version: 66.02
glider: 102
mission: 4
dive: 129
start: 12 7 107 11 24 45
data:
$ID,102
$MISSION,4
$DIVE,129
$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,-78631.609
$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,20
$R_STBD_OVSHOOT,38
$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
$GPS1,111439,6214.648,-953.912,45,2.7,64,-10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.69
$_SM_ANGLEo,-59.5
$GPS2,112351,6214.660,-953.859,12,1.3,12,-10.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,-0.043
$KALMAN_X,133234.1,-355.3,162.5,-206963.8,17521.0
$KALMAN_Y,152267.2,-30.3,16.5,-75358.2,12033.7
$MHEAD_RNG_PITCHd_Wd,268.0,35482,-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,-146.6,0.0,0.0,0,26,0.00,0.00,-4.40,0.000,2,0.000,0.000,28,1905,711
$GC,29,-0.95,-146.6,3.8,-0.0,0,228,11.12,2.50,-178.35,0.000,4,0.104,0.057,2291,3294,3475
$GC,481,-0.95,-146.6,22.0,-6.6,21,487,0.00,2.50,0.00,0.000,6,0.000,0.041,2290,1896,3475
$GC,796,-0.95,-146.6,45.2,-8.2,37,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1896,3475
$GC,1105,-0.95,-146.6,65.8,-6.0,52,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1896,3475
$GC,1414,-0.95,-146.6,88.7,-7.8,67,1418,0.00,2.50,0.00,0.000,4,0.000,0.044,2290,3295,3475
$GC,1490,-0.95,-146.6,94.7,-8.0,70,1498,0.00,2.50,0.00,0.000,6,0.000,0.041,2290,1906,3475
$GC,1808,-0.95,-146.6,116.5,-6.7,86,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3475
$GC,2116,-0.95,-146.6,137.3,-6.7,101,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1907,3475
$GC,2425,-0.95,-146.6,155.2,-5.7,116,2429,0.00,2.50,0.00,0.000,4,0.000,0.046,2290,3300,3475
$GC,2480,-0.95,-146.6,158.7,-5.5,118,2487,0.00,2.50,0.00,0.000,6,0.000,0.042,2290,1901,3475
$GC,2796,-0.95,-146.6,176.3,-5.8,134,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1901,3475
$GC,3105,-0.95,-146.6,200.3,-8.5,149,3109,0.00,2.50,0.00,0.000,4,0.000,0.045,2290,3299,3475
$GC,3189,-0.95,-146.6,207.2,-8.2,153,3193,0.00,2.50,0.00,0.000,6,0.000,0.043,2290,1900,3475
$GC,3514,-0.95,-146.6,231.0,-7.1,169,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1900,3475
$GC,3823,-0.95,-146.6,251.6,-6.7,184,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1900,3475
$GC,4133,-0.95,-146.6,273.1,-7.4,199,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1900,3475
$GC,4442,-0.95,-146.6,294.8,-6.8,214,4446,0.00,2.50,0.00,0.000,4,0.000,0.046,2290,3300,3475
$GC,4490,-0.95,-146.6,298.1,-6.6,216,4495,0.00,2.53,0.00,0.000,6,0.000,0.043,2290,1900,3474
$GC,4811,-0.95,-146.6,319.2,-6.8,232,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1900,3475
$GC,5120,-0.95,-146.6,341.1,-7.1,247,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1900,3475
$GC,5430,-0.95,-146.6,363.7,-7.2,262,5434,0.00,2.50,0.00,0.000,4,0.000,0.047,2290,3294,3475
$GC,5484,-0.95,-146.6,368.1,-7.8,264,5491,0.00,2.50,0.00,0.000,6,0.000,0.043,2290,1896,3475
$GC,5799,-0.95,-146.6,392.8,-8.1,280,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1896,3475
$GC,6109,-0.95,-146.6,416.7,-7.3,295,6113,0.00,2.53,0.00,0.000,4,0.000,0.049,2290,3300,3475
