221,1904,3478
$GC,745,-1.23,-146.6,77.0,-10.7,34,749,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3302,3478
$GC,973,-1.23,-146.6,104.9,-10.2,44,978,0.00,2.55,0.00,0.000,6,0.000,0.044,2221,1900,3477
$GC,1295,-1.23,-146.6,139.5,-10.7,60,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3478
$GC,1603,-1.23,-146.6,170.1,-9.9,75,1607,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3307,3478
$GC,1647,-1.23,-146.6,174.6,-10.4,77,1652,0.00,2.53,0.00,0.000,6,0.000,0.043,2221,1900,3478
$GC,1973,-1.23,-146.6,207.7,-10.3,93,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3478
$GC,2282,-1.23,-146.6,237.1,-8.9,108,2287,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3306,3478
$GC,2331,-1.23,-146.6,241.5,-8.6,110,2336,0.00,2.55,0.00,0.000,6,0.000,0.043,2221,1898,3478
$GC,2653,-1.23,-146.6,270.1,-9.1,126,2657,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3302,3478
$GC,2678,-1.23,-146.6,272.5,-9.0,127,2683,0.00,2.53,0.00,0.000,6,0.000,0.043,2221,1906,3478
$GC,3000,-1.23,-146.6,301.3,-9.0,143,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1906,3478
$GC,3309,-1.23,-146.6,328.8,-9.0,158,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1906,3478
$GC,3618,-1.23,-146.6,358.1,-9.3,173,3622,0.00,2.53,0.00,0.000,4,0.000,0.050,2221,3304,3478
$GC,3661,-1.23,-146.6,362.5,-10.0,175,3666,0.00,2.55,0.00,0.000,6,0.000,0.044,2221,1903,3478
$GC,3989,-1.23,-146.6,393.9,-10.3,191,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1903,3478
$GC,4299,-1.23,-146.6,426.5,-10.8,206,4303,0.00,2.53,0.00,0.000,4,0.000,0.051,2221,3304,3479
$GC,4336,-1.23,-146.6,430.8,-11.2,208,4341,0.00,2.53,0.00,0.000,6,0.000,0.045,2221,1900,3479
$GC,4662,-1.23,-146.6,465.2,-10.4,224,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3479
$GC,4971,-1.23,-146.6,496.3,-10.1,239,4976,0.00,2.55,0.00,0.000,4,0.000,0.051,2221,3308,3479
$GC,5033,-1.23,-146.6,502.4,-9.7,242,5037,0.00,2.53,0.00,0.000,6,0.000,0.046,2221,1898,3478
$GC,5358,-1.23,-146.6,531.1,-8.6,258,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1898,3478
$GC,5667,-1.23,-146.6,561.9,-10.4,273,5672,0.00,2.55,0.00,0.000,4,0.000,0.051,2220,3305,3478
$GC,5750,-1.23,-146.6,570.2,-9.1,276,5757,0.00,2.58,0.00,0.000,6,0.000,0.048,2221,1898,3478
$GC,6066,-1.23,-146.6,596.3,-8.0,292,6070,0.00,2.55,0.00,0.000,4,0.000,0.054,2221,3300,3478
$GC,6104,-1.23,-146.6,599.3,-8.3,294,6108,0.00,2.53,0.00,0.000,6,0.000,0.048,2221,1901,3478
$GC,6429,-1.23,-146.6,632.7,-9.2,310,6433,0.00,2.55,0.00,0.000,4,0.000,0.057,2221,3298,3478
$GC,6477,-1.23,-146.6,636.9,-8.8,312,6482,0.00,2.53,0.00,0.000,6,0.000,0.050,2221,1907,3478
$GC,6798,-1.23,-146.6,658.7,-2.9,328,6803,0.00,2.55,0.00,0.000,4,0.000,0.058,2221,3298,3478
