version: 66.02
glider: 102
mission: 4
dive: 64
start: 11 22 107 21 1 39
data:
$ID,102
$MISSION,4
$DIVE,64
$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,-77445.344
$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,33
$R_STBD_OVSHOOT,25
$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
$GPS1,205638,6128.987,-904.240,28,1.2,28,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-59.9
$GPS2,210045,6128.975,-904.258,13,1.2,13,-9.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,-0.122
$KALMAN_X,36112.4,136.6,-165.3,-66264.1,3836.0
$KALMAN_Y,149948.2,241.9,-508.0,-157412.1,8370.6
$MHEAD_RNG_PITCHd_Wd,248.2,17047,-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,19,-1.23,-146.6,0.0,0.0,0,83,0.00,0.00,-62.70,0.000,2,0.000,0.000,31,1879,2966
$GC,85,-1.23,-146.6,3.0,-4.4,3,118,11.55,2.58,-14.48,0.000,4,0.139,0.057,2224,3313,3476
$GC,313,-1.23,-146.6,28.1,-10.8,13,318,0.00,2.55,0.00,0.000,6,0.000,0.041,2224,1905,3476
$GC,634,-1.23,-146.6,61.5,-9.9,29,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1905,3476
$GC,943,-1.23,-146.6,93.6,-9.1,44,948,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3310,3476
$GC,1009,-1.23,-146.6,100.6,-12.4,47,1014,0.00,2.55,0.00,0.000,6,0.000,0.043,2224,1905,3476
$GC,1336,-1.23,-146.6,136.9,-12.5,63,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1905,3476
$GC,1645,-1.23,-146.6,175.0,-12.6,78,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1905,3476
$GC,1954,-1.23,-146.6,215.0,-13.3,93,1958,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3309,3476
$GC,2003,-1.23,-146.6,221.6,-12.8,95,2008,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1901,3476
$GC,2324,-1.23,-146.6,259.2,-11.1,111,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3476
$GC,2634,-1.23,-146.6,296.2,-12.8,126,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3476
$GC,2943,-1.23,-146.6,332.5,-11.4,141,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3476
$GC,3252,-1.23,-146.6,364.5,-9.8,156,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3476
$GC,3562,-1.23,-146.6,394.9,-10.2,171,3566,0.00,2.60,0.00,0.000,4,0.000,0.064,2224,492,3476
$GC,3604,-1.23,-146.6,399.5,-10.3,173,3609,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1910,3476
$GC,3931,-1.23,-146.6,434.0,-10.4,189,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1912,3476
$GC,4240,-1.23,-146.6,465.5,-9.1,204,4244,0.00,2.50,0.00,0.000,4,0.000,0.051,2224,3299,3476
$GC,4306,-1.23,-146.6,471.5,-8.0,207,4311,0.00,2.55,0.00,0.000,6,0.000,0.046,2224,1902,3476
$STATE,4632,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4632,begin apogee
$GC,4637,-0.36,0.0,502.7,10.4,223,4760,0.93,0.00,119.82,1.101,6,0.087,0.000,2419,2345,2878
$STATE,4761,end apogee,CONTROL_FINISHED_OK
$STATE,4761,begin climb
$GC,4762,1.23,146.6,507.8,0.0,229,4888,1.55,2.65,117.12,1.085,4,0.054,0.059,2763,3744,2280
$GC,4915,1.26,168.3,503.5,7.2,236,4940,0.00,2.55,17.98,1.077,6,0.000,0.041,2764,2350,2192
$GC,5256,1.26,169.8,475.2,7.9,253,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2350,2192
$GC,5565,1.30,201.3,453.1,6.8,268,5594,0.00,0.00,27.55,1.075,6,0.000,0.000,2763,2350,2057
