version: 66.02
glider: 102
mission: 4
dive: 68
start: 11 23 107 11 29 34
data:
$ID,102
$MISSION,4
$DIVE,68
$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,-77532.633
$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,29
$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
$GPS1,112432,6121.836,-902.252,49,1.4,49,-9.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-53.1
$GPS2,112839,6121.824,-902.202,11,1.6,11,-9.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.141,0.154
$KALMAN_X,42105.0,-98.4,-169.5,-70186.9,12879.8
$KALMAN_Y,156203.7,-246.9,-72.4,-176797.5,16599.6
$MHEAD_RNG_PITCHd_Wd,326.6,44364,-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,17,begin dive
$GC,18,-0.95,-146.6,0.0,0.0,0,102,0.00,0.00,-81.32,0.000,6,0.000,0.000,33,1886,3477
$GC,104,-0.95,-146.6,5.8,-6.7,4,125,11.98,2.65,0.00,0.000,4,0.143,0.068,2283,501,3478
$GC,359,-0.95,-146.6,44.5,-8.5,15,364,0.00,2.50,0.00,0.000,6,0.000,0.040,2283,1909,3478
$GC,681,-0.95,-146.6,69.8,-7.5,31,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1913,3478
$GC,990,-0.95,-146.6,104.8,-13.9,46,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1912,3479
$GC,1300,-0.95,-146.6,136.2,-8.1,61,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1912,3478
$GC,1609,-0.95,-146.6,158.6,-7.7,76,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1912,3478
$GC,1918,-0.95,-146.6,183.8,-7.7,91,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1912,3479
$GC,2227,-0.95,-146.6,205.5,-6.9,106,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1912,3479
$GC,2537,-0.95,-146.6,226.1,-6.9,121,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1912,3478
$GC,2846,-0.95,-146.6,247.4,-6.7,136,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1912,3479
$GC,3155,-0.95,-146.6,268.4,-7.0,151,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1912,3479
$GC,3465,-0.95,-146.6,290.0,-7.2,166,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1913,3478
$GC,3774,-0.95,-146.6,313.9,-7.7,181,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1913,3479
$GC,4083,-0.95,-146.6,338.6,-8.0,196,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1912,3478
$GC,4392,-0.95,-146.6,360.7,-6.8,211,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1912,3479
$STATE,4679,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4680,begin apogee
$GC,4684,-0.36,0.0,381.2,7.4,225,4806,0.65,0.00,118.90,1.012,6,0.098,0.000,2417,2354,2877
$STATE,4807,end apogee,CONTROL_FINISHED_OK
$STATE,4807,begin climb
$GC,4809,0.95,146.6,385.5,0.0,231,4935,1.27,2.62,116.95,0.976,4,0.056,0.058,2700,3742,2280
$GC,5019,0.99,182.6,379.7,4.9,241,5054,0.00,2.47,29.45,0.974,6,0.000,0.038,2701,2355,2133
$GC,5369,0.99,182.6,358.6,6.3,258,5374,0.00,2.62,0.00,0.000,4,0.000,0.061,2700,944,2133
$GC,5469,0.99,182.6,351.8,7.0,262,5476,0.00,2.53,0.00,0.000,6,0.000,0.040,2700,2338,2133
$GC,5784,0.99,182.6,330.6,6.7,278,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2337,2133
$GC,6093,0.99,182.6,310.3,6.8,293,6097,0.00,2.55,0.00,0.000,4,0.000,0.054,2701,938,2132
$GC,6238,0.99,182.6,300.2,7.0,299,6243,0.00,2.53,0.00,0.000,6,0.000,0.041,2700,2350,2133
$GC,6559,1.00,185.6,279.5,5.9,315,6565,0.00,0.00,3.62,0.951,6,0.000,0.000,2700,2350,2120
$GC,6868,1.00,185.6,259.7,7.3,330,6872,0.00,2.58,0.00,0.000,4,0.000,0.055,2700,941,2120
$GC,6935,1.00,185.6,255.4,6.7,333,6939,0.00,2.50,0.00,0.000,6,0.000,0.041,2700,2355,2120
$GC,7261,1.00,185.6,231.9,7.6,349,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2356,2120
$GC,7570,1.00,185.6,211.0,6.9,364,7574,0.00,2.58,0.00,0.000,4,0.000,0.054,2700,941,2120
$GC,7692,1.00,185.6,201.2,8.5,369,7697,0.00,2.50,0.00,0.000,6,0.000,0.039,2700,2349,2120
$GC,8013,1.00,185.6,175.9,8.0,385,8017,0.00,2.55,0.00,0.000,4,0.000,0.055,2701,942,2120
$GC,8089,1.00,185.6,169.7,7.6,388,8096,0.00,2.50,0.00,0.000,6,0.000,0.039,2701,2352,2120
$GC,8405,1.00,185.6,146.6,7.7,404,8409,0.00,2.58,0.00,0.000,4,0.000,0.054,2700,943,2120
$GC,8504,1.00,185.6,138.2,8.5,408,8512,0.00,2.47,0.00,0.000,6,0.000,0.038,2701,2340,2120
$GC,8820,1.00,185.6,115.2,7.5,424,8824,0.00,2.55,0.00,0.000,4,0.000,0.053,2701,941,2120
$GC,8891,1.00,185.6,110.2,6.5,427,8896,0.00,2.50,0.00,0.000,6,0.000,0.038,2700,2351,2120
$GC,9214,1.02,202.1,91.5,5.5,443,9236,0.00,2.62,13.62,0.888,4,0.000,0.054,2701,950,2054
$GC,9336,1.02,202.1,84.9,6.4,448,9341,0.00,2.50,0.00,0.000,6,0.000,0.039,2700,2344,2054
$GC,9659,1.08,257.9,73.3,4.3,464,9706,0.12,0.00,43.95,0.835,6,0.049,0.000,2746,2344,1825
$GC,10008,1.08,257.9,48.9,7.6,481,10012,0.00,2.60,0.00,0.000,4,0.000,0.056,2746,938,1825
$GC,10136,1.08,257.9,40.0,7.0,487,10141,0.00,2.50,0.00,0.000,6,0.000,0.039,2746,2356,1825
$GC,10462,1.08,257.9,18.3,7.8,503,10463,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2356,1825
$STATE,10708,end climb,SURFACE_DEPTH_REACHED
$STATE,10708,begin surface coast
$FINISH,0.4,1.019528
$STATE,10751,end surface coast,CONTROL_FINISHED_OK
$STATE,10751,begin surface
$SM_CCo,10770,37.88,0.791,5,0,1655,300.00
$SM_GC,1.10,0.00,0.00,37.88,0.000,0.000,0.791,36,1880,1655,-11.31,-0.54,300.00
$IRIDIUM_FIX,6059.36,-905.59,231107,121208
$TT8_MAMPS,0.026845
$HUMID,2032
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,15.80
$XPDR_PINGS,148
$ALTIM_BOTTOM_PING,301.1,89.9
$24V_AH,23.5,22.203
$10V_AH,10.1,9.226
$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,25.800,57.625,326.500,37.875,0.000,38.607,23.456,106.383,39.000,0.000,0.000,12.508,954.406,8205.573,485.023,1194.759,254.474,33.366,1071.974,0.000,1183.131,0.000,15.288
$DEVICE_MAMPS,143.429,68.263,1011.673,790.777,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,379.682,347.959,431.997,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25422,517
$CFSIZE,260165632,254722048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,5,0
$GPS,231107,143108,6121.962,-903.422,25,1.3,25,-9.2