version: 66.02
glider: 102
mission: 4
dive: 65
start: 11 23 107 0 7 51
data:
$ID,102
$MISSION,4
$DIVE,65
$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,550
$T_MISSION,580
$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,-77462.094
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,000307,6126.630,-907.394,39,0.9,39,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-61.6
$GPS2,000657,6126.620,-907.429,14,0.9,14,-9.3
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.012,-0.208
$KALMAN_X,38109.1,317.6,-270.6,-71125.4,7724.9
$KALMAN_Y,148356.4,-89.4,-991.7,-159312.7,7898.3
$MHEAD_RNG_PITCHd_Wd,192.6,13924,-10.7,-6.000
$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,-0.95,-146.6,0.0,0.0,0,83,0.00,0.00,-62.75,0.000,2,0.000,0.000,28,1876,2995
$GC,85,-0.95,-146.6,3.3,-4.4,3,116,11.95,2.55,-13.00,0.000,4,0.140,0.059,2287,3304,3477
$GC,367,-0.95,-146.6,28.4,-7.0,15,375,0.00,2.53,0.00,0.000,6,0.000,0.041,2287,1908,3477
$GC,683,-0.95,-146.6,52.0,-7.4,31,687,0.00,2.53,0.00,0.000,4,0.000,0.047,2287,3311,3477
$GC,759,-0.95,-146.6,58.3,-8.3,34,767,0.00,2.55,0.00,0.000,6,0.000,0.041,2287,1903,3477
$GC,1075,-0.95,-146.6,82.7,-8.3,50,1079,0.00,2.60,0.00,0.000,4,0.000,0.064,2287,496,3477
$GC,1100,-0.95,-146.6,85.3,-10.2,51,1105,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1900,3477
$GC,1423,-0.95,-146.6,109.4,-7.0,67,1428,0.00,2.50,0.00,0.000,4,0.000,0.048,2287,3297,3477
$GC,1462,-0.95,-146.6,112.4,-7.9,69,1466,0.00,2.50,0.00,0.000,6,0.000,0.044,2287,1900,3477
$GC,1788,-0.95,-146.6,137.7,-7.4,85,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3477
$GC,2097,-0.95,-146.6,161.7,-7.1,100,2101,0.00,2.53,0.00,0.000,4,0.000,0.045,2287,3307,3477
$GC,2139,-0.95,-146.6,165.1,-8.5,102,2144,0.00,2.55,0.00,0.000,6,0.000,0.042,2287,1897,3477
$GC,2466,-0.95,-146.6,187.2,-6.4,118,2470,0.00,2.53,0.00,0.000,4,0.000,0.047,2286,3302,3477
$GC,2505,-0.95,-146.6,189.8,-6.8,120,2509,0.00,2.53,0.00,0.000,6,0.000,0.043,2287,1892,3477
$GC,2830,-0.95,-146.6,210.5,-6.5,136,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1892,3477
$GC,3140,-0.95,-146.6,231.7,-6.9,151,3144,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3298,3477
$GC,3193,-0.95,-146.6,235.8,-7.5,153,3200,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1904,3477
$GC,3509,-0.95,-146.6,257.6,-6.8,169,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1904,3477
$GC,3818,-0.95,-146.6,279.0,-6.9,184,3822,0.00,2.60,0.00,0.000,4,0.000,0.065,2287,493,3477
$GC,3856,-0.95,-146.6,281.9,-7.7,185,3864,0.00,2.50,0.00,0.000,6,0.000,0.043,2287,1904,3478
$GC,4172,-0.95,-146.6,304.1,-6.6,201,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3477
$GC,4481,-0.95,-146.6,323.6,-6.3,216,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3477
