version: 66.02
glider: 102
mission: 4
dive: 76
start: 11 24 107 15 38 52
data:
$ID,102
$MISSION,4
$DIVE,76
$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,-77693.609
$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,30
$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
$GPS1,153327,6130.508,-855.171,26,2.2,45,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-52.1
$GPS2,153759,6130.425,-855.116,12,2.1,31,-9.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.159,0.136
$KALMAN_X,67629.4,-2049.0,-1263.8,-86347.3,38067.4
$KALMAN_Y,131576.1,725.4,933.9,-138288.7,-20669.7
$MHEAD_RNG_PITCHd_Wd,319.8,32131,-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,-146.6,0.0,0.0,0,82,0.00,0.00,-61.70,0.000,2,0.000,0.000,29,1876,2670
$GC,84,-0.95,-146.6,3.5,-5.2,3,128,11.93,2.58,-25.40,0.000,4,0.142,0.075,2285,496,3477
$GC,143,-0.95,-146.6,10.3,-14.6,5,151,0.00,2.50,0.00,0.000,6,0.000,0.041,2285,1905,3477
$GC,460,-0.95,-146.6,47.0,-3.0,21,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3478
$GC,768,-0.95,-146.6,64.5,-10.3,36,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3478
$GC,1078,-0.95,-146.6,100.3,-7.3,51,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3478
$GC,1387,-0.95,-146.6,113.8,-5.8,66,1391,0.00,2.47,0.00,0.000,4,0.000,0.048,2286,3292,3478
$GC,1431,-0.95,-146.6,116.3,-5.8,68,1435,0.00,2.47,0.00,0.000,6,0.000,0.042,2285,1901,3477
$GC,1757,-0.95,-146.6,152.1,-9.9,84,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3478
$GC,2067,-0.95,-146.6,176.9,-2.9,99,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3478
$GC,2376,-0.95,-146.6,197.1,-3.5,114,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3477
$GC,2685,-0.95,-146.6,213.3,-5.6,129,2689,0.00,2.50,0.00,0.000,4,0.000,0.048,2285,3295,3478
$GC,2725,-0.95,-146.6,215.1,-3.9,131,2729,0.00,2.50,0.00,0.000,6,0.000,0.042,2286,1893,3478
$GC,3050,-0.95,-146.6,226.5,-3.5,147,3055,0.00,2.50,0.00,0.000,4,0.000,0.047,2285,3297,3478
$GC,3134,-0.95,-146.6,230.4,-4.9,151,3139,0.00,2.50,0.00,0.000,6,0.000,0.043,2285,1896,3478
$GC,3460,-0.95,-146.6,247.9,-4.9,167,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1896,3478
$GC,3769,-0.95,-146.6,265.1,-4.7,182,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1896,3478
$GC,4079,-0.95,-146.6,280.1,-5.4,197,4083,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3294,3478
$GC,4127,-0.95,-146.6,283.1,-6.1,199,4132,0.00,2.50,0.00,0.000,6,0.000,0.042,2285,1904,3478
$GC,4448,-0.95,-146.6,302.9,-6.0,215,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1903,3478
$GC,4758,-0.95,-146.6,318.5,-5.4,230,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3477
$GC,5067,-0.95,-146.6,334.7,-5.5,245,5071,0.00,2.50,0.00,0.000,4,0.000,0.048,2285,3297,3478
$GC,5121,-0.95,-146.6,337.5,-6.0,247,5128,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1901,3478
$GC,5436,-0.95,-146.6,355.1,-6.3,263,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3478
$GC,5745,-0.95,-146.6,375.0,-6.5,278,5750,0.00,2.50,0.00,0.000,4,0.000,0.048,2285,3293,3478
$GC,5805,-0.95,-146.6,378.9,-6.6,280,5813,0.00,2.50,0.00,0.000,6,0.000,0.043,2285,1903,3478
$GC,6122,-0.95,-146.6,401.3,-7.4,296,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1903,3478
$GC,6430,-0.95,-146.6,427.1,-9.4,311,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1903,3478
$GC,6740,-0.95,-146.6,457.0,-9.9,326,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1903,3478
$GC,7049,-0.95,-146.6,489.5,-10.7,341,7053,0.00,2.53,0.00,0.000,4,0.000,0.052,2285,3301,3478
$GC,7159,-0.95,-146.6,501.6,-10.8,346,7164,0.00,2.55,0.00,0.000,6,0.000,0.047,2285,1901,3478
$STATE,7361,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7361,begin apogee
$GC,7366,-0.36,0.0,523.2,10.3,356,7490,0.62,0.00,120.65,1.114,6,0.085,0.000,2418,2340,2878
$STATE,7491,end apogee,CONTROL_FINISHED_OK
$STATE,7491,begin climb