$GC,6819,-1.23,-146.6,661.6,-13.5,329,6824,0.00,2.55,0.00,0.000,6,0.000,0.050,2221,1907,3478
$GC,7146,-1.23,-146.6,691.9,-9.4,345,7150,0.00,2.65,0.00,0.000,4,0.000,0.074,2221,494,3478
$GC,7404,-1.23,-146.6,721.0,-6.8,356,7411,0.00,2.53,0.00,0.000,6,0.000,0.051,2221,1915,3478
$GC,7719,-1.23,-146.6,732.7,-22.4,372,7724,0.00,2.58,0.00,0.000,4,0.000,0.065,2221,3301,3478
$GC,7976,-1.23,-146.6,748.0,-0.4,383,7983,0.00,2.58,0.00,0.000,6,0.000,0.061,2221,1903,3477
$GC,8292,-1.23,-146.6,775.1,-9.6,399,8296,0.00,2.62,0.00,0.000,4,0.000,0.067,2221,3303,3476
$GC,8413,-1.23,-146.6,784.1,-10.0,404,8418,0.00,2.62,0.00,0.000,6,0.000,0.064,2221,1903,3475
$STATE,8589,end dive,NO_VERTICAL_VELOCITY
$STATE,8589,begin apogee
$GC,8594,-0.36,0.0,784.6,0.0,413,8721,0.90,0.00,123.90,1.373,6,0.072,0.000,2418,2347,2878
$STATE,8722,end apogee,CONTROL_FINISHED_OK
$STATE,8722,begin climb
$GC,8723,1.23,146.6,783.7,0.0,419,8851,1.58,0.00,122.25,1.321,6,0.062,0.000,2761,2347,2280
$GC,9171,1.23,146.6,753.1,9.3,441,9175,0.00,2.70,0.00,0.000,4,0.000,0.077,2761,938,2279
$GC,9236,1.33,227.5,747.5,4.9,444,9310,0.05,2.62,67.72,1.328,6,0.051,0.060,2791,2341,1950
$GC,9617,1.33,227.5,707.8,9.7,462,9621,0.00,2.65,0.00,0.000,4,0.000,0.073,2791,3751,1949
$GC,9713,1.33,227.5,700.2,9.2,466,9717,0.00,2.60,0.00,0.000,6,0.000,0.058,2790,2343,1948
$GC,10032,1.33,227.5,680.4,8.3,482,10036,0.00,2.67,0.00,0.000,4,0.000,0.070,2791,3751,1947
$GC,10142,1.33,227.5,668.4,10.2,487,10147,0.00,2.60,0.00,0.000,6,0.000,0.056,2791,2353,1946
$GC,10468,1.33,227.5,639.1,8.8,503,10473,0.00,2.67,0.00,0.000,4,0.000,0.073,2791,938,1945
$GC,10494,1.33,227.5,636.7,8.5,504,10499,0.00,2.58,0.00,0.000,6,0.000,0.051,2791,2340,1945
$GC,10815,1.33,227.5,603.8,10.5,520,10817,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2342,1945
$GC,11125,1.33,227.5,572.3,9.9,535,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2341,1945
$GC,11434,1.33,227.5,541.3,9.9,550,11438,0.00,2.60,0.00,0.000,4,0.000,0.063,2791,934,1946
$GC,11477,1.33,227.5,536.6,10.5,552,11482,0.00,2.55,0.00,0.000,6,0.000,0.045,2791,2351,1946
$GC,11804,1.33,227.5,505.5,9.5,568,11805,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2351,1947
$GC,12113,1.33,227.5,474.7,10.3,583,12118,0.00,2.60,0.00,0.000,4,0.000,0.062,2791,939,1947
$GC,12139,1.33,227.5,471.9,10.6,584,12145,0.00,2.53,0.00,0.000,6,0.000,0.043,2791,2343,1947
$GC,12461,1.33,227.5,439.2,10.1,600,12462,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2343,1948
$GC,12770,1.33,227.5,409.0,9.4,615,12774,0.00,2.60,0.00,0.000,4,0.000,0.061,2791,930,1949
$GC,12786,1.33,227.5,407.5,9.5,616,12791,0.00,2.53,0.00,0.000,6,0.000,0.043,2791,2352,1949
$GC,13111,1.33,227.5,375.8,10.3,632,13115,0.00,2.60,0.00,0.000,4,0.000,0.060,2791,939,1950
