version: 66.02
glider: 102
mission: 4
dive: 73
start: 11 24 107 4 10 15
data:
$ID,102
$MISSION,4
$DIVE,73
$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,-77629.688
$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,27
$R_STBD_OVSHOOT,31
$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
$GPS1,040508,6127.570,-903.202,31,1.2,31,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-57.1
$GPS2,040921,6127.570,-903.134,12,1.2,12,-9.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.123,0.169
$KALMAN_X,53442.8,-1578.7,-203.3,-80790.2,24091.0
$KALMAN_Y,137889.2,694.0,-386.4,-148541.4,-15401.7
$MHEAD_RNG_PITCHd_Wd,333.2,33914,-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,-146.6,0.0,0.0,0,103,0.00,0.00,-82.72,0.000,2,0.000,0.000,29,1883,3423
$GC,105,-0.95,-146.6,5.8,-6.9,4,127,12.00,2.60,-1.08,0.000,4,0.144,0.080,2283,509,3478
$GC,277,-0.95,-146.6,35.7,-13.7,11,285,0.00,2.47,0.00,0.000,6,0.000,0.039,2283,1909,3479
$GC,595,-0.95,-146.6,57.4,-5.9,27,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1910,3479
$GC,903,-0.95,-146.6,78.6,-7.2,42,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1910,3479
$GC,1212,-0.95,-146.6,103.7,-9.1,57,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1910,3478
$GC,1522,-0.95,-146.6,123.4,-6.5,72,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1910,3478
$GC,1831,-0.95,-146.6,147.6,-8.5,87,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1910,3478
$GC,2139,-0.95,-146.6,172.2,-9.3,102,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1910,3478
$GC,2449,-0.95,-146.6,191.3,-6.4,117,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1910,3478
$GC,2758,-0.95,-146.6,213.3,-8.2,132,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1910,3478
$GC,3067,-0.95,-146.6,241.6,-8.3,147,3071,0.00,2.47,0.00,0.000,4,0.000,0.048,2283,3295,3478
$GC,3133,-0.95,-146.6,246.9,-8.6,150,3138,0.00,2.50,0.00,0.000,6,0.000,0.043,2283,1911,3478
$GC,3460,-0.95,-146.6,273.9,-7.4,166,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1911,3478
$GC,3770,-0.95,-146.6,301.4,-9.1,181,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1911,3478
$GC,4079,-0.95,-146.6,324.9,-6.5,196,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1911,3478
$GC,4388,-0.95,-146.6,344.4,-6.6,211,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1911,3479
$GC,4697,-0.95,-146.6,366.3,-7.5,226,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1911,3478
$GC,5007,-0.95,-146.6,390.0,-7.3,241,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1911,3478
$GC,5316,-0.95,-146.6,410.7,-6.2,256,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1911,3479
$GC,5625,-0.95,-146.6,433.2,-8.2,271,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1911,3478
$GC,5935,-0.95,-146.6,458.7,-8.2,286,5939,0.00,2.50,0.00,0.000,4,0.000,0.051,2283,3297,3478
$STATE,5988,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5988,begin apogee
$GC,5993,-0.36,0.0,462.9,7.4,288,6119,0.62,0.00,119.68,1.075,6,0.095,0.000,2416,2347,2878
$STATE,6120,end apogee,CONTROL_FINISHED_OK
$STATE,6120,begin climb
$GC,6122,0.95,146.6,466.9,0.0,295,6248,1.27,2.62,117.88,1.032,4,0.058,0.057,2698,3728,2279
$GC,6356,0.96,158.6,459.3,5.6,306,6371,0.00,2.47,10.55,1.025,6,0.000,0.041,2698,2352,2231
$GC,6681,0.97,166.2,441.2,5.8,321,6690,0.00,0.00,7.20,1.042,6,0.000,0.000,2698,2351,2200
