version: 66.02
glider: 102
mission: 4
dive: 54
start: 11 21 107 1 7 38
data:
$ID,102
$MISSION,4
$DIVE,54
$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,-77255.648
$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,26
$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
$GPS1,010226,6140.758,-905.694,36,1.9,36,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-63.0
$GPS2,010644,6140.774,-905.635,15,1.2,15,-9.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.237,-0.015
$KALMAN_X,20817.7,131.8,229.0,-52575.3,435.0
$KALMAN_Y,133758.0,-1561.8,-1051.9,-116955.0,8330.0
$MHEAD_RNG_PITCHd_Wd,275.6,11342,-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,16,begin dive
$GC,18,-1.23,-146.6,0.0,0.0,0,102,0.00,0.00,-81.30,0.000,6,0.000,0.000,36,1884,3477
$GC,103,-1.23,-146.6,5.8,-8.6,4,125,11.68,2.65,0.00,0.000,4,0.144,0.067,2224,493,3478
$GC,147,-1.23,-146.6,21.0,-23.2,6,152,0.00,2.50,0.00,0.000,6,0.000,0.042,2224,1909,3479
$GC,472,-1.23,-146.6,60.3,-10.7,22,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1912,3479
$GC,781,-1.23,-146.6,92.5,-10.5,37,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1912,3479
$GC,1091,-1.23,-146.6,127.6,-11.4,52,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1912,3479
$GC,1400,-1.23,-146.6,160.1,-11.0,67,1404,0.00,2.50,0.00,0.000,4,0.000,0.048,2224,3300,3479
$GC,1465,-1.23,-146.6,166.9,-9.4,70,1470,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1908,3479
$GC,1793,-1.23,-146.6,201.4,-11.5,86,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1908,3479
$GC,2101,-1.23,-146.6,237.0,-11.3,101,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1908,3479
$GC,2410,-1.23,-146.6,273.4,-11.9,116,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1908,3479
$GC,2720,-1.23,-146.6,307.8,-10.6,131,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1908,3479
$GC,3029,-1.23,-146.6,339.9,-10.3,146,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1908,3480
$GC,3338,-1.23,-146.6,371.7,-9.6,161,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1908,3479
$GC,3648,-1.23,-146.6,400.5,-9.0,176,3653,0.00,2.53,0.00,0.000,4,0.000,0.051,2224,3302,3479
$GC,3742,-1.23,-146.6,409.3,-9.0,180,3747,0.00,2.55,0.00,0.000,6,0.000,0.048,2224,1908,3479
$GC,4063,-1.23,-146.6,438.4,-9.5,196,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1908,3480
$GC,4373,-1.23,-146.6,468.4,-9.9,211,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1908,3479
$GC,4682,-1.23,-146.6,498.0,-9.3,226,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1908,3479
$GC,4994,-1.23,-146.6,525.8,-9.0,241,4998,0.00,2.53,0.00,0.000,4,0.000,0.054,2224,3298,3479
$GC,5070,-1.23,-146.6,533.4,-9.6,244,5077,0.00,2.58,0.00,0.000,6,0.000,0.049,2224,1898,3479
$GC,5386,-1.23,-146.6,562.4,-8.7,260,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3479
$GC,5695,-1.23,-146.6,590.8,-8.9,275,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3479
$GC,6004,-1.23,-146.6,618.4,-9.5,290,6009,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3303,3479
$GC,6098,-1.23,-146.6,628.0,-8.8,294,6103,0.00,2.58,0.00,0.000,6,0.000,0.050,2224,1903,3479
$GC,6419,-1.23,-146.6,657.8,-9.9,310,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1902,3479
$GC,6729,-1.23,-146.6,684.9,-7.7,325,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1902,3479
$GC,7038,-1.23,-146.6,708.1,-7.5,340,7042,0.00,2.58,0.00,0.000,4,0.000,0.058,2224,3303,3479
$GC,7114,-1.23,-146.6,714.1,-8.2,343,7121,0.00,2.60,0.00,0.000,6,0.000,0.054,2224,1897,3479
$GC,7429,-1.23,-146.6,738.9,-8.2,359,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3479
$GC,7739,-1.23,-146.6,764.9,-8.3,374,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3479
$GC,8048,-1.23,-146.6,792.3,-12.7,389,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$STATE,8171,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8171,begin apogee
$GC,8176,-0.36,0.0,802.7,8.9,395,8304,0.93,0.00,125.32,1.371,6,0.088,0.000,2417,2348,2878
$STATE,8305,end apogee,CONTROL_FINISHED_OK
$STATE,8305,begin climb
$GC,8306,1.23,146.6,805.4,0.0,401,8434,1.58,0.00,123.38,1.324,6,0.058,0.000,2764,2347,2280
$GC,8736,1.23,146.6,772.1,8.1,422,8740,0.00,2.67,0.00,0.000,4,0.000,0.074,2764,941,2279
