version: 66.02
glider: 102
mission: 4
dive: 143
start: 12 11 107 5 57 15
data:
$ID,102
$MISSION,4
$DIVE,143
$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,-78832.609
$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,43
$R_STBD_OVSHOOT,42
$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
$GPS1,054208,6223.485,-1051.037,57,1.1,57,-10.6
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,4.15
$_SM_ANGLEo,-48.1
$GPS2,055621,6223.533,-1051.112,11,1.2,11,-10.6
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.205,0.038
$KALMAN_X,156125.6,718.9,-6283.6,-274989.2,45351.5
$KALMAN_Y,129960.8,-255.7,-367.2,-36019.9,-7232.3
$MHEAD_RNG_PITCHd_Wd,291.2,8092,-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,-21.98,0.000,2,0.000,0.000,28,1876,1118
$GC,46,-0.95,-146.6,4.1,-0.0,1,205,11.20,2.53,-140.80,0.000,4,0.109,0.071,2282,510,3477
$GC,395,-0.95,-146.6,27.4,-8.3,16,400,0.00,2.45,0.00,0.000,6,0.000,0.040,2282,1894,3477
$GC,719,-0.95,-146.6,45.3,-5.6,32,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1896,3477
$GC,1027,-0.95,-146.6,64.8,-7.3,47,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1895,3477
$GC,1336,-0.95,-146.6,95.1,-12.7,62,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1896,3477
$GC,1645,-0.95,-146.6,123.0,-9.1,77,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1895,3477
$GC,1955,-0.95,-146.6,146.5,-8.3,92,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1896,3477
$GC,2263,-0.95,-146.6,170.1,-6.4,107,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1896,3477
$GC,2572,-0.95,-146.6,192.9,-7.2,122,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1895,3477
$GC,2882,-0.95,-146.6,213.6,-6.7,137,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1895,3476
$GC,3191,-0.95,-146.6,237.7,-8.3,152,3195,0.00,2.53,0.00,0.000,4,0.000,0.048,2282,3298,3477
$GC,3274,-0.95,-146.6,245.0,-9.0,156,3279,0.00,2.47,0.00,0.000,6,0.000,0.043,2282,1915,3477
$GC,3600,-0.95,-146.6,269.8,-7.0,172,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1915,3477
$GC,3910,-0.95,-146.6,289.6,-6.4,187,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1915,3477
$GC,4218,-0.95,-146.6,309.9,-6.8,202,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1915,3477
$GC,4528,-0.95,-146.6,332.4,-7.3,217,4532,0.00,2.50,0.00,0.000,4,0.000,0.048,2282,3302,3477
$GC,4606,-0.95,-146.6,338.4,-7.5,220,4612,0.00,2.50,0.00,0.000,6,0.000,0.045,2282,1902,3477
$GC,4921,-0.95,-146.6,362.4,-7.6,236,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1902,3477
$GC,5231,-0.95,-146.6,385.2,-7.5,251,5235,0.00,2.53,0.00,0.000,4,0.000,0.049,2282,3304,3476
$GC,5291,-0.95,-146.6,390.0,-8.3,254,5296,0.00,2.53,0.00,0.000,6,0.000,0.045,2282,1898,3476
$GC,5617,-0.95,-146.6,413.8,-7.3,270,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3477
$GC,5927,-0.95,-146.6,435.9,-7.0,285,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1898,3477
$GC,6236,-0.95,-146.6,458.3,-7.3,300,6240,0.00,2.50,0.00,0.000,4,0.000,0.050,2282,3295,3476
$GC,6301,-0.95,-146.6,463.3,-7.3,303,6305,0.00,2.53,0.00,0.000,6,0.000,0.045,2283,1905,3476