$GC,4791,-0.95,-146.6,342.5,-5.7,231,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3477
$GC,5100,-0.95,-146.6,361.0,-6.5,246,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3477
$GC,5409,-0.95,-146.6,380.9,-6.9,261,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3477
$GC,5718,-0.95,-146.6,403.5,-7.3,276,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3477
$GC,6028,-0.95,-146.6,425.9,-7.1,291,6033,0.00,2.62,0.00,0.000,4,0.000,0.067,2287,495,3477
$GC,6067,-0.95,-146.6,429.1,-8.1,293,6071,0.00,2.47,0.00,0.000,6,0.000,0.044,2287,1904,3477
$GC,6392,-0.95,-146.6,453.1,-6.9,309,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3477
$GC,6702,-0.95,-146.6,475.7,-8.1,324,6706,0.00,2.62,0.00,0.000,4,0.000,0.068,2287,493,3477
$GC,6789,-0.95,-146.6,482.8,-8.1,328,6794,0.00,2.50,0.00,0.000,6,0.000,0.045,2287,1899,3477
$GC,7116,-0.95,-146.6,501.5,-2.4,344,7121,0.00,2.53,0.00,0.000,4,0.000,0.055,2288,3298,3477
$STATE,7244,end dive,NO_VERTICAL_VELOCITY
$STATE,7244,begin apogee
$GC,7249,-0.36,0.0,501.5,0.0,350,7372,0.62,0.00,119.43,1.107,6,0.089,0.000,2419,2350,2878
$STATE,7372,end apogee,CONTROL_FINISHED_OK
$STATE,7372,begin climb
$GC,7374,0.95,146.6,501.3,0.0,356,7496,1.27,0.00,118.38,1.069,6,0.058,0.000,2699,2350,2279
$GC,7806,0.98,174.5,483.9,5.2,377,7835,0.00,2.67,23.27,1.078,4,0.000,0.062,2699,946,2165
$GC,8087,0.99,182.0,467.2,5.8,389,8099,0.00,2.53,6.88,1.066,6,0.000,0.042,2699,2343,2136
$GC,8420,1.00,189.1,447.7,5.8,406,8434,0.00,2.65,6.72,1.060,4,0.000,0.058,2699,938,2107
$GC,8534,1.00,189.1,440.5,6.6,411,8539,0.00,2.55,0.00,0.000,6,0.000,0.042,2699,2351,2107
$GC,8861,1.01,196.1,420.2,5.8,427,8875,0.00,2.67,6.90,1.062,4,0.000,0.058,2699,942,2078
$GC,8954,1.01,196.1,414.5,6.5,431,8958,0.00,2.53,0.00,0.000,6,0.000,0.041,2699,2344,2078
$GC,9281,1.06,239.7,397.8,4.7,447,9323,0.12,2.65,35.20,1.055,4,0.052,0.058,2741,943,1900
$GC,9373,1.06,239.7,391.7,7.1,451,9378,0.00,2.53,0.00,0.000,6,0.000,0.042,2741,2351,1900
$GC,9693,1.06,239.7,369.8,6.7,467,9697,0.00,2.60,0.00,0.000,4,0.000,0.058,2741,939,1900
$GC,9770,1.06,239.7,364.3,6.8,470,9777,0.00,2.55,0.00,0.000,6,0.000,0.042,2741,2349,1900
$GC,10086,1.06,239.7,343.7,6.8,486,10090,0.00,2.60,0.00,0.000,4,0.000,0.058,2741,942,1900
$GC,10184,1.06,239.7,336.2,7.9,490,10192,0.00,2.55,0.00,0.000,6,0.000,0.041,2741,2352,1900
$GC,10500,1.06,239.7,314.2,6.6,506,10505,0.00,2.58,0.00,0.000,4,0.000,0.057,2741,942,1900
$GC,10566,1.06,239.7,309.5,7.5,509,10571,0.00,2.53,0.00,0.000,6,0.000,0.041,2741,2352,1900
$GC,10892,1.06,239.7,287.1,7.0,525,10897,0.00,2.58,0.00,0.000,4,0.000,0.057,2741,942,1900
$GC,10948,1.06,239.7,283.0,7.7,527,10954,0.00,2.50,0.00,0.000,6,0.000,0.041,2741,2352,1900
