version: 66.02
glider: 102
mission: 4
dive: 106
start: 12 2 107 5 22 49
data:
$ID,102
$MISSION,4
$DIVE,106
$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,-78260.289
$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,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,34
$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
$GPS1,051208,6150.669,-951.961,27,1.2,27,-9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-53.9
$GPS2,052156,6150.636,-951.762,10,1.2,15,-9.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.054,0.202
$KALMAN_X,30546.1,1826.2,2813.4,-107368.2,-9493.8
$KALMAN_Y,105259.3,1525.7,2236.9,-76670.5,-15217.4
$MHEAD_RNG_PITCHd_Wd,24.7,26646,-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,-146.6,0.0,0.0,0,104,0.00,0.00,-82.20,0.000,2,0.000,0.000,26,1873,2241
$GC,107,-0.95,-146.6,3.2,-0.6,4,185,11.85,2.55,-60.15,0.000,4,0.136,0.073,2286,501,3476
$GC,217,-0.95,-146.6,9.8,-10.6,8,222,0.00,2.50,0.00,0.000,6,0.000,0.039,2286,1902,3476
$GC,538,-0.95,-146.6,35.9,-7.9,24,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,848,-0.95,-146.6,61.8,-10.0,39,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,1157,-0.95,-146.6,86.7,-9.2,54,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,1467,-0.95,-146.6,106.3,-5.9,69,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,1775,-0.95,-146.6,123.2,-6.2,84,1780,0.00,2.60,0.00,0.000,4,0.000,0.065,2286,505,3476
$GC,1818,-0.95,-146.6,126.1,-7.1,86,1823,0.00,2.47,0.00,0.000,6,0.000,0.040,2286,1900,3476
$GC,2145,-0.95,-146.6,149.5,-7.3,102,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,2454,-0.95,-146.6,172.8,-7.6,117,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,2763,-0.95,-146.6,197.1,-7.8,132,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,3073,-0.95,-146.6,221.3,-7.7,147,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,3382,-0.95,-146.6,245.6,-7.6,162,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,3691,-0.95,-146.6,268.4,-7.5,177,3695,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3294,3476
$GC,3735,-0.95,-146.6,271.7,-8.0,179,3740,0.00,2.47,0.00,0.000,6,0.000,0.044,2286,1907,3475
$GC,4061,-0.95,-146.6,294.5,-6.7,195,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3476
$GC,4370,-0.95,-146.6,314.7,-6.4,210,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,4680,-0.95,-146.6,333.6,-5.8,225,4684,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3301,3476
$GC,4745,-0.95,-146.6,337.4,-6.1,228,4750,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1905,3475
$GC,5072,-0.95,-146.6,355.1,-5.4,244,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,5382,-0.95,-146.6,371.9,-5.5,259,5386,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3299,3475
$GC,5420,-0.95,-146.6,374.1,-5.8,261,5425,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1900,3475
$GC,5746,-0.95,-146.6,392.2,-5.5,277,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3475
$GC,6056,-0.95,-146.6,408.3,-4.9,292,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3475
$GC,6365,-0.95,-146.6,423.8,-5.3,307,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3475
$GC,6674,-0.95,-146.6,441.6,-6.0,322,6678,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3295,3475
$GC,6713,-0.95,-146.6,444.2,-6.9,324,6717,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1899,3475
$GC,7038,-0.95,-146.6,465.1,-6.8,340,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3475
$GC,7347,-0.95,-146.6,488.2,-7.7,355,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3475
