version: 66.02
glider: 102
mission: 4
dive: 135
start: 12 9 107 3 15 9
data:
$ID,102
$MISSION,4
$DIVE,135
$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,-78714.555
$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,24
$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
$GPS1,030137,6214.188,-1032.970,38,1.1,38,-10.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.86
$_SM_ANGLEo,-53.2
$GPS2,031414,6214.099,-1033.250,13,1.6,13,-10.3
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,0.042
$KALMAN_X,131026.9,531.9,-1734.7,-238520.0,2814.1
$KALMAN_Y,146796.8,-548.7,-1127.9,-69255.2,1967.9
$MHEAD_RNG_PITCHd_Wd,292.0,30559,-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,-146.6,0.0,0.0,0,28,0.00,0.00,-6.62,0.000,2,0.000,0.000,33,1877,761
$GC,31,-0.95,-146.6,3.8,-0.0,1,225,11.07,2.58,-172.35,0.000,4,0.104,0.058,2286,3298,3476
$GC,416,-0.95,-146.6,22.6,-9.2,19,420,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1900,3476
$GC,742,-0.95,-146.6,47.8,-7.3,35,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,1051,-0.95,-146.6,74.9,-8.1,50,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,1361,-0.95,-146.6,97.7,-5.0,65,1365,0.00,2.50,0.00,0.000,4,0.000,0.044,2286,3298,3476
$GC,1427,-0.95,-146.6,101.0,-3.6,68,1431,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1893,3476
$GC,1754,-0.95,-146.6,126.1,-10.0,84,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3476
$GC,2063,-0.95,-146.6,146.8,-6.0,99,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3476
$GC,2372,-0.95,-146.6,164.9,-6.6,114,2376,0.00,2.53,0.00,0.000,4,0.000,0.045,2286,3300,3476
$GC,2460,-0.95,-146.6,171.4,-7.2,118,2464,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1901,3476
$GC,2787,-0.95,-146.6,195.4,-6.8,134,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,3096,-0.95,-146.6,214.4,-6.5,149,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,3405,-0.95,-146.6,235.1,-6.8,164,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,3715,-0.95,-146.6,251.7,-5.1,179,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,4024,-0.95,-146.6,266.5,-4.8,194,4028,0.00,2.50,0.00,0.000,4,0.000,0.046,2286,3301,3476
$GC,4085,-0.95,-146.6,269.5,-4.8,197,4089,0.00,2.50,0.00,0.000,6,0.000,0.042,2286,1900,3476
$GC,4410,-0.95,-146.6,289.5,-7.7,213,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,4719,-0.95,-146.6,320.6,-11.5,228,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,5028,-0.95,-146.6,359.3,-12.0,243,5033,0.00,2.50,0.00,0.000,4,0.000,0.047,2286,3302,3476
$GC,5100,-0.95,-146.6,367.6,-11.5,246,5104,0.00,2.50,0.00,0.000,6,0.000,0.043,2286,1900,3476
$GC,5421,-0.95,-146.6,393.0,-6.0,262,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,5731,-0.95,-146.6,404.4,-3.0,277,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,6040,-0.95,-146.6,409.9,-1.2,292,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,6349,-0.95,-146.6,410.6,0.3,307,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,6658,-0.95,-146.6,421.8,-6.5,322,6662,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3304,3476
$GC,6746,-0.95,-146.6,428.7,-8.8,326,6750,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1906,3475
$GC,7072,-0.95,-146.6,454.8,-7.0,342,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,7383,-0.95,-146.6,475.0,-7.6,357,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3475
