version: 66.02
glider: 102
mission: 4
dive: 58
start: 11 21 107 18 30 25
data:
$ID,102
$MISSION,4
$DIVE,58
$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,-77360.133
$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,21
$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
$GPS1,181438,6141.774,-905.098,25,1.6,25,-9.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-61.0
$GPS2,182931,6141.763,-905.028,16,1.4,16,-9.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.016,-0.237
$KALMAN_X,33394.9,-1048.3,-75.4,-63110.8,7838.9
$KALMAN_Y,145213.2,-768.0,-156.3,-128311.6,9417.4
$MHEAD_RNG_PITCHd_Wd,193.2,40551,-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,18,-1.23,-146.6,0.0,0.0,0,102,0.00,0.00,-79.80,0.000,6,0.000,0.000,30,1891,3477
$GC,103,-1.23,-146.6,6.4,-9.4,4,125,11.70,2.60,0.00,0.000,4,0.144,0.045,2223,3311,3478
$GC,376,-1.23,-146.6,43.9,-9.8,16,381,0.00,2.55,0.00,0.000,6,0.000,0.040,2223,1899,3478
$GC,703,-1.23,-146.6,79.6,-10.9,32,707,0.00,2.53,0.00,0.000,4,0.000,0.046,2223,3304,3479
$GC,922,-1.23,-146.6,102.8,-11.4,42,926,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1900,3479
$GC,1248,-1.23,-146.6,136.7,-10.9,58,1253,0.00,2.53,0.00,0.000,4,0.000,0.045,2223,3305,3479
$GC,1269,-1.23,-146.6,139.3,-10.9,59,1274,0.00,2.55,0.00,0.000,6,0.000,0.042,2223,1900,3479
$GC,1596,-1.23,-146.6,173.2,-9.2,75,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3479
$GC,1905,-1.23,-146.6,202.6,-9.7,90,1909,0.00,2.60,0.00,0.000,4,0.000,0.064,2223,489,3479
$GC,1937,-1.23,-146.6,206.1,-10.6,91,1944,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1901,3479
$GC,2252,-1.23,-146.6,236.1,-9.5,107,2257,0.00,2.50,0.00,0.000,4,0.000,0.049,2223,3293,3479
$GC,2291,-1.23,-146.6,239.9,-9.3,109,2296,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1901,3479
$GC,2617,-1.23,-146.6,269.1,-8.8,125,2621,0.00,2.50,0.00,0.000,4,0.000,0.048,2223,3295,3479
$GC,2655,-1.23,-146.6,272.6,-9.4,127,2659,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1900,3479
$GC,2981,-1.23,-146.6,304.2,-10.0,143,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3479
$GC,3290,-1.23,-146.6,335.4,-10.2,158,3294,0.00,2.50,0.00,0.000,4,0.000,0.048,2223,3295,3479
$GC,3328,-1.23,-146.6,339.2,-10.5,160,3332,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1898,3479
$GC,3654,-1.23,-146.6,369.9,-9.4,176,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3479
$GC,3963,-1.23,-146.6,398.3,-9.5,191,3967,0.00,2.53,0.00,0.000,4,0.000,0.049,2223,3299,3479
$GC,4028,-1.23,-146.6,404.6,-9.1,194,4033,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1906,3479
$GC,4355,-1.23,-146.6,434.1,-8.8,210,4359,0.00,2.50,0.00,0.000,4,0.000,0.051,2223,3294,3479
$GC,4432,-1.23,-146.6,441.1,-9.0,213,4436,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1907,3479
$GC,4753,-1.23,-146.6,470.6,-9.1,229,4757,0.00,2.53,0.00,0.000,4,0.000,0.052,2223,3298,3479
$GC,4802,-1.23,-146.6,475.4,-9.8,231,4806,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1900,3479