$GC,7657,-0.95,-146.6,514.6,-9.0,370,7661,0.00,2.53,0.00,0.000,4,0.000,0.050,2286,3298,3475
$GC,7699,-0.95,-146.6,518.7,-9.1,372,7704,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1906,3475
$GC,8026,-0.95,-146.6,547.9,-8.4,388,8027,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3475
$GC,8335,-0.95,-146.6,570.7,-6.6,403,8339,0.00,2.50,0.00,0.000,4,0.000,0.051,2286,3294,3474
$GC,8374,-0.95,-146.6,573.3,-6.7,405,8378,0.00,2.50,0.00,0.000,6,0.000,0.045,2286,1900,3474
$GC,8701,-0.95,-146.6,591.1,-4.8,421,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3474
$GC,9010,-0.95,-146.6,604.9,-4.5,436,9014,0.00,2.53,0.00,0.000,4,0.000,0.053,2286,3294,3474
$GC,9053,-0.95,-146.6,606.8,-4.2,438,9057,0.00,2.50,0.00,0.000,6,0.000,0.045,2286,1900,3474
$GC,9380,-0.95,-146.6,621.0,-4.5,454,9384,0.00,2.55,0.00,0.000,4,0.000,0.055,2286,3301,3474
$GC,9440,-0.95,-146.6,624.3,-6.6,457,9444,0.00,2.53,0.00,0.000,6,0.000,0.048,2286,1901,3474
$GC,9766,-0.95,-146.6,642.1,-6.4,473,9767,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3474
$GC,10075,-0.95,-146.6,663.1,-6.5,488,10076,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3474
$GC,10385,-0.95,-146.6,678.4,-5.0,503,10386,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3474
$GC,10693,-0.95,-146.6,703.5,-9.0,518,10695,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3473
$GC,11003,-0.95,-146.6,731.4,-10.0,533,11007,0.00,2.62,0.00,0.000,4,0.000,0.068,2286,488,3473
$GC,11090,-0.95,-146.6,740.5,-10.5,537,11095,0.00,2.50,0.00,0.000,6,0.000,0.048,2286,1892,3473
$GC,11417,-0.95,-146.6,754.3,-0.1,553,11422,0.00,2.60,0.00,0.000,4,0.000,0.070,2286,494,3473
$GC,11641,-0.95,-146.6,755.1,-2.9,563,11645,0.00,2.47,0.00,0.000,6,0.000,0.050,2286,1896,3473
$GC,11967,-0.95,-146.6,777.6,-11.1,579,11972,0.00,2.58,0.00,0.000,4,0.000,0.062,2286,3302,3473
$GC,11993,-0.95,-146.6,779.3,-6.4,580,11998,0.00,2.60,0.00,0.000,6,0.000,0.057,2286,1905,3472
$GC,12315,-0.95,-146.6,804.3,-5.4,596,12320,0.00,2.58,0.00,0.000,4,0.000,0.066,2286,3302,3472
$GC,12494,-0.95,-146.6,814.7,-10.5,604,12499,0.00,2.58,0.00,0.000,6,0.000,0.058,2286,1892,3471
$STATE,12545,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12545,begin apogee
$GC,12549,-0.36,0.0,818.3,6.4,607,12677,0.62,0.00,124.25,1.356,6,0.091,0.000,2416,2095,2878
$STATE,12677,end apogee,CONTROL_FINISHED_OK
$STATE,12677,begin climb
$GC,12679,0.95,146.6,817.5,0.0,613,12811,1.25,2.72,123.18,1.310,4,0.044,0.064,2702,3504,2280
$GC,13064,0.97,165.4,784.8,5.4,630,13086,0.00,2.60,16.73,1.311,6,0.000,0.056,2702,2096,2203
$GC,13395,0.97,165.4,766.5,6.8,646,13399,0.00,2.65,0.00,0.000,4,0.000,0.064,2702,3509,2201
$GC,13466,0.99,179.4,762.1,5.6,649,13486,0.00,2.60,12.68,1.328,6,0.000,0.054,2702,2098,2146
$GC,13808,1.17,326.1,742.0,1.6,666,13938,0.20,2.80,122.57,1.311,4,0.043,0.080,2762,694,1548
$GC,14017,1.17,326.1,727.3,9.6,676,14022,0.00,2.58,0.00,0.000,6,0.000,0.053,2762,2107,1548
$GC,14343,1.17,326.1,697.0,8.9,692,14347,0.00,2.70,0.00,0.000,4,0.000,0.074,2762,692,1546
$GC,14414,1.17,326.1,689.8,10.5,695,14418,0.00,2.55,0.00,0.000,6,0.000,0.049,2762,2095,1546
$GC,14735,1.17,326.1,650.2,12.5,711,14740,0.00,2.58,0.00,0.000,4,0.000,0.054,2762,3505,1546
$GC,14796,1.17,326.1,641.9,12.6,714,14801,0.00,2.55,0.00,0.000,6,0.000,0.049,2762,2094,1546
$GC,15122,1.17,326.1,599.4,13.4,730,15123,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2094,1546
$GC,15431,1.17,326.1,559.2,12.7,745,15436,0.00,2.62,0.00,0.000,4,0.000,0.072,2762,693,1546
