version: 66.02
glider: 102
mission: 4
dive: 60
start: 11 22 107 3 55 3
data:
$ID,102
$MISSION,4
$DIVE,60
$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,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,-77387.289
$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,2350
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,26
$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
$GPS1,034907,6135.957,-903.216,34,0.8,34,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-54.2
$GPS2,035409,6135.929,-903.271,11,1.4,11,-9.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.026,-0.236
$KALMAN_X,35321.2,-972.4,-766.8,-62840.8,6910.0
$KALMAN_Y,145640.0,-1959.4,-582.5,-137875.9,7804.5
$MHEAD_RNG_PITCHd_Wd,195.5,29644,-14.7,-8.000
$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,18,-1.23,-146.6,0.0,0.0,0,102,0.00,0.00,-80.65,0.000,6,0.000,0.000,34,1871,3477
$GC,104,-1.23,-146.6,5.9,-7.8,4,125,11.65,2.62,0.00,0.000,4,0.143,0.044,2221,3310,3478
$GC,377,-1.23,-146.6,44.5,-10.5,16,381,0.00,2.53,0.00,0.000,6,0.000,0.041,2221,1916,3478
$GC,704,-1.23,-146.6,74.3,-8.6,32,708,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3312,3478
$GC,825,-1.23,-146.6,86.3,-9.5,37,833,0.00,2.55,0.00,0.000,6,0.000,0.041,2221,1906,3478
$GC,1141,-1.23,-146.6,121.5,-12.9,53,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1906,3478
$GC,1450,-1.23,-146.6,157.6,-12.2,68,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1906,3478
$GC,1759,-1.23,-146.6,194.2,-11.0,83,1764,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3307,3478
$GC,1802,-1.23,-146.6,198.8,-10.6,85,1807,0.00,2.55,0.00,0.000,6,0.000,0.043,2221,1902,3478
$GC,2130,-1.23,-146.6,229.6,-9.0,101,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3478
$GC,2439,-1.23,-146.6,258.8,-9.4,116,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3478
$GC,2748,-1.23,-146.6,290.2,-11.0,131,2752,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3307,3478
$GC,2802,-1.23,-146.6,296.4,-11.0,133,2809,0.00,2.55,0.00,0.000,6,0.000,0.044,2221,1904,3478
$GC,3117,-1.23,-146.6,330.7,-10.3,149,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1904,3479
$GC,3426,-1.23,-146.6,361.3,-9.7,164,3430,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3308,3479
$GC,3464,-1.23,-146.6,365.0,-9.6,165,3472,0.00,2.55,0.00,0.000,6,0.000,0.044,2221,1903,3478
$GC,3780,-1.23,-146.6,394.3,-9.2,181,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1903,3478
$GC,4089,-1.23,-146.6,421.1,-8.5,196,4093,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3304,3478
$GC,4132,-1.23,-146.6,424.9,-8.1,198,4141,0.00,2.55,0.00,0.000,6,0.000,0.046,2221,1904,3478
$GC,4461,-1.23,-146.6,454.7,-9.3,214,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1904,3478
$GC,4770,-1.23,-146.6,484.5,-9.6,229,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1904,3478
$GC,5079,-1.23,-146.6,513.2,-9.3,244,5084,0.00,2.62,0.00,0.000,4,0.000,0.069,2221,488,3478
$GC,5111,-1.23,-146.6,516.6,-10.8,245,5119,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1906,3478
$GC,5427,-1.23,-146.6,548.0,-9.5,261,5431,0.00,2.53,0.00,0.000,4,0.000,0.054,2221,3295,3478