$GC,5117,-1.23,-146.6,506.9,-10.3,246,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3479
$GC,5426,-1.23,-146.6,538.5,-10.2,261,5430,0.00,2.53,0.00,0.000,4,0.000,0.052,2223,3293,3479
$GC,5465,-1.23,-146.6,542.4,-10.4,263,5469,0.00,2.53,0.00,0.000,6,0.000,0.047,2223,1894,3478
$GC,5792,-1.23,-146.6,575.7,-10.1,279,5796,0.00,2.55,0.00,0.000,4,0.000,0.054,2223,3292,3479
$GC,5831,-1.23,-146.6,579.6,-10.6,281,5835,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1897,3478
$GC,6156,-1.23,-146.6,611.1,-10.2,297,6160,0.00,2.55,0.00,0.000,4,0.000,0.056,2223,3293,3478
$GC,6182,-1.23,-146.6,614.0,-11.5,298,6187,0.00,2.55,0.00,0.000,6,0.000,0.049,2223,1901,3478
$GC,6503,-1.23,-146.6,647.3,-12.2,314,6507,0.00,2.53,0.00,0.000,4,0.000,0.055,2223,3293,3478
$GC,6671,-1.23,-146.6,666.4,-11.5,321,6675,0.00,2.53,0.00,0.000,6,0.000,0.050,2224,1901,3478
$GC,6991,-1.23,-146.6,706.6,-12.1,337,6996,0.00,2.55,0.00,0.000,4,0.000,0.058,2223,3291,3478
$GC,7075,-1.23,-146.6,717.1,-13.7,341,7080,0.00,2.53,0.00,0.000,6,0.000,0.052,2223,1902,3478
$GC,7401,-1.23,-146.6,754.7,-5.2,357,7405,0.00,2.58,0.00,0.000,4,0.000,0.063,2223,3294,3478
$GC,7529,-1.23,-146.6,756.0,-0.9,363,7533,0.00,2.58,0.00,0.000,6,0.000,0.057,2223,1895,3478
$STATE,7667,end dive,NO_VERTICAL_VELOCITY
$STATE,7667,begin apogee
$GC,7672,-0.36,0.0,755.6,0.0,370,7799,0.93,0.00,123.72,1.304,6,0.091,0.000,2415,2341,2878
$STATE,7799,end apogee,CONTROL_FINISHED_OK
$STATE,7800,begin climb
$GC,7801,1.23,146.6,750.5,0.0,376,7932,1.58,2.75,122.20,1.261,4,0.057,0.073,2764,3742,2280
$GC,7944,1.35,242.1,750.1,4.4,383,8030,0.12,2.58,79.60,1.250,6,0.059,0.054,2796,2350,1891
$GC,8350,1.41,293.4,718.8,6.0,403,8399,0.00,2.72,43.33,1.274,4,0.000,0.071,2795,3739,1681
$GC,8467,1.42,302.6,710.7,7.7,408,8482,0.00,2.60,8.75,1.233,6,0.000,0.056,2796,2352,1643
$GC,8809,1.42,302.6,672.3,14.7,425,8813,0.00,2.62,0.00,0.000,4,0.000,0.067,2796,3749,1641
$GC,8873,1.42,302.6,663.2,10.7,428,8879,0.00,2.60,0.00,0.000,6,0.000,0.054,2796,2348,1641
$GC,9200,1.42,302.6,626.7,12.5,444,9205,0.00,2.65,0.00,0.000,4,0.000,0.071,2796,939,1638
$GC,9227,1.42,302.6,623.1,13.5,445,9232,0.00,2.58,0.00,0.000,6,0.000,0.048,2796,2350,1638
$GC,9548,1.42,302.6,584.9,10.4,461,9553,0.00,2.65,0.00,0.000,4,0.000,0.067,2796,933,1638
$GC,9602,1.42,302.6,578.8,12.0,463,9609,0.00,2.58,0.00,0.000,6,0.000,0.047,2796,2350,1638
$GC,9918,1.42,302.6,543.9,11.5,479,9922,0.00,2.62,0.00,0.000,4,0.000,0.065,2796,939,1638
$GC,9978,1.42,302.6,536.6,11.8,482,9983,0.00,2.53,0.00,0.000,6,0.000,0.044,2796,2352,1638
$GC,10304,1.42,302.6,499.1,11.7,498,10308,0.00,2.62,0.00,0.000,4,0.000,0.064,2796,934,1639
$GC,10353,1.42,302.6,492.9,12.5,500,10358,0.00,2.55,0.00,0.000,6,0.000,0.044,2796,2350,1639
$GC,10674,1.42,302.6,453.8,11.9,516,10679,0.00,2.65,0.00,0.000,4,0.000,0.062,2796,930,1640
$GC,10723,1.42,302.6,447.8,11.5,518,10728,0.00,2.55,0.00,0.000,6,0.000,0.043,2796,2350,1640
