version: 66.02
glider: 102
mission: 4
dive: 70
start: 11 23 107 17 47 50
data:
$ID,102
$MISSION,4
$DIVE,70
$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,-77583.484
$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,26
$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
$GPS1,174228,6123.739,-903.643,25,2.2,44,-9.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-57.7
$GPS2,174656,6123.809,-903.534,16,1.9,16,-9.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.133,0.161
$KALMAN_X,47704.2,-1018.2,-36.7,-76161.6,22707.4
$KALMAN_Y,146410.8,-1754.3,266.3,-162185.9,-340.9
$MHEAD_RNG_PITCHd_Wd,329.5,40513,-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,-146.6,0.0,0.0,0,101,0.00,0.00,-79.43,0.000,6,0.000,0.000,37,1882,3476
$GC,103,-0.95,-146.6,6.8,-7.8,4,125,11.98,2.65,0.00,0.000,4,0.144,0.069,2284,500,3478
$GC,377,-0.95,-146.6,36.0,-4.6,16,381,0.00,2.47,0.00,0.000,6,0.000,0.041,2285,1919,3478
$GC,703,-0.95,-146.6,66.8,-9.0,32,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1919,3478
$GC,1013,-0.95,-146.6,84.3,-4.8,47,1017,0.00,2.62,0.00,0.000,4,0.000,0.064,2285,499,3478
$GC,1118,-0.95,-146.6,90.8,-6.2,52,1123,0.00,2.45,0.00,0.000,6,0.000,0.041,2285,1899,3478
$GC,1444,-0.95,-146.6,110.8,-6.4,68,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3477
$GC,1753,-0.95,-146.6,128.3,-6.0,83,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3477
$GC,2064,-0.95,-146.6,150.6,-8.3,98,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3478
$GC,2372,-0.95,-146.6,174.3,-8.3,113,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3478
$GC,2683,-0.95,-146.6,200.6,-9.2,128,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3478
$GC,2990,-0.95,-146.6,232.2,-11.0,143,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3478
$GC,3299,-0.95,-146.6,266.8,-10.6,158,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3478
$GC,3609,-0.95,-146.6,297.4,-9.8,173,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3478
$GC,3918,-0.95,-146.6,323.9,-8.2,188,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3478
$GC,4227,-0.95,-146.6,349.3,-8.1,203,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3478
$GC,4537,-0.95,-146.6,375.4,-8.7,218,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3477
$GC,4846,-0.95,-146.6,399.1,-7.6,233,4850,0.00,2.60,0.00,0.000,4,0.000,0.066,2284,497,3477
$GC,4918,-0.95,-146.6,404.5,-7.4,236,4922,0.00,2.45,0.00,0.000,6,0.000,0.043,2284,1897,3477
$STATE,5128,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5128,begin apogee
$GC,5133,-0.36,0.0,418.7,6.1,246,5256,0.62,0.00,119.72,1.035,6,0.094,0.000,2415,2352,2878
$STATE,5257,end apogee,CONTROL_FINISHED_OK
$STATE,5257,begin climb
$GC,5259,0.95,146.6,422.5,0.0,252,5384,1.27,2.60,118.15,0.999,4,0.054,0.059,2698,3745,2280
$GC,5473,0.98,171.2,416.4,5.3,262,5499,0.00,2.50,20.52,0.995,6,0.000,0.040,2698,2356,2180
$GC,5820,0.98,171.2,395.1,6.4,279,5824,0.00,2.62,0.00,0.000,4,0.000,0.061,2699,943,2180
$GC,5903,0.98,171.2,389.6,6.2,283,5907,0.00,2.50,0.00,0.000,6,0.000,0.041,2699,2352,2179
