version: 66.02
glider: 102
mission: 4
dive: 63
start: 11 22 107 17 40 21
data:
$ID,102
$MISSION,4
$DIVE,63
$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,-77429.414
$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,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
$GPS1,173128,6130.176,-906.866,42,1.3,42,-9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-59.1
$GPS2,173927,6130.180,-906.889,12,1.3,12,-9.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.011,-0.237
$KALMAN_X,34212.1,-344.4,132.7,-66479.1,1566.7
$KALMAN_Y,144823.7,-31.9,928.7,-151204.2,192.5
$MHEAD_RNG_PITCHd_Wd,186.8,19821,-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,-81.90,0.000,2,0.000,0.000,30,1884,3403
$GC,104,-1.23,-146.6,5.0,-6.3,4,127,11.65,2.58,-1.58,0.000,4,0.143,0.056,2223,3295,3480
$GC,378,-1.23,-146.6,45.2,-13.5,16,383,0.00,2.53,0.00,0.000,6,0.000,0.041,2223,1902,3480
$GC,705,-1.23,-146.6,88.1,-12.5,32,709,0.00,2.53,0.00,0.000,4,0.000,0.045,2223,3310,3480
$GC,894,-1.23,-146.6,111.0,-12.0,40,901,0.00,2.55,0.00,0.000,6,0.000,0.042,2223,1901,3479
$GC,1209,-1.23,-146.6,148.1,-10.0,56,1214,0.00,2.60,0.00,0.000,4,0.000,0.064,2223,489,3479
$GC,1236,-1.23,-146.6,151.4,-12.8,57,1240,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1900,3480
$GC,1557,-1.23,-146.6,191.1,-12.8,73,1561,0.00,2.50,0.00,0.000,4,0.000,0.048,2223,3295,3479
$GC,1605,-1.23,-146.6,197.7,-12.6,75,1610,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1905,3479
$GC,1926,-1.23,-146.6,236.3,-11.7,91,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1905,3480
$GC,2236,-1.23,-146.6,276.1,-12.1,106,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1905,3479
$GC,2545,-1.23,-146.6,308.2,-9.2,121,2549,0.00,2.60,0.00,0.000,4,0.000,0.067,2223,490,3479
$GC,2576,-1.23,-146.6,311.4,-10.3,122,2583,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1895,3479
$GC,2891,-1.23,-146.6,343.8,-11.3,138,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3480
$GC,3201,-1.23,-146.6,374.6,-11.0,153,3206,0.00,2.60,0.00,0.000,4,0.000,0.067,2223,491,3480
$GC,3245,-1.23,-146.6,379.6,-10.8,155,3249,0.00,2.47,0.00,0.000,6,0.000,0.044,2223,1897,3480
$GC,3570,-1.23,-146.6,412.8,-10.3,171,3574,0.00,2.53,0.00,0.000,4,0.000,0.051,2223,3302,3479
$GC,3680,-1.23,-146.6,424.1,-10.7,176,3685,0.00,2.55,0.00,0.000,6,0.000,0.048,2223,1905,3479
$GC,4006,-1.23,-146.6,456.4,-9.7,192,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1905,3480
$GC,4316,-1.23,-146.6,484.9,-9.3,207,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1905,3479
$GC,4625,-1.23,-146.6,508.3,-5.8,222,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1905,3479
$GC,4935,-1.23,-146.6,530.8,-7.5,237,4939,0.00,2.53,0.00,0.000,4,0.000,0.052,2223,3302,3479
$GC,4977,-1.23,-146.6,534.0,-7.1,239,4982,0.00,2.55,0.00,0.000,6,0.000,0.048,2223,1904,3479
$STATE,5221,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5221,begin apogee
$GC,5226,-0.36,0.0,554.5,9.0,251,5350,0.88,0.00,120.65,1.137,6,0.059,0.000,2424,2342,2878
$STATE,5351,end apogee,CONTROL_FINISHED_OK
$STATE,5351,begin climb
$GC,5352,1.23,146.6,554.1,0.0,257,5479,1.50,2.67,118.57,1.099,4,0.045,0.061,2767,3755,2279
$GC,5674,1.23,146.6,534.4,9.3,272,5679,0.00,2.55,0.00,0.000,6,0.000,0.042,2767,2355,2279
$GC,6001,1.23,146.6,507.2,8.5,288,6005,0.00,2.58,0.00,0.000,4,0.000,0.058,2767,3756,2279
$GC,6056,1.23,146.6,502.0,9.7,290,6063,0.00,2.55,0.00,0.000,6,0.000,0.042,2767,2350,2279