$GC,7492,0.95,146.6,531.0,0.0,362,7616,1.30,0.00,119.43,1.081,6,0.054,0.000,2702,2340,2280
$GC,7912,1.05,230.5,524.3,3.5,383,7983,0.00,0.00,68.65,1.081,6,0.000,0.000,2702,2340,1938
$GC,8282,1.11,277.2,509.4,4.6,401,8327,0.15,2.70,38.42,1.078,4,0.047,0.061,2753,942,1748
$GC,8382,1.11,277.2,503.1,6.0,405,8389,0.00,2.55,0.00,0.000,6,0.000,0.043,2753,2344,1748
$GC,8698,1.11,277.2,478.7,8.8,421,8702,0.00,2.60,0.00,0.000,4,0.000,0.061,2753,942,1748
$GC,8751,1.11,277.2,473.7,9.6,423,8758,0.00,2.53,0.00,0.000,6,0.000,0.042,2753,2344,1748
$GC,9067,1.11,277.2,445.8,8.1,439,9071,0.00,2.58,0.00,0.000,4,0.000,0.060,2753,942,1747
$GC,9156,1.11,277.2,437.6,9.6,443,9161,0.00,2.50,0.00,0.000,6,0.000,0.041,2753,2352,1747
$GC,9482,1.11,277.2,409.7,8.5,459,9486,0.00,2.60,0.00,0.000,4,0.000,0.059,2753,941,1747
$GC,9580,1.11,277.2,401.3,7.5,463,9588,0.00,2.53,0.00,0.000,6,0.000,0.041,2753,2351,1747
$GC,9896,1.11,277.2,376.0,7.7,479,9901,0.00,2.60,0.00,0.000,4,0.000,0.059,2753,939,1748
$GC,9990,1.11,277.2,368.4,8.3,483,9995,0.00,2.53,0.00,0.000,6,0.000,0.041,2753,2352,1747
$GC,10311,1.11,277.2,342.6,7.4,499,10312,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2352,1747
$GC,10620,1.11,277.2,317.0,8.2,514,10625,0.00,2.58,0.00,0.000,4,0.000,0.058,2753,941,1747
$GC,10726,1.11,277.2,308.1,7.5,519,10730,0.00,2.47,0.00,0.000,6,0.000,0.040,2753,2353,1747
$GC,11052,1.11,277.2,283.6,7.6,535,11056,0.00,2.58,0.00,0.000,4,0.000,0.057,2753,935,1747
$GC,11128,1.11,277.2,277.2,7.9,538,11135,0.00,2.53,0.00,0.000,6,0.000,0.041,2754,2350,1747
$GC,11444,1.11,277.2,251.8,8.1,554,11448,0.00,2.55,0.00,0.000,4,0.000,0.058,2753,941,1747
$GC,11521,1.11,277.2,245.0,9.1,557,11525,0.00,2.50,0.00,0.000,6,0.000,0.040,2753,2348,1747
$GC,11842,1.11,277.2,219.1,7.5,573,11846,0.00,2.58,0.00,0.000,4,0.000,0.058,2753,938,1747
$GC,11925,1.11,277.2,212.8,7.5,577,11929,0.00,2.50,0.00,0.000,6,0.000,0.041,2753,2359,1747
$GC,12250,1.11,277.2,189.6,7.1,593,12254,0.00,2.58,0.00,0.000,4,0.000,0.056,2753,939,1747
$GC,12337,1.11,277.2,183.0,7.8,597,12342,0.00,2.50,0.00,0.000,6,0.000,0.039,2753,2350,1747
$GC,12664,1.11,277.2,159.6,7.0,613,12668,0.00,2.58,0.00,0.000,4,0.000,0.056,2753,933,1747
$GC,12741,1.11,277.2,153.8,7.7,616,12748,0.00,2.53,0.00,0.000,6,0.000,0.040,2753,2350,1747
$GC,13057,1.11,277.2,128.5,7.7,632,13061,0.00,2.58,0.00,0.000,4,0.000,0.054,2753,941,1747
$GC,13118,1.11,277.2,124.0,8.1,635,13122,0.00,2.47,0.00,0.000,6,0.000,0.039,2753,2354,1747
$GC,13443,1.11,277.2,100.6,9.4,651,13444,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2354,1747
$GC,13752,1.11,277.2,74.9,7.8,666,13757,0.00,2.58,0.00,0.000,4,0.000,0.055,2753,937,1748
$GC,13885,1.11,277.2,65.4,8.5,672,13890,0.00,2.50,0.00,0.000,6,0.000,0.038,2753,2350,1747
$GC,14212,1.11,277.2,34.8,10.0,688,14213,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2350,1747
$STATE,14520,end climb,SURFACE_DEPTH_REACHED
$STATE,14520,begin surface coast
$FINISH,0.8,1.026279
$STATE,14542,end surface coast,CONTROL_FINISHED_OK
$STATE,14542,begin surface
$SM_CCo,14561,20.42,0.823,2,0,1655,300.00
$SM_GC,1.55,0.00,0.00,20.42,0.000,0.000,0.823,28,1895,1655,-11.35,-0.17,300.00
$IRIDIUM_FIX,6108.28,-853.67,241107,151556
$TT8_MAMPS,0.026845
$HUMID,2059
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.1,107.0
$24V_AH,23.5,23.150
$10V_AH,10.2,9.721
$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,25.700,108.025,347.150,20.425,0.000,31.755,40.791,102.137,3.250,0.000,0.000,33.327,1284.215,11205.114,540.558,1561.106,284.521,33.364,1297.861,0.000,1528.559,0.000,23.423
$DEVICE_MAMPS,141.895,75.166,1114.451,822.991,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,519.203,474.233,469.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34788,704
$CFSIZE,260165632,254345216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,2,0
$GPS,241107,194308,6131.491,-850.647,29,1.3,29,-9.1