version: 66.02
glider: 102
mission: 4
dive: 66
start: 11 23 107 4 21 12
data:
$ID,102
$MISSION,4
$DIVE,66
$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,-77482.703
$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,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
$GPS1,041537,6124.693,-908.113,39,1.6,44,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-58.2
$GPS2,042020,6124.694,-908.071,18,1.3,18,-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,38047.2,-787.1,-175.2,-70609.1,6130.0
$KALMAN_Y,150840.4,-1304.4,485.0,-165652.4,8902.7
$MHEAD_RNG_PITCHd_Wd,186.1,11269,-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,18,begin dive
$GC,19,-0.95,-146.6,0.0,0.0,0,83,0.00,0.00,-62.00,0.000,2,0.000,0.000,35,1889,2945
$GC,85,-0.95,-146.6,3.2,-4.8,3,120,11.90,2.60,-15.27,0.000,4,0.140,0.058,2285,3303,3476
$GC,373,-0.95,-146.6,28.6,-9.8,16,377,0.00,2.50,0.00,0.000,6,0.000,0.041,2285,1901,3478
$GC,698,-0.95,-146.6,50.0,-8.8,32,702,0.00,2.53,0.00,0.000,4,0.000,0.045,2285,3311,3477
$GC,792,-0.95,-146.6,59.8,-11.3,36,797,0.00,2.55,0.00,0.000,6,0.000,0.041,2285,1901,3477
$GC,1113,-0.95,-146.6,83.6,-7.6,52,1117,0.00,2.60,0.00,0.000,4,0.000,0.064,2286,489,3477
$GC,1184,-0.95,-146.6,90.4,-8.1,55,1189,0.00,2.50,0.00,0.000,6,0.000,0.039,2285,1907,3477
$GC,1507,-0.95,-146.6,119.3,-7.7,71,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1910,3477
$GC,1815,-0.95,-146.6,146.9,-9.3,86,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1910,3477
$GC,2124,-0.95,-146.6,172.0,-8.4,101,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1910,3477
$GC,2434,-0.95,-146.6,195.1,-7.4,116,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1910,3477
$GC,2743,-0.95,-146.6,219.5,-8.8,131,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1911,3477
$GC,3052,-0.95,-146.6,241.3,-6.6,146,3056,0.00,2.62,0.00,0.000,4,0.000,0.065,2285,490,3477
$GC,3128,-0.95,-146.6,247.1,-7.5,149,3135,0.00,2.47,0.00,0.000,6,0.000,0.041,2285,1896,3477
$GC,3444,-0.95,-146.6,268.1,-6.3,165,3448,0.00,2.50,0.00,0.000,4,0.000,0.048,2285,3295,3477
$GC,3469,-0.95,-146.6,269.9,-6.5,166,3474,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1901,3477
$GC,3791,-0.95,-146.6,290.2,-6.4,182,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3477
$GC,4100,-0.95,-146.6,310.5,-6.4,197,4104,0.00,2.50,0.00,0.000,4,0.000,0.048,2285,3297,3477
$GC,4142,-0.95,-146.6,313.3,-6.7,199,4147,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1901,3477
$GC,4469,-0.95,-146.6,334.9,-6.8,215,4474,0.00,2.58,0.00,0.000,4,0.000,0.064,2285,492,3477
$GC,4501,-0.95,-146.6,337.4,-7.4,216,4508,0.00,2.50,0.00,0.000,6,0.000,0.042,2285,1906,3477
$GC,4817,-0.95,-146.6,359.3,-6.6,232,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3477
$GC,5126,-0.95,-146.6,379.8,-6.6,247,5131,0.00,2.50,0.00,0.000,4,0.000,0.051,2285,3297,3477
$GC,5187,-0.95,-146.6,383.9,-6.7,250,5192,0.00,2.50,0.00,0.000,6,0.000,0.046,2285,1897,3477
$GC,5519,-0.95,-146.6,406.3,-6.7,266,5523,0.00,2.53,0.00,0.000,4,0.000,0.051,2285,3296,3477
$GC,5557,-0.95,-146.6,408.9,-6.9,268,5561,0.00,2.50,0.00,0.000,6,0.000,0.046,2285,1900,3477
$GC,5882,-0.95,-146.6,430.7,-6.8,284,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3477
$GC,6191,-0.95,-146.6,452.9,-7.1,299,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3477
$STATE,6478,end dive,NO_VERTICAL_VELOCITY
$STATE,6479,begin apogee
$GC,6484,-0.36,0.0,459.6,0.0,313,6606,0.60,0.00,119.35,1.068,6,0.073,0.000,2419,2344,2878
$STATE,6607,end apogee,CONTROL_FINISHED_OK
$STATE,6607,begin climb