$GC,11044,1.42,302.6,410.8,11.3,534,11048,0.00,2.62,0.00,0.000,4,0.000,0.063,2796,930,1640
$GC,11085,1.42,302.6,406.2,12.2,536,11089,0.00,2.53,0.00,0.000,6,0.000,0.043,2796,2351,1640
$GC,11410,1.42,302.6,369.8,10.4,552,11414,0.00,2.62,0.00,0.000,4,0.000,0.062,2796,929,1641
$GC,11448,1.42,302.6,365.6,10.8,554,11452,0.00,2.53,0.00,0.000,6,0.000,0.042,2796,2354,1641
$GC,11773,1.42,302.6,330.6,11.0,570,11778,0.00,2.62,0.00,0.000,4,0.000,0.060,2796,929,1641
$GC,11822,1.42,302.6,325.1,11.6,572,11827,0.00,2.53,0.00,0.000,6,0.000,0.041,2796,2343,1641
$GC,12143,1.42,302.6,290.7,10.6,588,12147,0.00,2.60,0.00,0.000,4,0.000,0.060,2796,929,1642
$GC,12197,1.42,302.6,284.5,11.5,590,12204,0.00,2.53,0.00,0.000,6,0.000,0.041,2796,2343,1642
$GC,12513,1.42,302.6,247.2,12.4,606,12517,0.00,2.60,0.00,0.000,4,0.000,0.060,2796,932,1642
$GC,12573,1.42,302.6,239.5,12.6,609,12577,0.00,2.50,0.00,0.000,6,0.000,0.041,2796,2353,1642
$GC,12904,1.42,302.6,200.6,11.0,625,12908,0.00,2.60,0.00,0.000,4,0.000,0.058,2796,931,1643
$GC,12970,1.42,302.6,192.9,11.3,628,12975,0.00,2.55,0.00,0.000,6,0.000,0.041,2796,2350,1643
$GC,13297,1.42,302.6,158.2,10.3,644,13301,0.00,2.60,0.00,0.000,4,0.000,0.058,2796,931,1643
$GC,13339,1.42,302.6,153.0,11.6,646,13344,0.00,2.53,0.00,0.000,6,0.000,0.040,2796,2351,1643
$GC,13668,1.42,302.6,117.7,11.2,662,13672,0.00,2.62,0.00,0.000,4,0.000,0.058,2796,929,1643
$GC,13699,1.42,302.6,113.8,11.3,663,13706,0.00,2.53,0.00,0.000,6,0.000,0.040,2796,2349,1643
$GC,14015,1.42,302.6,72.9,13.4,679,14019,0.00,2.60,0.00,0.000,4,0.000,0.058,2796,938,1643
$GC,14068,1.42,302.6,66.8,10.6,681,14076,0.00,2.50,0.00,0.000,6,0.000,0.040,2796,2341,1643
$GC,14384,1.42,302.6,40.6,12.3,697,14389,0.00,2.60,0.00,0.000,4,0.000,0.058,2797,930,1644
$GC,14405,1.42,302.6,37.5,13.6,698,14410,0.00,2.53,0.00,0.000,6,0.000,0.039,2795,2350,1644
$GC,14732,1.42,302.6,3.5,9.5,714,14736,0.00,2.60,0.00,0.000,4,0.000,0.058,2796,938,1644
$STATE,14751,end climb,SURFACE_DEPTH_REACHED
$STATE,14752,begin surface coast
$FINISH,0.1,1.027242
$STATE,14775,end surface coast,CONTROL_FINISHED_OK
$STATE,14775,begin surface
$SM_CCo,14855,0.00,0.000,0,0,1642,302.95
$SM_GC,0.79,11.93,0.00,0.00,0.034,0.000,0.000,35,1909,1642,-11.26,0.23,302.95
$IRIDIUM_FIX,6117.23,-906.13,211107,222229
$TT8_MAMPS,0.026845
$HUMID,2067
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,18.90
$XPDR_PINGS,369
$ALTIM_BOTTOM_PING,725.1,90.1
$24V_AH,23.3,20.802
$10V_AH,10.1,8.559
$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,26.250,179.325,377.600,0.000,0.000,158.886,165.073,286.144,98.500,0.000,0.000,18.209,1381.258,11327.036,528.155,1777.701,739.533,33.360,1447.055,0.000,1731.639,0.000,42.761
$DEVICE_MAMPS,144.196,72.865,1303.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,525.988,483.310,426.889,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34878,716
$CFSIZE,260165632,255180800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,211107,223939,6139.023,-902.927,66,1.1,66,-9.3