version: 66.02
glider: 102
mission: 4
dive: 62
start: 11 22 107 13 26 26
data:
$ID,102
$MISSION,4
$DIVE,62
$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,-77415.219
$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,30
$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
$GPS1,132107,6131.455,-908.869,39,1.6,44,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-59.3
$GPS2,132533,6131.427,-908.918,12,2.0,12,-9.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.027,-0.236
$KALMAN_X,34941.0,-763.5,-927.2,-67506.9,5063.5
$KALMAN_Y,143360.0,-30.4,-1120.0,-145337.7,3273.9
$MHEAD_RNG_PITCHd_Wd,182.8,22597,-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,-146.6,0.0,0.0,0,102,0.00,0.00,-81.25,0.000,6,0.000,0.000,35,1875,3477
$GC,104,-1.23,-146.6,5.8,-7.6,4,125,11.62,2.60,0.00,0.000,4,0.143,0.065,2222,503,3478
$GC,283,-1.23,-146.6,34.5,-8.9,12,287,0.00,2.45,0.00,0.000,6,0.000,0.041,2222,1907,3478
$GC,608,-1.23,-146.6,63.7,-9.0,28,612,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3303,3478
$GC,684,-1.23,-146.6,71.9,-10.3,31,692,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1910,3478
$GC,1002,-1.23,-146.6,108.5,-10.3,47,1006,0.00,2.62,0.00,0.000,4,0.000,0.066,2222,492,3478
$GC,1050,-1.23,-146.6,114.4,-12.4,49,1054,0.00,2.47,0.00,0.000,6,0.000,0.041,2222,1900,3478
$GC,1371,-1.23,-146.6,149.8,-11.7,65,1376,0.00,2.50,0.00,0.000,4,0.000,0.047,2222,3302,3478
$GC,1420,-1.23,-146.6,154.6,-10.4,67,1424,0.00,2.55,0.00,0.000,6,0.000,0.044,2222,1899,3478
$GC,1746,-1.23,-146.6,191.0,-11.7,83,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3479
$GC,2055,-1.23,-146.6,228.1,-11.0,98,2060,0.00,2.50,0.00,0.000,4,0.000,0.046,2222,3299,3478
$GC,2088,-1.23,-146.6,231.7,-10.5,99,2095,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1904,3479
$GC,2403,-1.23,-146.6,267.0,-11.5,115,2407,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3305,3478
$GC,2447,-1.23,-146.6,271.5,-10.2,117,2452,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1899,3478
$GC,2773,-1.23,-146.6,307.2,-10.8,133,2777,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3305,3478
$GC,2827,-1.23,-146.6,312.9,-10.3,135,2835,0.00,2.55,0.00,0.000,6,0.000,0.044,2222,1900,3478
$GC,3144,-1.23,-146.6,343.8,-10.0,151,3148,0.00,2.58,0.00,0.000,4,0.000,0.066,2222,495,3478
$GC,3175,-1.23,-146.6,347.2,-10.1,152,3182,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1898,3478
$GC,3491,-1.23,-146.6,376.4,-9.2,168,3495,0.00,2.53,0.00,0.000,4,0.000,0.050,2222,3303,3478
$GC,3529,-1.23,-146.6,380.1,-9.8,170,3533,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1900,3478
$GC,3855,-1.23,-146.6,412.0,-10.3,186,3859,0.00,2.58,0.00,0.000,4,0.000,0.066,2222,493,3479
$GC,3893,-1.23,-146.6,416.2,-10.9,188,3897,0.00,2.47,0.00,0.000,6,0.000,0.044,2222,1898,3479
$GC,4218,-1.23,-146.6,447.5,-9.8,204,4223,0.00,2.50,0.00,0.000,4,0.000,0.051,2222,3298,3478
$GC,4246,-1.23,-146.6,450.1,-9.7,205,4250,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1897,3478
