version: 66.02
glider: 102
mission: 4
dive: 74
start: 11 24 107 7 44 26
data:
$ID,102
$MISSION,4
$DIVE,74
$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,-77643.602
$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,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
$GPS1,073908,6130.026,-900.002,38,1.4,38,-9.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-56.5
$GPS2,074333,6130.043,-859.788,11,1.4,11,-9.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.159,0.135
$KALMAN_X,58535.2,-1585.1,-599.4,-82539.3,31632.5
$KALMAN_Y,139141.6,573.8,-591.2,-144898.5,-10690.3
$MHEAD_RNG_PITCHd_Wd,319.6,30743,-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,-62.62,0.000,2,0.000,0.000,32,1886,2953
$GC,85,-0.95,-146.6,3.5,-5.6,3,114,11.98,0.00,-13.75,0.000,6,0.143,0.000,2287,1886,3477
$GC,417,-0.95,-146.6,22.5,-4.5,19,421,0.00,2.58,0.00,0.000,4,0.000,0.065,2287,498,3478
$GC,493,-0.95,-146.6,26.0,-7.1,22,501,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1909,3478
$GC,809,-0.95,-146.6,46.9,-3.6,38,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3478
$GC,1118,-0.95,-146.6,68.4,-8.2,53,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3477
$GC,1427,-0.95,-146.6,93.2,-7.7,68,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3478
$GC,1737,-0.95,-146.6,117.0,-9.1,83,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3478
$GC,2046,-0.95,-146.6,144.0,-8.9,98,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3478
$GC,2355,-0.95,-146.6,177.1,-8.8,113,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3478
$GC,2664,-0.95,-146.6,198.9,-7.9,128,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1909,3478
$GC,2973,-0.95,-146.6,227.8,-10.0,143,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3478
$GC,3283,-0.95,-146.6,255.6,-8.9,158,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3477
$GC,3592,-0.95,-146.6,281.0,-8.2,173,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1909,3478
$GC,3901,-0.95,-146.6,303.9,-7.4,188,3906,0.00,2.60,0.00,0.000,4,0.000,0.065,2287,500,3478
$GC,3963,-0.95,-146.6,308.5,-7.6,191,3968,0.00,2.45,0.00,0.000,6,0.000,0.042,2287,1902,3477
$GC,4289,-0.95,-146.6,331.2,-7.2,207,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3478
$GC,4598,-0.95,-146.6,353.1,-6.9,222,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3478
$GC,4910,-0.95,-146.6,375.8,-7.6,237,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3478
$GC,5216,-0.95,-146.6,398.5,-7.5,252,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3477
$GC,5526,-0.95,-146.6,419.2,-6.0,267,5530,0.00,2.50,0.00,0.000,4,0.000,0.051,2287,3301,3478
$GC,5591,-0.95,-146.6,423.4,-6.5,270,5596,0.00,2.53,0.00,0.000,6,0.000,0.048,2287,1908,3477
$GC,5918,-0.95,-146.6,441.8,-5.6,286,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3478
$GC,6227,-0.95,-146.6,461.9,-7.0,301,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3478
$GC,6537,-0.95,-146.6,483.1,-7.0,316,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3478
$GC,6846,-0.95,-146.6,501.3,-5.4,331,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3478
$GC,7155,-0.95,-146.6,518.8,-6.2,346,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3478
$STATE,7422,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7422,begin apogee
$GC,7426,-0.36,0.0,533.0,5.4,359,7550,0.62,0.00,120.47,1.117,6,0.091,0.000,2418,2348,2878
$STATE,7551,end apogee,CONTROL_FINISHED_OK
$STATE,7551,begin climb
$GC,7552,0.95,146.6,535.3,0.0,365,7679,1.27,2.65,118.22,1.091,4,0.059,0.061,2700,3744,2280
$GC,7712,0.95,146.6,529.5,6.1,372,7719,0.00,2.55,0.00,0.000,6,0.000,0.041,2700,2349,2279
$GC,8028,0.95,149.2,508.1,5.9,388,8037,0.00,2.65,3.35,0.987,4,0.000,0.061,2700,939,2269