$GC,5894,1.30,201.3,428.4,8.1,284,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2350,2057
$GC,6203,1.31,214.3,404.9,7.5,299,6224,0.00,2.67,11.48,1.077,4,0.000,0.060,2763,941,2003
$GC,6274,1.31,214.3,399.2,8.3,302,6279,0.00,2.53,0.00,0.000,6,0.000,0.041,2764,2350,2003
$GC,6594,1.31,214.3,371.3,8.9,318,6599,0.00,2.60,0.00,0.000,4,0.000,0.058,2764,932,2003
$GC,6643,1.31,214.3,366.7,9.2,320,6648,0.00,2.55,0.00,0.000,6,0.000,0.042,2764,2348,2003
$GC,6965,1.31,214.3,335.2,9.8,336,6969,0.00,2.58,0.00,0.000,4,0.000,0.056,2764,940,2003
$GC,7035,1.31,214.3,328.1,9.6,339,7040,0.00,2.55,0.00,0.000,6,0.000,0.041,2763,2351,2003
$GC,7356,1.31,214.3,298.2,9.2,355,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2352,2003
$GC,7666,1.31,214.3,269.6,9.4,370,7670,0.00,2.58,0.00,0.000,4,0.000,0.057,2764,940,2003
$GC,7759,1.31,214.3,260.9,8.3,374,7764,0.00,2.53,0.00,0.000,6,0.000,0.041,2764,2354,2003
$GC,8080,1.31,214.3,232.9,8.6,390,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2355,2003
$GC,8389,1.31,214.3,205.7,8.8,405,8393,0.00,2.58,0.00,0.000,4,0.000,0.054,2764,939,2003
$GC,8473,1.31,214.3,197.9,8.9,409,8477,0.00,2.50,0.00,0.000,6,0.000,0.040,2764,2352,2003
$GC,8798,1.31,214.3,169.4,8.8,425,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2352,2003
$GC,9108,1.31,214.3,139.3,10.0,440,9112,0.00,2.60,0.00,0.000,4,0.000,0.055,2763,934,2003
$GC,9195,1.31,214.3,130.1,10.0,444,9200,0.00,2.53,0.00,0.000,6,0.000,0.040,2764,2353,2003
$GC,9524,1.31,214.3,99.7,9.2,460,9528,0.00,2.60,0.00,0.000,4,0.000,0.054,2764,932,2003
$GC,9577,1.31,214.3,94.5,9.1,462,9585,0.00,2.53,0.00,0.000,6,0.000,0.040,2764,2342,2003
$GC,9895,1.33,227.0,72.2,7.5,478,9907,0.00,0.00,10.62,0.893,6,0.000,0.000,2764,2342,1952
$GC,10203,1.34,236.0,50.6,7.7,493,10218,0.10,2.62,8.05,0.879,4,0.058,0.055,2798,941,1914
$GC,10256,1.34,236.0,44.7,11.9,495,10261,0.00,2.50,0.00,0.000,6,0.000,0.038,2798,2357,1914
$GC,10577,1.34,236.0,12.0,10.1,511,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2358,1914
$STATE,10679,end climb,SURFACE_DEPTH_REACHED
$STATE,10679,begin surface coast
$FINISH,0.4,1.024212
$STATE,10701,end surface coast,CONTROL_FINISHED_OK
$STATE,10701,begin surface
$SM_CCo,10721,57.15,0.783,7,0,1655,300.00
$SM_GC,1.03,0.00,0.00,57.15,0.000,0.000,0.783,28,1876,1655,-11.35,-0.68,300.00
$IRIDIUM_FIX,6108.28,-912.18,221107,212145
$TT8_MAMPS,0.026845
$HUMID,2037
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,17.00
$XPDR_PINGS,388
$ALTIM_BOTTOM_PING,425.3,86.9
$24V_AH,23.5,21.690
$10V_AH,10.1,8.973
$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,26.000,73.325,312.625,57.150,0.000,37.624,29.555,97.497,100.250,0.000,0.000,15.307,963.815,8200.198,504.074,1151.444,254.086,33.360,1084.193,0.000,1132.337,0.000,23.364
$DEVICE_MAMPS,138.827,64.428,1101.412,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,382.711,348.330,384.004,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25340,517
$CFSIZE,260165632,254902272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,7,0
$GPS,231107,000307,6126.630,-907.394,39,0.9,39,-9.3