version: 66.02
glider: 102
mission: 4
dive: 67
start: 11 23 107 8 4 16
data:
$ID,102
$MISSION,4
$DIVE,67
$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,-77519.5
$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,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
$GPS1,075838,6124.033,-905.315,24,2.0,24,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-58.0
$GPS2,080323,6124.040,-905.222,14,2.2,33,-9.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.035,-0.206
$KALMAN_X,39682.6,-1017.3,45.6,-69727.2,9051.2
$KALMAN_Y,156359.0,-417.7,-661.8,-172124.3,19026.0
$MHEAD_RNG_PITCHd_Wd,198.7,8803,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.95,-146.6,0.0,0.0,0,102,0.00,0.00,-82.15,0.000,2,0.000,0.000,30,1879,3128
$GC,104,-0.95,-146.6,3.7,-4.5,4,130,12.05,2.60,-8.38,0.000,4,0.141,0.058,2283,3315,3478
$GC,247,-0.95,-146.6,18.9,-8.8,10,255,0.00,2.53,0.00,0.000,6,0.000,0.041,2283,1908,3477
$GC,563,-0.95,-146.6,42.6,-7.6,26,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1908,3478
$GC,872,-0.95,-146.6,64.5,-6.8,41,876,0.00,2.53,0.00,0.000,4,0.000,0.047,2283,3314,3478
$GC,904,-0.95,-146.6,66.4,-5.9,42,910,0.00,2.55,0.00,0.000,6,0.000,0.042,2283,1903,3478
$GC,1221,-0.95,-146.6,87.1,-7.1,58,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1903,3478
$GC,1529,-0.95,-146.6,110.8,-7.8,73,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1903,3478
$GC,1838,-0.95,-146.6,132.5,-7.4,88,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1903,3477
$GC,2147,-0.95,-146.6,157.3,-8.7,103,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1903,3477
$GC,2456,-0.95,-146.6,180.5,-7.8,118,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1903,3477
$GC,2765,-0.95,-146.6,202.8,-6.9,133,2769,0.00,2.60,0.00,0.000,4,0.000,0.064,2283,495,3478
$GC,2808,-0.95,-146.6,206.1,-7.2,135,2813,0.00,2.50,0.00,0.000,6,0.000,0.041,2283,1905,3477
$GC,3136,-0.95,-146.6,229.5,-7.3,151,3140,0.00,2.50,0.00,0.000,4,0.000,0.049,2283,3300,3478
$GC,3167,-0.95,-146.6,232.0,-7.4,152,3174,0.00,2.53,0.00,0.000,6,0.000,0.044,2283,1905,3478
$GC,3483,-0.95,-146.6,252.0,-6.0,168,3487,0.00,2.60,0.00,0.000,4,0.000,0.066,2283,492,3478
$GC,3508,-0.95,-146.6,253.8,-6.9,169,3513,0.00,2.50,0.00,0.000,6,0.000,0.042,2283,1904,3477
$GC,3830,-0.95,-146.6,275.6,-6.7,185,3834,0.00,2.60,0.00,0.000,4,0.000,0.066,2283,497,3478
$GC,3873,-0.95,-146.6,278.7,-7.3,187,3877,0.00,2.50,0.00,0.000,6,0.000,0.043,2283,1904,3478
$GC,4199,-0.95,-146.6,300.0,-6.9,203,4209,0.00,2.50,0.00,0.000,4,0.000,0.050,2283,3302,3477
$GC,4235,-0.95,-146.6,302.7,-7.4,204,4240,0.00,2.55,0.00,0.000,6,0.000,0.045,2283,1898,3477
$GC,4557,-0.95,-146.6,325.4,-7.1,220,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3477
$GC,4866,-0.95,-146.6,347.6,-7.0,235,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3478
$GC,5175,-0.95,-146.6,368.8,-6.5,250,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3477
$GC,5484,-0.95,-146.6,389.5,-6.7,265,5489,0.00,2.53,0.00,0.000,4,0.000,0.048,2283,3308,3477
$GC,5563,-0.95,-146.6,394.9,-7.4,268,5569,0.00,2.53,0.00,0.000,6,0.000,0.044,2282,1896,3477
$STATE,5649,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5649,begin apogee
$GC,5654,-0.36,0.0,401.0,6.9,273,5776,0.65,0.00,118.85,1.029,6,0.094,0.000,2419,2353,2878
$STATE,5776,end apogee,CONTROL_FINISHED_OK
$STATE,5776,begin climb
$GC,5778,0.95,146.6,403.5,0.0,279,5904,1.25,2.62,116.95,0.989,4,0.052,0.057,2699,3745,2280
$GC,5943,0.99,177.9,399.9,5.1,287,5974,0.00,2.50,25.90,0.982,6,0.000,0.038,2699,2345,2152
