version: 66.02
glider: 102
mission: 4
dive: 52
start: 11 20 107 15 21 20
data:
$ID,102
$MISSION,4
$DIVE,52
$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,412.5
$T_MISSION,440
$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,-77223.758
$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,18
$R_STBD_OVSHOOT,35
$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
$GPS1,151537,6140.554,-854.662,34,1.1,34,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-65.2
$GPS2,152026,6140.599,-854.586,13,1.2,13,-9.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.237,-0.021
$KALMAN_X,18080.1,336.1,522.5,-40597.3,-1676.9
$KALMAN_Y,132630.8,-730.2,-938.1,-117091.2,9551.2
$MHEAD_RNG_PITCHd_Wd,274.1,19664,-14.7,-8.000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-1.23,-146.6,0.0,0.0,0,92,0.00,0.00,-72.07,0.000,2,0.000,0.000,30,1917,3191
$GC,94,-1.23,-146.6,3.2,-4.3,4,120,11.70,2.70,-6.78,0.000,4,0.143,0.078,2224,492,3476
$GC,160,-1.23,-146.6,15.1,-11.5,7,165,0.00,2.47,0.00,0.000,6,0.000,0.041,2224,1899,3476
$GC,486,-1.23,-146.6,48.6,-10.2,23,490,0.00,2.50,0.00,0.000,4,0.000,0.048,2224,3295,3477
$GC,534,-1.23,-146.6,54.6,-12.4,25,539,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1897,3477
$GC,856,-1.23,-146.6,95.2,-12.0,41,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3476
$GC,1165,-1.23,-146.6,131.6,-13.2,56,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3477
$GC,1474,-1.23,-146.6,170.1,-11.5,71,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,1783,-1.23,-146.6,203.3,-10.3,86,1788,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3296,3477
$GC,1838,-1.23,-146.6,208.8,-10.0,88,1845,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1905,3477
$GC,2153,-1.23,-146.6,239.5,-9.8,104,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1905,3477
$GC,2462,-1.23,-146.6,269.4,-9.3,119,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1905,3477
$GC,2772,-1.23,-146.6,296.9,-8.8,134,2776,0.00,2.53,0.00,0.000,4,0.000,0.049,2224,3304,3476
$GC,2854,-1.23,-146.6,304.7,-9.7,138,2858,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1900,3477
$GC,3180,-1.23,-146.6,336.2,-9.6,154,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3477
$GC,3489,-1.23,-146.6,365.9,-9.4,169,3493,0.00,2.53,0.00,0.000,4,0.000,0.049,2224,3300,3477
$GC,3555,-1.23,-146.6,372.3,-10.2,172,3560,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1898,3477
$GC,3882,-1.23,-146.6,403.2,-9.4,188,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,4191,-1.23,-146.6,432.4,-9.5,203,4195,0.00,2.53,0.00,0.000,4,0.000,0.049,2224,3297,3477
$GC,4261,-1.23,-146.6,439.2,-9.6,206,4266,0.00,2.55,0.00,0.000,6,0.000,0.047,2224,1898,3477
$GC,4583,-1.23,-146.6,470.1,-9.5,222,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,4892,-1.23,-146.6,498.3,-9.1,237,4896,0.00,2.53,0.00,0.000,4,0.000,0.051,2224,3297,3477
$GC,4976,-1.23,-146.6,506.0,-9.0,241,4980,0.00,2.53,0.00,0.000,6,0.000,0.047,2224,1896,3477
$GC,5300,-1.23,-146.6,534.6,-8.5,257,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3477
$GC,5610,-1.23,-146.6,559.6,-8.5,272,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3477
$GC,5919,-1.23,-146.6,585.5,-8.0,287,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3477
$GC,6229,-1.23,-146.6,608.5,-7.2,302,6230,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3477
$GC,6538,-1.23,-146.6,632.5,-7.9,317,6542,0.00,2.55,0.00,0.000,4,0.000,0.058,2224,3297,3477
$GC,6592,-1.23,-146.6,636.7,-6.9,319,6599,0.00,2.53,0.00,0.000,6,0.000,0.048,2224,1901,3477
$GC,6907,-1.23,-146.6,658.4,-7.4,335,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3477
$GC,7217,-1.23,-146.6,685.1,-7.4,350,7221,0.00,2.55,0.00,0.000,4,0.000,0.057,2224,3297,3477
$GC,7304,-1.23,-146.6,691.3,-6.4,354,7309,0.00,2.58,0.00,0.000,6,0.000,0.051,2223,1898,3476
$GC,7631,-1.23,-146.6,710.6,-7.1,370,7635,0.00,2.58,0.00,0.000,4,0.000,0.061,2224,3297,3476
$GC,7696,-1.23,-146.6,715.2,-6.3,373,7701,0.00,2.55,0.00,0.000,6,0.000,0.054,2224,1902,3476
$GC,8023,-1.23,-146.6,738.2,-7.4,389,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1903,3476
$GC,8332,-1.23,-146.6,776.4,-17.8,404,8336,0.00,2.58,0.00,0.000,4,0.000,0.068,2224,3292,3476
$GC,8403,-1.23,-146.6,787.2,-12.6,407,8408,0.00,2.60,0.00,0.000,6,0.000,0.061,2224,1904,3475
$GC,8724,-1.23,-146.6,810.7,-6.8,423,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1904,3474