$GC,5470,-1.23,-146.6,552.4,-9.5,263,5475,0.00,2.55,0.00,0.000,6,0.000,0.049,2221,1904,3478
$GC,5797,-1.23,-146.6,585.0,-10.3,279,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1904,3478
$GC,6106,-1.23,-146.6,614.6,-9.5,294,6110,0.00,2.55,0.00,0.000,4,0.000,0.055,2221,3301,3478
$GC,6161,-1.23,-146.6,620.1,-10.1,296,6168,0.00,2.58,0.00,0.000,6,0.000,0.051,2221,1901,3478
$GC,6477,-1.23,-146.6,651.6,-10.2,312,6481,0.00,2.55,0.00,0.000,4,0.000,0.055,2221,3297,3478
$GC,6531,-1.23,-146.6,657.4,-10.3,314,6538,0.00,2.58,0.00,0.000,6,0.000,0.050,2221,1899,3478
$GC,6846,-1.23,-146.6,687.9,-9.5,330,6851,0.00,2.55,0.00,0.000,4,0.000,0.054,2221,3297,3477
$GC,6907,-1.23,-146.6,693.8,-9.9,333,6912,0.00,2.55,0.00,0.000,6,0.000,0.051,2221,1897,3477
$GC,7233,-1.23,-146.6,724.6,-9.0,349,7237,0.00,2.58,0.00,0.000,4,0.000,0.057,2221,3298,3477
$GC,7282,-1.23,-146.6,729.1,-9.3,351,7287,0.00,2.58,0.00,0.000,6,0.000,0.051,2221,1901,3477
$GC,7603,-1.23,-146.6,757.0,-9.0,367,7607,0.00,2.58,0.00,0.000,4,0.000,0.057,2220,3305,3477
$GC,7844,-1.23,-146.6,775.6,-8.1,378,7849,0.00,2.58,0.00,0.000,6,0.000,0.053,2221,1896,3477
$GC,8170,-1.23,-146.6,799.9,-7.6,394,8177,0.00,2.65,0.00,0.000,4,0.000,0.079,2221,492,3478
$STATE,8338,end dive,NO_VERTICAL_VELOCITY
$STATE,8338,begin apogee
$GC,8344,-0.36,0.0,802.2,0.0,401,8476,0.85,0.00,124.55,1.325,6,0.063,0.000,2415,2339,2878
$STATE,8476,end apogee,CONTROL_FINISHED_OK
$STATE,8477,begin climb
$GC,8478,1.23,146.6,801.8,0.0,408,8609,1.55,2.72,122.93,1.280,4,0.050,0.071,2764,938,2280
$GC,8742,1.23,146.6,785.1,8.4,420,8747,0.00,2.65,0.00,0.000,6,0.000,0.056,2763,2352,2279
$GC,9065,1.28,190.1,761.8,6.3,436,9108,0.00,2.80,36.85,1.315,4,0.000,0.075,2764,941,2103
$GC,9136,1.32,224.3,757.6,6.7,439,9171,0.00,2.62,29.62,1.299,6,0.000,0.057,2764,2350,1962
$GC,9498,1.32,224.3,729.7,8.3,457,9503,0.00,2.65,0.00,0.000,4,0.000,0.069,2764,3759,1960
$GC,9586,1.32,224.3,721.5,9.2,461,9591,0.00,2.60,0.00,0.000,6,0.000,0.052,2764,2349,1960
$GC,9913,1.32,224.3,693.6,8.7,477,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2349,1958
$GC,10222,1.32,224.3,665.7,9.2,492,10227,0.00,2.62,0.00,0.000,4,0.000,0.067,2764,940,1958
$GC,10249,1.32,224.3,663.1,10.3,493,10254,0.00,2.55,0.00,0.000,6,0.000,0.044,2764,2351,1958
$GC,10570,1.32,224.3,634.1,9.0,509,10571,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2352,1958
$GC,10879,1.32,224.3,604.4,9.7,524,10880,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2352,1958
$GC,11188,1.32,224.3,574.4,9.7,539,11190,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2353,1959
$GC,11498,1.32,224.3,544.5,9.6,554,11502,0.00,2.62,0.00,0.000,4,0.000,0.061,2764,932,1960
$GC,11536,1.32,224.3,540.6,10.6,556,11541,0.00,2.53,0.00,0.000,6,0.000,0.043,2764,2352,1960
$GC,11862,1.32,224.3,507.9,10.1,572,11866,0.00,2.60,0.00,0.000,4,0.000,0.061,2764,938,1960
$GC,11916,1.32,224.3,502.2,10.1,574,11923,0.00,2.53,0.00,0.000,6,0.000,0.042,2765,2345,1959
$GC,12231,1.32,224.3,472.0,8.9,590,12235,0.00,2.60,0.00,0.000,4,0.000,0.061,2764,937,1960
$GC,12257,1.32,224.3,469.6,9.0,591,12261,0.00,2.53,0.00,0.000,6,0.000,0.042,2764,2348,1960