$GC,6628,-0.95,-146.6,484.7,-6.0,319,6629,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1905,3476
$GC,6937,-0.95,-146.6,505.0,-7.2,334,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1903,3476
$GC,7246,-0.95,-146.6,530.5,-8.5,349,7251,0.00,2.53,0.00,0.000,4,0.000,0.051,2282,3300,3475
$GC,7314,-0.95,-146.6,536.7,-9.8,352,7318,0.00,2.53,0.00,0.000,6,0.000,0.046,2282,1896,3475
$GC,7633,-0.95,-146.6,561.4,-6.8,368,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1896,3475
$GC,7943,-0.95,-146.6,583.0,-7.6,383,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1895,3476
$GC,8252,-0.95,-146.6,605.2,-6.9,398,8256,0.00,2.55,0.00,0.000,4,0.000,0.055,2282,3293,3475
$GC,8328,-0.95,-146.6,611.4,-8.0,401,8335,0.00,2.55,0.00,0.000,6,0.000,0.048,2282,1900,3476
$GC,8644,-0.95,-146.6,635.7,-8.3,417,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1900,3475
$GC,8953,-0.95,-146.6,660.4,-7.4,432,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1900,3475
$GC,9263,-0.95,-146.6,680.7,-5.8,447,9267,0.00,2.55,0.00,0.000,4,0.000,0.057,2282,3294,3475
$GC,9357,-0.95,-146.6,686.0,-5.9,451,9361,0.00,2.53,0.00,0.000,6,0.000,0.049,2282,1897,3475
$GC,9677,-0.95,-146.6,703.6,-5.6,467,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1897,3474
$GC,9986,-0.95,-146.6,725.6,-7.3,482,9991,0.00,2.58,0.00,0.000,4,0.000,0.060,2282,3301,3474
$GC,10075,-0.95,-146.6,732.2,-7.7,486,10080,0.00,2.58,0.00,0.000,6,0.000,0.053,2282,1904,3474
$STATE,10277,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10277,begin apogee
$GC,10282,-0.36,0.0,747.8,7.0,496,10408,0.62,0.00,123.53,1.312,6,0.076,0.000,2418,2098,2878
$STATE,10409,end apogee,CONTROL_FINISHED_OK
$STATE,10409,begin climb
$GC,10411,0.95,146.6,751.9,0.0,502,10538,1.25,0.00,122.72,1.260,6,0.050,0.000,2701,2098,2280
$GC,10842,1.00,189.2,728.9,4.7,523,10884,0.00,2.78,36.40,1.254,4,0.000,0.074,2701,687,2105
$GC,10985,1.00,189.2,719.0,8.5,529,10990,0.00,2.55,0.00,0.000,6,0.000,0.051,2700,2093,2105
$GC,11300,1.00,189.2,692.8,7.8,544,11304,0.00,2.62,0.00,0.000,4,0.000,0.061,2701,3510,2104
$GC,11370,1.00,189.2,688.2,7.1,547,11375,0.00,2.60,0.00,0.000,6,0.000,0.052,2700,2104,2104
$GC,11692,1.01,199.2,666.7,5.7,563,11703,0.00,0.00,9.18,1.258,6,0.000,0.000,2701,2104,2065
$GC,12001,1.13,293.0,655.0,3.2,578,12083,0.17,0.00,77.50,1.240,6,0.043,0.000,2757,2104,1683
$GC,12393,1.13,293.0,615.1,10.5,597,12395,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2104,1683
$GC,12700,1.13,293.0,588.4,8.3,612,12701,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2104,1682
$GC,13009,1.13,293.0,562.4,8.3,627,13014,0.00,2.65,0.00,0.000,4,0.000,0.070,2758,688,1682
$GC,13063,1.13,293.0,557.5,8.9,629,13070,0.00,2.50,0.00,0.000,6,0.000,0.043,2757,2108,1682
$GC,13379,1.13,293.0,531.3,8.1,645,13380,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2113,1682
$GC,13688,1.13,293.0,506.5,8.3,660,13692,0.00,2.65,0.00,0.000,4,0.000,0.067,2757,690,1682
$GC,13731,1.13,293.0,502.8,9.1,662,13735,0.00,2.50,0.00,0.000,6,0.000,0.043,2758,2106,1682
$GC,14057,1.13,293.0,474.7,8.4,678,14058,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2111,1683
