version: 66.02
glider: 102
mission: 4
dive: 98
start: 11 30 107 2 1 51
data:
$ID,102
$MISSION,4
$DIVE,98
$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,-78133.5
$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,24
$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
$GPS1,014831,6150.937,-942.356,40,1.9,45,-9.7
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-52.3
$GPS2,020059,6151.034,-942.533,15,1.4,23,-9.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.124,0.168
$KALMAN_X,56164.8,10.0,4117.7,-124247.6,-23791.8
$KALMAN_Y,158121.8,-370.5,-5072.6,-119551.7,2605.3
$MHEAD_RNG_PITCHd_Wd,46.2,26662,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.95,-146.6,0.0,0.0,0,84,0.00,0.00,-62.25,0.000,2,0.000,0.000,29,1883,2528
$GC,86,-0.95,-146.6,3.4,-2.0,3,151,11.52,0.00,-50.08,0.000,6,0.124,0.000,2286,1885,3476
$GC,458,-0.95,-146.6,29.1,-6.7,21,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1885,3476
$GC,766,-0.95,-146.6,47.5,-6.3,36,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1885,3476
$GC,1076,-0.95,-146.6,73.4,-9.6,51,1080,0.00,2.55,0.00,0.000,4,0.000,0.048,2286,3302,3476
$GC,1169,-0.95,-146.6,83.0,-8.2,55,1173,0.00,2.53,0.00,0.000,6,0.000,0.040,2286,1902,3476
$GC,1490,-0.95,-146.6,110.3,-10.7,71,1494,0.00,2.60,0.00,0.000,4,0.000,0.064,2286,491,3476
$GC,1533,-0.95,-146.6,116.5,-14.5,73,1537,0.00,2.50,0.00,0.000,6,0.000,0.040,2286,1906,3476
$GC,1860,-0.95,-146.6,148.6,-9.6,89,1864,0.00,2.47,0.00,0.000,4,0.000,0.047,2286,3292,3476
$GC,1975,-0.95,-146.6,161.9,-11.5,94,1980,0.00,2.53,0.00,0.000,6,0.000,0.042,2286,1896,3476
$GC,2296,-0.95,-146.6,197.1,-9.8,110,2300,0.00,2.53,0.00,0.000,4,0.000,0.047,2286,3299,3476
$GC,2357,-0.95,-146.6,202.8,-9.1,113,2361,0.00,2.50,0.00,0.000,6,0.000,0.043,2286,1900,3476
$GC,2683,-0.95,-146.6,227.0,-5.8,129,2687,0.00,2.50,0.00,0.000,4,0.000,0.045,2286,3301,3476
$GC,2738,-0.95,-146.6,229.6,-4.0,131,2745,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1901,3476
$GC,3053,-0.95,-146.6,246.1,-8.4,147,3057,0.00,2.58,0.00,0.000,4,0.000,0.062,2286,495,3476
$GC,3102,-0.95,-146.6,251.5,-11.0,149,3107,0.00,2.47,0.00,0.000,6,0.000,0.041,2287,1894,3476
$GC,3423,-0.95,-146.6,279.1,-7.2,165,3427,0.00,2.53,0.00,0.000,4,0.000,0.049,2286,3297,3476
$GC,3484,-0.95,-146.6,282.3,-4.5,168,3488,0.00,2.53,0.00,0.000,6,0.000,0.047,2286,1898,3476
$GC,3810,-0.95,-146.6,326.7,-17.4,184,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,4118,-0.95,-146.6,373.8,-14.2,199,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3476
$GC,4427,-0.95,-146.6,410.0,-11.2,214,4431,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3298,3476
$GC,4466,-0.95,-146.6,414.4,-11.2,216,4471,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1894,3476
$GC,4792,-0.95,-146.6,448.0,-10.0,232,4796,0.00,2.53,0.00,0.000,4,0.000,0.049,2286,3298,3476
$GC,4835,-0.95,-146.6,452.0,-9.7,234,4839,0.00,2.55,0.00,0.000,6,0.000,0.046,2286,1899,3476
$GC,5161,-0.95,-146.6,479.6,-7.9,250,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3476
$GC,5471,-0.95,-146.6,504.6,-7.4,265,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3476
$GC,5780,-0.95,-146.6,536.4,-13.0,280,5784,0.00,2.60,0.00,0.000,4,0.000,0.067,2287,495,3476
