version: 66.02
glider: 102
mission: 4
dive: 71
start: 11 23 107 21 0 3
data:
$ID,102
$MISSION,4
$DIVE,71
$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,-77599.305
$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,25
$R_STBD_OVSHOOT,28
$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
$GPS1,205502,6125.695,-902.737,58,1.1,58,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-57.1
$GPS2,205909,6125.681,-902.637,13,1.2,13,-9.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.139,0.155
$KALMAN_X,51266.9,-1480.4,-96.2,-78402.2,29101.0
$KALMAN_Y,142723.4,392.4,-227.3,-156699.9,-8860.1
$MHEAD_RNG_PITCHd_Wd,327.3,37384,-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,-146.6,0.0,0.0,0,83,0.00,0.00,-62.53,0.000,2,0.000,0.000,35,1888,2951
$GC,85,-0.95,-146.6,3.3,-4.6,3,117,11.82,2.58,-13.68,0.000,4,0.137,0.074,2284,498,3475
$GC,334,-0.95,-146.6,41.5,-14.9,14,339,0.00,2.50,0.00,0.000,6,0.000,0.040,2284,1906,3475
$GC,656,-0.95,-146.6,74.4,-7.9,30,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1909,3475
$GC,965,-0.95,-146.6,106.6,-10.7,45,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1909,3475
$GC,1274,-0.95,-146.6,135.7,-9.2,60,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1909,3476
$GC,1583,-0.95,-146.6,165.3,-7.8,75,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1909,3475
$GC,1892,-0.95,-146.6,191.3,-7.9,90,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1909,3475
$GC,2202,-0.95,-146.6,219.2,-9.4,105,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1909,3475
$GC,2511,-0.95,-146.6,246.7,-8.7,120,2515,0.00,2.47,0.00,0.000,4,0.000,0.048,2284,3297,3475
$GC,2570,-0.95,-146.6,252.3,-9.2,122,2577,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1903,3475
$GC,2886,-0.95,-146.6,280.6,-9.3,138,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1903,3475
$GC,3195,-0.95,-146.6,305.6,-7.1,153,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1903,3476
$GC,3505,-0.95,-146.6,325.8,-6.0,168,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1903,3476
$GC,3814,-0.95,-146.6,344.9,-6.3,183,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1903,3475
$GC,4123,-0.95,-146.6,363.4,-5.4,198,4127,0.00,2.50,0.00,0.000,4,0.000,0.048,2283,3298,3475
$GC,4177,-0.95,-146.6,366.8,-6.3,200,4185,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1906,3475
$GC,4494,-0.95,-146.6,386.1,-6.7,216,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3475
$GC,4803,-0.95,-146.6,406.1,-6.6,231,4807,0.00,2.60,0.00,0.000,4,0.000,0.067,2284,495,3475
$GC,4867,-0.95,-146.6,410.7,-7.0,234,4873,0.00,2.50,0.00,0.000,6,0.000,0.044,2284,1901,3475
$STATE,5131,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5131,begin apogee
$GC,5136,-0.36,0.0,427.8,6.1,247,5259,0.62,0.00,119.03,1.043,6,0.084,0.000,2418,2342,2878
$STATE,5259,end apogee,CONTROL_FINISHED_OK
$STATE,5259,begin climb
$GC,5261,0.95,146.6,431.2,0.0,253,5387,1.27,2.65,117.43,1.006,4,0.053,0.058,2700,3746,2280
$GC,5509,0.95,146.6,422.9,6.8,264,5516,0.00,2.53,0.00,0.000,6,0.000,0.040,2700,2352,2280
$GC,5825,0.95,146.6,404.0,6.0,280,5829,0.00,2.60,0.00,0.000,4,0.000,0.060,2700,942,2280
$GC,5957,0.95,146.6,395.0,6.7,286,5962,0.00,2.53,0.00,0.000,6,0.000,0.041,2700,2350,2279
