version: 66.02
glider: 102
mission: 4
dive: 75
start: 11 24 107 11 57 32
data:
$ID,102
$MISSION,4
$DIVE,75
$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,-77659.656
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,115225,6130.787,-856.267,70,1.2,70,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-55.7
$GPS2,115638,6130.695,-856.168,14,1.2,14,-9.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.163,0.130
$KALMAN_X,63979.3,-1353.5,-1038.9,-84568.6,32941.6
$KALMAN_Y,136014.8,923.1,-20.8,-141463.6,-13083.0
$MHEAD_RNG_PITCHd_Wd,317.8,31215,-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,-82.12,0.000,2,0.000,0.000,30,1886,3362
$GC,105,-0.95,-146.6,4.7,-5.5,4,124,12.05,0.00,-2.65,0.000,6,0.141,0.000,2279,1885,3477
$GC,433,-0.95,-146.6,30.2,-3.1,20,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,1885,3477
$GC,741,-0.95,-146.6,54.9,-8.7,35,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,1885,3478
$GC,1050,-0.95,-146.6,77.3,-7.6,50,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,1885,3477
$GC,1359,-0.95,-146.6,101.3,-7.2,65,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,1885,3478
$GC,1668,-0.95,-146.6,131.8,-11.9,80,1673,0.00,2.55,0.00,0.000,4,0.000,0.048,2279,3308,3478
$GC,1756,-0.95,-146.6,141.0,-9.8,84,1761,0.00,2.53,0.00,0.000,6,0.000,0.041,2279,1904,3478
$GC,2083,-0.95,-146.6,166.7,-8.8,100,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,1904,3477
$GC,2392,-0.95,-146.6,192.3,-7.9,115,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,1904,3478
$GC,2702,-0.95,-146.6,223.9,-10.8,130,2706,0.00,2.53,0.00,0.000,4,0.000,0.047,2279,3311,3477
$GC,2751,-0.95,-146.6,228.9,-10.2,132,2755,0.00,2.53,0.00,0.000,6,0.000,0.041,2279,1904,3477
$GC,3072,-0.95,-146.6,258.2,-8.7,148,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,1904,3478
$GC,3381,-0.95,-146.6,284.3,-8.5,163,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,1904,3477
$GC,3690,-0.95,-146.6,314.0,-9.6,178,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,1904,3477
$GC,4000,-0.95,-146.6,338.7,-7.2,193,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,1904,3478
$GC,4309,-0.95,-146.6,363.0,-7.9,208,4313,0.00,2.53,0.00,0.000,4,0.000,0.049,2279,3312,3478
$GC,4362,-0.95,-146.6,367.7,-8.7,210,4370,0.00,2.55,0.00,0.000,6,0.000,0.044,2279,1901,3478
$GC,4679,-0.95,-146.6,394.9,-8.6,226,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,1900,3478
$GC,4988,-0.95,-146.6,421.0,-8.3,241,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,1901,3478
$GC,5297,-0.95,-146.6,446.4,-8.6,256,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,1900,3477
$GC,5606,-0.95,-146.6,470.8,-6.9,271,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,1900,3478
$GC,5915,-0.95,-146.6,492.7,-7.3,286,5919,0.00,2.53,0.00,0.000,4,0.000,0.051,2279,3310,3477
$GC,6020,-0.95,-146.6,501.5,-6.4,290,6028,0.00,2.55,0.00,0.000,6,0.000,0.045,2279,1902,3477
$STATE,6149,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6149,begin apogee
$GC,6154,-0.36,0.0,510.2,6.9,297,6278,0.65,0.00,120.50,1.102,6,0.090,0.000,2416,2356,2878
$STATE,6279,end apogee,CONTROL_FINISHED_OK
$STATE,6279,begin climb
$GC,6280,0.95,146.6,514.1,0.0,303,6406,1.27,2.60,118.70,1.065,4,0.058,0.061,2698,3747,2280
$GC,6456,1.01,200.2,508.1,4.4,311,6509,0.00,2.50,44.25,1.051,6,0.000,0.040,2698,2347,2060
$GC,6817,1.01,200.2,486.2,6.8,329,6821,0.00,2.60,0.00,0.000,4,0.000,0.061,2698,943,2060
$GC,6882,1.01,200.2,482.2,7.0,332,6887,0.00,2.53,0.00,0.000,6,0.000,0.042,2698,2342,2060
