version: 66.02
glider: 102
mission: 4
dive: 140
start: 12 10 107 11 21 39
data:
$ID,102
$MISSION,4
$DIVE,140
$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,-78785.875
$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,28
$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
$GPS1,111308,6223.999,-1041.678,33,1.1,33,-10.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,4.20
$_SM_ANGLEo,-53.5
$GPS2,112045,6223.998,-1041.554,9,1.2,9,-10.5
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.183,0.101
$KALMAN_X,139806.0,-79.4,2019.3,-257775.7,876.6
$KALMAN_Y,137559.9,-108.7,1810.4,-45073.0,-7559.9
$MHEAD_RNG_PITCHd_Wd,309.3,15926,-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,-146.6,0.0,0.0,0,44,0.00,0.00,-22.27,0.000,2,0.000,0.000,33,1879,1128
$GC,47,-0.95,-146.6,4.2,-0.0,1,212,11.18,2.58,-146.65,0.000,4,0.107,0.058,2286,3302,3476
$GC,385,-0.95,-146.6,18.6,-7.0,16,393,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1911,3476
$GC,701,-0.95,-146.6,41.5,-6.9,32,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1911,3475
$GC,1010,-0.95,-146.6,64.5,-7.5,47,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1911,3475
$GC,1320,-0.95,-146.6,90.3,-9.1,62,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1911,3475
$GC,1629,-0.95,-146.6,113.8,-7.5,77,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1911,3475
$GC,1938,-0.95,-146.6,139.0,-8.0,92,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1911,3475
$GC,2247,-0.95,-146.6,161.3,-6.5,107,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1911,3476
$GC,2556,-0.95,-146.6,182.0,-6.9,122,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1911,3476
$GC,2866,-0.95,-146.6,203.5,-6.9,137,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1911,3475
$GC,3176,-0.95,-146.6,225.6,-7.3,152,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1911,3475
$GC,3484,-0.95,-146.6,248.2,-7.4,167,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1910,3475
$GC,3793,-0.95,-146.6,270.0,-7.1,182,3798,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3301,3475
$GC,3854,-0.95,-146.6,274.5,-7.3,185,3859,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1901,3475
$GC,4181,-0.95,-146.6,298.2,-7.1,201,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3475
$GC,4490,-0.95,-146.6,320.1,-6.9,216,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3475
$GC,4799,-0.95,-146.6,341.8,-7.0,231,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3475
$GC,5109,-0.95,-146.6,362.4,-6.7,246,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3475
$GC,5418,-0.95,-146.6,382.9,-6.6,261,5422,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3302,3475
$GC,5483,-0.95,-146.6,387.3,-6.9,264,5488,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1902,3475
$GC,5810,-0.95,-146.6,408.8,-6.8,280,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3475
$GC,6119,-0.95,-146.6,430.0,-7.3,295,6123,0.00,2.50,0.00,0.000,4,0.000,0.049,2286,3300,3475
$GC,6195,-0.95,-146.6,435.8,-7.5,298,6202,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1907,3475
$GC,6511,-0.95,-146.6,459.8,-7.8,314,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3475
$GC,6820,-0.95,-146.6,481.3,-6.6,329,6824,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3306,3475
$GC,6908,-0.95,-146.6,487.0,-6.2,333,6912,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1897,3475
$GC,7234,-0.95,-146.6,507.7,-6.8,349,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3475
$GC,7544,-0.95,-146.6,528.0,-6.2,364,7548,0.00,2.53,0.00,0.000,4,0.000,0.051,2285,3300,3474
$GC,7632,-0.95,-146.6,533.8,-6.7,368,7636,0.00,2.50,0.00,0.000,6,0.000,0.045,2286,1901,3474
$GC,7958,-0.95,-146.6,554.9,-6.5,384,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3474
$GC,8268,-0.95,-146.6,577.1,-7.7,399,8272,0.00,2.55,0.00,0.000,4,0.000,0.053,2286,3305,3474
$GC,8374,-0.95,-146.6,585.5,-7.8,404,8378,0.00,2.53,0.00,0.000,6,0.000,0.047,2286,1902,3474
$GC,8698,-0.95,-146.6,608.5,-6.2,420,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3473
$GC,9008,-0.95,-146.6,625.0,-5.2,435,9018,0.00,2.53,0.00,0.000,4,0.000,0.057,2286,3298,3474
$GC,9125,-0.95,-146.6,630.9,-5.4,440,9129,0.00,2.53,0.00,0.000,6,0.000,0.048,2286,1896,3473
$GC,9451,-0.95,-146.6,646.0,-4.3,456,9452,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3473
$GC,9760,-0.95,-146.6,662.9,-6.0,471,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3473
$GC,10069,-0.95,-146.6,683.9,-7.1,486,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3473
$GC,10379,-0.95,-146.6,704.6,-6.2,501,10383,0.00,2.58,0.00,0.000,4,0.000,0.061,2286,3300,3473
