version: 66.02
glider: 102
mission: 4
dive: 108
start: 12 2 107 16 49 57
data:
$ID,102
$MISSION,4
$DIVE,108
$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,300
$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,-78287.023
$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,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,36
$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
$GPS1,164011,6203.993,-933.358,47,1.6,47,-9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-50.5
$GPS2,164903,6204.039,-933.119,10,1.3,10,-9.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.189,-0.088
$KALMAN_X,52156.5,840.5,-382.0,-108357.1,13960.5
$KALMAN_Y,121115.1,1168.8,1037.7,-66242.3,1894.4
$MHEAD_RNG_PITCHd_Wd,254.8,14745,-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,-146.6,0.0,0.0,0,102,0.00,0.00,-81.62,0.000,2,0.000,0.000,27,1878,2224
$GC,105,-0.95,-146.6,3.2,-0.8,4,216,11.77,2.58,-93.10,0.000,4,0.133,0.058,2287,3288,3476
$GC,363,-0.95,-146.6,13.9,-7.6,16,367,0.00,2.47,0.00,0.000,6,0.000,0.041,2287,1901,3476
$GC,688,-0.95,-146.6,35.3,-6.8,32,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3476
$GC,997,-0.95,-146.6,55.6,-7.1,47,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3476
$GC,1306,-0.95,-146.6,79.4,-6.9,62,1311,0.00,2.50,0.00,0.000,4,0.000,0.044,2286,3297,3476
$GC,1378,-0.95,-146.6,83.4,-5.4,65,1382,0.00,2.50,0.00,0.000,6,0.000,0.040,2287,1895,3476
$GC,1701,-0.95,-146.6,105.7,-8.1,81,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3476
$GC,2009,-0.95,-146.6,128.4,-7.4,96,2013,0.00,2.53,0.00,0.000,4,0.000,0.044,2287,3304,3476
$GC,2102,-0.95,-146.6,136.4,-8.3,100,2107,0.00,2.53,0.00,0.000,6,0.000,0.041,2287,1903,3476
$GC,2423,-0.95,-146.6,160.3,-7.3,116,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1903,3476
$GC,2733,-0.95,-146.6,180.6,-6.2,131,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1903,3476
$GC,3043,-0.95,-146.6,196.7,-4.6,146,3047,0.00,2.50,0.00,0.000,4,0.000,0.045,2287,3300,3476
$GC,3119,-0.95,-146.6,200.8,-5.7,149,3126,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1895,3476
$GC,3435,-0.95,-146.6,219.3,-6.3,165,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3476
$GC,3744,-0.95,-146.6,240.5,-7.1,180,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3476
$GC,4053,-0.95,-146.6,262.7,-7.2,195,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1896,3476
$GC,4362,-0.95,-146.6,287.3,-8.6,210,4367,0.00,2.53,0.00,0.000,4,0.000,0.046,2286,3301,3476
$GC,4428,-0.95,-146.6,293.2,-8.9,213,4433,0.00,2.53,0.00,0.000,6,0.000,0.042,2287,1905,3476
$GC,4755,-0.95,-146.6,318.3,-6.9,229,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3476
$GC,5065,-0.95,-146.6,335.5,-4.7,244,5069,0.00,2.50,0.00,0.000,4,0.000,0.048,2287,3296,3476
$GC,5125,-0.95,-146.6,338.6,-5.3,247,5130,0.00,2.50,0.00,0.000,6,0.000,0.043,2287,1898,3476
$GC,5451,-0.95,-146.6,355.7,-5.5,263,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3476
$GC,5761,-0.95,-146.6,370.3,-4.5,278,5765,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3301,3476
$GC,5844,-0.95,-146.6,374.2,-4.7,282,5848,0.00,2.50,0.00,0.000,6,0.000,0.044,2287,1901,3476
$GC,6169,-0.95,-146.6,388.9,-4.3,298,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3476
$GC,6479,-0.95,-146.6,402.7,-4.9,313,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3476
$GC,6788,-0.95,-146.6,420.4,-6.1,328,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3476
$GC,7097,-0.95,-146.6,443.0,-7.5,343,7101,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3298,3475
$GC,7164,-0.95,-146.6,447.7,-7.3,346,7168,0.00,2.50,0.00,0.000,6,0.000,0.044,2287,1902,3476
$GC,7483,-0.95,-146.6,469.6,-6.8,362,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3476
$GC,7793,-0.95,-146.6,490.6,-7.3,377,7797,0.00,2.60,0.00,0.000,4,0.000,0.067,2287,495,3476
$GC,7913,-0.95,-146.6,500.1,-8.0,382,7917,0.00,2.47,0.00,0.000,6,0.000,0.043,2287,1904,3476
$GC,8227,-0.95,-146.6,524.1,-7.0,397,8231,0.00,2.53,0.00,0.000,4,0.000,0.054,2287,3295,3475
$GC,8406,-0.95,-146.6,538.0,-8.5,405,8411,0.00,2.55,0.00,0.000,6,0.000,0.049,2287,1886,3475
$GC,8733,-0.95,-146.6,562.4,-6.9,421,8738,0.00,2.58,0.00,0.000,4,0.000,0.055,2287,3298,3474