$GC,7208,1.01,200.2,462.5,6.3,348,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2342,2060
$GC,7518,1.01,200.2,444.4,6.1,363,7522,0.00,2.58,0.00,0.000,4,0.000,0.059,2698,942,2059
$GC,7612,1.02,206.7,438.6,5.8,367,7623,0.00,2.53,5.88,1.050,6,0.000,0.042,2698,2348,2035
$GC,7932,1.05,227.0,421.4,5.4,382,7957,0.12,2.67,17.35,1.064,4,0.050,0.058,2740,948,1951
$GC,8057,1.05,227.0,412.7,7.0,387,8064,0.00,2.50,0.00,0.000,6,0.000,0.041,2740,2352,1951
$GC,8372,1.05,227.0,389.8,7.8,403,8376,0.00,2.60,0.00,0.000,4,0.000,0.058,2740,936,1951
$GC,8427,1.05,227.0,385.4,8.1,405,8432,0.00,2.53,0.00,0.000,6,0.000,0.042,2740,2343,1951
$GC,8748,1.05,227.0,358.3,8.6,421,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2343,1951
$GC,9057,1.05,227.0,331.7,8.2,436,9062,0.00,2.58,0.00,0.000,4,0.000,0.058,2740,941,1951
$GC,9118,1.05,227.0,326.6,8.9,439,9123,0.00,2.50,0.00,0.000,6,0.000,0.041,2740,2359,1951
$GC,9450,1.05,227.0,300.2,8.0,455,9454,0.00,2.58,0.00,0.000,4,0.000,0.056,2740,942,1951
$GC,9526,1.05,227.0,293.7,8.7,458,9533,0.00,2.50,0.00,0.000,6,0.000,0.039,2740,2350,1951
$GC,9842,1.05,227.0,260.8,11.9,474,9846,0.00,2.58,0.00,0.000,4,0.000,0.057,2740,936,1951
$GC,9909,1.05,227.0,252.3,12.5,477,9913,0.00,2.50,0.00,0.000,6,0.000,0.041,2740,2351,1951
$GC,10228,1.05,227.0,217.7,8.7,493,10232,0.00,2.58,0.00,0.000,4,0.000,0.057,2740,940,1951
$GC,10277,1.05,227.0,213.1,9.4,495,10282,0.00,2.50,0.00,0.000,6,0.000,0.040,2740,2351,1951
$GC,10599,1.05,227.0,189.7,8.3,511,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2351,1951
$GC,10908,1.05,227.0,164.8,10.4,526,10912,0.00,2.53,0.00,0.000,4,0.000,0.053,2740,3756,1951
$GC,10978,1.05,227.0,158.4,7.9,529,10983,0.00,2.50,0.00,0.000,6,0.000,0.039,2740,2355,1951
$GC,11300,1.05,227.0,141.0,6.8,545,11304,0.00,2.58,0.00,0.000,4,0.000,0.057,2740,938,1950
$GC,11344,1.21,362.2,139.4,2.0,547,11454,0.00,2.47,103.82,0.871,6,0.000,0.039,2740,2358,1400
$GC,11768,1.21,362.2,108.1,10.2,568,11773,0.00,2.62,0.00,0.000,4,0.000,0.058,2740,939,1400
$GC,11874,1.21,362.2,94.3,11.1,573,11879,0.00,2.50,0.00,0.000,6,0.000,0.038,2741,2350,1400
$GC,12200,1.21,362.2,63.2,8.3,589,12204,0.00,2.60,0.00,0.000,4,0.000,0.058,2740,942,1400
$GC,12284,1.21,362.2,54.5,12.2,593,12288,0.00,2.47,0.00,0.000,6,0.000,0.038,2741,2354,1400
$GC,12609,1.21,362.2,22.1,9.1,609,12613,0.00,2.60,0.00,0.000,4,0.000,0.054,2740,936,1400
$GC,12708,1.21,362.2,10.2,15.7,613,12715,0.00,2.50,0.00,0.000,6,0.000,0.038,2741,2347,1401
$STATE,12776,end climb,SURFACE_DEPTH_REACHED
$STATE,12776,begin surface coast
$FINISH,1.1,1.027270
$STATE,12797,end surface coast,CONTROL_FINISHED_OK
$STATE,12797,begin surface
$SM_CCo,12876,0.00,0.000,0,0,1400,362.55
$SM_GC,1.40,11.57,0.00,0.00,0.027,0.000,0.000,30,1882,1400,-11.27,-0.48,362.55
$IRIDIUM_FIX,6108.28,-858.83,241107,111136
$TT8_MAMPS,0.026845
$HUMID,2058
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,451.5,67.6
$24V_AH,23.5,23.028
$10V_AH,10.1,9.653
$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,25.675,93.225,410.500,0.000,0.000,37.605,27.386,107.436,4.000,0.000,0.000,15.429,1132.291,9816.174,498.209,1417.844,273.004,33.369,1222.707,0.000,1389.651,0.000,27.867
$DEVICE_MAMPS,141.128,60.593,1102.179,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.726,415.765,444.058,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31687,618
$CFSIZE,260165632,254406656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,241107,153327,6130.508,-855.171,26,2.2,45,-9.2