version: 66.02
glider: 102
mission: 4
dive: 138
start: 12 9 107 22 27 14
data:
$ID,102
$MISSION,4
$DIVE,138
$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,-78761.492
$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,14
$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
$GPS1,222001,6219.220,-1049.290,40,1.2,40,-10.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,4.13
$_SM_ANGLEo,-57.0
$GPS2,222620,6219.229,-1049.231,16,1.2,16,-10.5
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.062,0.199
$KALMAN_X,129311.7,501.7,1031.2,-253628.4,-2802.8
$KALMAN_Y,141258.9,-487.6,2769.2,-58182.2,-10972.1
$MHEAD_RNG_PITCHd_Wd,353.3,14126,-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,-4.38,0.000,2,0.000,0.000,26,1915,710
$GC,29,-0.95,-146.6,4.2,-0.0,0,214,11.38,0.00,-167.95,0.000,6,0.113,0.000,2295,1917,3477
$GC,531,-0.95,-146.6,30.5,-9.6,25,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1917,3477
$GC,839,-0.95,-146.6,62.5,-10.2,40,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1917,3477
$GC,1149,-0.95,-146.6,80.6,-4.6,55,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1917,3477
$GC,1458,-0.95,-146.6,96.7,-5.0,70,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1917,3477
$GC,1767,-0.95,-146.6,127.0,-8.6,85,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1917,3477
$GC,2076,-0.95,-146.6,146.7,-6.6,100,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1917,3477
$GC,2385,-0.95,-146.6,171.6,-7.7,115,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1917,3477
$GC,2695,-0.95,-146.6,195.3,-7.7,130,2699,0.00,2.47,0.00,0.000,4,0.000,0.047,2294,3300,3477
$GC,2738,-0.95,-146.6,198.7,-7.4,132,2742,0.00,2.55,0.00,0.000,6,0.000,0.041,2294,1885,3477
$GC,3065,-0.95,-146.6,221.5,-6.8,148,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1885,3477
$GC,3374,-0.95,-146.6,242.7,-6.7,163,3378,0.00,2.55,0.00,0.000,4,0.000,0.047,2294,3304,3477
$GC,3445,-0.95,-146.6,247.8,-6.7,166,3449,0.00,2.50,0.00,0.000,6,0.000,0.042,2294,1902,3477
$GC,3766,-0.95,-146.6,268.4,-6.3,182,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1902,3477
$GC,4075,-0.95,-146.6,287.8,-6.3,197,4079,0.00,2.50,0.00,0.000,4,0.000,0.046,2294,3298,3477
$GC,4123,-0.95,-146.6,290.8,-6.4,199,4128,0.00,2.50,0.00,0.000,6,0.000,0.042,2295,1906,3477
$GC,4444,-0.95,-146.6,311.7,-6.9,215,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1906,3477
$GC,4753,-0.95,-146.6,333.1,-6.7,230,4758,0.00,2.50,0.00,0.000,4,0.000,0.048,2294,3298,3477
$GC,4847,-0.95,-146.6,339.5,-6.3,234,4852,0.00,2.53,0.00,0.000,6,0.000,0.044,2294,1899,3477
$GC,5169,-0.95,-146.6,360.2,-6.5,250,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1900,3477
$GC,5478,-0.95,-146.6,379.8,-6.1,265,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1900,3477
$GC,5787,-0.95,-146.6,398.0,-5.6,280,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1900,3477
$GC,6097,-0.95,-146.6,415.1,-5.4,295,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1900,3476
$GC,6406,-0.95,-146.6,431.2,-5.7,310,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1900,3477
$GC,6715,-0.95,-146.6,450.0,-6.2,325,6722,0.00,2.53,0.00,0.000,4,0.000,0.048,2294,3302,3476
$GC,6789,-0.95,-146.6,455.1,-7.1,328,6793,0.00,2.50,0.00,0.000,6,0.000,0.044,2294,1901,3477
$GC,7116,-0.95,-146.6,474.9,-5.9,344,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1900,3477
