version: 66.02
glider: 102
mission: 4
dive: 136
start: 12 9 107 9 37 2
data:
$ID,102
$MISSION,4
$DIVE,136
$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,-78730.844
$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,17
$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
$GPS1,092837,6215.273,-1041.990,35,1.3,35,-10.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.88
$_SM_ANGLEo,-54.0
$GPS2,093609,6215.255,-1041.962,13,1.1,13,-10.4
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.078,0.193
$KALMAN_X,129726.6,-752.6,-369.1,-244960.2,116.4
$KALMAN_Y,145447.8,57.9,256.6,-67759.7,-3584.9
$MHEAD_RNG_PITCHd_Wd,348.3,23770,-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,-146.6,0.0,0.0,0,25,0.00,0.00,-3.62,0.000,2,0.000,0.000,27,1910,690
$GC,28,-0.95,-146.6,3.9,-0.0,0,211,11.12,0.00,-168.73,0.000,6,0.102,0.000,2295,1913,3476
$GC,510,-0.95,-146.6,32.7,-9.2,24,514,0.00,2.50,0.00,0.000,4,0.000,0.047,2295,3300,3476
$GC,571,-0.95,-146.6,37.4,-8.0,27,576,0.00,2.47,0.00,0.000,6,0.000,0.042,2295,1894,3476
$GC,897,-0.95,-146.6,59.8,-5.5,43,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1894,3476
$GC,1206,-0.95,-146.6,79.9,-7.6,58,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1893,3476
$GC,1515,-0.95,-146.6,101.9,-6.9,73,1519,0.00,2.53,0.00,0.000,4,0.000,0.045,2295,3302,3476
$GC,1586,-0.95,-146.6,107.9,-8.8,76,1590,0.00,2.53,0.00,0.000,6,0.000,0.041,2295,1884,3476
$GC,1907,-0.95,-146.6,131.5,-7.0,92,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1884,3476
$GC,2217,-0.95,-146.6,148.9,-4.9,107,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1885,3476
$GC,2526,-0.95,-146.6,165.0,-5.2,122,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1884,3476
$GC,2835,-0.95,-146.6,180.7,-5.0,137,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1884,3476
$GC,3144,-0.95,-146.6,196.0,-5.3,152,3149,0.00,2.53,0.00,0.000,4,0.000,0.046,2295,3295,3476
$GC,3216,-0.95,-146.6,200.4,-6.6,155,3220,0.00,2.53,0.00,0.000,6,0.000,0.042,2295,1898,3475
$GC,3537,-0.95,-146.6,221.7,-6.8,171,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1899,3476
$GC,3847,-0.95,-146.6,242.5,-6.7,186,3851,0.00,2.50,0.00,0.000,4,0.000,0.046,2295,3295,3476
$GC,3901,-0.95,-146.6,246.2,-7.0,188,3907,0.00,2.50,0.00,0.000,6,0.000,0.041,2295,1906,3476
$GC,4217,-0.95,-146.6,265.3,-5.8,204,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1906,3476
$GC,4526,-0.95,-146.6,286.4,-7.4,219,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1906,3476
$GC,4835,-0.95,-146.6,310.0,-7.9,234,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1906,3476
$GC,5144,-0.95,-146.6,336.7,-8.6,249,5148,0.00,2.47,0.00,0.000,4,0.000,0.048,2295,3294,3475
$GC,5209,-0.95,-146.6,342.9,-9.3,252,5214,0.00,2.50,0.00,0.000,6,0.000,0.044,2295,1898,3476
$GC,5536,-0.95,-146.6,370.0,-9.0,268,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1899,3476
$GC,5845,-0.95,-146.6,395.6,-8.4,283,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1899,3476
$GC,6155,-0.95,-146.6,420.5,-7.6,298,6159,0.00,2.53,0.00,0.000,4,0.000,0.048,2295,3302,3476
$GC,6203,-0.95,-146.6,424.9,-8.6,300,6212,0.00,2.53,0.00,0.000,6,0.000,0.044,2295,1904,3476
$GC,6527,-0.95,-146.6,452.5,-7.5,316,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1905,3476
$GC,6837,-0.95,-146.6,474.9,-7.1,331,6838,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1905,3476
$GC,7146,-0.95,-146.6,495.1,-6.6,346,7150,0.00,2.50,0.00,0.000,4,0.000,0.050,2295,3294,3475
$GC,7206,-0.95,-146.6,499.5,-6.9,349,7211,0.00,2.50,0.00,0.000,6,0.000,0.045,2295,1900,3476