$GC,6170,-0.95,-146.6,420.8,-6.8,298,6174,0.00,2.53,0.00,0.000,6,0.000,0.046,2290,1898,3475
$GC,6495,-0.95,-146.6,439.4,-5.8,314,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1897,3475
$GC,6804,-0.95,-146.6,458.0,-6.1,329,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1897,3475
$GC,7114,-0.95,-146.6,476.2,-5.2,344,7118,0.00,2.53,0.00,0.000,4,0.000,0.050,2290,3297,3475
$GC,7207,-0.95,-146.6,480.5,-4.9,348,7212,0.00,2.50,0.00,0.000,6,0.000,0.044,2290,1898,3475
$GC,7528,-0.95,-146.6,500.0,-7.2,364,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1898,3474
$GC,7838,-0.95,-146.6,523.6,-7.5,379,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1898,3474
$GC,8147,-0.95,-146.6,544.1,-6.3,394,8151,0.00,2.53,0.00,0.000,4,0.000,0.052,2290,3300,3474
$GC,8253,-0.95,-146.6,549.6,-4.2,399,8257,0.00,2.53,0.00,0.000,6,0.000,0.047,2290,1898,3474
$GC,8578,-0.95,-146.6,567.3,-6.2,415,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1898,3474
$GC,8887,-0.95,-146.6,586.2,-6.3,430,8892,0.00,2.55,0.00,0.000,4,0.000,0.054,2290,3297,3474
$GC,8964,-0.95,-146.6,591.9,-7.2,433,8971,0.00,2.55,0.00,0.000,6,0.000,0.048,2290,1884,3474
$GC,9280,-0.95,-146.6,614.1,-7.1,449,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1883,3474
$GC,9589,-0.95,-146.6,631.3,-3.7,464,9594,0.00,2.58,0.00,0.000,4,0.000,0.057,2290,3294,3474
$GC,9678,-0.95,-146.6,635.2,-5.4,468,9682,0.00,2.53,0.00,0.000,6,0.000,0.050,2290,1900,3473
$GC,10004,-0.95,-146.6,656.9,-7.0,484,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1900,3473
$GC,10314,-0.95,-146.6,672.0,-3.7,499,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1900,3473
$GC,10623,-0.95,-146.6,689.3,-7.7,514,10627,0.00,2.55,0.00,0.000,4,0.000,0.059,2290,3291,3473
$GC,10683,-0.95,-146.6,694.5,-8.5,517,10688,0.00,2.53,0.00,0.000,6,0.000,0.052,2290,1899,3473
$GC,11009,-0.95,-146.6,717.9,-6.1,533,11010,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1899,3472
$STATE,11028,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11028,begin apogee
$GC,11033,-0.36,0.0,719.2,6.2,534,11159,0.60,0.00,122.53,1.278,6,0.074,0.000,2420,2093,2878
$STATE,11159,end apogee,CONTROL_FINISHED_OK
$STATE,11159,begin climb
$GC,11161,0.95,146.6,724.3,0.0,540,11292,1.25,2.70,121.95,1.236,4,0.051,0.064,2702,3496,2279
$GC,11359,0.95,146.6,718.7,6.0,549,11364,0.00,2.58,0.00,0.000,6,0.000,0.051,2702,2107,2279
$GC,11681,0.95,146.6,696.3,7.4,565,11682,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2107,2279
$GC,11990,1.00,190.1,678.0,4.7,580,12031,0.00,0.00,36.62,1.249,6,0.000,0.000,2702,2107,2103
$GC,12340,1.13,292.8,666.9,2.9,597,12428,0.17,0.00,85.38,1.239,6,0.045,0.000,2755,2107,1684
$GC,12729,1.13,292.8,628.4,11.0,616,12731,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2107,1683
$GC,13038,1.13,292.8,595.2,10.4,631,13040,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2107,1683
$GC,13348,1.13,292.8,563.7,9.8,646,13349,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2107,1683
$GC,13657,1.13,292.8,535.7,8.6,661,13658,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2107,1683
$GC,13966,1.13,292.8,507.4,9.1,676,13968,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2107,1683