$GC,7425,-0.95,-146.6,492.0,-5.9,359,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1900,3477
$GC,7734,-0.95,-146.6,510.4,-5.9,374,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1901,3477
$GC,8043,-0.95,-146.6,528.7,-6.0,389,8047,0.00,2.53,0.00,0.000,4,0.000,0.050,2294,3300,3477
$GC,8099,-0.95,-146.6,532.1,-6.4,391,8105,0.00,2.50,0.00,0.000,6,0.000,0.045,2294,1900,3477
$GC,8413,-0.95,-146.6,551.6,-6.3,407,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1900,3476
$GC,8722,-0.95,-146.6,572.3,-6.8,422,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1897,3476
$GC,9032,-0.95,-146.6,594.1,-6.5,437,9033,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1897,3476
$GC,9341,-0.95,-146.6,613.9,-6.4,452,9345,0.00,2.53,0.00,0.000,4,0.000,0.052,2294,3295,3476
$GC,9440,-0.95,-146.6,620.8,-7.4,456,9446,0.00,2.53,0.00,0.000,6,0.000,0.045,2294,1903,3476
$GC,9755,-0.95,-146.6,643.4,-7.1,472,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1903,3476
$GC,10064,-0.95,-146.6,663.7,-6.5,487,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1904,3476
$GC,10374,-0.95,-146.6,681.9,-5.8,502,10375,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1903,3476
$GC,10688,-0.95,-146.6,700.5,-6.0,517,10692,0.00,2.53,0.00,0.000,4,0.000,0.055,2294,3295,3475
$GC,10787,-0.95,-146.6,707.5,-7.0,521,10794,0.00,2.53,0.00,0.000,6,0.000,0.048,2294,1907,3475
$GC,11102,-0.95,-146.6,727.8,-6.4,537,11106,0.00,2.53,0.00,0.000,4,0.000,0.057,2295,3294,3475
$GC,11201,-0.95,-146.6,735.0,-7.5,541,11208,0.00,2.53,0.00,0.000,6,0.000,0.050,2294,1901,3475
$GC,11516,-0.95,-146.6,753.5,-6.1,557,11521,0.00,2.62,0.00,0.000,4,0.000,0.071,2295,488,3474
$GC,11612,-0.95,-146.6,759.7,-5.9,561,11616,0.00,2.50,0.00,0.000,6,0.000,0.049,2294,1895,3474
$GC,11927,-0.95,-146.6,778.2,-5.5,576,11931,0.00,2.62,0.00,0.000,4,0.000,0.073,2294,490,3474
$GC,11975,-0.95,-146.6,781.8,-6.5,578,11980,0.00,2.53,0.00,0.000,6,0.000,0.051,2294,1900,3474
$STATE,12027,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12028,begin apogee
$GC,12033,-0.36,0.0,784.7,5.7,581,12160,0.57,0.00,123.95,1.307,6,0.071,0.000,2420,2103,2878
$STATE,12160,end apogee,CONTROL_FINISHED_OK
$STATE,12160,begin climb
$GC,12162,0.95,146.6,786.0,0.0,587,12293,1.25,2.70,122.60,1.269,4,0.054,0.064,2700,3496,2280
$GC,12547,1.06,241.8,770.0,3.2,604,12635,0.12,2.58,79.43,1.262,6,0.052,0.052,2738,2100,1892
$GC,12942,1.06,241.8,737.3,7.9,624,12947,0.00,2.60,0.00,0.000,4,0.000,0.060,2738,3498,1891
$GC,13199,1.06,241.8,713.6,8.5,635,13206,0.00,2.58,0.00,0.000,6,0.000,0.051,2738,2106,1890
$GC,13515,1.06,241.8,686.3,8.2,651,13520,0.00,2.55,0.00,0.000,4,0.000,0.056,2738,3500,1889
$GC,13622,1.06,241.8,676.9,8.1,656,13626,0.00,2.55,0.00,0.000,6,0.000,0.049,2739,2096,1889
$GC,13947,1.06,241.8,650.3,8.2,672,13948,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2096,1888
$GC,14256,1.06,241.8,623.2,8.3,687,14257,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2096,1888
$GC,14565,1.06,241.8,600.4,7.3,702,14566,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2096,1888
$GC,14875,1.06,241.8,575.6,7.7,717,14879,0.00,2.58,0.00,0.000,4,0.000,0.053,2739,3505,1888
$GC,14935,1.06,241.8,570.7,7.7,720,14940,0.00,2.53,0.00,0.000,6,0.000,0.047,2738,2099,1888
$GC,15262,1.06,241.8,543.5,8.4,736,15263,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2100,1888
$GC,15571,1.06,241.8,516.8,8.7,751,15572,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2100,1888