$GC,4572,-1.23,-146.6,482.2,-10.3,221,4576,0.00,2.60,0.00,0.000,4,0.000,0.069,2222,491,3478
$GC,4626,-1.23,-146.6,488.5,-11.9,223,4633,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1896,3478
$GC,4941,-1.23,-146.6,522.2,-10.6,239,4945,0.00,2.53,0.00,0.000,4,0.000,0.052,2222,3295,3478
$GC,4973,-1.23,-146.6,525.7,-10.6,240,4981,0.00,2.55,0.00,0.000,6,0.000,0.048,2222,1898,3478
$GC,5289,-1.23,-146.6,555.7,-9.4,256,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3478
$GC,5599,-1.23,-146.6,584.3,-9.6,271,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3478
$GC,5908,-1.23,-146.6,612.0,-9.3,286,5912,0.00,2.55,0.00,0.000,4,0.000,0.056,2222,3295,3478
$GC,5945,-1.23,-146.6,615.6,-9.8,288,5950,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1898,3477
$GC,6271,-1.23,-146.6,646.2,-9.2,304,6275,0.00,2.55,0.00,0.000,4,0.000,0.058,2222,3294,3478
$GC,6360,-1.23,-146.6,654.7,-9.6,308,6365,0.00,2.53,0.00,0.000,6,0.000,0.049,2222,1899,3478
$STATE,6561,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6561,begin apogee
$GC,6566,-0.36,0.0,673.0,9.1,318,6692,0.93,0.00,122.47,1.206,6,0.087,0.000,2417,2337,2878
$STATE,6693,end apogee,CONTROL_FINISHED_OK
$STATE,6693,begin climb
$GC,6694,1.23,146.6,675.1,0.0,324,6825,1.52,2.72,120.55,1.172,4,0.048,0.064,2764,3749,2279
$GC,6841,1.27,176.0,671.2,6.9,331,6871,0.00,2.55,24.95,1.147,6,0.000,0.043,2764,2350,2160
$GC,7187,1.27,176.0,639.8,9.5,348,7191,0.00,2.62,0.00,0.000,4,0.000,0.064,2764,941,2160
$GC,7226,1.27,176.0,636.3,8.9,350,7230,0.00,2.53,0.00,0.000,6,0.000,0.044,2764,2351,2160
$GC,7551,1.27,176.0,609.1,8.1,366,7555,0.00,2.58,0.00,0.000,4,0.000,0.058,2764,3752,2159
$GC,7616,1.27,176.0,603.3,9.1,369,7621,0.00,2.53,0.00,0.000,6,0.000,0.042,2764,2350,2159
$GC,7943,1.27,176.0,576.8,8.0,385,7947,0.00,2.58,0.00,0.000,4,0.000,0.056,2764,3757,2159
$GC,8008,1.27,176.0,571.3,8.3,388,8013,0.00,2.55,0.00,0.000,6,0.000,0.041,2764,2352,2159
$GC,8335,1.27,181.5,545.6,7.8,404,8345,0.00,2.62,5.35,1.121,4,0.000,0.061,2764,942,2138
$GC,8366,1.27,181.5,542.9,8.2,405,8374,0.00,2.55,0.00,0.000,6,0.000,0.041,2764,2352,2137
$GC,8682,1.27,182.4,516.5,8.0,421,8687,0.00,2.60,0.00,0.000,4,0.000,0.059,2764,941,2138
$GC,8708,1.27,182.4,514.3,8.3,422,8713,0.00,2.53,0.00,0.000,6,0.000,0.041,2764,2347,2138
$GC,9030,1.31,209.7,492.8,7.0,438,9056,0.00,0.00,23.95,1.133,6,0.000,0.000,2764,2347,2022
$GC,9359,1.31,209.7,466.5,8.1,454,9363,0.00,2.60,0.00,0.000,4,0.000,0.061,2764,940,2022
$GC,9399,1.31,209.7,463.3,8.7,456,9404,0.00,2.53,0.00,0.000,6,0.000,0.042,2764,2354,2022
$GC,9724,1.32,218.9,435.4,7.6,472,9739,0.00,2.67,8.15,1.083,4,0.000,0.058,2764,941,1985
$GC,9771,1.32,218.9,431.2,9.7,474,9776,0.00,2.55,0.00,0.000,6,0.000,0.041,2764,2353,1986
$GC,10098,1.32,218.9,400.9,9.3,490,10102,0.00,2.60,0.00,0.000,4,0.000,0.058,2764,938,1985
$GC,10164,1.32,218.9,394.4,10.5,493,10169,0.00,2.53,0.00,0.000,6,0.000,0.041,2764,2350,1986
$GC,10491,1.32,222.7,365.7,7.9,509,10500,0.00,2.62,4.32,1.017,4,0.000,0.059,2764,938,1970
$GC,10567,1.33,225.0,359.7,7.9,512,10579,0.00,2.53,3.22,0.978,6,0.000,0.041,2764,2344,1960