$GC,11262,1.06,239.7,259.6,7.5,543,11266,0.00,2.58,0.00,0.000,4,0.000,0.057,2741,942,1899
$GC,11328,1.06,239.7,254.2,8.3,546,11333,0.00,2.50,0.00,0.000,6,0.000,0.041,2741,2353,1900
$GC,11648,1.06,239.7,229.1,7.6,562,11652,0.00,2.58,0.00,0.000,4,0.000,0.056,2741,938,1900
$GC,11697,1.06,239.7,225.5,7.4,564,11702,0.00,2.53,0.00,0.000,6,0.000,0.041,2741,2353,1900
$GC,12018,1.06,239.7,205.1,6.1,580,12022,0.00,2.58,0.00,0.000,4,0.000,0.055,2741,937,1900
$GC,12066,1.07,244.7,202.0,5.8,582,12079,0.00,2.53,5.30,0.965,6,0.000,0.041,2741,2344,1880
$GC,12387,1.07,244.7,184.6,6.1,598,12391,0.00,2.55,0.00,0.000,4,0.000,0.056,2741,942,1879
$GC,12437,1.07,244.7,180.9,7.3,600,12441,0.00,2.50,0.00,0.000,6,0.000,0.040,2741,2353,1878
$GC,12756,1.07,244.7,161.0,6.2,616,12761,0.00,2.58,0.00,0.000,4,0.000,0.055,2741,940,1879
$GC,12839,1.07,244.7,155.3,7.0,620,12844,0.00,2.47,0.00,0.000,6,0.000,0.040,2741,2353,1879
$GC,13165,1.07,244.7,131.4,8.3,636,13170,0.00,2.60,0.00,0.000,4,0.000,0.056,2741,935,1879
$GC,13236,1.07,244.7,124.6,9.2,639,13241,0.00,2.53,0.00,0.000,6,0.000,0.040,2741,2350,1879
$GC,13559,1.07,244.7,93.1,9.5,655,13564,0.00,2.58,0.00,0.000,4,0.000,0.056,2741,941,1879
$GC,13614,1.07,244.7,87.7,9.4,657,13621,0.00,2.47,0.00,0.000,6,0.000,0.039,2741,2340,1879
$GC,13931,1.07,244.7,63.1,7.2,673,13935,0.00,2.55,0.00,0.000,4,0.000,0.054,2741,940,1879
$GC,13962,1.07,244.7,60.3,8.7,674,13970,0.00,2.50,0.00,0.000,6,0.000,0.038,2741,2352,1879
$GC,14278,1.07,244.7,31.8,6.8,690,14282,0.00,2.58,0.00,0.000,4,0.000,0.055,2741,942,1879
$GC,14321,1.07,244.7,28.7,7.4,692,14325,0.00,2.50,0.00,0.000,6,0.000,0.039,2741,2351,1879
$GC,14648,1.07,244.7,3.2,8.4,708,14649,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2351,1880
$STATE,14667,end climb,SURFACE_DEPTH_REACHED
$STATE,14667,begin surface coast
$FINISH,0.4,1.014378
$STATE,14689,end surface coast,CONTROL_FINISHED_OK
$STATE,14689,begin surface
$SM_CCo,14708,49.62,0.795,6,0,1655,300.00
$SM_GC,0.98,0.00,0.00,49.62,0.000,0.000,0.795,35,1891,1655,-11.32,-0.25,300.00
$IRIDIUM_FIX,6103.81,-902.57,231107,000006
$TT8_MAMPS,0.026845
$HUMID,2039
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,17.10
$XPDR_PINGS,724
$24V_AH,23.5,21.829
$10V_AH,10.2,9.044
$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,25.625,142.725,322.075,49.625,0.000,37.509,26.938,88.323,184.750,0.000,0.000,16.123,1347.193,11159.920,559.210,1707.995,258.527,33.366,1414.864,0.000,1674.565,0.000,25.168
$DEVICE_MAMPS,140.361,68.263,1106.781,795.379,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,517.530,479.932,486.976,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34914,710
$CFSIZE,260165632,254824448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,6,0
$GPS,231107,041537,6124.693,-908.113,39,1.6,44,-9.3