$GC,6289,1.00,187.2,380.5,5.7,304,6303,0.00,2.65,8.68,0.995,4,0.000,0.060,2699,941,2114
$GC,6426,1.00,187.2,372.1,6.1,310,6431,0.00,2.53,0.00,0.000,6,0.000,0.041,2699,2345,2114
$GC,6754,1.01,195.8,353.0,5.7,326,6768,0.00,2.65,7.78,1.006,4,0.000,0.058,2699,943,2079
$GC,6812,1.03,212.9,349.4,5.5,328,6833,0.00,2.53,14.65,0.991,6,0.000,0.042,2699,2343,2009
$GC,7149,1.03,213.6,329.8,6.0,345,7153,0.00,2.58,0.00,0.000,4,0.000,0.058,2699,943,2009
$GC,7209,1.03,216.3,326.0,5.9,348,7218,0.00,2.50,3.90,0.962,6,0.000,0.042,2699,2350,1995
$GC,7540,1.03,216.3,305.1,6.6,364,7544,0.00,2.58,0.00,0.000,4,0.000,0.058,2699,943,1996
$GC,7628,1.03,216.3,299.2,6.9,368,7632,0.00,2.53,0.00,0.000,6,0.000,0.041,2699,2352,1996
$GC,7954,1.03,216.3,276.2,7.4,384,7959,0.00,2.58,0.00,0.000,4,0.000,0.056,2699,943,1995
$GC,8026,1.03,216.3,270.5,8.4,387,8030,0.00,2.53,0.00,0.000,6,0.000,0.041,2699,2353,1995
$GC,8347,1.03,216.3,245.7,7.4,403,8351,0.00,2.58,0.00,0.000,4,0.000,0.054,2699,939,1995
$GC,8446,1.03,216.3,238.4,7.2,407,8453,0.00,2.50,0.00,0.000,6,0.000,0.040,2699,2343,1995
$GC,8761,1.03,216.3,217.3,6.6,423,8765,0.00,2.55,0.00,0.000,4,0.000,0.055,2699,938,1995
$GC,8855,1.03,216.3,210.7,7.0,427,8860,0.00,2.53,0.00,0.000,6,0.000,0.040,2699,2353,1995
$GC,9182,1.03,216.3,189.3,6.6,443,9186,0.00,2.55,0.00,0.000,4,0.000,0.055,2699,942,1995
$GC,9269,1.03,216.3,183.0,7.2,447,9274,0.00,2.50,0.00,0.000,6,0.000,0.039,2699,2350,1995
$GC,9596,1.03,216.3,163.0,6.3,463,9600,0.00,2.55,0.00,0.000,4,0.000,0.056,2699,943,1995
$GC,9697,1.03,216.3,156.8,6.2,467,9701,0.00,2.47,0.00,0.000,6,0.000,0.040,2699,2354,1995
$GC,10011,1.03,216.3,137.8,6.7,482,10016,0.00,2.58,0.00,0.000,4,0.000,0.054,2699,943,1995
$GC,10088,1.03,216.3,132.3,6.9,485,10096,0.00,2.47,0.00,0.000,6,0.000,0.038,2699,2347,1995
$GC,10406,1.05,233.7,113.8,5.5,501,10428,0.12,2.62,14.23,0.896,4,0.051,0.056,2742,938,1925
$GC,10500,1.05,233.7,105.5,9.9,505,10504,0.00,2.53,0.00,0.000,6,0.000,0.039,2742,2350,1925
$GC,10827,1.05,233.7,81.0,7.0,521,10831,0.00,2.58,0.00,0.000,4,0.000,0.055,2743,943,1925
$GC,10875,1.05,233.7,77.1,7.9,523,10879,0.00,2.50,0.00,0.000,6,0.000,0.039,2742,2352,1924
$GC,11196,1.05,233.7,51.5,8.7,539,11201,0.00,2.58,0.00,0.000,4,0.000,0.056,2742,943,1925
$GC,11239,1.05,233.7,47.7,8.0,541,11244,0.00,2.50,0.00,0.000,6,0.000,0.038,2742,2353,1924
$GC,11566,1.05,233.7,17.5,9.1,557,11571,0.00,2.58,0.00,0.000,4,0.000,0.054,2742,943,1925
$GC,11609,1.05,233.7,13.1,8.6,559,11614,0.00,2.50,0.00,0.000,6,0.000,0.039,2742,2351,1925
$STATE,11791,end climb,SURFACE_DEPTH_REACHED
$STATE,11791,begin surface coast
$FINISH,0.5,1.013925
$STATE,11813,end surface coast,CONTROL_FINISHED_OK
$STATE,11813,begin surface
$SM_CCo,11832,59.70,0.782,8,0,1655,300.00
$SM_GC,1.01,0.00,0.00,59.70,0.000,0.000,0.782,33,1887,1655,-11.32,-0.34,300.00
$IRIDIUM_FIX,6059.36,-914.46,231107,080825
$TT8_MAMPS,0.026845
$HUMID,2015
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,17.00
$XPDR_PINGS,230
$ALTIM_BOTTOM_PING,300.3,109.8
$24V_AH,23.5,22.093
$10V_AH,10.1,9.171
$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,25.650,118.675,310.925,59.700,0.000,38.814,25.528,120.894,59.500,0.000,0.000,36.173,1086.091,8909.389,554.507,1402.082,275.954,33.365,1257.341,0.000,1357.735,0.000,15.361
$DEVICE_MAMPS,141.128,65.962,1029.314,781.573,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.716,383.002,462.590,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28521,569
$CFSIZE,260165632,254750720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,8,0
$GPS,231107,112432,6121.836,-902.252,49,1.4,49,-9.2