$GC,6284,0.99,185.3,377.0,4.8,302,6325,0.00,2.67,31.73,1.016,4,0.000,0.057,2700,939,2122
$GC,6385,0.99,185.3,371.2,6.4,306,6392,0.00,2.53,0.00,0.000,6,0.000,0.041,2700,2342,2123
$GC,6701,0.99,185.3,353.2,6.1,322,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2342,2122
$GC,7010,0.99,185.3,333.7,6.9,337,7014,0.00,2.58,0.00,0.000,4,0.000,0.057,2700,936,2122
$GC,7109,0.99,185.3,326.2,7.9,341,7117,0.00,2.53,0.00,0.000,6,0.000,0.041,2700,2349,2122
$GC,7425,0.99,185.3,300.6,8.3,357,7429,0.00,2.55,0.00,0.000,4,0.000,0.056,2700,941,2122
$GC,7513,0.99,185.3,292.9,8.8,361,7518,0.00,2.50,0.00,0.000,6,0.000,0.040,2700,2346,2121
$GC,7840,1.00,188.8,270.0,5.9,377,7849,0.00,2.60,3.97,0.959,4,0.000,0.056,2700,938,2108
$GC,7922,1.01,195.8,265.4,5.8,380,7934,0.00,2.53,6.62,0.975,6,0.000,0.041,2700,2352,2079
$GC,8254,1.04,222.9,247.8,5.2,397,8283,0.00,2.67,22.27,0.956,4,0.000,0.055,2700,941,1969
$GC,8341,1.05,229.0,242.9,5.8,401,8352,0.10,2.50,5.97,0.950,6,0.055,0.040,2735,2352,1943
$GC,8667,1.05,229.0,220.5,6.7,417,8671,0.00,2.58,0.00,0.000,4,0.000,0.056,2735,940,1943
$GC,8727,1.05,229.0,215.9,7.7,420,8732,0.00,2.47,0.00,0.000,6,0.000,0.040,2735,2350,1943
$GC,9054,1.05,229.0,191.6,7.7,436,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2350,1943
$GC,9363,1.05,229.0,168.3,7.1,451,9367,0.00,2.60,0.00,0.000,4,0.000,0.057,2735,938,1943
$GC,9450,1.05,229.0,161.1,8.7,455,9455,0.00,2.53,0.00,0.000,6,0.000,0.039,2735,2351,1943
$GC,9778,1.07,248.0,142.4,5.4,471,9799,0.00,0.00,16.05,0.902,6,0.000,0.000,2735,2350,1865
$GC,10108,1.07,248.0,118.8,7.5,487,10112,0.00,2.60,0.00,0.000,4,0.000,0.056,2735,939,1865
$GC,10218,1.07,248.0,109.3,8.5,492,10223,0.00,2.53,0.00,0.000,6,0.000,0.038,2735,2351,1865
$GC,10546,1.07,248.0,80.6,9.3,508,10551,0.00,2.58,0.00,0.000,4,0.000,0.054,2736,936,1865
$GC,10646,1.07,248.0,73.4,7.1,512,10653,0.00,2.50,0.00,0.000,6,0.000,0.039,2736,2348,1865
$GC,10961,1.07,248.0,54.2,7.0,528,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2349,1865
$GC,11271,1.07,248.0,29.2,6.5,543,11275,0.00,2.58,0.00,0.000,4,0.000,0.056,2736,941,1865
$GC,11386,1.07,248.0,18.2,8.2,548,11391,0.00,2.47,0.00,0.000,6,0.000,0.038,2736,2343,1865
$STATE,11562,end climb,SURFACE_DEPTH_REACHED
$STATE,11562,begin surface coast
$FINISH,0.5,1.027262
$STATE,11585,end surface coast,CONTROL_FINISHED_OK
$STATE,11586,begin surface
$SM_CCo,11605,46.85,0.782,6,0,1655,300.00
$SM_GC,1.06,0.00,0.00,46.85,0.000,0.000,0.782,29,1880,1655,-11.34,-0.57,300.00
$IRIDIUM_FIX,6059.36,-856.72,231107,212102
$TT8_MAMPS,0.026845
$HUMID,2028
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,17.00
$XPDR_PINGS,142
$ALTIM_BOTTOM_PING,375.5,61.7
$24V_AH,23.5,22.548
$10V_AH,10.1,9.398
$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,25.400,83.200,323.075,46.850,0.000,40.095,26.979,101.169,38.250,0.000,0.000,15.197,1046.049,8796.604,515.364,1325.847,258.958,33.372,1175.904,0.000,1305.213,0.000,20.061
$DEVICE_MAMPS,137.293,74.399,1043.120,781.573,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.929,375.463,411.504,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28536,558
$CFSIZE,260165632,254595072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,6,0
$GPS,241107,001556,6126.424,-902.617,36,1.5,36,-9.2