$GC,14275,1.13,292.8,478.5,9.1,691,14277,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2107,1683
$GC,14585,1.13,292.8,449.6,9.4,706,14586,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2107,1683
$GC,14894,1.13,292.8,421.2,9.5,721,14895,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2107,1683
$GC,15203,1.13,292.8,389.1,9.6,736,15204,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2107,1683
$GC,15513,1.13,292.8,356.6,11.0,751,15517,0.00,2.60,0.00,0.000,4,0.000,0.064,2755,690,1684
$GC,15555,1.13,292.8,351.6,11.7,753,15560,0.00,2.50,0.00,0.000,6,0.000,0.038,2755,2098,1684
$GC,15882,1.13,292.8,315.1,11.0,769,15883,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2102,1684
$GC,16191,1.13,292.8,284.1,9.2,784,16192,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2102,1684
$GC,16501,1.13,292.8,256.3,8.7,799,16502,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2102,1685
$GC,16810,1.13,292.8,230.8,8.3,814,16814,0.00,2.60,0.00,0.000,4,0.000,0.061,2755,690,1686
$GC,16876,1.13,292.8,224.7,8.5,817,16881,0.00,2.47,0.00,0.000,6,0.000,0.038,2755,2104,1686
$GC,17196,1.13,292.8,195.1,9.4,833,17201,0.00,2.62,0.00,0.000,4,0.000,0.061,2755,684,1686
$GC,17240,1.13,292.8,190.7,9.9,835,17244,0.00,2.50,0.00,0.000,6,0.000,0.039,2755,2099,1686
$GC,17567,1.13,292.8,161.3,8.2,851,17568,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2103,1686
$GC,17877,1.13,292.8,135.0,9.0,866,17881,0.00,2.60,0.00,0.000,4,0.000,0.061,2755,690,1686
$GC,17964,1.13,292.8,125.7,10.9,870,17969,0.00,2.50,0.00,0.000,6,0.000,0.038,2755,2100,1687
$GC,18291,1.13,292.8,93.1,9.9,886,18292,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2104,1687
$GC,18601,1.13,292.8,62.8,9.3,901,18602,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2104,1687
$GC,18910,1.13,292.8,34.9,8.4,916,18911,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2104,1686
$GC,19219,1.13,292.8,8.0,8.7,931,19220,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2104,1687
$GC,19529,1.37,492.2,3.1,0.1,946,19641,0.15,2.60,104.40,0.772,4,0.058,0.048,2801,3491,870
$GC,19654,1.67,737.1,3.0,-1.3,952,19697,0.28,2.53,34.15,0.752,6,0.054,0.039,2866,2089,602
$STATE,19962,end climb,NO_VERTICAL_VELOCITY
$STATE,19962,begin surface
$SM_CCo,20383,0.00,0.000,0,0,604,557.81
$SM_GC,3.84,12.15,0.00,0.00,0.027,0.000,0.000,35,1895,604,-11.25,-0.11,557.81
$IRIDIUM_FIX,6148.92,-958.87,071207,151526
$TT8_MAMPS,0.026845
$HUMID,2040
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,625.1,103.4
$24V_AH,23.3,32.208
$10V_AH,10.1,14.618
$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,25.725,91.900,505.025,0.000,0.000,77.662,76.852,235.524,6.000,0.000,0.000,13.828,1688.416,16023.296,648.306,2021.038,557.893,33.369,1671.478,0.000,1989.363,0.000,36.337
$DEVICE_MAMPS,104.312,64.428,1277.822,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,712.149,652.903,634.240,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47517,967
$CFSIZE,260165632,250818560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,071207,170538,6214.260,-1000.131,37,1.0,37,-10.0