$GC,5879,-0.95,-146.6,551.2,-15.5,284,5886,0.00,2.47,0.00,0.000,6,0.000,0.044,2286,1895,3476
$GC,6194,-0.95,-146.6,595.6,-13.8,300,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3475
$GC,6503,-0.95,-146.6,630.1,-9.9,315,6508,0.00,2.55,0.00,0.000,4,0.000,0.055,2286,3295,3475
$GC,6552,-0.95,-146.6,635.0,-8.9,317,6557,0.00,2.55,0.00,0.000,6,0.000,0.048,2286,1904,3475
$GC,6873,-0.95,-146.6,666.8,-7.6,333,6878,0.00,2.62,0.00,0.000,4,0.000,0.071,2286,492,3475
$GC,6935,-0.95,-146.6,668.9,-3.3,336,6940,0.00,2.45,0.00,0.000,6,0.000,0.046,2286,1897,3475
$GC,7261,-0.95,-146.6,692.1,-10.7,352,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3475
$GC,7570,-0.95,-146.6,726.9,-4.5,367,7575,0.00,2.62,0.00,0.000,4,0.000,0.070,2286,494,3475
$GC,7827,-0.95,-146.6,757.0,-8.6,378,7834,0.00,2.50,0.00,0.000,6,0.000,0.047,2286,1901,3475
$GC,8143,-0.95,-146.6,780.4,-1.4,394,8147,0.00,2.62,0.00,0.000,4,0.000,0.071,2287,491,3475
$GC,8309,-0.95,-146.6,782.4,-7.9,401,8316,0.00,2.50,0.00,0.000,6,0.000,0.049,2286,1896,3475
$STATE,8603,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8603,begin apogee
$GC,8608,-0.36,0.0,812.2,14.9,416,8735,0.60,0.00,124.10,1.328,6,0.075,0.000,2418,2347,2878
$STATE,8736,end apogee,CONTROL_FINISHED_OK
$STATE,8736,begin climb
$GC,8738,0.95,146.6,817.9,0.0,422,8869,1.25,2.72,122.57,1.295,4,0.050,0.072,2701,3746,2280
$GC,9122,0.95,146.6,792.7,22.5,439,9128,0.00,2.53,0.00,0.000,6,0.000,0.049,2701,2346,2279
$GC,9436,0.95,146.6,755.1,9.7,455,9441,0.00,2.62,0.00,0.000,4,0.000,0.066,2701,3759,2278
$GC,9627,0.96,156.5,744.7,5.7,463,9641,0.00,2.53,8.65,1.302,6,0.000,0.050,2701,2352,2239
$GC,9963,1.07,243.4,735.6,3.4,480,10039,0.12,0.00,72.93,1.309,6,0.053,0.000,2742,2352,1885
$GC,10350,1.07,243.4,701.4,8.2,498,10354,0.00,2.67,0.00,0.000,4,0.000,0.073,2742,943,1883
$GC,10488,1.07,243.4,689.5,10.9,504,10493,0.00,2.55,0.00,0.000,6,0.000,0.049,2742,2352,1883
$GC,10809,1.07,243.4,660.1,9.9,520,10814,0.00,2.65,0.00,0.000,4,0.000,0.066,2742,934,1882
$GC,10881,1.07,243.4,653.6,9.4,523,10885,0.00,2.55,0.00,0.000,6,0.000,0.047,2742,2353,1882
$GC,11201,1.07,243.4,625.9,8.5,539,11203,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2354,1882
$GC,11511,1.07,243.4,597.8,9.8,554,11515,0.00,2.62,0.00,0.000,4,0.000,0.063,2742,934,1881
$GC,11577,1.07,243.4,590.9,10.2,557,11582,0.00,2.55,0.00,0.000,6,0.000,0.043,2742,2359,1882
$GC,11897,1.07,243.4,558.3,10.0,573,11901,0.00,2.60,0.00,0.000,4,0.000,0.061,2742,941,1882
$GC,11958,1.07,243.4,551.6,10.7,576,11962,0.00,2.50,0.00,0.000,6,0.000,0.041,2742,2352,1882
$GC,12283,1.07,243.4,517.4,9.6,592,12287,0.00,2.62,0.00,0.000,4,0.000,0.059,2742,932,1883
$GC,12343,1.07,243.4,511.7,9.7,595,12347,0.00,2.50,0.00,0.000,6,0.000,0.041,2742,2351,1882
$GC,12669,1.07,243.4,482.6,8.7,611,12673,0.00,2.60,0.00,0.000,4,0.000,0.058,2742,941,1884
$GC,12757,1.07,243.4,474.4,9.4,615,12761,0.00,2.50,0.00,0.000,6,0.000,0.040,2742,2360,1883
$GC,13084,1.07,243.4,444.2,9.6,631,13088,0.00,2.62,0.00,0.000,4,0.000,0.058,2742,938,1883
$GC,13166,1.07,243.4,435.8,9.7,635,13171,0.00,2.50,0.00,0.000,6,0.000,0.040,2742,2359,1883