$GC,6990,0.98,174.0,422.8,5.8,336,7004,0.00,2.67,7.35,1.056,4,0.000,0.061,2698,942,2168
$GC,7065,1.00,190.0,418.5,5.5,339,7085,0.00,2.47,13.85,1.033,6,0.000,0.040,2698,2338,2102
$GC,7407,1.07,245.2,403.1,4.4,356,7458,0.12,2.65,44.58,1.019,4,0.049,0.060,2741,935,1877
$GC,7541,1.07,245.2,393.9,6.6,362,7545,0.00,2.53,0.00,0.000,6,0.000,0.041,2741,2354,1878
$GC,7867,1.07,245.2,369.2,8.0,378,7872,0.00,2.60,0.00,0.000,4,0.000,0.058,2741,942,1878
$GC,7961,1.07,245.2,361.2,8.5,382,7966,0.00,2.53,0.00,0.000,6,0.000,0.040,2741,2350,1878
$GC,8282,1.07,245.2,335.2,8.2,398,8287,0.00,2.60,0.00,0.000,4,0.000,0.058,2741,935,1878
$GC,8348,1.07,245.2,329.4,8.7,401,8353,0.00,2.53,0.00,0.000,6,0.000,0.041,2741,2346,1878
$GC,8674,1.07,245.2,302.1,8.5,417,8679,0.00,2.58,0.00,0.000,4,0.000,0.058,2741,942,1878
$GC,8736,1.07,245.2,296.6,9.2,420,8740,0.00,2.47,0.00,0.000,6,0.000,0.041,2741,2354,1878
$GC,9067,1.07,245.2,267.4,9.2,436,9072,0.00,2.60,0.00,0.000,4,0.000,0.057,2741,941,1877
$GC,9144,1.07,245.2,259.9,9.4,439,9151,0.00,2.50,0.00,0.000,6,0.000,0.039,2741,2348,1878
$GC,9460,1.07,245.2,233.0,7.8,455,9464,0.00,2.58,0.00,0.000,4,0.000,0.058,2741,938,1878
$GC,9508,1.07,245.2,228.8,9.2,457,9513,0.00,2.50,0.00,0.000,6,0.000,0.041,2741,2344,1877
$GC,9829,1.07,245.2,202.9,8.0,473,9833,0.00,2.55,0.00,0.000,4,0.000,0.057,2741,941,1878
$GC,9913,1.07,245.2,196.5,8.0,477,9917,0.00,2.50,0.00,0.000,6,0.000,0.040,2741,2354,1877
$GC,10238,1.07,247.8,175.8,5.9,493,10247,0.00,2.62,3.35,0.908,4,0.000,0.056,2741,940,1867
$GC,10319,1.07,247.8,170.3,6.4,496,10326,0.00,2.50,0.00,0.000,6,0.000,0.039,2741,2348,1867
$GC,10635,1.07,247.8,146.1,6.1,512,10636,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2349,1867
$GC,10946,1.07,247.8,119.6,8.6,527,10950,0.00,2.58,0.00,0.000,4,0.000,0.057,2741,935,1866
$GC,11022,1.07,247.8,111.6,11.9,530,11029,0.00,2.53,0.00,0.000,6,0.000,0.039,2741,2350,1867
$GC,11338,1.07,247.8,79.4,10.1,546,11342,0.00,2.58,0.00,0.000,4,0.000,0.055,2742,941,1867
$GC,11436,1.07,247.8,69.6,12.0,550,11444,0.00,2.47,0.00,0.000,6,0.000,0.038,2742,2346,1867
$GC,11754,1.07,247.8,51.4,6.1,566,11755,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2346,1867
$GC,12062,1.07,247.8,25.6,6.0,581,12066,0.00,2.58,0.00,0.000,4,0.000,0.057,2741,939,1867
$GC,12100,1.07,247.8,22.5,8.2,583,12104,0.00,2.50,0.00,0.000,6,0.000,0.039,2741,2356,1867
$STATE,12341,end climb,SURFACE_DEPTH_REACHED
$STATE,12341,begin surface coast
$FINISH,0.4,1.013739
$STATE,12364,end surface coast,CONTROL_FINISHED_OK
$STATE,12364,begin surface
$SM_CCo,12383,47.42,0.782,6,0,1654,300.00
$SM_GC,1.08,0.00,0.00,47.42,0.000,0.000,0.782,32,1885,1654,-11.33,-0.42,300.00
$IRIDIUM_FIX,6059.36,-901.86,241107,040423
$TT8_MAMPS,0.026845
$HUMID,2038
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,376.0,96.5
$24V_AH,23.5,22.780
$10V_AH,10.1,9.522
$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,25.675,81.375,324.425,47.425,0.000,37.777,24.955,109.972,2.750,0.000,0.000,13.770,1095.858,9499.746,513.910,1342.250,273.741,33.368,1186.892,0.000,1328.323,0.000,20.155
$DEVICE_MAMPS,144.196,79.768,1074.567,781.573,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.028,401.314,444.010,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28628,596
$CFSIZE,260165632,254509056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,6,0
$GPS,241107,073908,6130.026,-900.002,38,1.4,38,-9.2