$STATE,10386,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10386,begin apogee
$GC,10393,-0.36,0.0,705.2,5.8,501,10520,0.57,0.00,122.40,1.265,6,0.074,0.000,2414,2102,2877
$STATE,10520,end apogee,CONTROL_FINISHED_OK
$STATE,10521,begin climb
$GC,10522,0.95,146.6,708.5,0.0,508,10648,1.25,0.00,121.35,1.232,6,0.044,0.000,2699,2097,2280
$GC,10954,1.00,188.2,691.2,4.8,529,10996,0.00,2.67,35.42,1.234,4,0.000,0.063,2699,3496,2109
$GC,11086,1.00,188.2,683.6,6.3,535,11090,0.00,2.55,0.00,0.000,6,0.000,0.052,2699,2101,2109
$GC,11412,1.06,235.4,665.5,4.6,551,11454,0.12,0.00,39.47,1.243,6,0.053,0.000,2740,2101,1918
$GC,11760,1.06,235.4,639.8,9.4,568,11765,0.00,2.65,0.00,0.000,4,0.000,0.074,2741,693,1917
$GC,11860,1.06,235.4,629.4,9.3,572,11867,0.00,2.50,0.00,0.000,6,0.000,0.048,2741,2093,1917
$GC,12176,1.06,235.4,601.8,8.5,588,12180,0.00,2.60,0.00,0.000,4,0.000,0.058,2741,3507,1916
$GC,12252,1.06,235.4,594.7,8.8,591,12259,0.00,2.58,0.00,0.000,6,0.000,0.051,2741,2105,1916
$GC,12567,1.06,235.4,566.9,8.9,607,12569,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2105,1915
$GC,12877,1.06,235.4,542.9,7.1,622,12878,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2105,1915
$GC,13186,1.06,235.4,520.4,7.3,637,13187,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2105,1915
$GC,13495,1.06,235.4,494.3,8.4,652,13496,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2105,1915
$GC,13805,1.06,235.4,469.5,7.9,667,13809,0.00,2.50,0.00,0.000,4,0.000,0.050,2741,3505,1916
$GC,13859,1.06,235.4,464.9,8.3,669,13864,0.00,2.53,0.00,0.000,6,0.000,0.044,2741,2091,1916
$GC,14180,1.06,235.4,438.6,8.3,685,14181,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2091,1916
$GC,14490,1.06,235.4,414.5,7.4,700,14491,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2091,1916
$GC,14799,1.06,235.4,391.0,7.7,715,14800,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2091,1917
$GC,15108,1.06,235.4,366.4,7.9,730,15109,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2091,1917
$GC,15418,1.06,235.4,340.0,9.0,745,15422,0.00,2.55,0.00,0.000,4,0.000,0.051,2741,3505,1917
$GC,15488,1.06,235.4,333.0,9.6,748,15493,0.00,2.53,0.00,0.000,6,0.000,0.042,2740,2100,1917
$GC,15809,1.06,235.4,304.2,8.6,764,15810,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2100,1917
$GC,16119,1.06,235.4,277.7,8.8,779,16120,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2100,1917
$GC,16428,1.06,235.4,252.0,8.4,794,16429,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2100,1918
$GC,16737,1.06,235.4,225.1,8.7,809,16738,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2100,1918
$GC,17047,1.06,235.4,199.1,8.3,824,17048,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2100,1918
$GC,17356,1.06,235.4,175.0,7.6,839,17357,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2100,1918
$GC,17665,1.06,235.4,150.5,8.0,854,17669,0.00,2.53,0.00,0.000,4,0.000,0.048,2741,3506,1918
$GC,17736,1.06,235.4,144.2,7.6,857,17741,0.00,2.47,0.00,0.000,6,0.000,0.041,2741,2097,1919
$GC,18063,1.06,235.4,118.4,7.8,873,18065,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2097,1919
$GC,18373,1.06,235.4,93.5,8.2,888,18374,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2097,1919
$GC,18682,1.06,235.4,68.4,8.5,903,18683,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2097,1919
$GC,18991,1.06,235.4,42.3,7.7,918,18992,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2096,1919
$GC,19300,1.06,235.4,15.6,8.6,933,19302,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2097,1919
$GC,19610,1.31,439.0,3.6,-0.1,948,19720,0.17,0.00,107.10,0.774,6,0.051,0.000,2790,2091,1087
$STATE,19835,end climb,NO_VERTICAL_VELOCITY
$STATE,19835,begin surface
$SM_CCo,19837,60.65,0.751,0,0,603,558.06
$SM_GC,4.31,11.93,0.00,0.00,0.030,0.000,0.000,28,1893,604,-11.27,-0.20,557.81
$IRIDIUM_FIX,6148.92,-1137.62,101207,090900
$TT8_MAMPS,0.026078
$HUMID,2042
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.60
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,625.2,89.9
$24V_AH,23.3,34.248
$10V_AH,10.1,15.715
$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,25.225,76.125,425.750,60.650,0.000,38.632,39.089,285.772,7.250,0.000,0.000,11.067,1664.822,15997.398,653.708,1931.507,530.548,33.358,1601.978,0.000,1908.607,0.000,36.315
$DEVICE_MAMPS,107.380,74.399,1264.783,750.893,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,698.872,647.741,606.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47454,959
$CFSIZE,260165632,250073088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,101207,170133,6223.909,-1045.672,39,1.4,41,-10.5