$GC,7691,-0.95,-146.6,503.1,-10.0,372,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3475
$GC,8000,-0.95,-146.6,537.0,-11.0,387,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3475
$GC,8310,-0.95,-146.6,569.8,-9.5,402,8314,0.00,2.50,0.00,0.000,4,0.000,0.051,2285,3295,3474
$GC,8381,-0.95,-146.6,575.9,-7.6,405,8386,0.00,2.53,0.00,0.000,6,0.000,0.045,2285,1905,3474
$GC,8709,-0.95,-146.6,595.5,-5.1,421,8710,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3475
$GC,9018,-0.95,-146.6,613.9,-6.3,436,9022,0.00,2.53,0.00,0.000,4,0.000,0.054,2285,3295,3474
$GC,9072,-0.95,-146.6,618.3,-8.6,438,9079,0.00,2.53,0.00,0.000,6,0.000,0.046,2285,1902,3474
$GC,9387,-0.95,-146.6,642.0,-6.8,454,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1903,3474
$GC,9697,-0.95,-146.6,651.1,-0.9,469,9698,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3474
$GC,10006,-0.95,-146.6,662.5,-5.7,484,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3474
$GC,10315,-0.95,-146.6,686.6,-7.0,499,10319,0.00,2.55,0.00,0.000,4,0.000,0.055,2286,3297,3474
$GC,10427,-0.95,-146.6,694.1,-6.8,504,10431,0.00,2.53,0.00,0.000,6,0.000,0.048,2286,1897,3474
$GC,10746,-0.95,-146.6,716.2,-6.3,520,10747,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3474
$GC,11056,-0.95,-146.6,728.3,-2.2,535,11060,0.00,2.55,0.00,0.000,4,0.000,0.057,2286,3293,3474
$GC,11128,-0.95,-146.6,730.8,-4.0,538,11133,0.00,2.53,0.00,0.000,6,0.000,0.050,2286,1899,3474
$GC,11443,-0.95,-146.6,748.4,-6.9,553,11447,0.00,2.55,0.00,0.000,4,0.000,0.059,2286,3294,3473
$GC,11514,-0.95,-146.6,754.0,-8.2,556,11518,0.00,2.53,0.00,0.000,6,0.000,0.051,2286,1899,3474
$GC,11835,-0.95,-146.6,783.8,-8.8,572,11836,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3473
$STATE,12040,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12040,begin apogee
$GC,12045,-0.36,0.0,797.3,6.2,582,12172,0.60,0.00,124.25,1.318,6,0.072,0.000,2417,2090,2878
$STATE,12173,end apogee,CONTROL_FINISHED_OK
$STATE,12173,begin climb
$GC,12175,0.95,146.6,801.5,0.0,588,12306,1.27,2.72,122.75,1.279,4,0.052,0.065,2703,3495,2280
$GC,12560,0.95,146.6,781.9,6.4,605,12566,0.00,2.58,0.00,0.000,6,0.000,0.054,2702,2102,2280
$GC,12874,0.95,146.6,760.0,7.9,621,12879,0.00,2.60,0.00,0.000,4,0.000,0.062,2702,3499,2278
$GC,13131,0.95,146.6,737.2,6.0,632,13138,0.00,2.58,0.00,0.000,6,0.000,0.051,2703,2101,2277
$GC,13447,0.97,165.6,721.7,5.4,648,13469,0.00,2.70,16.50,1.308,4,0.000,0.058,2702,3503,2201
$GC,13564,1.07,248.5,716.7,3.5,653,13642,0.12,2.55,69.25,1.277,6,0.051,0.051,2743,2099,1865
$GC,13949,1.07,248.5,688.6,8.6,672,13950,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2099,1864
$GC,14259,1.07,248.5,645.1,16.9,687,14263,0.00,2.58,0.00,0.000,4,0.000,0.054,2743,3504,1864
$GC,14335,1.07,248.5,634.9,9.5,690,14342,0.00,2.58,0.00,0.000,6,0.000,0.048,2743,2099,1864
$GC,14651,1.07,248.5,601.2,6.6,706,14652,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2100,1864
$GC,14961,1.08,250.5,587.8,5.9,721,14962,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2099,1864
$GC,15270,1.08,250.5,555.0,10.5,736,15271,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2099,1864