$GC,15880,1.06,241.8,492.4,7.4,766,15881,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2099,1889
$GC,16189,1.06,241.8,467.6,7.9,781,16190,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2099,1889
$GC,16499,1.06,241.8,443.1,7.8,796,16500,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2100,1889
$GC,16808,1.06,241.8,419.0,8.0,811,16809,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2100,1889
$GC,17117,1.06,241.8,392.1,8.8,826,17118,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2100,1890
$GC,17427,1.06,241.8,364.9,8.6,841,17428,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2100,1890
$GC,17736,1.06,241.8,338.9,8.4,856,17737,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2100,1891
$GC,18045,1.06,241.8,313.4,8.3,871,18046,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2100,1891
$GC,18354,1.06,241.8,291.1,6.8,886,18355,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2099,1891
$GC,18664,1.06,241.8,271.4,6.8,901,18665,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2099,1891
$GC,18973,1.06,241.8,249.8,7.2,916,18974,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1891
$GC,19282,1.06,241.8,226.5,7.5,931,19283,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2100,1891
$GC,19591,1.06,241.8,203.0,6.8,946,19593,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2099,1891
$GC,19900,1.06,241.8,181.3,7.9,961,19902,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2099,1891
$GC,20210,1.09,261.6,160.6,5.4,976,20230,0.00,0.00,16.67,0.927,6,0.000,0.000,2738,2099,1810
$GC,20539,1.09,261.6,141.6,6.1,992,20540,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2099,1810
$GC,20850,1.09,261.6,120.3,6.9,1007,20851,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1810
$GC,21158,1.14,302.4,101.8,4.8,1022,21199,0.00,2.60,32.47,0.866,4,0.000,0.046,2738,3498,1645
$GC,21232,1.14,302.4,96.1,9.9,1025,21236,0.00,2.50,0.00,0.000,6,0.000,0.039,2738,2094,1645
$GC,21553,1.14,302.4,71.4,7.7,1041,21554,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2094,1645
$GC,21863,1.14,302.4,47.9,7.8,1056,21864,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2094,1645
$GC,22172,1.14,302.4,23.4,8.4,1071,22173,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2093,1645
$GC,22481,1.37,486.9,3.5,0.5,1086,22587,0.25,2.65,98.62,0.764,4,0.051,0.064,2800,701,891
$GC,22605,1.63,703.9,3.5,-0.5,1092,22648,0.22,2.50,36.50,0.746,6,0.060,0.039,2850,2107,602
$STATE,22789,end climb,NO_VERTICAL_VELOCITY
$STATE,22789,begin surface
$SM_CCo,23211,0.00,0.000,0,0,603,558.06
$SM_GC,4.30,12.18,0.00,0.00,0.030,0.000,0.000,27,1896,603,-11.27,-0.11,558.06
$IRIDIUM_FIX,6148.92,-1026.97,091207,202001
$TT8_MAMPS,0.026845
$HUMID,2050
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,700.5,94.0
$24V_AH,23.3,33.874
$10V_AH,10.1,15.527
$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,25.975,87.200,510.250,0.000,0.000,38.982,39.200,179.798,7.750,0.000,0.000,17.693,1902.178,18319.518,670.908,2235.117,463.810,33.359,1775.761,0.000,2202.225,0.000,41.170
$DEVICE_MAMPS,112.749,72.865,1306.968,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,812.213,744.060,677.110,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56862,1101
$CFSIZE,260165632,250175488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,101207,045508,6220.286,-1047.274,29,1.0,29,-10.5