$GC,6228,0.98,171.2,368.2,7.0,299,6232,0.00,2.58,0.00,0.000,4,0.000,0.057,2699,941,2180
$GC,6304,0.98,171.2,362.6,6.8,302,6311,0.00,2.53,0.00,0.000,6,0.000,0.041,2699,2351,2180
$GC,6620,0.98,171.2,336.0,8.8,318,6624,0.00,2.58,0.00,0.000,4,0.000,0.056,2698,942,2180
$GC,6685,0.98,171.2,329.9,9.2,321,6690,0.00,2.50,0.00,0.000,6,0.000,0.041,2698,2345,2180
$GC,7012,0.98,171.2,299.5,9.4,337,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2345,2180
$GC,7321,0.98,171.2,273.8,7.8,352,7325,0.00,2.55,0.00,0.000,4,0.000,0.055,2699,942,2180
$GC,7404,0.98,171.2,266.6,8.8,356,7409,0.00,2.50,0.00,0.000,6,0.000,0.041,2698,2358,2179
$GC,7730,0.98,171.2,237.1,8.9,372,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2358,2180
$GC,8039,0.98,171.2,211.0,7.5,387,8043,0.00,2.58,0.00,0.000,4,0.000,0.054,2699,936,2179
$GC,8206,0.98,171.2,197.9,7.1,394,8213,0.00,2.53,0.00,0.000,6,0.000,0.039,2698,2351,2180
$GC,8522,0.99,180.8,177.3,5.7,410,8532,0.00,0.00,8.68,0.943,6,0.000,0.000,2699,2351,2140
$GC,8831,1.04,220.9,161.6,4.8,425,8873,0.10,2.70,32.30,0.894,4,0.055,0.055,2734,936,1977
$GC,8935,1.04,220.9,154.9,6.8,429,8941,0.00,2.53,0.00,0.000,6,0.000,0.039,2734,2355,1976
$GC,9250,1.04,220.9,130.3,7.3,445,9254,0.00,2.60,0.00,0.000,4,0.000,0.055,2735,942,1976
$GC,9320,1.04,220.9,124.9,7.4,448,9325,0.00,2.50,0.00,0.000,6,0.000,0.038,2734,2353,1977
$GC,9642,1.04,220.9,102.8,6.2,464,9643,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2353,1976
$GC,9951,1.04,220.9,81.5,7.0,479,9955,0.00,2.60,0.00,0.000,4,0.000,0.054,2735,936,1977
$GC,10061,1.04,220.9,71.3,9.3,484,10066,0.00,2.50,0.00,0.000,6,0.000,0.039,2734,2350,1976
$GC,10388,1.10,269.2,53.9,4.6,500,10431,0.00,2.67,37.92,0.823,4,0.000,0.054,2734,943,1779
$GC,10492,1.10,269.2,46.1,9.5,504,10499,0.00,2.50,0.00,0.000,6,0.000,0.038,2734,2342,1779
$GC,10809,1.10,269.2,20.2,9.1,520,10813,0.00,2.58,0.00,0.000,4,0.000,0.057,2734,942,1779
$GC,10885,1.10,269.2,14.5,8.9,523,10892,0.00,2.50,0.00,0.000,6,0.000,0.038,2734,2352,1779
$STATE,11055,end climb,SURFACE_DEPTH_REACHED
$STATE,11055,begin surface coast
$FINISH,0.8,1.027262
$STATE,11077,end surface coast,CONTROL_FINISHED_OK
$STATE,11077,begin surface
$SM_CCo,11096,27.58,0.793,3,0,1655,300.00
$SM_GC,1.02,0.00,0.00,27.58,0.000,0.000,0.793,35,1890,1655,-11.32,-0.31,300.00
$IRIDIUM_FIX,6059.36,-901.16,231107,181834
$TT8_MAMPS,0.026078
$HUMID,2038
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,16.80
$XPDR_PINGS,104
$ALTIM_BOTTOM_PING,325.6,103.1
$24V_AH,23.5,22.433
$10V_AH,10.1,9.340
$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,25.600,73.125,337.300,27.575,0.000,38.668,34.355,115.803,28.250,0.000,0.000,17.589,996.235,8391.090,477.441,1286.267,270.961,33.401,1110.753,0.000,1261.849,0.000,16.944
$DEVICE_MAMPS,144.196,69.030,1034.683,793.078,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,385.349,358.591,454.371,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25461,533
$CFSIZE,260165632,254648320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,3,0
$GPS,231107,205502,6125.695,-902.737,58,1.1,58,-9.2