$GC,15579,1.08,250.5,519.5,11.4,751,15580,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2100,1864
$GC,15888,1.08,250.5,484.6,9.4,766,15890,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2099,1864
$GC,16197,1.08,250.5,464.8,6.2,781,16199,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2099,1864
$GC,16507,1.09,263.0,447.4,5.6,796,16522,0.00,0.00,13.05,1.120,6,0.000,0.000,2743,2099,1805
$GC,16817,1.09,263.0,424.2,8.3,811,16818,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2099,1805
$GC,17125,1.09,263.0,393.9,10.7,826,17127,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2100,1805
$GC,17435,1.09,263.0,359.3,11.1,841,17436,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2100,1806
$GC,17744,1.09,263.0,327.9,9.5,856,17745,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2099,1806
$GC,18053,1.09,263.0,301.2,8.9,871,18058,0.00,2.58,0.00,0.000,4,0.000,0.064,2743,689,1807
$GC,18114,1.09,263.0,295.2,9.7,874,18119,0.00,2.50,0.00,0.000,6,0.000,0.039,2744,2110,1807
$GC,18440,1.09,263.0,263.6,9.7,890,18442,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2115,1807
$GC,18749,1.09,263.0,238.7,7.0,905,18751,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2114,1808
$GC,19059,1.12,284.3,219.0,5.4,920,19084,0.00,2.70,18.27,0.963,4,0.000,0.061,2743,695,1718
$GC,19135,1.14,299.9,214.8,5.5,923,19155,0.00,2.47,13.30,0.946,6,0.000,0.038,2743,2113,1654
$GC,19476,1.14,299.9,193.4,8.0,940,19477,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2113,1654
$GC,19785,1.14,299.9,165.4,8.8,955,19790,0.00,2.62,0.00,0.000,4,0.000,0.061,2743,690,1654
$GC,19891,1.14,299.9,154.5,11.6,960,19895,0.00,2.45,0.00,0.000,6,0.000,0.038,2744,2097,1654
$GC,20218,1.14,299.9,119.6,12.2,976,20219,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2100,1654
$GC,20526,1.14,299.9,86.5,10.1,991,20531,0.00,2.60,0.00,0.000,4,0.000,0.060,2743,689,1654
$GC,20598,1.14,299.9,78.2,11.9,994,20602,0.00,2.50,0.00,0.000,6,0.000,0.038,2743,2104,1654
$GC,20920,1.18,334.2,54.8,5.0,1010,20949,0.00,0.00,27.35,0.842,6,0.000,0.000,2743,2105,1514
$GC,21250,1.18,334.2,24.8,8.4,1026,21254,0.00,2.62,0.00,0.000,4,0.000,0.061,2744,687,1514
$GC,21338,1.18,334.2,17.3,8.0,1030,21342,0.00,2.47,0.00,0.000,6,0.000,0.038,2743,2094,1514
$GC,21666,1.43,536.7,3.4,-0.0,1046,21780,0.28,2.65,107.22,0.755,4,0.061,0.059,2805,696,689
$STATE,21901,end climb,NO_VERTICAL_VELOCITY
$STATE,21901,begin surface
$SM_CCo,21904,12.15,0.782,0,0,602,558.06
$SM_GC,3.98,11.88,0.00,0.00,0.025,0.000,0.000,28,1911,603,-11.27,0.31,558.06
$IRIDIUM_FIX,6148.92,-1036.05,091207,070728
$TT8_MAMPS,0.026845
$HUMID,2034
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,18.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,725.2,81.4
$24V_AH,23.3,33.332
$10V_AH,10.1,15.235
$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,25.225,107.000,511.950,12.150,0.000,76.699,78.774,433.728,7.000,0.000,0.000,14.944,1873.882,17447.561,666.501,2322.850,786.250,33.364,1827.370,0.000,2285.990,0.000,43.541
$DEVICE_MAMPS,104.312,65.195,1318.473,782.340,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,774.245,714.969,631.039,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53858,1057
$CFSIZE,260165632,250372096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,091207,092837,6215.273,-1041.990,35,1.3,35,-10.4