$GC,7532,-0.95,-146.6,520.9,-6.8,365,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1900,3475
$GC,7842,-0.95,-146.6,541.3,-5.9,380,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1899,3475
$GC,8151,-0.95,-146.6,556.7,-4.6,395,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1900,3476
$GC,8461,-0.95,-146.6,572.8,-5.5,410,8465,0.00,2.53,0.00,0.000,4,0.000,0.051,2295,3297,3475
$GC,8527,-0.95,-146.6,576.7,-5.6,413,8531,0.00,2.50,0.00,0.000,6,0.000,0.045,2295,1901,3475
$GC,8854,-0.95,-146.6,592.3,-4.5,429,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1900,3475
$GC,9163,-0.95,-146.6,605.4,-4.1,444,9164,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1900,3475
$GC,9472,-0.95,-146.6,620.1,-5.2,459,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1900,3475
$GC,9781,-0.95,-146.6,641.3,-7.0,474,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1900,3474
$GC,10090,-0.95,-146.6,657.2,-4.4,489,10092,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1900,3474
$GC,10400,-0.95,-146.6,672.3,-4.9,504,10401,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1898,3474
$GC,10709,-0.95,-146.6,688.5,-5.7,519,10713,0.00,2.55,0.00,0.000,4,0.000,0.054,2295,3296,3474
$GC,10803,-0.95,-146.6,694.9,-7.0,523,10808,0.00,2.55,0.00,0.000,6,0.000,0.048,2294,1900,3473
$GC,11125,-0.95,-146.6,713.1,-5.0,539,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1900,3473
$GC,11434,-0.95,-146.6,728.5,-5.5,554,11435,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1900,3473
$GC,11743,-0.95,-146.6,746.7,-5.6,569,11744,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1900,3473
$GC,12053,-0.95,-146.6,758.4,-3.9,584,12054,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1900,3473
$GC,12361,-0.95,-146.6,777.3,-6.8,599,12366,0.00,2.62,0.00,0.000,4,0.000,0.072,2295,493,3473
$GC,12422,-0.95,-146.6,781.8,-6.6,602,12427,0.00,2.47,0.00,0.000,6,0.000,0.051,2295,1889,3473
$GC,12748,-0.95,-146.6,805.9,-8.8,618,12753,0.00,2.60,0.00,0.000,6,0.000,0.064,2295,3304,3472
$STATE,12753,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12753,begin apogee
$GC,12760,-0.36,0.0,806.3,8.3,618,12887,0.55,0.00,124.15,1.331,6,0.073,0.000,2417,2093,2878
$STATE,12888,end apogee,CONTROL_FINISHED_OK
$STATE,12888,begin climb
$GC,12890,0.95,146.6,807.6,0.0,624,13021,1.25,2.72,122.85,1.290,4,0.039,0.074,2710,696,2280
$GC,13161,0.95,146.6,795.3,7.6,636,13168,0.00,2.58,0.00,0.000,6,0.000,0.053,2710,2101,2280
$GC,13477,1.03,213.6,783.9,4.0,652,13539,0.00,2.70,56.67,1.305,4,0.000,0.064,2710,3506,2007
$GC,13590,1.03,213.6,775.0,9.4,657,13595,0.00,2.62,0.00,0.000,6,0.000,0.055,2710,2099,2007
$GC,13910,1.03,213.6,745.8,7.7,673,13914,0.00,2.67,0.00,0.000,4,0.000,0.077,2710,689,2006
$GC,14009,1.03,213.6,738.4,8.2,677,14015,0.00,2.55,0.00,0.000,6,0.000,0.051,2710,2104,2006
$GC,14324,1.03,213.6,711.7,8.4,693,14328,0.00,2.58,0.00,0.000,4,0.000,0.061,2710,3502,2005
$GC,14452,1.03,213.6,701.0,8.1,699,14457,0.00,2.55,0.00,0.000,6,0.000,0.051,2710,2098,2004
$GC,14778,1.03,213.6,679.2,6.8,715,14782,0.00,2.60,0.00,0.000,4,0.000,0.059,2710,3508,2004
$GC,14849,1.03,213.6,673.5,7.8,718,14853,0.00,2.58,0.00,0.000,6,0.000,0.050,2710,2103,2004
$GC,15170,1.03,213.6,650.9,7.2,734,15174,0.00,2.58,0.00,0.000,4,0.000,0.057,2710,3508,2004
$GC,15280,1.03,213.6,642.7,7.8,739,15285,0.00,2.58,0.00,0.000,6,0.000,0.048,2710,2098,2004
$GC,15607,1.03,213.6,619.6,7.1,755,15608,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2098,2004
$GC,15917,1.08,257.6,601.2,4.7,770,15957,0.00,0.00,36.62,1.224,6,0.000,0.000,2710,2098,1827