$GC,8840,-0.95,-146.6,569.4,-6.7,426,8844,0.00,2.53,0.00,0.000,6,0.000,0.049,2287,1899,3474
$GC,9165,-0.95,-146.6,591.4,-7.2,442,9169,0.00,2.55,0.00,0.000,4,0.000,0.059,2287,3302,3474
$STATE,9184,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9184,begin apogee
$GC,9190,-0.36,0.0,593.2,8.9,443,9314,0.60,0.00,121.18,1.186,6,0.089,0.000,2416,2095,2878
$STATE,9315,end apogee,CONTROL_FINISHED_OK
$STATE,9315,begin climb
$GC,9317,0.95,146.6,598.5,0.0,449,9441,1.30,0.00,120.22,1.159,6,0.055,0.000,2700,2095,2280
$GC,9735,1.03,217.2,581.5,3.9,470,9799,0.00,2.70,58.40,1.178,4,0.000,0.061,2699,3494,1992
$GC,9832,1.07,245.5,576.8,5.2,474,9863,0.12,2.55,23.88,1.169,6,0.051,0.049,2740,2100,1877
$GC,10190,1.07,245.5,550.2,7.9,492,10194,0.00,2.60,0.00,0.000,4,0.000,0.058,2740,3498,1875
$GC,10311,1.07,245.5,541.4,7.3,497,10318,0.00,2.58,0.00,0.000,6,0.000,0.049,2740,2100,1875
$GC,10627,1.07,245.5,517.2,8.1,513,10631,0.00,2.55,0.00,0.000,4,0.000,0.055,2741,3500,1874
$GC,10688,1.07,245.5,512.6,7.5,516,10692,0.00,2.53,0.00,0.000,6,0.000,0.048,2740,2099,1874
$GC,11013,1.07,245.5,491.8,6.9,532,11014,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2100,1873
$GC,11322,1.07,245.5,469.7,7.7,547,11326,0.00,2.60,0.00,0.000,4,0.000,0.067,2740,690,1873
$GC,11370,1.07,245.5,465.6,8.2,549,11375,0.00,2.50,0.00,0.000,6,0.000,0.043,2740,2106,1873
$GC,11691,1.07,245.5,439.7,8.7,565,11693,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2111,1873
$GC,12000,1.07,245.5,413.8,8.5,580,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2111,1873
$GC,12310,1.07,245.5,385.2,9.9,595,12311,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2111,1873
$GC,12619,1.07,245.5,353.7,10.3,610,12620,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2111,1873
$GC,12928,1.07,245.5,320.4,11.1,625,12929,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2111,1873
$GC,13238,1.07,245.5,284.9,11.3,640,13239,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2111,1874
$GC,13547,1.07,245.5,252.5,10.1,655,13548,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2111,1874
$GC,13856,1.07,245.5,222.6,9.7,670,13857,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2111,1874
$GC,14165,1.07,245.5,192.4,10.0,685,14167,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2111,1875
$GC,14475,1.07,245.5,162.1,10.0,700,14476,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2111,1875
$GC,14784,1.07,245.5,135.6,8.0,715,14789,0.00,2.62,0.00,0.000,4,0.000,0.060,2740,686,1875
$GC,14846,1.07,245.5,130.4,8.6,718,14850,0.00,2.50,0.00,0.000,6,0.000,0.038,2741,2115,1875
$GC,15172,1.07,245.5,103.8,8.1,734,15173,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2117,1876
$GC,15480,1.07,245.5,78.6,7.9,749,15481,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2117,1876
$GC,15790,1.07,245.5,55.8,7.6,764,15794,0.00,2.62,0.00,0.000,4,0.000,0.059,2740,687,1876
$GC,15883,1.07,245.5,48.5,7.6,768,15887,0.00,2.50,0.00,0.000,6,0.000,0.038,2741,2099,1876
$GC,16204,1.07,245.5,26.2,6.6,784,16205,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2103,1876
$GC,16513,1.07,245.5,4.2,7.8,799,16515,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2104,1877
$GC,16823,1.32,448.3,2.3,-0.0,814,16920,0.15,0.00,93.03,0.797,2,0.058,0.000,2787,2106,1156
$STATE,16920,end climb,NO_VERTICAL_VELOCITY
$STATE,16920,begin surface
$SM_CCo,16923,69.45,0.756,0,0,603,558.06
$SM_GC,2.90,11.88,0.00,0.00,0.029,0.000,0.000,33,1887,604,-11.25,-0.40,557.81
$IRIDIUM_FIX,6139.81,-917.19,021207,202059
$TT8_MAMPS,0.026078
$HUMID,2042
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,18.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,525.3,77.8
$24V_AH,23.4,28.650
$10V_AH,10.1,12.791
$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,25.825,91.425,416.700,69.450,0.000,77.752,81.868,215.050,6.250,0.000,0.000,12.415,1469.618,13530.324,663.961,1767.808,518.732,33.381,1535.591,0.000,1742.822,0.000,32.747
$DEVICE_MAMPS,132.691,67.496,1185.782,756.262,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,604.265,552.731,584.535,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41079,818
$CFSIZE,260165632,252080128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,021207,214126,6203.473,-932.409,42,1.0,42,-9.7