$GC,13493,1.07,243.4,405.5,9.2,651,13497,0.00,2.60,0.00,0.000,4,0.000,0.058,2742,938,1884
$GC,13569,1.07,243.4,398.1,9.5,654,13576,0.00,2.50,0.00,0.000,6,0.000,0.039,2742,2345,1884
$GC,13884,1.07,243.4,369.1,9.4,670,13889,0.00,2.58,0.00,0.000,4,0.000,0.058,2742,940,1885
$GC,13956,1.07,243.4,361.9,9.7,673,13960,0.00,2.50,0.00,0.000,6,0.000,0.039,2742,2345,1885
$GC,14277,1.07,243.4,333.8,8.9,689,14281,0.00,2.58,0.00,0.000,4,0.000,0.059,2742,935,1885
$GC,14342,1.07,243.4,327.7,9.3,692,14346,0.00,2.50,0.00,0.000,6,0.000,0.039,2742,2342,1885
$GC,14668,1.07,243.4,300.6,8.8,708,14673,0.00,2.55,0.00,0.000,4,0.000,0.058,2742,940,1886
$GC,14740,1.07,243.4,294.0,9.2,711,14744,0.00,2.50,0.00,0.000,6,0.000,0.039,2742,2348,1886
$GC,15061,1.07,243.4,266.0,8.9,727,15065,0.00,2.60,0.00,0.000,4,0.000,0.058,2742,936,1886
$GC,15131,1.07,243.4,259.6,9.5,730,15136,0.00,2.50,0.00,0.000,6,0.000,0.039,2742,2342,1886
$GC,15453,1.07,243.4,229.6,9.4,746,15458,0.00,2.58,0.00,0.000,4,0.000,0.057,2742,939,1887
$GC,15514,1.07,243.4,224.0,9.0,749,15519,0.00,2.47,0.00,0.000,6,0.000,0.040,2742,2353,1887
$GC,15840,1.07,243.4,196.0,9.0,765,15844,0.00,2.58,0.00,0.000,4,0.000,0.057,2742,938,1887
$GC,15934,1.07,243.4,187.5,9.6,769,15939,0.00,2.50,0.00,0.000,6,0.000,0.039,2742,2350,1887
$GC,16255,1.07,243.4,159.5,8.9,785,16259,0.00,2.58,0.00,0.000,4,0.000,0.057,2742,933,1887
$GC,16342,1.07,243.4,151.2,8.6,789,16347,0.00,2.53,0.00,0.000,6,0.000,0.038,2742,2348,1888
$GC,16670,1.07,243.4,123.5,7.4,805,16674,0.00,2.58,0.00,0.000,4,0.000,0.056,2743,939,1887
$GC,16740,1.07,243.4,116.5,10.9,808,16745,0.00,2.50,0.00,0.000,6,0.000,0.038,2742,2351,1888
$GC,17062,1.07,243.4,91.8,7.7,824,17066,0.00,2.50,0.00,0.000,4,0.000,0.053,2742,3747,1887
$GC,17104,1.07,243.4,88.4,7.9,826,17109,0.00,2.47,0.00,0.000,6,0.000,0.036,2742,2348,1888
$GC,17432,1.07,245.0,65.3,6.0,842,17441,0.00,2.58,3.05,0.870,4,0.000,0.057,2742,952,1879
$GC,17502,1.07,245.0,60.2,6.3,845,17507,0.00,2.47,0.00,0.000,6,0.000,0.038,2742,2351,1879
$GC,17829,1.07,245.0,32.8,9.3,861,17831,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2351,1879
$GC,18139,1.07,245.0,5.9,8.9,876,18143,0.00,2.58,0.00,0.000,4,0.000,0.056,2743,944,1879
$STATE,18186,end climb,SURFACE_DEPTH_REACHED
$STATE,18186,begin surface coast
$FINISH,1.7,1.027282
$STATE,18193,end surface coast,CONTROL_FINISHED_OK
$STATE,18193,begin surface
$SM_CCo,18213,49.40,0.795,6,0,1655,300.00
$SM_GC,2.36,0.00,0.00,49.40,0.000,0.000,0.795,34,1913,1655,-11.32,0.37,300.00
$IRIDIUM_FIX,6117.23,-1134.62,301107,050545
$TT8_MAMPS,0.026845
$HUMID,2034
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.8,94.3
$24V_AH,23.3,26.798
$10V_AH,10.1,11.813
$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,25.100,178.200,331.300,49.400,0.000,114.606,101.001,297.825,6.250,0.000,0.000,24.573,1665.714,13902.393,593.897,2211.053,668.330,33.356,1682.734,0.000,2148.153,0.000,42.771
$DEVICE_MAMPS,124.254,72.865,1327.677,795.379,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,641.469,593.538,545.236,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44350,878
$CFSIZE,260165632,252768256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,6,0
$GPS,301107,070756,6151.246,-943.417,37,1.5,37,-9.7