$GC,16266,1.13,293.5,583.6,4.9,787,16299,0.12,0.00,30.40,1.190,6,0.048,0.000,2757,2098,1681
$GC,16595,1.13,293.5,559.3,8.2,803,16600,0.00,2.62,0.00,0.000,4,0.000,0.070,2757,691,1681
$GC,16644,1.13,293.5,554.7,8.7,805,16649,0.00,2.50,0.00,0.000,6,0.000,0.042,2756,2109,1681
$GC,16966,1.13,293.5,525.1,9.3,821,16967,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2113,1681
$GC,17275,1.13,293.5,496.0,9.7,836,17276,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2113,1682
$GC,17584,1.13,293.5,466.9,9.2,851,17585,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2113,1682
$GC,17893,1.13,293.5,436.5,10.2,866,17895,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2113,1683
$GC,18203,1.13,293.5,405.9,9.4,881,18204,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2113,1683
$GC,18512,1.13,293.5,376.6,9.5,896,18513,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2113,1683
$GC,18821,1.13,293.5,348.7,8.8,911,18822,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2113,1683
$GC,19130,1.13,293.5,320.7,8.9,926,19135,0.00,2.62,0.00,0.000,4,0.000,0.063,2757,687,1683
$GC,19196,1.13,293.5,314.3,9.5,929,19201,0.00,2.50,0.00,0.000,6,0.000,0.040,2757,2105,1683
$GC,19523,1.13,293.5,284.8,9.3,945,19524,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2110,1683
$GC,19832,1.13,293.5,254.5,9.9,960,19837,0.00,2.62,0.00,0.000,4,0.000,0.062,2757,687,1684
$GC,19881,1.13,293.5,249.3,10.5,962,19886,0.00,2.53,0.00,0.000,6,0.000,0.039,2757,2104,1684
$GC,20202,1.13,293.5,215.6,10.6,978,20203,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2108,1684
$GC,20511,1.13,293.5,184.6,9.6,993,20516,0.00,2.60,0.00,0.000,4,0.000,0.061,2757,690,1684
$GC,20561,1.13,293.5,179.6,10.8,995,20565,0.00,2.47,0.00,0.000,6,0.000,0.038,2757,2103,1684
$GC,20882,1.13,293.5,148.8,10.0,1011,20883,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2107,1684
$GC,21191,1.13,293.5,121.4,7.8,1026,21195,0.00,2.60,0.00,0.000,4,0.000,0.061,2757,690,1685
$GC,21245,1.13,293.5,117.5,6.7,1028,21252,0.00,2.50,0.00,0.000,6,0.000,0.038,2757,2101,1685
$GC,21561,1.13,293.5,94.7,7.3,1044,21565,0.00,2.50,0.00,0.000,4,0.000,0.047,2757,3501,1685
$GC,21627,1.13,293.5,88.2,10.5,1047,21632,0.00,2.50,0.00,0.000,6,0.000,0.039,2757,2094,1686
$GC,21954,1.13,293.5,52.7,8.3,1063,21956,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2094,1686
$GC,22263,1.13,293.5,18.3,11.5,1078,22268,0.00,2.53,0.00,0.000,4,0.000,0.045,2757,3501,1686
$GC,22363,1.13,293.5,9.1,7.9,1082,22370,0.00,2.50,0.00,0.000,6,0.000,0.041,2757,2097,1686
$GC,22680,1.38,495.0,3.4,-0.0,1098,22792,0.17,0.00,106.05,0.767,6,0.054,0.000,2807,2092,859
$STATE,22823,end climb,NO_VERTICAL_VELOCITY
$STATE,22824,begin surface
$SM_CCo,22826,32.72,0.750,0,0,603,558.06
$SM_GC,4.14,11.88,0.00,0.00,0.025,0.000,0.000,31,1891,604,-11.26,-0.25,557.81
$IRIDIUM_FIX,6148.92,-1035.20,091207,070701
$TT8_MAMPS,0.026845
$HUMID,2048
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,725.0,90.9
$24V_AH,23.3,33.517
$10V_AH,10.1,15.335
$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,25.100,122.375,476.750,32.725,0.000,38.123,33.711,281.562,8.250,0.000,0.000,15.655,1942.714,18282.377,687.125,2284.089,535.654,33.356,1830.997,0.000,2242.521,0.000,42.780
$DEVICE_MAMPS,102.011,76.700,1330.745,750.126,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,813.639,748.673,658.259,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56967,1105
$CFSIZE,260165632,250302464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,091207,160608,6217.110,-1044.019,32,1.2,32,-10.5