$GC,14367,1.13,293.0,451.5,7.1,693,14368,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2110,1683
$GC,14676,1.13,293.0,426.5,9.1,708,14680,0.00,2.65,0.00,0.000,4,0.000,0.065,2758,686,1683
$GC,14737,1.13,293.0,420.6,10.4,711,14742,0.00,2.50,0.00,0.000,6,0.000,0.041,2758,2102,1683
$GC,15062,1.13,293.0,387.1,10.8,727,15063,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2105,1684
$GC,15372,1.13,293.0,356.8,9.2,742,15376,0.00,2.62,0.00,0.000,4,0.000,0.064,2758,685,1685
$GC,15420,1.13,293.0,352.0,9.4,744,15424,0.00,2.47,0.00,0.000,6,0.000,0.041,2758,2102,1685
$GC,15741,1.13,293.0,324.0,8.7,760,15742,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2105,1685
$GC,16050,1.13,293.0,293.5,9.8,775,16055,0.00,2.62,0.00,0.000,4,0.000,0.063,2758,685,1685
$GC,16099,1.13,293.0,288.3,10.8,777,16104,0.00,2.53,0.00,0.000,6,0.000,0.040,2758,2102,1685
$GC,16420,1.13,293.0,255.9,10.0,793,16421,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2105,1686
$GC,16729,1.13,293.0,226.8,8.9,808,16734,0.00,2.62,0.00,0.000,4,0.000,0.063,2758,687,1686
$GC,16773,1.13,293.0,222.8,9.2,810,16777,0.00,2.53,0.00,0.000,6,0.000,0.040,2758,2105,1685
$GC,17100,1.13,293.0,192.6,10.2,826,17101,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2108,1686
$GC,17409,1.13,293.0,161.9,10.5,841,17411,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2108,1686
$GC,17718,1.13,293.0,134.1,8.0,856,17719,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2108,1686
$GC,18028,1.13,293.0,109.4,8.4,871,18029,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2108,1686
$GC,18337,1.13,293.0,81.3,9.7,886,18341,0.00,2.62,0.00,0.000,4,0.000,0.061,2758,687,1686
$GC,18398,1.13,293.0,74.5,11.2,889,18403,0.00,2.47,0.00,0.000,6,0.000,0.038,2758,2108,1686
$GC,18724,1.13,293.0,39.6,12.0,905,18729,0.00,2.62,0.00,0.000,4,0.000,0.061,2757,688,1687
$GC,18779,1.13,293.0,33.7,8.5,907,18786,0.00,2.50,0.00,0.000,6,0.000,0.038,2758,2104,1687
$GC,19095,1.13,293.0,5.2,11.0,923,19096,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2107,1687
$GC,19404,1.38,497.4,3.6,-0.1,938,19518,0.15,2.55,107.47,0.786,4,0.071,0.044,2796,3499,849
$GC,19637,1.61,688.7,3.5,0.3,949,19679,0.22,2.53,31.35,0.774,6,0.057,0.041,2848,2082,602
$STATE,19988,end climb,NO_VERTICAL_VELOCITY
$STATE,19988,begin surface
$SM_CCo,20409,0.00,0.000,0,0,604,558.06
$SM_GC,4.40,12.12,0.00,0.00,0.029,0.000,0.000,28,1892,604,-11.26,-0.23,558.06
$IRIDIUM_FIX,6202.67,-1049.45,111207,090938
$TT8_MAMPS,0.026845
$HUMID,2046
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.70
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,675.8,81.9
$24V_AH,23.3,34.801
$10V_AH,10.1,16.007
$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,25.750,102.800,508.150,0.000,0.000,109.707,125.983,338.739,8.250,0.000,0.000,13.335,1697.517,16068.224,645.978,2042.378,808.631,33.360,1673.761,0.000,2009.353,0.000,39.513
$DEVICE_MAMPS,108.914,73.632,1312.337,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,706.884,652.793,626.155,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47465,966
$CFSIZE,260165632,249872384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,111207,113831,6224.095,-1054.780,34,1.6,34,-10.6