version: 66.02
glider: 102
mission: 4
dive: 112
start: 12 3 107 12 52 14
data:
$ID,102
$MISSION,4
$DIVE,112
$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,-78368.883
$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,31
$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
$GPS1,124625,6202.084,-931.264,25,1.8,42,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-48.8
$GPS2,125121,6202.044,-931.128,14,1.1,14,-9.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.209,0.004
$KALMAN_X,77613.5,-674.2,-2148.3,-128590.1,28964.7
$KALMAN_Y,124363.9,-505.8,-971.5,-69315.5,4505.0
$MHEAD_RNG_PITCHd_Wd,280.9,17254,-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,-146.6,0.0,0.0,0,43,0.00,0.00,-21.98,0.000,2,0.000,0.000,27,1882,1112
$GC,45,-0.95,-146.6,3.1,-0.0,1,221,11.23,2.53,-155.65,0.000,4,0.110,0.058,2286,3296,3476
$GC,365,-0.95,-146.6,20.5,-9.4,16,370,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1905,3476
$GC,692,-0.95,-146.6,43.5,-8.2,32,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,1002,-0.95,-146.6,60.4,-7.0,47,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,1311,-0.95,-146.6,73.7,-4.7,62,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,1620,-0.95,-146.6,92.1,-6.3,77,1624,0.00,2.50,0.00,0.000,4,0.000,0.046,2286,3298,3476
$GC,1681,-0.95,-146.6,96.2,-6.3,80,1686,0.00,2.50,0.00,0.000,6,0.000,0.042,2286,1898,3476
$GC,2007,-0.95,-146.6,118.0,-6.7,96,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3476
$GC,2316,-0.95,-146.6,134.8,-6.1,111,2321,0.00,2.50,0.00,0.000,4,0.000,0.045,2285,3299,3476
$GC,2378,-0.95,-146.6,138.9,-6.4,114,2382,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1896,3476
$GC,2703,-0.95,-146.6,161.9,-7.2,130,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,3012,-0.95,-146.6,183.1,-6.8,145,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,3321,-0.95,-146.6,203.8,-6.9,160,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,3631,-0.95,-146.6,225.5,-7.0,175,3636,0.00,2.53,0.00,0.000,4,0.000,0.047,2286,3306,3476
$GC,3686,-0.95,-146.6,229.7,-7.8,177,3693,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1905,3476
$GC,4002,-0.95,-146.6,251.3,-6.6,193,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,4310,-0.95,-146.6,273.5,-7.3,208,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,4620,-0.95,-146.6,295.7,-7.0,223,4624,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3300,3476
$GC,4682,-0.95,-146.6,300.1,-7.2,226,4686,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1894,3476
$GC,5007,-0.95,-146.6,323.1,-6.8,242,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3476
$GC,5316,-0.95,-146.6,345.6,-7.6,257,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3476
$GC,5625,-0.95,-146.6,368.7,-7.5,272,5629,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3299,3476
$GC,5696,-0.95,-146.6,374.2,-7.6,275,5701,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1899,3476
$GC,6018,-0.95,-146.6,397.3,-7.1,291,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3476
$GC,6328,-0.95,-146.6,420.3,-7.7,306,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3476
$GC,6637,-0.95,-146.6,441.4,-6.4,321,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3476
$GC,6946,-0.95,-146.6,463.0,-7.4,336,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3476
$GC,7256,-0.95,-146.6,484.2,-6.3,351,7260,0.00,2.53,0.00,0.000,4,0.000,0.050,2286,3300,3476
$GC,7316,-0.95,-146.6,488.1,-6.9,354,7321,0.00,2.50,0.00,0.000,6,0.000,0.046,2286,1902,3476
$GC,7642,-0.95,-146.6,508.4,-5.8,370,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,7953,-0.95,-146.6,526.2,-5.9,385,7957,0.00,2.53,0.00,0.000,4,0.000,0.052,2286,3296,3475
$GC,8058,-0.95,-146.6,533.1,-6.9,390,8063,0.00,2.53,0.00,0.000,6,0.000,0.047,2286,1893,3475
$GC,8385,-0.95,-146.6,552.7,-6.6,406,8389,0.00,2.55,0.00,0.000,4,0.000,0.054,2286,3298,3475
$GC,8455,-0.95,-146.6,558.4,-7.9,409,8461,0.00,2.55,0.00,0.000,6,0.000,0.049,2285,1902,3475
$GC,8776,-0.95,-146.6,580.3,-6.6,425,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3474
$GC,9086,-0.95,-146.6,597.7,-5.4,440,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3474
$STATE,9394,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9394,begin apogee
$GC,9399,-0.36,0.0,614.3,7.5,455,9523,0.62,0.00,121.45,1.197,6,0.077,0.000,2420,2095,2878