$GC,8836,1.23,146.6,758.3,15.3,426,8841,0.00,2.62,0.00,0.000,6,0.000,0.057,2764,2342,2279
$GC,9157,1.23,146.6,724.6,9.0,442,9161,0.00,2.67,0.00,0.000,4,0.000,0.077,2765,941,2277
$GC,9413,1.23,146.6,697.0,13.7,453,9420,0.00,2.62,0.00,0.000,6,0.000,0.056,2765,2352,2276
$GC,9729,1.33,229.8,678.6,4.8,469,9804,0.00,2.78,69.00,1.335,4,0.000,0.074,2764,935,1940
$GC,10028,1.33,229.8,659.9,8.7,482,10035,0.00,2.62,0.00,0.000,6,0.000,0.053,2765,2351,1939
$GC,10343,1.33,229.8,622.3,13.7,498,10345,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2351,1938
$GC,10653,1.33,229.8,590.3,10.1,513,10657,0.00,2.58,0.00,0.000,4,0.000,0.061,2764,3751,1938
$GC,10740,1.33,229.8,580.6,10.8,517,10745,0.00,2.55,0.00,0.000,6,0.000,0.046,2765,2348,1938
$GC,11067,1.33,229.8,545.5,10.1,533,11071,0.00,2.60,0.00,0.000,4,0.000,0.064,2765,942,1939
$GC,11110,1.33,229.8,541.0,10.2,535,11115,0.00,2.53,0.00,0.000,6,0.000,0.043,2765,2348,1939
$GC,11437,1.33,229.8,508.2,9.6,551,11439,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2349,1939
$GC,11747,1.33,229.8,479.4,9.3,566,11748,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2348,1941
$GC,12056,1.33,229.8,452.4,8.7,581,12060,0.00,2.58,0.00,0.000,4,0.000,0.060,2765,941,1941
$GC,12139,1.33,229.8,445.0,8.9,585,12143,0.00,2.50,0.00,0.000,6,0.000,0.042,2765,2353,1941
$GC,12464,1.33,229.8,416.9,8.5,601,12465,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2353,1942
$GC,12773,1.33,229.8,389.6,8.6,616,12778,0.00,2.60,0.00,0.000,4,0.000,0.058,2765,941,1943
$GC,12857,1.33,229.8,381.9,9.4,620,12862,0.00,2.53,0.00,0.000,6,0.000,0.041,2764,2355,1943
$GC,13182,1.35,243.4,355.8,7.5,636,13197,0.10,0.00,12.55,1.077,6,0.059,0.000,2797,2356,1885
$GC,13492,1.35,243.4,328.5,9.1,651,13493,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2356,1886
$GC,13801,1.35,243.4,298.8,10.0,666,13805,0.00,2.60,0.00,0.000,4,0.000,0.057,2797,934,1886
$GC,13855,1.35,243.4,293.2,10.2,668,13862,0.00,2.53,0.00,0.000,6,0.000,0.041,2797,2346,1886
$GC,14170,1.35,243.4,261.7,10.0,684,14171,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2346,1887
$GC,14479,1.35,243.4,229.2,10.7,699,14484,0.00,2.58,0.00,0.000,4,0.000,0.058,2797,941,1887
$GC,14540,1.35,243.4,222.5,11.2,702,14545,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2356,1887
$GC,14866,1.35,243.4,189.1,10.2,718,14867,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2356,1887
$GC,15175,1.35,243.4,156.9,10.2,733,15177,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2356,1887
$GC,15485,1.35,243.4,126.2,9.8,748,15489,0.00,2.60,0.00,0.000,4,0.000,0.056,2797,940,1888
$GC,15546,1.35,243.4,119.8,10.6,751,15550,0.00,2.50,0.00,0.000,6,0.000,0.040,2797,2354,1888
$GC,15871,1.35,243.4,86.0,10.0,767,15872,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2354,1888
$GC,16180,1.35,243.4,54.4,10.0,782,16185,0.00,2.58,0.00,0.000,4,0.000,0.056,2797,940,1888
$GC,16234,1.35,243.4,48.5,10.9,784,16242,0.00,2.50,0.00,0.000,6,0.000,0.039,2797,2350,1888
$GC,16551,1.35,243.4,15.4,10.8,800,16552,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2350,1889
$STATE,16694,end climb,SURFACE_DEPTH_REACHED
$STATE,16694,begin surface coast
$FINISH,-0.4,1.003082
$STATE,16715,end surface coast,CONTROL_FINISHED_OK
$STATE,16716,begin surface
$SM_CCo,16735,51.45,0.795,6,0,1655,300.00
$SM_GC,0.24,0.00,0.00,51.45,0.000,0.000,0.795,31,1888,1655,-11.33,-0.34,300.00
$IRIDIUM_FIX,6117.23,-857.18,211107,000044
$TT8_MAMPS,0.026845
$HUMID,2042
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,16.90
$XPDR_PINGS,639
$ALTIM_BOTTOM_PING,725.5,86.1
$24V_AH,23.3,20.038
$10V_AH,10.1,8.274
$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,26.100,89.150,330.250,51.450,0.000,39.146,27.751,109.160,166.000,0.000,0.000,16.729,1450.554,13099.195,546.043,1712.294,275.729,33.357,1376.115,0.000,1674.801,0.000,42.749
$DEVICE_MAMPS,144.196,76.700,1370.629,795.379,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,594.848,546.250,461.209,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41246,808
$CFSIZE,260165632,255393792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,6,0
$GPS,211107,054910,6142.361,-908.642,41,1.2,41,-9.4