$GC,9033,-1.23,-146.6,834.5,-7.2,438,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1903,3472
$STATE,9238,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9238,begin apogee
$GC,9243,-0.36,0.0,850.8,9.7,448,9371,0.93,0.00,124.90,1.434,6,0.096,0.000,2415,2340,2879
$STATE,9372,end apogee,CONTROL_FINISHED_OK
$STATE,9372,begin climb
$GC,9373,1.23,146.6,855.5,0.0,454,9503,1.58,0.00,124.25,1.382,6,0.055,0.000,2764,2339,2280
$GC,9825,1.36,252.7,827.2,4.0,476,9918,0.12,0.00,89.85,1.389,6,0.055,0.000,2798,2339,1847
$GC,10214,1.36,252.7,775.5,16.8,495,10216,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2341,1846
$GC,10523,1.36,252.7,740.1,11.1,510,10525,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2342,1845
$GC,10833,1.36,252.7,703.2,12.9,525,10834,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2342,1844
$GC,11142,1.36,252.7,667.7,11.2,540,11146,0.00,2.65,0.00,0.000,4,0.000,0.067,2798,3758,1843
$GC,11364,1.36,252.7,640.5,12.2,550,11369,0.00,2.60,0.00,0.000,6,0.000,0.050,2798,2348,1842
$GC,11692,1.36,252.7,606.0,11.5,566,11693,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2348,1842
$GC,12001,1.36,252.7,573.4,9.9,581,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2348,1842
$GC,12310,1.36,252.7,542.8,10.2,596,12315,0.00,2.60,0.00,0.000,4,0.000,0.064,2798,941,1843
$GC,12400,1.36,252.7,533.6,9.7,600,12404,0.00,2.53,0.00,0.000,6,0.000,0.043,2798,2359,1843
$GC,12719,1.36,252.7,501.2,10.3,616,12720,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2360,1845
$GC,13028,1.36,252.7,468.1,10.6,631,13030,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2361,1846
$GC,13338,1.36,252.7,435.7,10.4,646,13342,0.00,2.62,0.00,0.000,4,0.000,0.060,2798,934,1846
$GC,13403,1.36,252.7,428.5,11.3,649,13408,0.00,2.53,0.00,0.000,6,0.000,0.042,2798,2348,1846
$GC,13729,1.36,252.7,392.5,11.0,665,13730,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2349,1847
$GC,14038,1.36,252.7,359.1,10.8,680,14043,0.00,2.60,0.00,0.000,4,0.000,0.061,2798,934,1848
$GC,14100,1.36,252.7,352.1,11.8,683,14104,0.00,2.53,0.00,0.000,6,0.000,0.042,2798,2355,1848
$GC,14425,1.36,252.7,316.7,10.9,699,14426,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2355,1849
$GC,14734,1.36,252.7,281.4,11.4,714,14735,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2355,1849
$GC,15043,1.36,252.7,246.8,11.2,729,15048,0.00,2.60,0.00,0.000,4,0.000,0.057,2798,932,1850
$GC,15137,1.36,252.7,236.0,11.2,733,15142,0.00,2.53,0.00,0.000,6,0.000,0.041,2798,2342,1850
$GC,15458,1.36,252.7,201.4,10.5,749,15459,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2342,1851
$GC,15767,1.36,252.7,167.9,10.6,764,15772,0.00,2.58,0.00,0.000,4,0.000,0.058,2798,934,1851
$GC,15822,1.36,252.7,161.8,10.5,766,15829,0.00,2.53,0.00,0.000,6,0.000,0.040,2798,2348,1851
$GC,16138,1.36,252.7,128.0,9.6,782,16139,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2348,1851
$GC,16447,1.36,252.7,97.4,10.1,797,16448,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2348,1852
$GC,16756,1.36,252.7,63.2,10.8,812,16760,0.00,2.60,0.00,0.000,4,0.000,0.058,2797,939,1852
$GC,16840,1.36,252.7,53.7,12.2,816,16844,0.00,2.50,0.00,0.000,6,0.000,0.040,2798,2357,1852
$GC,17165,1.36,252.7,19.8,10.4,832,17166,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2358,1852
$STATE,17329,end climb,SURFACE_DEPTH_REACHED
$STATE,17329,begin surface coast
$FINISH,-0.1,1.027315
$STATE,17351,end surface coast,CONTROL_FINISHED_OK
$STATE,17351,begin surface
$SM_CCo,17370,43.40,0.814,5,0,1655,300.00
$SM_GC,0.21,0.00,0.00,43.40,0.000,0.000,0.814,34,1886,1655,-11.32,-0.40,300.00
$IRIDIUM_FIX,6112.75,-852.00,201107,131316
$TT8_MAMPS,0.026845
$HUMID,2055
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.80
$XPDR_PINGS,348
$ALTIM_BOTTOM_PING,750.8,109.9
$24V_AH,23.2,19.712
$10V_AH,10.1,8.127
$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,26.150,93.675,339.000,43.400,0.000,39.518,31.467,132.852,93.500,0.000,0.000,15.066,1503.380,13645.407,542.340,1733.922,309.603,33.351,1376.586,0.000,1701.827,0.000,44.770
$DEVICE_MAMPS,143.429,78.234,1434.290,813.787,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,615.534,568.713,469.814,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41148,841
$CFSIZE,260165632,255496192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,5,0
$GPS,201107,201308,6141.150,-900.289,34,1.2,34,-9.3