$GC,15503,1.17,326.1,549.4,13.4,748,15507,0.00,2.50,0.00,0.000,6,0.000,0.043,2762,2111,1546
$GC,15824,1.17,326.1,512.0,10.7,764,15828,0.00,2.65,0.00,0.000,4,0.000,0.067,2762,692,1546
$GC,15866,1.17,326.1,507.0,11.4,766,15871,0.00,2.53,0.00,0.000,6,0.000,0.042,2762,2103,1546
$GC,16193,1.18,339.9,482.0,5.6,782,16207,0.00,0.00,12.07,1.164,6,0.000,0.000,2762,2106,1491
$GC,16502,1.18,339.9,461.2,7.3,797,16506,0.00,2.65,0.00,0.000,4,0.000,0.067,2762,691,1492
$GC,16567,1.18,339.9,456.0,9.0,800,16572,0.00,2.50,0.00,0.000,6,0.000,0.041,2762,2098,1493
$GC,16894,1.18,339.9,429.4,8.4,816,16895,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2102,1493
$GC,17204,1.18,339.9,401.3,9.3,831,17208,0.00,2.62,0.00,0.000,4,0.000,0.065,2762,692,1494
$GC,17274,1.18,339.9,394.2,9.3,834,17279,0.00,2.50,0.00,0.000,6,0.000,0.041,2762,2103,1494
$GC,17595,1.18,339.9,361.0,10.7,850,17600,0.00,2.65,0.00,0.000,4,0.000,0.065,2762,686,1494
$GC,17639,1.18,339.9,356.1,13.0,852,17643,0.00,2.50,0.00,0.000,6,0.000,0.041,2762,2096,1494
$GC,17965,1.18,339.9,317.3,12.6,868,17970,0.00,2.60,0.00,0.000,4,0.000,0.064,2762,692,1495
$GC,18004,1.18,339.9,311.7,15.5,870,18008,0.00,2.50,0.00,0.000,6,0.000,0.041,2762,2110,1495
$GC,18329,1.18,339.9,269.3,11.9,886,18334,0.00,2.65,0.00,0.000,4,0.000,0.063,2763,687,1495
$GC,18368,1.18,339.9,264.5,11.9,888,18372,0.00,2.50,0.00,0.000,6,0.000,0.040,2763,2105,1495
$GC,18694,1.18,339.9,231.1,10.0,904,18698,0.00,2.62,0.00,0.000,4,0.000,0.064,2763,692,1496
$GC,18736,1.18,339.9,226.8,9.3,906,18741,0.00,2.50,0.00,0.000,6,0.000,0.039,2762,2099,1496
$GC,19063,1.18,339.9,198.4,7.9,922,19064,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2103,1496
$GC,19372,1.18,339.9,171.5,8.8,937,19377,0.00,2.60,0.00,0.000,4,0.000,0.062,2763,692,1496
$GC,19457,1.18,339.9,163.8,8.8,941,19461,0.00,2.47,0.00,0.000,6,0.000,0.039,2762,2102,1496
$GC,19782,1.18,339.9,134.2,9.2,957,19783,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2105,1497
$GC,20091,1.18,339.9,104.6,9.5,972,20092,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2105,1497
$GC,20401,1.18,339.9,74.0,10.1,987,20405,0.00,2.62,0.00,0.000,4,0.000,0.062,2762,685,1497
$GC,20462,1.18,339.9,67.6,11.8,990,20466,0.00,2.47,0.00,0.000,6,0.000,0.038,2763,2100,1497
$GC,20787,1.18,339.9,33.0,11.0,1006,20789,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2104,1497
$GC,21097,1.18,339.9,3.3,9.7,1021,21101,0.00,2.58,0.00,0.000,4,0.000,0.061,2763,692,1497
$GC,21106,1.18,339.9,2.2,10.3,1021,21113,0.00,2.50,0.00,0.000,6,0.000,0.040,2762,2099,1497
$GC,21422,1.44,544.3,2.2,-0.1,1037,21452,0.17,0.00,27.10,0.810,2,0.047,0.000,2820,2103,1352
$STATE,21452,end climb,NO_VERTICAL_VELOCITY
$STATE,21452,begin surface
$SM_CCo,21455,92.85,0.743,0,0,603,558.06
$SM_GC,2.76,12.02,0.00,0.00,0.029,0.000,0.000,27,1886,604,-11.27,-0.37,557.81
$IRIDIUM_FIX,6126.23,-945.71,021207,090901
$TT8_MAMPS,0.026845
$HUMID,2059
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,725.3,102.0
$24V_AH,23.3,28.306
$10V_AH,10.1,12.626
$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,26.125,154.200,438.575,92.850,0.000,75.147,73.164,266.468,7.000,0.000,0.000,17.562,1881.317,17093.873,698.912,2284.738,590.079,33.360,1842.671,0.000,2237.432,0.000,42.801
$DEVICE_MAMPS,135.759,79.768,1356.056,743.223,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,760.233,702.892,618.922,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53660,1038
$CFSIZE,260165632,252157952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,021207,113009,6157.370,-942.041,38,1.1,38,-9.8