version: 66.02
glider: 102
mission: 4
dive: 69
start: 11 23 107 14 36 53
data:
$ID,102
$MISSION,4
$DIVE,69
$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,-77565.273
$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,34
$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
$GPS1,143108,6121.962,-903.422,25,1.3,25,-9.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-56.8
$GPS2,143600,6121.980,-903.401,10,2.6,29,-9.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.124,0.168
$KALMAN_X,44280.8,8.0,-102.2,-73584.2,16223.8
$KALMAN_Y,150150.8,-1798.3,-160.5,-168804.9,6518.1
$MHEAD_RNG_PITCHd_Wd,332.9,43829,-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,-80.68,0.000,6,0.000,0.000,36,1880,3477
$GC,103,-0.95,-146.6,6.4,-7.9,4,125,11.90,2.60,0.00,0.000,4,0.141,0.063,2285,507,3478
$GC,283,-0.95,-146.6,27.3,-6.3,12,287,0.00,2.45,0.00,0.000,6,0.000,0.039,2285,1907,3479
$GC,608,-0.95,-146.6,57.3,-9.5,28,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1911,3479
$GC,917,-0.95,-146.6,83.3,-6.2,43,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1911,3479
$GC,1226,-0.95,-146.6,103.5,-7.1,58,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1911,3479
$GC,1536,-0.95,-146.6,126.6,-7.3,73,1540,0.00,2.60,0.00,0.000,4,0.000,0.065,2285,507,3479
$GC,1619,-0.95,-146.6,133.1,-8.5,77,1623,0.00,2.45,0.00,0.000,6,0.000,0.041,2285,1908,3479
$GC,1944,-0.95,-146.6,154.4,-6.2,93,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1912,3479
$GC,2253,-0.95,-146.6,178.3,-6.1,108,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1912,3479
$GC,2563,-0.95,-146.6,195.8,-5.7,123,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1912,3479
$GC,2872,-0.95,-146.6,216.3,-7.2,138,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1912,3479
$GC,3181,-0.95,-146.6,239.9,-7.9,153,3185,0.00,2.60,0.00,0.000,4,0.000,0.064,2284,500,3478
$GC,3235,-0.95,-146.6,244.9,-9.1,155,3240,0.00,2.47,0.00,0.000,6,0.000,0.042,2285,1898,3479
$GC,3557,-0.95,-146.6,272.2,-8.7,171,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3479
$GC,3866,-0.95,-146.6,297.9,-8.3,186,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3479
$GC,4175,-0.95,-146.6,321.8,-8.1,201,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3479
$GC,4485,-0.95,-146.6,343.7,-6.9,216,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3479
$GC,4794,-0.95,-146.6,365.6,-6.6,231,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3479
$GC,5103,-0.95,-146.6,386.9,-7.4,246,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3479
$STATE,5225,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5225,begin apogee
$GC,5230,-0.36,0.0,396.3,7.5,252,5353,0.62,0.00,119.05,1.026,6,0.087,0.000,2417,2350,2878
$STATE,5353,end apogee,CONTROL_FINISHED_OK
$STATE,5353,begin climb
$GC,5355,0.95,146.6,401.0,0.0,258,5481,1.25,2.62,117.15,0.990,4,0.054,0.058,2697,3739,2280
$GC,5570,1.00,191.0,396.5,4.7,268,5611,0.00,2.47,36.12,0.980,6,0.000,0.039,2697,2363,2099
$GC,5933,1.00,193.4,375.4,5.9,286,5941,0.00,2.67,3.17,0.923,4,0.000,0.061,2697,943,2089