$GC,12578,1.32,224.3,442.3,8.5,607,12579,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2348,1961
$GC,12887,1.32,224.3,415.3,9.2,622,12891,0.00,2.58,0.00,0.000,4,0.000,0.059,2764,934,1961
$GC,12942,1.33,227.4,410.9,7.9,624,12954,0.00,2.50,3.75,1.047,6,0.000,0.041,2764,2351,1950
$GC,13262,1.33,227.4,382.2,9.2,640,13267,0.00,2.60,0.00,0.000,4,0.000,0.059,2764,931,1950
$GC,13294,1.33,227.4,378.9,9.4,641,13301,0.00,2.53,0.00,0.000,6,0.000,0.041,2764,2345,1950
$GC,13609,1.33,227.4,351.3,8.3,657,13614,0.00,2.60,0.00,0.000,4,0.000,0.059,2764,932,1950
$GC,13670,1.34,233.1,346.4,7.8,660,13681,0.00,2.53,5.57,1.048,6,0.000,0.041,2764,2355,1927
$GC,13996,1.34,236.4,320.9,7.9,676,14006,0.10,2.62,3.90,1.018,4,0.058,0.057,2799,934,1913
$GC,14055,1.34,236.4,314.8,9.4,678,14062,0.00,2.55,0.00,0.000,6,0.000,0.041,2799,2347,1914
$GC,14370,1.34,236.4,284.7,9.1,694,14374,0.00,2.58,0.00,0.000,4,0.000,0.058,2799,939,1914
$GC,14392,1.34,236.4,282.7,9.2,695,14396,0.00,2.50,0.00,0.000,6,0.000,0.041,2799,2355,1913
$GC,14718,1.34,236.4,252.7,9.2,711,14719,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2356,1914
$GC,15027,1.34,236.4,225.0,8.7,726,15032,0.00,2.62,0.00,0.000,4,0.000,0.056,2799,929,1914
$GC,15059,1.34,236.4,222.2,8.2,727,15066,0.00,2.53,0.00,0.000,6,0.000,0.040,2799,2351,1914
$GC,15374,1.34,236.4,193.9,8.8,743,15376,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2350,1914
$GC,15684,1.34,236.4,164.5,9.7,758,15688,0.00,2.58,0.00,0.000,4,0.000,0.057,2799,938,1914
$GC,15704,1.34,236.4,162.5,9.5,759,15709,0.00,2.50,0.00,0.000,6,0.000,0.040,2799,2343,1914
$GC,16031,1.34,236.4,130.8,9.4,775,16036,0.00,2.53,0.00,0.000,4,0.000,0.052,2799,3748,1914
$GC,16070,1.34,236.4,126.7,11.0,777,16075,0.00,2.47,0.00,0.000,6,0.000,0.038,2799,2342,1914
$GC,16396,1.34,236.4,93.8,11.6,793,16401,0.00,2.55,0.00,0.000,4,0.000,0.057,2799,945,1914
$GC,16424,1.34,236.4,90.8,12.3,794,16428,0.00,2.47,0.00,0.000,6,0.000,0.038,2799,2357,1914
$GC,16738,1.34,236.4,53.4,13.0,809,16740,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2358,1914
$GC,17048,1.34,236.4,24.2,8.2,824,17049,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2358,1915
$STATE,17273,end climb,SURFACE_DEPTH_REACHED
$STATE,17273,begin surface coast
$FINISH,0.1,1.027264
$STATE,17295,end surface coast,CONTROL_FINISHED_OK
$STATE,17295,begin surface
$SM_CCo,17315,57.17,0.791,7,0,1655,300.00
$SM_GC,0.84,0.00,0.00,57.17,0.000,0.000,0.791,29,1887,1655,-11.34,-0.37,300.00
$IRIDIUM_FIX,6117.23,-901.66,221107,020214
$TT8_MAMPS,0.026845
$HUMID,2033
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,16.90
$XPDR_PINGS,796
$24V_AH,23.3,21.140
$10V_AH,10.1,8.720
$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,25.975,155.750,327.175,57.175,0.000,31.752,47.267,137.021,206.000,0.000,0.000,12.644,1542.054,13347.664,601.454,1887.154,335.747,33.359,1551.358,0.000,1847.466,0.000,47.258
$DEVICE_MAMPS,143.429,79.001,1325.376,790.777,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,606.570,564.539,473.238,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41116,836
$CFSIZE,260165632,255049728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,7,0
$GPS,221107,084626,6133.992,-902.239,41,1.4,41,-9.3