$GC,6608,0.95,146.6,459.3,0.0,319,6734,1.25,2.67,117.85,1.027,4,0.051,0.059,2700,935,2280
$GC,6986,1.01,196.3,446.9,4.5,336,7032,0.00,2.53,40.78,1.026,6,0.000,0.043,2700,2351,2077
$GC,7342,1.03,209.8,428.5,5.6,353,7363,0.00,2.70,11.77,1.032,4,0.000,0.058,2700,939,2022
$GC,7614,1.03,209.8,410.1,7.2,365,7619,0.00,2.53,0.00,0.000,6,0.000,0.042,2700,2343,2022
$GC,7941,1.03,209.8,386.2,7.5,381,7946,0.00,2.60,0.00,0.000,4,0.000,0.058,2700,938,2022
$GC,8012,1.03,209.8,380.7,7.3,384,8017,0.00,2.55,0.00,0.000,6,0.000,0.042,2700,2344,2021
$GC,8334,1.03,209.8,358.0,7.5,400,8338,0.00,2.58,0.00,0.000,4,0.000,0.058,2700,940,2021
$GC,8394,1.03,209.8,353.2,7.9,403,8399,0.00,2.53,0.00,0.000,6,0.000,0.042,2700,2350,2021
$GC,8720,1.03,209.8,328.4,7.9,419,8724,0.00,2.58,0.00,0.000,4,0.000,0.057,2700,940,2022
$GC,8774,1.03,209.8,324.0,8.5,421,8781,0.00,2.53,0.00,0.000,6,0.000,0.041,2700,2350,2022
$GC,9089,1.03,209.8,299.2,8.0,437,9094,0.00,2.58,0.00,0.000,4,0.000,0.056,2700,934,2022
$GC,9160,1.03,209.8,293.4,8.2,440,9165,0.00,2.53,0.00,0.000,6,0.000,0.042,2700,2348,2021
$GC,9482,1.03,209.8,268.6,7.5,456,9486,0.00,2.58,0.00,0.000,4,0.000,0.056,2700,936,2021
$GC,9553,1.03,209.8,263.2,7.5,459,9557,0.00,2.53,0.00,0.000,6,0.000,0.041,2700,2349,2021
$GC,9874,1.03,209.8,239.2,7.4,475,9878,0.00,2.58,0.00,0.000,4,0.000,0.056,2700,936,2022
$GC,9922,1.03,209.8,235.5,7.8,477,9927,0.00,2.50,0.00,0.000,6,0.000,0.041,2700,2341,2022
$GC,10243,1.03,209.8,213.5,6.7,493,10247,0.00,2.55,0.00,0.000,4,0.000,0.055,2700,938,2022
$GC,10309,1.03,209.8,209.1,7.1,496,10314,0.00,2.50,0.00,0.000,6,0.000,0.041,2700,2342,2021
$GC,10635,1.03,209.8,187.2,7.2,512,10640,0.00,2.55,0.00,0.000,4,0.000,0.055,2700,935,2022
$GC,10757,1.03,209.8,177.2,8.2,517,10764,0.00,2.53,0.00,0.000,6,0.000,0.041,2700,2352,2021
$GC,11073,1.03,209.8,152.4,8.4,533,11077,0.00,2.55,0.00,0.000,4,0.000,0.055,2700,940,2022
$GC,11150,1.03,209.8,145.4,9.4,536,11154,0.00,2.53,0.00,0.000,6,0.000,0.039,2700,2352,2021
$GC,11471,1.05,226.6,124.1,5.5,552,11494,0.10,2.65,13.77,0.904,4,0.061,0.054,2741,938,1954
$GC,11532,1.22,365.7,121.9,1.9,554,11646,0.00,2.53,107.35,0.834,6,0.000,0.039,2740,2349,1387
$GC,11973,1.22,365.7,87.1,9.3,576,11977,0.00,2.62,0.00,0.000,4,0.000,0.058,2740,934,1387
$GC,12133,1.22,365.7,71.2,10.8,583,12138,0.00,2.55,0.00,0.000,6,0.000,0.040,2741,2350,1387
$GC,12456,1.22,365.7,39.3,9.6,599,12460,0.00,2.62,0.00,0.000,4,0.000,0.058,2741,934,1387
$GC,12584,1.22,365.7,28.1,9.6,605,12588,0.00,2.53,0.00,0.000,6,0.000,0.041,2740,2356,1387
$STATE,12887,end climb,SURFACE_DEPTH_REACHED
$STATE,12888,begin surface coast
$FINISH,0.5,1.027280
$STATE,12909,end surface coast,CONTROL_FINISHED_OK
$STATE,12909,begin surface
$SM_CCo,12989,0.00,0.000,0,0,1387,365.74
$SM_GC,1.20,11.68,0.00,0.00,0.031,0.000,0.000,30,1882,1387,-11.27,-0.48,365.74
$IRIDIUM_FIX,6059.36,-906.30,231107,040431
$TT8_MAMPS,0.026845
$HUMID,2051
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.90
$XPDR_PINGS,689
$24V_AH,23.5,21.975
$10V_AH,10.1,9.110
$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,25.525,118.925,410.875,0.000,0.000,37.819,42.419,114.836,175.500,0.000,0.000,19.981,1182.846,9682.409,499.739,1619.245,293.209,33.370,1321.585,0.000,1581.853,0.000,21.935
$DEVICE_MAMPS,139.594,65.195,1067.664,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.537,419.053,450.917,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31685,621
$CFSIZE,260165632,254787584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,231107,075838,6124.033,-905.315,24,2.0,24,-9.2