version: 66.02
glider: 102
mission: 4
dive: 113
start: 12 3 107 18 33 3
data:
$ID,102
$MISSION,4
$DIVE,113
$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,-78381.547
$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,26
$R_STBD_OVSHOOT,32
$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
$GPS1,181538,6201.640,-930.357,31,1.1,31,-9.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.18
$_SM_ANGLEo,-50.2
$GPS2,183209,6201.454,-930.166,10,1.4,10,-9.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,0.021
$KALMAN_X,82869.5,-3004.8,-287.7,-132510.0,27746.4
$KALMAN_Y,121683.9,-1424.3,575.5,-68371.0,1886.5
$MHEAD_RNG_PITCHd_Wd,285.6,18409,-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,-146.6,0.0,0.0,0,25,0.00,0.00,-4.53,0.000,2,0.000,0.000,27,1920,714
$GC,28,-0.95,-146.6,3.2,-0.0,0,220,10.98,2.47,-171.48,0.000,4,0.097,0.060,2288,3301,3476
$GC,387,-0.95,-146.6,15.3,-6.3,17,392,0.00,2.53,0.00,0.000,6,0.000,0.041,2288,1904,3476
$GC,709,-0.95,-146.6,40.0,-6.8,33,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3476
$GC,1018,-0.95,-146.6,60.5,-8.6,48,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3477
$GC,1327,-0.95,-146.6,82.7,-8.8,63,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3476
$GC,1637,-0.95,-146.6,102.9,-6.4,78,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3476
$GC,1946,-0.95,-146.6,124.6,-6.2,93,1950,0.00,2.50,0.00,0.000,4,0.000,0.045,2288,3301,3476
$GC,2017,-0.95,-146.6,129.4,-6.2,96,2021,0.00,2.53,0.00,0.000,6,0.000,0.041,2288,1898,3476
$GC,2338,-0.95,-146.6,153.3,-8.1,112,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3476
$GC,2647,-0.95,-146.6,176.5,-7.4,127,2651,0.00,2.53,0.00,0.000,4,0.000,0.045,2288,3309,3476
$GC,2708,-0.95,-146.6,181.3,-7.6,130,2713,0.00,2.50,0.00,0.000,6,0.000,0.041,2288,1899,3476
$GC,3035,-0.95,-146.6,203.4,-6.7,146,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3476
$GC,3344,-0.95,-146.6,223.6,-6.6,161,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3476
$GC,3653,-0.95,-146.6,244.2,-6.6,176,3657,0.00,2.50,0.00,0.000,4,0.000,0.046,2288,3301,3476
$GC,3720,-0.95,-146.6,248.9,-7.0,179,3724,0.00,2.50,0.00,0.000,6,0.000,0.042,2288,1898,3476
$GC,4045,-0.95,-146.6,272.3,-7.5,195,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3476
$GC,4354,-0.95,-146.6,295.9,-7.5,210,4358,0.00,2.53,0.00,0.000,4,0.000,0.046,2288,3305,3476
$GC,4416,-0.95,-146.6,300.8,-8.3,213,4421,0.00,2.50,0.00,0.000,6,0.000,0.043,2288,1899,3476
$GC,4742,-0.95,-146.6,327.2,-7.9,229,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3476
$GC,5051,-0.95,-146.6,352.4,-8.1,244,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3476
$GC,5360,-0.95,-146.6,377.1,-7.7,259,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3476
$GC,5670,-0.95,-146.6,399.6,-6.9,274,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3476
$GC,5979,-0.95,-146.6,424.0,-8.1,289,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3476
$GC,6288,-0.95,-146.6,448.0,-7.9,304,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3476
$GC,6597,-0.95,-146.6,471.2,-7.1,319,6602,0.00,2.53,0.00,0.000,4,0.000,0.049,2288,3300,3476
$GC,6691,-0.95,-146.6,478.6,-8.0,323,6696,0.00,2.53,0.00,0.000,6,0.000,0.044,2288,1904,3476
$GC,7012,-0.95,-146.6,502.8,-7.6,339,7017,0.00,2.50,0.00,0.000,4,0.000,0.051,2288,3301,3476
$GC,7084,-0.95,-146.6,508.6,-8.2,342,7089,0.00,2.55,0.00,0.000,6,0.000,0.047,2288,1900,3475
$GC,7405,-0.95,-146.6,532.3,-7.3,358,7409,0.00,2.55,0.00,0.000,4,0.000,0.052,2288,3305,3476
$GC,7481,-0.95,-146.6,538.2,-7.8,361,7488,0.00,2.55,0.00,0.000,6,0.000,0.046,2288,1901,3475
$GC,7797,-0.95,-146.6,562.9,-7.9,377,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,8106,-0.95,-146.6,585.2,-7.6,392,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$STATE,8311,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8311,begin apogee
$GC,8316,-0.36,0.0,601.0,7.9,402,8440,0.60,0.00,121.40,1.177,6,0.073,0.000,2418,2098,2878
$STATE,8441,end apogee,CONTROL_FINISHED_OK
$STATE,8441,begin climb
$GC,8443,0.95,146.6,605.3,0.0,408,8570,1.25,2.70,119.38,1.146,4,0.054,0.064,2700,693,2280
