version: 66.02
glider: 102
mission: 4
dive: 61
start: 11 22 107 8 53 57
data:
$ID,102
$MISSION,4
$DIVE,61
$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,-77400.273
$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,24
$R_STBD_OVSHOOT,28
$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
$GPS1,084626,6133.992,-902.239,41,1.4,41,-9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-54.8
$GPS2,085303,6133.937,-902.195,10,1.5,10,-9.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.206,-0.118
$KALMAN_X,35675.8,-877.5,-229.5,-62899.5,4866.3
$KALMAN_Y,145849.6,-799.9,-434.1,-143110.6,6170.2
$MHEAD_RNG_PITCHd_Wd,249.5,25885,-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,-146.5,0.0,0.0,0,102,0.00,0.00,-81.90,0.000,3,0.000,0.000,28,1885,3478
$GC,104,-1.23,-146.5,5.8,-8.0,4,126,11.75,2.60,0.00,0.000,4,0.145,0.044,2225,3311,3479
$GC,377,-1.23,-146.5,55.6,-14.8,16,382,0.00,2.55,0.00,0.000,6,0.000,0.041,2225,1903,3479
$GC,704,-1.23,-146.5,92.0,-10.8,32,708,0.00,2.53,0.00,0.000,4,0.000,0.047,2225,3303,3479
$GC,877,-1.23,-146.5,108.8,-10.2,40,882,0.00,2.50,0.00,0.000,6,0.000,0.042,2225,1898,3479
$GC,1203,-1.23,-146.6,138.1,-7.5,56,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1897,3479
$GC,1513,-1.23,-146.6,155.0,-6.0,71,1517,0.00,2.53,0.00,0.000,4,0.000,0.046,2225,3305,3480
$GC,1619,-1.23,-146.6,162.3,-7.6,76,1623,0.00,2.53,0.00,0.000,6,0.000,0.043,2225,1897,3480
$GC,1944,-1.23,-146.6,189.0,-8.7,92,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1896,3480
$GC,2253,-1.23,-146.6,220.4,-10.7,107,2257,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3305,3479
$GC,2324,-1.23,-146.6,227.7,-9.3,110,2329,0.00,2.55,0.00,0.000,6,0.000,0.044,2225,1902,3479
$GC,2646,-1.23,-146.6,260.5,-10.5,126,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3479
$GC,2955,-1.23,-146.6,293.7,-10.7,141,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3479
$GC,3265,-1.23,-146.6,326.7,-10.2,156,3269,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3304,3479
$GC,3326,-1.23,-146.6,332.7,-9.6,159,3330,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1898,3479
$GC,3651,-1.23,-146.6,368.3,-11.2,175,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3480
$GC,3961,-1.23,-146.6,400.9,-9.7,190,3965,0.00,2.53,0.00,0.000,4,0.000,0.049,2225,3302,3479
$GC,4009,-1.23,-146.6,405.7,-9.6,192,4014,0.00,2.55,0.00,0.000,6,0.000,0.045,2225,1902,3479
$GC,4330,-1.23,-146.6,436.7,-9.2,208,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3479
$GC,4639,-1.23,-146.6,461.9,-8.9,223,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3480
$GC,4949,-1.23,-146.6,490.9,-8.3,238,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3479
$GC,5258,-1.23,-146.6,510.3,-5.9,253,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3479
$GC,5569,-1.23,-146.6,525.5,-5.8,268,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3479
$GC,5877,-1.23,-146.6,545.0,-6.3,283,5881,0.00,2.55,0.00,0.000,4,0.000,0.054,2225,3302,3479
$GC,5983,-1.23,-146.6,551.7,-5.8,288,5987,0.00,2.53,0.00,0.000,6,0.000,0.047,2225,1901,3479
$GC,6308,-1.23,-146.6,574.4,-8.0,304,6312,0.00,2.55,0.00,0.000,4,0.000,0.054,2225,3307,3479
$GC,6385,-1.23,-146.6,580.0,-6.8,307,6391,0.00,2.55,0.00,0.000,6,0.000,0.048,2225,1897,3479
$GC,6700,-1.23,-146.6,603.3,-7.9,323,6704,0.00,2.58,0.00,0.000,4,0.000,0.055,2225,3308,3479
$GC,6754,-1.23,-146.6,607.9,-8.8,325,6761,0.00,2.58,0.00,0.000,6,0.000,0.050,2225,1903,3480
$GC,7069,-1.23,-146.6,635.5,-9.6,341,7074,0.00,2.55,0.00,0.000,4,0.000,0.057,2225,3301,3479
$GC,7118,-1.23,-146.6,640.6,-9.8,343,7123,0.00,2.58,0.00,0.000,6,0.000,0.051,2225,1897,3479
$GC,7439,-1.23,-146.6,672.2,-10.0,359,7443,0.00,2.55,0.00,0.000,4,0.000,0.054,2224,3302,3478
$GC,7510,-1.23,-146.6,679.5,-10.7,362,7516,0.00,2.55,0.00,0.000,6,0.000,0.048,2225,1905,3478
$GC,7831,-1.23,-146.6,710.6,-9.7,378,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1905,3478
$STATE,8036,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8037,begin apogee
$GC,8042,-0.36,0.0,730.9,9.6,388,8168,0.93,0.00,123.32,1.253,6,0.098,0.000,2415,2345,2878