$GC,5998,1.00,193.4,371.4,6.2,289,6003,0.00,2.50,0.00,0.000,6,0.000,0.041,2698,2349,2089
$GC,6330,1.00,193.4,350.8,6.2,305,6334,0.00,2.58,0.00,0.000,4,0.000,0.057,2697,942,2089
$GC,6413,1.00,193.4,345.2,6.7,309,6417,0.00,2.50,0.00,0.000,6,0.000,0.041,2697,2351,2089
$GC,6738,1.04,220.0,327.0,5.2,325,6763,0.10,0.00,22.12,0.999,6,0.056,0.000,2736,2351,1981
$GC,7068,1.04,220.0,303.8,7.2,341,7072,0.00,2.60,0.00,0.000,4,0.000,0.057,2737,939,1981
$GC,7128,1.04,220.0,299.5,7.4,344,7132,0.00,2.50,0.00,0.000,6,0.000,0.041,2737,2353,1981
$GC,7453,1.04,220.0,274.9,8.4,360,7457,0.00,2.58,0.00,0.000,4,0.000,0.057,2737,942,1980
$GC,7552,1.04,220.0,265.6,9.8,364,7559,0.00,2.50,0.00,0.000,6,0.000,0.041,2737,2342,1980
$GC,7867,1.04,220.0,237.6,8.9,380,7871,0.00,2.55,0.00,0.000,4,0.000,0.057,2736,941,1980
$GC,7927,1.04,220.0,232.6,8.1,382,7934,0.00,2.50,0.00,0.000,6,0.000,0.040,2737,2342,1980
$GC,8243,1.04,220.0,208.4,7.7,398,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2343,1980
$GC,8552,1.04,220.0,186.4,7.1,413,8556,0.00,2.55,0.00,0.000,4,0.000,0.056,2737,941,1980
$GC,8646,1.04,220.0,179.3,7.7,417,8651,0.00,2.50,0.00,0.000,6,0.000,0.039,2737,2351,1980
$GC,8967,1.04,220.0,158.1,6.3,433,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2352,1980
$GC,9277,1.04,220.0,130.0,9.3,448,9281,0.00,2.58,0.00,0.000,4,0.000,0.055,2736,941,1980
$GC,9347,1.04,220.0,123.5,9.9,451,9352,0.00,2.50,0.00,0.000,6,0.000,0.039,2737,2349,1980
$GC,9670,1.04,220.0,97.6,9.7,467,9671,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2350,1980
$GC,9978,1.04,220.0,69.7,7.2,482,9982,0.00,2.58,0.00,0.000,4,0.000,0.053,2737,939,1980
$GC,10084,1.04,220.0,62.9,8.6,487,10088,0.00,2.50,0.00,0.000,6,0.000,0.039,2737,2354,1980
$GC,10409,1.04,220.0,42.7,9.0,503,10410,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2354,1980
$GC,10719,1.08,254.0,13.9,5.0,518,10753,0.00,2.67,26.88,0.817,4,0.000,0.054,2737,940,1842
$GC,10791,1.08,254.0,8.5,6.8,521,10796,0.00,2.53,0.00,0.000,6,0.000,0.038,2737,2353,1842
$STATE,10948,end climb,SURFACE_DEPTH_REACHED
$STATE,10948,begin surface coast
$FINISH,0.4,1.013987
$STATE,10968,end surface coast,CONTROL_FINISHED_OK
$STATE,10968,begin surface
$SM_CCo,10988,41.20,0.778,5,0,1655,300.00
$SM_GC,0.86,0.00,0.00,41.20,0.000,0.000,0.778,37,1886,1655,-11.31,-0.40,300.00
$IRIDIUM_FIX,6059.36,-856.72,231107,151502
$TT8_MAMPS,0.026845
$HUMID,2040
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,17.00
$XPDR_PINGS,211
$ALTIM_BOTTOM_PING,301.1,104.1
$24V_AH,23.5,22.320
$10V_AH,10.2,9.282
$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,26.100,67.775,324.500,41.200,0.000,36.590,29.454,132.273,54.750,0.000,0.000,32.013,976.443,8395.934,484.174,1223.379,281.706,33.361,1083.808,0.000,1188.595,0.000,15.329
$DEVICE_MAMPS,141.128,65.195,1026.246,777.738,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,383.564,356.768,432.035,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25331,530
$CFSIZE,260165632,254685184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,5,0
$GPS,231107,174228,6123.739,-903.643,25,2.2,44,-9.2