$STATE,9524,end apogee,CONTROL_FINISHED_OK
$STATE,9524,begin climb
$GC,9526,0.95,146.6,618.1,0.0,461,9654,1.25,2.72,120.18,1.157,4,0.058,0.066,2697,688,2279
$GC,9907,0.95,146.6,587.6,8.1,478,9913,0.00,2.53,0.00,0.000,6,0.000,0.045,2697,2095,2279
$GC,10222,0.95,146.6,568.0,6.4,494,10223,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2095,2279
$GC,10531,0.95,146.6,548.0,6.3,509,10535,0.00,2.58,0.00,0.000,4,0.000,0.059,2697,3504,2279
$GC,10624,0.95,150.4,542.0,5.9,513,10637,0.00,2.55,4.00,1.100,6,0.000,0.048,2697,2107,2264
$GC,10945,0.97,166.5,525.3,5.5,529,10965,0.00,0.00,13.95,1.168,6,0.000,0.000,2696,2107,2199
$GC,11273,0.97,166.5,505.5,6.1,545,11278,0.00,2.55,0.00,0.000,4,0.000,0.054,2697,3513,2199
$GC,11357,0.97,166.5,500.0,6.5,549,11362,0.00,2.55,0.00,0.000,6,0.000,0.045,2697,2094,2199
$GC,11683,1.00,191.6,482.1,5.3,565,11712,0.00,2.65,21.58,1.144,4,0.000,0.054,2697,3510,2096
$GC,11814,1.00,191.6,473.5,7.2,571,11819,0.00,2.55,0.00,0.000,6,0.000,0.045,2696,2097,2096
$GC,12140,1.03,211.7,455.9,5.4,587,12161,0.00,0.00,17.33,1.123,6,0.000,0.000,2696,2097,2014
$GC,12469,1.03,211.7,436.2,6.1,603,12471,0.10,0.00,0.00,0.000,6,0.056,0.000,2730,2097,2014
$GC,12778,1.03,211.7,414.2,7.3,618,12780,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2096,2013
$GC,13087,1.03,211.7,392.2,7.5,633,13089,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2097,2014
$GC,13397,1.03,211.7,368.0,8.1,648,13398,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2097,2014
$GC,13706,1.03,211.7,342.7,7.9,663,13707,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2097,2014
$GC,14015,1.03,211.7,318.1,8.0,678,14016,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2097,2014
$GC,14325,1.03,211.7,293.8,7.8,693,14326,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2097,2015
$GC,14634,1.03,211.7,269.8,7.5,708,14635,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2097,2015
$GC,14943,1.03,211.7,248.3,6.8,723,14947,0.00,2.53,0.00,0.000,4,0.000,0.050,2731,3509,2015
$GC,15031,1.03,211.7,241.7,7.2,727,15036,0.00,2.53,0.00,0.000,6,0.000,0.040,2731,2095,2015
$GC,15358,1.03,211.7,221.2,6.2,743,15359,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2095,2016
$GC,15667,1.03,211.7,200.9,7.2,758,15668,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2095,2016
$GC,15976,1.03,211.7,179.4,7.0,773,15981,0.00,2.53,0.00,0.000,4,0.000,0.049,2730,3506,2016
$GC,16048,1.03,211.7,174.2,7.5,776,16053,0.00,2.50,0.00,0.000,6,0.000,0.039,2731,2103,2016
$GC,16369,1.03,211.7,152.1,7.1,792,16371,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2104,2016
$GC,16680,1.03,211.7,132.1,7.0,807,16681,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2104,2016
$GC,16988,1.03,211.7,110.8,6.7,822,16990,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2104,2016
$GC,17298,1.03,211.7,90.9,6.4,837,17299,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2104,2017
$GC,17607,1.03,211.7,69.3,7.3,852,17608,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2104,2017
$GC,17916,1.03,211.7,43.3,9.7,867,17920,0.00,2.53,0.00,0.000,4,0.000,0.045,2731,3510,2017
$GC,17993,1.07,248.3,37.2,4.9,870,18029,0.00,2.50,29.50,0.833,6,0.000,0.038,2731,2099,1864
$GC,18351,1.07,248.3,10.8,7.9,888,18352,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2098,1864
$GC,18660,1.31,442.9,2.6,0.2,903,18769,0.20,2.62,102.32,0.756,4,0.065,0.057,2781,695,1071
$STATE,18856,end climb,NO_VERTICAL_VELOCITY
$STATE,18856,begin surface
$SM_CCo,18859,58.75,0.746,0,0,603,558.06
$SM_GC,3.23,11.85,0.00,0.00,0.028,0.000,0.000,28,1922,604,-11.27,0.62,557.81
$IRIDIUM_FIX,6139.81,-936.03,031207,111116
$TT8_MAMPS,0.026845
$HUMID,2045
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,551.2,72.5
$24V_AH,23.4,29.282
$10V_AH,10.1,13.118
$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,25.250,86.225,430.300,58.750,0.000,40.059,34.592,133.281,6.000,0.000,0.000,16.321,1609.214,15073.517,633.336,1973.943,350.933,33.372,1615.402,0.000,1939.650,0.000,31.404
$DEVICE_MAMPS,109.681,65.962,1196.520,746.291,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,668.268,617.749,641.059,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44253,912
$CFSIZE,260165632,251863040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,031207,181538,6201.640,-930.357,31,1.1,31,-9.7