$GC,10887,1.36,253.2,337.5,6.9,528,10916,0.12,2.67,23.12,1.015,4,0.052,0.058,2803,942,1845
$GC,10943,1.36,253.2,332.6,9.1,530,10951,0.00,2.55,0.00,0.000,6,0.000,0.041,2803,2350,1845
$GC,11259,1.36,253.2,306.7,8.1,546,11263,0.00,2.60,0.00,0.000,4,0.000,0.058,2803,941,1845
$GC,11284,1.36,253.2,304.5,8.6,547,11289,0.00,2.53,0.00,0.000,6,0.000,0.041,2803,2350,1845
$GC,11606,1.38,269.9,280.6,7.4,563,11627,0.00,2.65,14.30,0.992,4,0.000,0.059,2804,941,1776
$GC,11637,1.39,280.0,278.1,7.6,564,11652,0.00,2.55,9.07,0.956,6,0.000,0.041,2803,2351,1736
$GC,11981,1.40,286.4,250.8,7.8,581,11992,0.00,2.65,6.12,0.969,4,0.000,0.058,2803,935,1709
$GC,12024,1.40,286.4,246.7,9.9,583,12029,0.00,2.53,0.00,0.000,6,0.000,0.041,2803,2342,1709
$GC,12350,1.40,286.4,218.3,9.4,599,12355,0.00,2.58,0.00,0.000,4,0.000,0.058,2804,941,1710
$GC,12399,1.40,286.4,213.0,10.0,601,12404,0.00,2.53,0.00,0.000,6,0.000,0.041,2804,2351,1710
$GC,12720,1.40,286.4,175.4,11.4,617,12724,0.00,2.60,0.00,0.000,4,0.000,0.059,2803,933,1709
$GC,12758,1.40,286.4,170.9,11.5,618,12765,0.00,2.55,0.00,0.000,6,0.000,0.041,2804,2353,1709
$GC,13074,1.40,286.4,139.1,8.9,634,13078,0.00,2.60,0.00,0.000,4,0.000,0.058,2804,941,1710
$GC,13116,1.40,286.4,134.9,9.6,636,13121,0.00,2.50,0.00,0.000,6,0.000,0.040,2803,2348,1709
$GC,13443,1.40,286.4,113.3,8.5,652,13444,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2352,1710
$GC,13753,1.40,286.4,79.1,9.6,667,13757,0.00,2.60,0.00,0.000,4,0.000,0.058,2803,938,1710
$GC,13801,1.40,286.4,73.9,10.4,669,13805,0.00,2.50,0.00,0.000,6,0.000,0.039,2804,2346,1710
$GC,14122,1.43,309.7,46.6,7.1,685,14147,0.00,2.65,18.75,0.850,4,0.000,0.058,2804,946,1615
$GC,14165,1.43,309.7,43.1,10.2,687,14169,0.00,2.50,0.00,0.000,6,0.000,0.040,2804,2351,1615
$GC,14490,1.43,309.7,3.9,11.7,703,14495,0.00,2.60,0.00,0.000,4,0.000,0.058,2804,941,1615
$GC,14500,1.43,309.7,2.4,11.9,703,14507,0.00,2.50,0.00,0.000,6,0.000,0.040,2804,2349,1614
$STATE,14526,end climb,SURFACE_DEPTH_REACHED
$STATE,14526,begin surface coast
$FINISH,0.3,1.014736
$STATE,14548,end surface coast,CONTROL_FINISHED_OK
$STATE,14548,begin surface
$SM_CCo,14627,0.00,0.000,0,0,1614,309.81
$SM_GC,1.19,11.82,0.00,0.00,0.027,0.000,0.000,31,1889,1614,-11.26,-0.28,309.81
$IRIDIUM_FIX,6108.28,-903.99,221107,121202
$TT8_MAMPS,0.026845
$HUMID,2057
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,17.00
$XPDR_PINGS,208
$ALTIM_BOTTOM_PING,576.4,106.5
$24V_AH,23.4,21.428
$10V_AH,10.1,8.860
$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,26.025,180.500,384.350,0.000,0.000,36.792,39.118,107.341,56.750,0.000,0.000,14.322,1339.010,11076.715,549.588,1639.931,294.811,33.353,1425.743,0.000,1608.263,0.000,33.122
$DEVICE_MAMPS,142.662,69.030,1205.724,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,518.543,475.253,437.226,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34806,706
$CFSIZE,260165632,254955520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,221107,173128,6130.176,-906.866,42,1.3,42,-9.3