version: 66.02
glider: 102
mission: 4
dive: 141
start: 12 10 107 17 13 3
data:
$ID,102
$MISSION,4
$DIVE,141
$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,-78802.938
$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,23
$R_STBD_OVSHOOT,25
$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
$GPS1,170133,6223.909,-1045.672,39,1.4,41,-10.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.25
$_SM_ANGLEo,-59.1
$GPS2,171208,6223.878,-1045.715,15,1.4,15,-10.5
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.179,0.107
$KALMAN_X,147029.4,-242.3,-2591.4,-263882.3,13088.6
$KALMAN_Y,135001.3,-13.2,915.1,-41941.4,-4717.3
$MHEAD_RNG_PITCHd_Wd,311.3,12425,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.95,-146.6,0.0,0.0,0,43,0.00,0.00,-21.88,0.000,2,0.000,0.000,28,1886,1121
$GC,46,-0.95,-146.6,4.1,-0.0,1,211,11.25,2.60,-143.55,0.000,4,0.110,0.059,2290,3301,3476
$GC,217,-0.95,-146.6,5.8,-6.4,9,221,0.00,2.53,0.00,0.000,6,0.000,0.041,2289,1893,3476
$GC,544,-0.95,-146.6,28.2,-7.0,25,548,0.00,2.55,0.00,0.000,4,0.000,0.046,2289,3309,3476
$GC,800,-0.95,-146.6,45.6,-7.4,36,807,0.00,2.55,0.00,0.000,6,0.000,0.041,2289,1897,3476
$GC,1116,-0.95,-146.6,66.3,-6.3,52,1120,0.00,2.53,0.00,0.000,4,0.000,0.046,2289,3309,3476
$GC,1203,-0.95,-146.6,72.5,-6.7,56,1208,0.00,2.53,0.00,0.000,6,0.000,0.041,2289,1907,3476
$GC,1532,-0.95,-146.6,95.9,-7.4,72,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1907,3476
$GC,1840,-0.95,-146.6,119.0,-7.5,87,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1907,3476
$GC,2149,-0.95,-146.6,142.1,-7.5,102,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1906,3476
$GC,2458,-0.95,-146.6,164.3,-7.1,117,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1907,3476
$GC,2767,-0.95,-146.6,185.6,-6.5,132,2771,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3310,3476
$GC,2828,-0.95,-146.6,189.4,-5.9,135,2832,0.00,2.53,0.00,0.000,6,0.000,0.043,2289,1898,3476
$GC,3154,-0.95,-146.6,212.8,-7.1,151,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3476
$GC,3463,-0.95,-146.6,235.5,-7.7,166,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1899,3476
$GC,3772,-0.95,-146.6,258.3,-7.1,181,3777,0.00,2.53,0.00,0.000,4,0.000,0.047,2289,3307,3476
$GC,3861,-0.95,-146.6,264.8,-7.3,185,3865,0.00,2.53,0.00,0.000,6,0.000,0.043,2290,1896,3476
$GC,4188,-0.95,-146.6,287.0,-7.0,201,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3476
$GC,4497,-0.95,-146.6,307.6,-6.5,216,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1896,3476
$GC,4806,-0.95,-146.6,328.4,-6.7,231,4811,0.00,2.55,0.00,0.000,4,0.000,0.048,2289,3314,3476
$GC,4861,-0.95,-146.6,332.2,-6.8,233,4868,0.00,2.55,0.00,0.000,6,0.000,0.043,2289,1901,3476
$GC,5177,-0.95,-146.6,353.3,-6.9,249,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3476
$GC,5486,-0.95,-146.6,374.5,-7.1,264,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3476
$GC,5795,-0.95,-146.6,394.2,-6.1,279,5799,0.00,2.53,0.00,0.000,4,0.000,0.049,2289,3306,3476
$GC,5878,-0.95,-146.6,399.5,-6.4,283,5883,0.00,2.53,0.00,0.000,6,0.000,0.044,2289,1898,3476
$GC,6204,-0.95,-146.6,419.1,-6.1,299,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3476
$GC,6513,-0.95,-146.6,438.6,-6.5,314,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3476
$GC,6823,-0.95,-146.6,460.2,-7.2,329,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3476
