version: 66.02
glider: 102
mission: 4
dive: 109
start: 12 2 107 21 47 26
data:
$ID,102
$MISSION,4
$DIVE,109
$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,-78301.68
$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,26
$R_STBD_OVSHOOT,35
$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
$GPS1,214126,6203.473,-932.409,42,1.0,42,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-51.6
$GPS2,214632,6203.485,-932.438,12,1.0,12,-9.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.207,-0.030
$KALMAN_X,60080.0,-1951.6,864.0,-113994.7,20885.5
$KALMAN_Y,125518.1,-1703.1,1534.4,-69151.2,8024.9
$MHEAD_RNG_PITCHd_Wd,271.5,15484,-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,-146.6,0.0,0.0,0,87,0.00,0.00,-66.70,0.000,2,0.000,0.000,33,1881,1992
$GC,90,-0.95,-146.6,3.3,-0.7,4,209,11.50,2.55,-100.55,0.000,4,0.122,0.058,2290,3295,3475
$GC,370,-0.95,-146.6,15.8,-7.7,16,375,0.00,2.53,0.00,0.000,6,0.000,0.041,2290,1901,3475
$GC,697,-0.95,-146.6,39.8,-7.1,32,702,0.00,2.60,0.00,0.000,4,0.000,0.064,2290,498,3475
$GC,763,-0.95,-146.6,44.6,-7.7,35,768,0.00,2.50,0.00,0.000,6,0.000,0.039,2290,1905,3475
$GC,1092,-0.95,-146.6,66.7,-7.3,51,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1907,3475
$GC,1400,-0.95,-146.6,90.4,-7.2,66,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1907,3475
$GC,1709,-0.95,-146.6,111.3,-6.9,81,1713,0.00,2.50,0.00,0.000,4,0.000,0.046,2290,3301,3475
$GC,1774,-0.95,-146.6,115.9,-7.0,84,1779,0.00,2.50,0.00,0.000,6,0.000,0.041,2290,1902,3475
$GC,2101,-0.95,-146.6,139.1,-8.0,100,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1903,3475
$GC,2410,-0.95,-146.6,161.8,-7.2,115,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1903,3475
$GC,2719,-0.95,-146.6,183.6,-6.9,130,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1902,3475
$GC,3028,-0.95,-146.6,203.9,-6.3,145,3033,0.00,2.50,0.00,0.000,4,0.000,0.045,2290,3296,3475
$GC,3106,-0.95,-146.6,209.1,-6.6,148,3112,0.00,2.53,0.00,0.000,6,0.000,0.041,2290,1897,3475
$GC,3421,-0.95,-146.6,230.2,-6.9,164,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1897,3475
$GC,3730,-0.95,-146.6,252.5,-7.3,179,3734,0.00,2.50,0.00,0.000,4,0.000,0.046,2290,3296,3475
$GC,3785,-0.95,-146.6,256.5,-7.3,181,3789,0.00,2.53,0.00,0.000,6,0.000,0.042,2290,1899,3475
$GC,4106,-0.95,-146.6,283.6,-8.1,197,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1899,3475
$GC,4415,-0.95,-146.6,311.3,-9.7,212,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1899,3475
$GC,4724,-0.95,-146.6,341.7,-9.7,227,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1899,3475
$GC,5033,-0.95,-146.6,369.6,-9.2,242,5038,0.00,2.53,0.00,0.000,4,0.000,0.048,2290,3302,3475
$GC,5118,-0.95,-146.6,377.9,-10.1,246,5122,0.00,2.53,0.00,0.000,6,0.000,0.044,2290,1896,3474
$GC,5443,-0.95,-146.6,412.9,-11.1,262,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1895,3475
$GC,5752,-0.95,-146.6,443.8,-9.1,277,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1896,3475
$GC,6061,-0.95,-146.6,471.8,-9.3,292,6065,0.00,2.50,0.00,0.000,4,0.000,0.050,2290,3294,3475
$GC,6122,-0.95,-146.6,477.4,-9.6,295,6126,0.00,2.50,0.00,0.000,6,0.000,0.045,2290,1896,3475
$GC,6447,-0.95,-146.6,503.9,-7.9,311,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1896,3475
$GC,6759,-0.95,-146.6,525.7,-6.8,326,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1896,3475
$GC,7066,-0.95,-146.6,547.8,-7.2,341,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1896,3474
$GC,7375,-0.95,-146.6,573.5,-8.8,356,7379,0.00,2.53,0.00,0.000,4,0.000,0.055,2291,3293,3474
$GC,7535,-0.95,-146.6,587.5,-7.0,363,7540,0.00,2.55,0.00,0.000,6,0.000,0.048,2290,1899,3474
$GC,7857,-0.95,-146.6,609.3,-6.3,379,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1898,3474
$STATE,8123,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8124,begin apogee
$GC,8128,-0.36,0.0,625.8,6.3,392,8252,0.60,0.00,120.90,1.221,6,0.076,0.000,2420,2095,2878
$STATE,8253,end apogee,CONTROL_FINISHED_OK
$STATE,8253,begin climb
$GC,8255,0.95,146.6,629.6,0.0,398,8382,1.27,2.70,119.50,1.186,4,0.061,0.067,2699,691,2280