$GC,6372,1.23,146.6,474.6,9.4,306,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2350,2279
$GC,6681,1.23,146.6,452.0,8.1,321,6685,0.00,2.55,0.00,0.000,4,0.000,0.054,2767,3748,2279
$GC,6730,1.23,146.6,447.9,8.4,323,6735,0.00,2.50,0.00,0.000,6,0.000,0.041,2767,2349,2279
$GC,7044,1.23,146.6,421.3,9.3,338,7049,0.00,2.55,0.00,0.000,4,0.000,0.055,2767,3749,2279
$GC,7099,1.23,146.6,416.6,8.0,340,7106,0.00,2.50,0.00,0.000,6,0.000,0.041,2767,2350,2279
$GC,7415,1.23,146.6,389.4,8.7,356,7419,0.00,2.58,0.00,0.000,4,0.000,0.061,2767,942,2279
$GC,7430,1.23,146.6,387.9,9.7,357,7434,0.00,2.50,0.00,0.000,6,0.000,0.041,2767,2354,2278
$GC,7756,1.31,209.5,366.4,5.6,373,7809,0.00,0.00,51.15,1.018,6,0.000,0.000,2767,2354,2024
$GC,8106,1.34,237.5,342.6,6.9,390,8135,0.00,2.67,23.02,1.000,4,0.000,0.057,2767,949,1909
$GC,8170,1.34,237.5,337.5,8.2,393,8174,0.00,2.50,0.00,0.000,6,0.000,0.041,2767,2351,1909
$GC,8495,1.34,237.5,309.3,9.1,409,8500,0.00,2.60,0.00,0.000,4,0.000,0.058,2767,939,1909
$GC,8572,1.34,237.5,302.0,9.3,412,8579,0.00,2.53,0.00,0.000,6,0.000,0.041,2767,2343,1909
$GC,8888,1.34,237.5,273.2,9.3,428,8892,0.00,2.58,0.00,0.000,4,0.000,0.058,2766,941,1909
$GC,8942,1.34,237.5,268.1,8.8,430,8949,0.00,2.53,0.00,0.000,6,0.000,0.041,2767,2348,1909
$GC,9258,1.34,237.5,236.2,10.5,446,9262,0.00,2.58,0.00,0.000,4,0.000,0.058,2767,941,1909
$GC,9306,1.34,237.5,231.3,10.0,448,9311,0.00,2.53,0.00,0.000,6,0.000,0.041,2767,2352,1909
$GC,9627,1.34,237.5,198.6,9.4,464,9631,0.00,2.58,0.00,0.000,4,0.000,0.057,2766,941,1909
$GC,9666,1.34,237.5,194.7,10.3,466,9671,0.00,2.50,0.00,0.000,6,0.000,0.041,2767,2353,1909
$GC,9992,1.34,237.5,161.2,10.2,482,9996,0.00,2.60,0.00,0.000,4,0.000,0.056,2767,938,1909
$GC,10017,1.34,237.5,158.4,9.6,483,10023,0.00,2.53,0.00,0.000,6,0.000,0.040,2767,2354,1909
$GC,10339,1.34,237.5,127.6,9.6,499,10343,0.00,2.60,0.00,0.000,4,0.000,0.054,2767,936,1909
$GC,10382,1.34,237.5,123.2,9.8,501,10386,0.00,2.53,0.00,0.000,6,0.000,0.039,2767,2346,1909
$GC,10709,1.34,237.5,91.0,9.3,517,10713,0.00,2.58,0.00,0.000,4,0.000,0.055,2767,941,1909
$GC,10785,1.34,237.5,83.4,11.2,520,10792,0.00,2.50,0.00,0.000,6,0.000,0.040,2767,2349,1909
$GC,11101,1.37,264.2,59.9,7.0,536,11130,0.12,2.67,21.60,0.851,4,0.053,0.057,2805,942,1800
$GC,11141,1.39,274.4,56.9,7.6,538,11156,0.00,2.53,8.98,0.836,6,0.000,0.040,2805,2353,1759
$GC,11472,1.39,274.4,19.1,12.0,554,11473,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2353,1758
$STATE,11635,end climb,SURFACE_DEPTH_REACHED
$STATE,11636,begin surface coast
$FINISH,0.4,1.007282
$STATE,11657,end surface coast,CONTROL_FINISHED_OK
$STATE,11657,begin surface
$SM_CCo,11677,22.45,0.804,3,0,1655,300.00
$SM_GC,1.52,0.00,0.00,22.45,0.000,0.000,0.804,32,1879,1655,-11.33,-0.59,300.00
$IRIDIUM_FIX,6108.28,-1003.35,221107,212112
$TT8_MAMPS,0.026845
$HUMID,2064
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,17.00
$XPDR_PINGS,267
$ALTIM_BOTTOM_PING,500.7,62.1
$24V_AH,23.5,21.562
$10V_AH,10.1,8.920
$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,26.125,113.900,343.975,22.450,0.000,68.596,74.638,181.112,70.750,0.000,0.000,13.571,1069.360,8844.260,524.348,1334.969,429.876,33.357,1209.446,0.000,1310.347,0.000,28.158
$DEVICE_MAMPS,143.429,66.729,1137.461,803.816,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.047,379.680,375.455,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28576,563
$CFSIZE,260165632,254930944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,3,0
$GPS,221107,205638,6128.987,-904.240,28,1.2,28,-9.2