$GC,7132,-0.95,-146.6,481.9,-6.7,344,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1898,3476
$GC,7441,-0.95,-146.6,502.5,-6.7,359,7445,0.00,2.55,0.00,0.000,4,0.000,0.051,2289,3307,3476
$GC,7518,-0.95,-146.6,507.9,-7.1,362,7524,0.00,2.53,0.00,0.000,6,0.000,0.046,2289,1902,3475
$GC,7833,-0.95,-146.6,529.4,-7.0,378,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,8142,-0.95,-146.6,551.6,-7.4,393,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1902,3475
$GC,8452,-0.95,-146.6,574.5,-6.8,408,8456,0.00,2.55,0.00,0.000,4,0.000,0.054,2289,3312,3475
$GC,8539,-0.95,-146.6,580.8,-7.0,412,8544,0.00,2.55,0.00,0.000,6,0.000,0.046,2289,1906,3475
$GC,8866,-0.95,-146.6,602.6,-6.7,428,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1906,3475
$GC,9175,-0.95,-146.6,621.8,-6.1,443,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1906,3475
$GC,9485,-0.95,-146.6,639.4,-6.1,458,9486,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3475
$GC,9794,-0.95,-146.6,657.6,-6.4,473,9795,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3475
$GC,10104,-0.95,-146.6,676.5,-6.0,488,10105,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1906,3474
$GC,10412,-0.95,-146.6,696.0,-6.3,503,10417,0.00,2.58,0.00,0.000,4,0.000,0.061,2289,3311,3474
$GC,10484,-0.95,-146.6,700.6,-6.7,506,10488,0.00,2.60,0.00,0.000,6,0.000,0.054,2289,1905,3474
$STATE,10556,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10556,begin apogee
$GC,10561,-0.36,0.0,705.2,6.4,510,10687,0.60,0.00,122.70,1.266,6,0.070,0.000,2422,2105,2878
$STATE,10688,end apogee,CONTROL_FINISHED_OK
$STATE,10688,begin climb
$GC,10689,0.95,146.6,705.5,0.0,516,10816,1.23,0.00,122.28,1.221,6,0.046,0.000,2706,2104,2280
$GC,11121,0.97,166.7,690.7,5.4,537,11140,0.00,0.00,17.65,1.232,6,0.000,0.000,2705,2104,2198
$GC,11449,0.99,181.0,671.8,5.6,553,11464,0.00,0.00,13.20,1.246,6,0.000,0.000,2705,2104,2139
$GC,11758,1.01,195.8,654.5,5.6,568,11779,0.00,2.65,13.30,1.246,4,0.000,0.063,2705,3492,2079
$GC,11908,1.01,195.8,644.3,7.2,574,11915,0.00,2.58,0.00,0.000,6,0.000,0.052,2705,2093,2078
$GC,12223,1.01,195.8,623.1,6.7,590,12227,0.00,2.65,0.00,0.000,4,0.000,0.075,2706,692,2078
$GC,12288,1.01,195.8,618.3,7.4,593,12293,0.00,2.53,0.00,0.000,6,0.000,0.048,2706,2102,2077
$GC,12615,1.01,195.8,597.6,6.7,609,12619,0.00,2.65,0.00,0.000,4,0.000,0.069,2706,687,2078
$GC,12680,1.01,195.8,593.3,6.5,612,12684,0.00,2.55,0.00,0.000,6,0.000,0.048,2706,2097,2077
$GC,13007,1.01,195.8,569.0,7.4,628,13008,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2098,2076
$GC,13316,1.02,202.4,548.4,5.8,643,13324,0.00,0.00,6.10,1.190,6,0.000,0.000,2706,2098,2052
$GC,13625,1.06,235.5,531.7,5.0,658,13655,0.00,0.00,28.15,1.179,6,0.000,0.000,2706,2099,1917
$GC,13955,1.06,239.8,513.0,5.9,674,13961,0.00,0.00,4.90,1.129,6,0.000,0.000,2706,2100,1900
$GC,14263,1.06,239.8,493.6,6.4,689,14265,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2101,1900
$GC,14573,1.06,239.8,474.2,6.1,704,14577,0.00,2.62,0.00,0.000,4,0.000,0.064,2706,685,1900
$GC,14638,1.06,239.8,469.9,6.3,707,14643,0.00,2.53,0.00,0.000,6,0.000,0.043,2705,2100,1900
$GC,14965,1.07,243.5,449.7,5.9,723,14971,0.00,0.00,4.35,1.083,6,0.000,0.000,2706,2103,1885
$GC,15274,1.07,243.5,429.8,6.7,738,15279,0.00,2.60,0.00,0.000,4,0.000,0.064,2706,690,1885