$GC,13142,1.33,227.5,372.5,9.6,633,13149,0.00,2.53,0.00,0.000,6,0.000,0.041,2791,2348,1950
$GC,13458,1.33,227.5,340.8,10.0,649,13459,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2349,1950
$GC,13767,1.33,227.5,310.7,9.6,664,13771,0.00,2.58,0.00,0.000,4,0.000,0.059,2791,939,1951
$GC,13789,1.33,227.5,308.5,10.0,665,13793,0.00,2.50,0.00,0.000,6,0.000,0.041,2791,2352,1951
$GC,14114,1.33,227.5,277.0,9.5,681,14116,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2352,1951
$GC,14423,1.33,227.5,248.2,9.4,696,14428,0.00,2.60,0.00,0.000,4,0.000,0.058,2791,934,1952
$GC,14444,1.33,227.5,246.0,9.4,697,14449,0.00,2.55,0.00,0.000,6,0.000,0.041,2791,2354,1952
$GC,14771,1.33,227.5,213.4,10.2,713,14775,0.00,2.60,0.00,0.000,4,0.000,0.057,2791,933,1952
$GC,14796,1.33,227.5,210.6,10.0,714,14801,0.00,2.55,0.00,0.000,6,0.000,0.041,2791,2351,1952
$GC,15117,1.33,227.5,178.8,10.0,730,15122,0.00,2.60,0.00,0.000,4,0.000,0.058,2791,931,1952
$GC,15179,1.33,227.5,172.2,10.9,733,15183,0.00,2.53,0.00,0.000,6,0.000,0.041,2791,2356,1953
$GC,15504,1.33,227.5,137.6,10.4,749,15508,0.00,2.60,0.00,0.000,4,0.000,0.054,2791,937,1953
$GC,15535,1.33,227.5,134.5,8.9,750,15543,0.00,2.53,0.00,0.000,6,0.000,0.040,2791,2347,1953
$GC,15853,1.33,227.5,104.2,11.5,766,15854,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2347,1953
$GC,16161,1.33,227.5,72.7,9.7,781,16165,0.00,2.53,0.00,0.000,4,0.000,0.052,2791,3748,1954
$GC,16192,1.33,227.5,69.8,8.6,782,16200,0.00,2.50,0.00,0.000,6,0.000,0.038,2791,2344,1953
$GC,16508,1.33,227.5,38.9,10.7,798,16513,0.00,2.55,0.00,0.000,4,0.000,0.056,2791,943,1954
$GC,16540,1.33,227.5,35.6,9.9,799,16547,0.00,2.47,0.00,0.000,6,0.000,0.038,2791,2342,1954
$STATE,16856,end climb,SURFACE_DEPTH_REACHED
$STATE,16856,begin surface coast
$FINISH,0.2,1.027249
$STATE,16877,end surface coast,CONTROL_FINISHED_OK
$STATE,16877,begin surface
$SM_CCo,16896,66.10,0.800,8,0,1655,300.00
$SM_GC,0.39,0.00,0.00,66.10,0.000,0.000,0.800,32,1891,1655,-11.33,-0.25,300.00
$IRIDIUM_FIX,6117.23,-957.59,211107,171723
$TT8_MAMPS,0.026845
$HUMID,2057
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.90
$XPDR_PINGS,263
$ALTIM_BOTTOM_PING,700.9,109.3
$24V_AH,23.3,20.624
$10V_AH,10.1,8.483
$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,25.925,155.500,313.875,66.100,0.000,75.837,54.358,151.277,71.750,0.000,0.000,34.023,1522.320,12997.180,623.055,1916.086,402.377,33.358,1573.443,0.000,1856.029,0.000,41.207
$DEVICE_MAMPS,141.895,76.700,1372.930,799.981,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,599.694,552.343,468.085,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41190,816
$CFSIZE,260165632,255234048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,8,0
$GPS,211107,181438,6141.774,-905.098,25,1.6,25,-9.3