$GC,8596,0.95,146.6,613.7,7.0,414,8601,0.00,2.53,0.00,0.000,6,0.000,0.048,2699,2097,2280
$GC,8922,0.95,146.6,592.6,8.4,430,8926,0.00,2.62,0.00,0.000,4,0.000,0.063,2698,3509,2279
$GC,9178,0.95,146.6,564.7,9.6,441,9185,0.00,2.58,0.00,0.000,6,0.000,0.048,2699,2105,2278
$GC,9494,0.95,146.6,542.1,6.9,457,9498,0.00,2.58,0.00,0.000,4,0.000,0.058,2699,3511,2276
$GC,9638,0.95,146.6,532.3,6.6,463,9645,0.00,2.55,0.00,0.000,6,0.000,0.046,2699,2106,2276
$GC,9953,1.06,241.6,520.4,3.2,479,10035,0.12,0.00,77.38,1.180,6,0.051,0.000,2741,2106,1892
$GC,10343,1.08,256.4,498.1,5.6,498,10364,0.00,2.65,13.15,1.164,4,0.000,0.052,2740,3506,1832
$GC,10415,1.09,264.2,493.7,5.8,501,10431,0.00,2.58,7.25,1.133,6,0.000,0.045,2740,2095,1801
$GC,10739,1.09,264.2,471.2,7.3,517,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2095,1801
$GC,11049,1.09,264.2,447.8,7.0,532,11053,0.00,2.62,0.00,0.000,4,0.000,0.070,2741,688,1801
$GC,11119,1.09,264.2,442.5,6.9,535,11124,0.00,2.53,0.00,0.000,6,0.000,0.042,2741,2104,1801
$GC,11442,1.10,268.0,423.0,5.9,551,11448,0.00,0.00,4.40,1.100,6,0.000,0.000,2741,2108,1784
$GC,11751,1.10,268.5,404.0,6.0,566,11752,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2108,1785
$GC,12059,1.10,268.5,384.6,6.4,581,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2108,1785
$GC,12369,1.10,268.5,364.2,6.6,596,12370,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2108,1785
$GC,12678,1.10,268.5,342.1,7.2,611,12679,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2108,1786
$GC,12987,1.10,268.5,319.0,7.7,626,12988,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2108,1786
$GC,13297,1.10,268.5,296.9,7.5,641,13298,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2108,1787
$GC,13606,1.10,268.5,273.4,7.3,656,13610,0.00,2.62,0.00,0.000,4,0.000,0.062,2741,687,1787
$GC,13660,1.10,268.5,268.9,8.2,658,13667,0.00,2.53,0.00,0.000,6,0.000,0.039,2741,2104,1787
$GC,13975,1.10,268.5,243.7,7.8,674,13976,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2108,1788
$GC,14285,1.10,268.5,218.5,8.0,689,14286,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2108,1787
$GC,14594,1.10,268.5,194.6,7.6,704,14595,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2108,1787
$GC,14903,1.10,268.5,171.4,7.8,719,14904,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2108,1788
$GC,15213,1.10,268.5,147.5,7.5,734,15217,0.00,2.62,0.00,0.000,4,0.000,0.061,2740,685,1788
$GC,15261,1.10,268.5,143.5,8.3,736,15266,0.00,2.50,0.00,0.000,6,0.000,0.038,2741,2105,1788
$GC,15583,1.10,268.5,118.9,8.1,752,15584,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2108,1789
$GC,15892,1.10,268.5,95.2,7.7,767,15893,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2108,1789
$GC,16201,1.10,268.5,70.4,7.3,782,16202,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2108,1789
$GC,16511,1.10,271.7,48.2,5.9,797,16520,0.00,2.60,4.75,0.890,4,0.000,0.061,2741,691,1770
$GC,16559,1.10,271.7,44.3,8.1,799,16563,0.00,2.47,0.00,0.000,6,0.000,0.038,2741,2100,1770
$GC,16880,1.10,271.7,16.4,6.9,815,16881,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2104,1770
$GC,17189,1.35,471.6,2.3,0.0,830,17301,0.22,2.67,105.10,0.765,4,0.054,0.061,2796,686,955
$STATE,17466,end climb,NO_VERTICAL_VELOCITY
$STATE,17466,begin surface
$SM_CCo,17469,44.60,0.755,0,0,603,558.06
$SM_GC,2.88,11.85,0.00,0.00,0.026,0.000,0.000,33,1905,604,-11.26,0.14,557.57
$IRIDIUM_FIX,6139.81,-936.80,021207,202016
$TT8_MAMPS,0.026845
$HUMID,2040
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.90
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,575.4,59.7
$24V_AH,23.4,28.810
$10V_AH,10.1,12.873
$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,25.575,86.800,452.425,44.600,0.000,37.993,35.849,142.533,6.750,0.000,0.000,14.029,1505.766,13853.193,649.417,1883.578,355.247,33.365,1581.449,0.000,1852.392,0.000,35.906
$DEVICE_MAMPS,121.953,69.797,1221.064,755.495,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,618.486,569.154,588.029,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41090,843
$CFSIZE,260165632,252026880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,031207,024732,6203.822,-933.195,37,1.9,37,-9.7