$GC,15340,1.07,243.5,424.8,7.3,741,15344,0.00,2.53,0.00,0.000,6,0.000,0.041,2706,2095,1885
$GC,15667,1.07,243.5,403.2,6.2,757,15668,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2098,1885
$GC,15976,1.07,243.5,383.4,6.4,772,15977,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2098,1886
$GC,16285,1.08,256.1,365.0,5.6,787,16307,0.12,2.67,11.52,1.065,4,0.048,0.063,2751,687,1833
$GC,16345,1.08,256.1,360.5,7.5,789,16352,0.00,2.53,0.00,0.000,6,0.000,0.041,2751,2103,1833
$GC,16660,1.08,256.1,335.8,8.2,805,16661,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2105,1833
$GC,16970,1.08,256.1,308.6,9.1,820,16971,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2105,1833
$GC,17279,1.08,256.1,281.3,8.2,835,17280,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2105,1834
$GC,17588,1.08,256.1,256.4,7.8,850,17590,0.10,0.00,0.00,0.000,6,0.094,0.000,2732,2105,1834
$GC,17897,1.08,256.1,235.1,6.6,865,17898,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2106,1834
$GC,18207,1.08,256.1,214.8,6.5,880,18208,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2105,1834
$GC,18516,1.08,256.1,195.0,6.4,895,18520,0.00,2.60,0.00,0.000,4,0.000,0.061,2731,687,1834
$GC,18581,1.08,256.1,190.4,7.4,898,18585,0.00,2.53,0.00,0.000,6,0.000,0.040,2731,2104,1834
$GC,18908,1.08,256.1,167.6,7.0,914,18909,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2106,1835
$GC,19217,1.08,256.1,146.7,6.9,929,19219,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2106,1835
$GC,19527,1.08,256.1,126.0,6.8,944,19531,0.00,2.60,0.00,0.000,4,0.000,0.060,2731,690,1835
$GC,19598,1.08,256.1,120.5,8.1,947,19602,0.00,2.47,0.00,0.000,6,0.000,0.038,2731,2103,1835
$GC,19919,1.08,256.1,97.7,6.8,963,19920,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2106,1835
$GC,20228,1.08,256.1,75.6,7.5,978,20229,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2106,1835
$GC,20538,1.08,256.1,52.4,8.3,993,20539,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2106,1835
$GC,20847,1.11,282.3,30.5,5.2,1008,20870,0.00,0.00,21.20,0.875,6,0.000,0.000,2731,2106,1727
$GC,21178,1.11,282.3,7.8,7.2,1024,21182,0.00,2.62,0.00,0.000,4,0.000,0.061,2731,687,1726
$GC,21220,1.11,282.3,3.8,7.6,1026,21225,0.00,2.50,0.00,0.000,6,0.000,0.039,2731,2110,1726
$GC,21548,1.36,485.1,3.6,-0.0,1042,21562,0.22,0.00,11.75,0.875,2,0.038,0.000,2806,2116,1669
$STATE,21563,end climb,NO_VERTICAL_VELOCITY
$STATE,21563,begin surface
$SM_CCo,21566,138.25,0.745,2,0,602,558.06
$SM_GC,4.30,11.95,0.00,0.00,0.028,0.000,0.000,26,1883,602,-11.27,-0.48,558.30
$IRIDIUM_FIX,6158.08,-1048.58,101207,212121
$TT8_MAMPS,0.026845
$HUMID,2045
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,18.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,625.3,89.8
$24V_AH,23.3,34.429
$10V_AH,10.1,15.813
$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,25.475,98.025,377.100,138.250,0.000,78.312,71.446,316.943,6.000,0.000,0.000,16.427,1830.374,17440.111,732.852,2107.388,663.490,33.362,1755.963,0.000,2081.105,0.000,36.290
$DEVICE_MAMPS,109.681,75.166,1265.550,744.757,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,777.822,705.129,663.455,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50556,1042
$CFSIZE,260165632,249987072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,2,0
$GPS,101207,232307,6225.212,-1046.121,35,0.8,35,-10.5