$GC,8099,0.96,154.8,504.0,5.8,391,8109,0.00,2.53,5.60,1.052,6,0.000,0.041,2700,2354,2246
$GC,8419,0.96,154.8,484.7,6.9,406,8420,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2354,2246
$GC,8728,0.96,154.8,461.3,7.8,421,8733,0.00,2.60,0.00,0.000,4,0.000,0.058,2700,941,2246
$GC,8850,0.96,154.8,451.5,7.9,426,8857,0.00,2.53,0.00,0.000,6,0.000,0.041,2700,2351,2245
$GC,9165,0.96,154.8,429.3,6.9,442,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2351,2245
$GC,9475,0.96,154.8,408.8,6.7,457,9479,0.00,2.58,0.00,0.000,4,0.000,0.057,2700,941,2245
$GC,9603,0.96,154.8,398.4,9.5,463,9607,0.00,2.50,0.00,0.000,6,0.000,0.041,2700,2359,2245
$GC,9928,0.96,154.8,373.5,7.9,479,9929,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2359,2245
$GC,10238,0.96,154.8,350.7,6.2,494,10242,0.00,2.58,0.00,0.000,4,0.000,0.054,2700,940,2245
$GC,10321,0.96,159.6,345.3,5.9,498,10330,0.00,2.47,4.60,1.017,6,0.000,0.040,2700,2352,2227
$GC,10645,1.00,188.1,327.4,5.1,514,10671,0.00,0.00,23.80,1.010,6,0.000,0.000,2700,2352,2110
$GC,10975,1.09,262.8,313.6,3.8,530,11041,0.15,2.67,59.53,0.974,4,0.047,0.058,2756,936,1806
$GC,11141,1.09,262.8,302.7,7.7,538,11146,0.12,2.50,0.00,0.000,6,0.090,0.041,2731,2351,1806
$GC,11467,1.09,262.8,277.1,9.4,554,11471,0.00,2.60,0.00,0.000,4,0.000,0.058,2731,942,1806
$GC,11565,1.09,262.8,266.1,11.1,558,11572,0.00,2.53,0.00,0.000,6,0.000,0.039,2731,2354,1806
$GC,11881,1.09,262.8,233.3,9.1,574,11885,0.00,2.58,0.00,0.000,4,0.000,0.056,2731,939,1806
$GC,11968,1.09,262.8,225.1,9.7,578,11973,0.00,2.50,0.00,0.000,6,0.000,0.039,2730,2344,1806
$GC,12295,1.09,262.8,199.0,6.4,594,12299,0.00,2.55,0.00,0.000,4,0.000,0.057,2731,941,1806
$GC,12389,1.09,262.8,191.3,7.7,598,12394,0.00,2.50,0.00,0.000,6,0.000,0.039,2731,2351,1805
$GC,12710,1.09,262.8,166.8,8.3,614,12712,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2351,1806
$GC,13020,1.09,262.8,143.6,7.4,629,13024,0.00,2.60,0.00,0.000,4,0.000,0.057,2731,937,1806
$GC,13152,1.09,262.8,133.1,8.6,635,13157,0.00,2.50,0.00,0.000,6,0.000,0.039,2731,2348,1806
$GC,13479,1.09,262.8,106.1,8.8,651,13483,0.00,2.58,0.00,0.000,4,0.000,0.056,2731,941,1806
$GC,13550,1.09,262.8,98.8,8.8,654,13554,0.00,2.47,0.00,0.000,6,0.000,0.038,2731,2343,1806
$GC,13871,1.09,262.8,67.7,11.6,670,13872,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2343,1806
$GC,14180,1.09,262.8,42.2,7.8,685,14185,0.00,2.55,0.00,0.000,4,0.000,0.054,2731,939,1806
$GC,14291,1.09,262.8,34.4,7.4,690,14295,0.00,2.50,0.00,0.000,6,0.000,0.039,2731,2344,1806
$GC,14619,1.09,262.8,6.3,6.9,706,14621,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2345,1806
$STATE,14679,end climb,SURFACE_DEPTH_REACHED
$STATE,14679,begin surface coast
$FINISH,0.4,1.026642
$STATE,14700,end surface coast,CONTROL_FINISHED_OK
$STATE,14700,begin surface
$SM_CCo,14720,33.65,0.796,4,0,1655,300.00
$SM_GC,1.11,0.00,0.00,33.65,0.000,0.000,0.796,31,1882,1655,-11.33,-0.57,300.00
$IRIDIUM_FIX,6103.81,-906.30,241107,080838
$TT8_MAMPS,0.026078
$HUMID,2059
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,450.6,91.9
$24V_AH,23.5,22.900
$10V_AH,10.1,9.590
$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,25.725,78.025,335.575,33.650,0.000,36.791,26.329,126.506,3.750,0.000,0.000,13.290,1280.604,11452.700,485.887,1533.985,297.413,33.360,1237.910,0.000,1516.877,0.000,24.988
$DEVICE_MAMPS,142.662,65.195,1116.752,796.146,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,524.192,479.825,498.919,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34871,710
$CFSIZE,260165632,254439424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,4,0
$GPS,241107,115225,6130.787,-856.267,70,1.2,70,-9.2