$GC,8643,0.99,179.5,599.9,5.0,417,8678,0.00,2.55,27.62,1.132,6,0.000,0.044,2700,2087,2146
$GC,9000,1.01,199.0,582.2,5.4,435,9021,0.00,0.00,17.00,1.148,6,0.000,0.000,2700,2088,2066
$GC,9329,1.01,199.0,561.6,6.4,451,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2088,2065
$GC,9638,1.01,199.0,540.4,7.1,466,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2087,2064
$GC,9947,1.01,199.0,518.2,7.5,481,9952,0.00,2.60,0.00,0.000,4,0.000,0.055,2700,3511,2065
$GC,10080,1.01,199.0,507.6,7.7,487,10085,0.00,2.55,0.00,0.000,6,0.000,0.045,2700,2107,2064
$GC,10407,1.01,199.0,482.1,8.0,503,10408,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2107,2064
$GC,10716,1.01,199.0,457.7,7.6,518,10717,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2107,2064
$GC,11026,1.01,199.0,435.5,7.1,533,11027,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2107,2064
$GC,11335,1.01,199.0,414.8,6.4,548,11336,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2107,2064
$GC,11644,1.01,199.0,395.2,6.3,563,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2107,2064
$GC,11954,1.04,221.2,377.6,5.3,578,11974,0.00,0.00,18.23,1.076,6,0.000,0.000,2700,2107,1976
$GC,12283,1.06,234.9,359.4,5.6,594,12298,0.12,0.00,12.05,1.058,6,0.048,0.000,2747,2107,1920
$GC,12592,1.06,234.9,335.8,7.8,609,12593,0.12,0.00,0.00,0.000,6,0.083,0.000,2721,2107,1920
$GC,12901,1.06,234.9,313.8,7.2,624,12902,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2107,1920
$GC,13210,1.06,234.9,293.8,6.1,639,13211,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2107,1920
$GC,13519,1.06,234.9,274.5,6.5,654,13520,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2107,1920
$GC,13829,1.06,234.9,252.5,7.9,669,13830,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2107,1920
$GC,14138,1.06,234.9,229.3,6.9,684,14139,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2107,1920
$GC,14447,1.06,234.9,209.1,6.7,699,14451,0.00,2.60,0.00,0.000,4,0.000,0.061,2721,685,1920
$GC,14502,1.06,234.9,205.3,6.7,701,14509,0.00,2.53,0.00,0.000,6,0.000,0.038,2721,2113,1920
$GC,14817,1.06,234.9,183.1,7.1,717,14818,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2113,1921
$GC,15126,1.06,234.9,160.6,8.2,732,15128,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2113,1921
$GC,15438,1.06,234.9,136.4,7.7,747,15439,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2113,1920
$GC,15746,1.06,234.9,115.7,7.3,762,15747,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2113,1921
$GC,16055,1.06,234.9,92.9,7.1,777,16056,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2112,1921
$GC,16364,1.06,234.9,69.7,7.9,792,16368,0.00,2.60,0.00,0.000,4,0.000,0.058,2721,690,1921
$GC,16418,1.06,234.9,65.6,7.7,794,16426,0.00,2.47,0.00,0.000,6,0.000,0.038,2721,2095,1921
$GC,16734,1.12,283.8,48.4,4.5,810,16775,0.00,0.00,38.72,0.830,6,0.000,0.000,2721,2095,1721
$GC,17085,1.12,283.8,27.8,6.6,827,17086,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2095,1721
$GC,17393,1.12,283.8,2.7,8.2,842,17394,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2095,1721
$GC,17702,1.36,484.7,2.8,0.0,857,17786,0.30,0.00,80.38,0.762,2,0.065,0.000,2791,2097,1111
$STATE,17787,end climb,NO_VERTICAL_VELOCITY
$STATE,17787,begin surface
$SM_CCo,17789,63.47,0.727,0,0,603,558.06
$SM_GC,3.49,11.85,0.00,0.00,0.026,0.000,0.000,26,1881,604,-11.27,-0.54,557.81
$IRIDIUM_FIX,6135.28,-920.97,031207,222225
$TT8_MAMPS,0.026845
$HUMID,2016
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,526.3,83.6
$24V_AH,23.4,29.458
$10V_AH,10.1,13.206
$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,25.225,61.600,434.775,63.475,0.000,149.700,170.833,373.247,4.750,0.000,0.000,12.036,1492.362,14533.530,632.070,1749.590,860.814,33.366,1510.000,0.000,1731.455,0.000,29.813
$DEVICE_MAMPS,97.409,64.428,1176.578,727.116,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,633.530,582.375,613.654,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44266,861
$CFSIZE,260165632,251809792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,031207,233858,6159.446,-933.771,28,3.8,47,-9.7