$STATE,8169,end apogee,CONTROL_FINISHED_OK
$STATE,8169,begin climb
$GC,8170,1.23,146.6,735.5,0.0,394,8301,1.58,2.70,121.70,1.217,4,0.055,0.061,2765,947,2280
$GC,8407,1.25,166.0,727.9,7.3,405,8429,0.00,2.53,16.70,1.206,6,0.000,0.046,2765,2346,2201
$GC,8749,1.25,166.0,701.7,8.6,422,8753,0.00,2.62,0.00,0.000,4,0.000,0.063,2765,940,2201
$GC,8792,1.28,191.6,698.1,7.0,424,8819,0.00,2.55,22.02,1.226,6,0.000,0.045,2765,2358,2096
$GC,9134,1.28,191.6,671.9,8.7,441,9135,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2358,2096
$GC,9443,1.30,206.8,645.6,7.4,456,9463,0.00,0.00,13.55,1.220,6,0.000,0.000,2765,2358,2034
$GC,9771,1.31,208.2,619.5,7.9,472,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2358,2034
$GC,10080,1.31,208.2,590.0,11.2,487,10084,0.00,2.60,0.00,0.000,4,0.000,0.059,2765,935,2033
$GC,10118,1.31,208.2,586.0,10.3,488,10125,0.00,2.55,0.00,0.000,6,0.000,0.042,2765,2351,2034
$GC,10433,1.31,208.2,555.0,10.0,504,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2351,2033
$GC,10743,1.31,208.2,522.9,10.4,519,10744,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2352,2033
$GC,11052,1.31,208.2,491.5,10.0,534,11053,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2352,2033
$GC,11361,1.31,208.2,460.8,9.9,549,11362,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2352,2034
$GC,11670,1.31,208.2,430.6,8.8,564,11674,0.00,2.58,0.00,0.000,4,0.000,0.058,2764,934,2033
$GC,11715,1.31,208.2,426.8,8.2,566,11720,0.00,2.53,0.00,0.000,6,0.000,0.041,2765,2361,2033
$GC,12041,1.35,245.9,404.4,6.6,582,12076,0.10,0.00,31.98,1.073,6,0.059,0.000,2797,2361,1874
$GC,12369,1.35,245.9,373.2,10.2,598,12371,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2362,1875
$GC,12679,1.35,245.9,337.8,11.9,613,12680,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2361,1875
$GC,12988,1.35,245.9,303.8,10.6,628,12993,0.00,2.60,0.00,0.000,4,0.000,0.057,2797,935,1875
$GC,13059,1.35,245.9,295.7,11.4,631,13064,0.00,2.53,0.00,0.000,6,0.000,0.040,2797,2351,1875
$GC,13380,1.35,245.9,262.4,10.7,647,13382,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2351,1875
$GC,13690,1.35,245.9,229.6,10.5,662,13694,0.00,2.58,0.00,0.000,4,0.000,0.057,2797,938,1875
$GC,13744,1.35,245.9,223.7,10.4,664,13751,0.00,2.50,0.00,0.000,6,0.000,0.039,2797,2344,1875
$GC,14059,1.35,245.9,190.3,10.9,680,14060,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2344,1875
$GC,14368,1.35,245.9,157.1,10.7,695,14373,0.00,2.55,0.00,0.000,4,0.000,0.057,2797,942,1875
$GC,14424,1.35,245.9,150.7,11.2,697,14430,0.00,2.50,0.00,0.000,6,0.000,0.039,2797,2360,1875
$GC,14739,1.35,245.9,114.5,11.4,713,14740,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2360,1875
$GC,15048,1.35,245.9,82.5,10.6,728,15049,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2360,1876
$GC,15357,1.35,245.9,52.5,8.2,743,15358,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2360,1876
$GC,15667,1.35,245.9,16.8,11.3,758,15668,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2360,1876
$STATE,15830,end climb,SURFACE_DEPTH_REACHED
$STATE,15831,begin surface coast
$FINISH,0.3,1.027248
$STATE,15852,end surface coast,CONTROL_FINISHED_OK
$STATE,15852,begin surface
$SM_CCo,15872,49.10,0.789,6,0,1655,300.00
$SM_GC,0.88,0.00,0.00,49.10,0.000,0.000,0.789,35,1875,1655,-11.32,-0.71,300.00
$IRIDIUM_FIX,6112.75,-900.24,221107,070758
$TT8_MAMPS,0.026845
$HUMID,2038
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,17.00
$XPDR_PINGS,389
$ALTIM_BOTTOM_PING,651.7,88.9
$24V_AH,23.4,21.288
$10V_AH,10.1,8.791
$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,26.275,93.550,329.275,49.100,0.000,68.183,56.146,128.851,102.750,0.000,0.000,12.358,1384.744,12431.764,545.548,1634.840,359.050,33.358,1344.474,0.000,1608.534,0.000,37.921
$DEVICE_MAMPS,144.963,62.894,1253.278,789.243,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,559.905,517.893,447.473,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37993,767
$CFSIZE,260165632,255012864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,6,0
$GPS,221107,132107,6131.455,-908.869,39,1.6,44,-9.3