version: 66.02
glider: 102
mission: 4
dive: 114
start: 12 3 107 23 45 9
data:
$ID,102
$MISSION,4
$DIVE,114
$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,-78395.812
$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,37
$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
$GPS1,233858,6159.446,-933.771,28,3.8,47,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.38
$_SM_ANGLEo,-62.6
$GPS2,234415,6159.405,-933.729,12,1.1,12,-9.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.196,0.072
$KALMAN_X,83845.2,-2472.5,-1311.0,-136118.9,26671.1
$KALMAN_Y,115411.7,-128.8,197.2,-66806.1,-4795.5
$MHEAD_RNG_PITCHd_Wd,299.9,17505,-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,-22.38,0.000,2,0.000,0.000,26,1873,1131
$GC,45,-0.95,-146.6,3.4,-0.0,1,218,11.48,2.60,-152.75,0.000,4,0.120,0.058,2293,3295,3477
$GC,343,-0.95,-146.6,14.2,-8.8,15,348,0.00,2.47,0.00,0.000,6,0.000,0.041,2293,1903,3477
$GC,669,-0.95,-146.6,39.2,-7.5,31,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1903,3477
$GC,979,-0.95,-146.6,63.1,-7.8,46,983,0.00,2.50,0.00,0.000,4,0.000,0.044,2293,3301,3477
$GC,1040,-0.95,-146.6,68.7,-9.3,49,1044,0.00,2.50,0.00,0.000,6,0.000,0.040,2294,1894,3477
$GC,1365,-0.95,-146.6,91.2,-7.6,65,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1895,3477
$GC,1675,-0.95,-146.6,113.1,-6.6,80,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1894,3477
$GC,1985,-0.95,-146.6,130.7,-5.3,95,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1894,3477
$GC,2293,-0.95,-146.6,155.7,-8.3,110,2297,0.00,2.53,0.00,0.000,4,0.000,0.045,2293,3302,3477
$GC,2364,-0.95,-146.6,161.8,-8.3,113,2369,0.00,2.53,0.00,0.000,6,0.000,0.041,2293,1901,3477
$GC,2685,-0.95,-146.6,185.0,-7.0,129,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1901,3477
$GC,2994,-0.95,-146.6,207.7,-7.7,144,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1901,3477
$GC,3303,-0.95,-146.6,230.8,-7.1,159,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1901,3477
$GC,3613,-0.95,-146.6,252.6,-6.3,174,3616,0.00,2.50,0.00,0.000,4,0.000,0.045,2293,3302,3477
$GC,3707,-0.95,-146.6,258.4,-5.5,178,3711,0.00,2.53,0.00,0.000,6,0.000,0.041,2293,1898,3477
$GC,4034,-0.95,-146.6,276.8,-5.5,194,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1898,3477
$GC,4343,-0.95,-146.6,294.6,-5.4,209,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1898,3477
$GC,4652,-0.95,-146.6,310.0,-5.2,224,4656,0.00,2.50,0.00,0.000,4,0.000,0.046,2293,3295,3477
$GC,4708,-0.95,-146.6,312.9,-5.6,226,4714,0.00,2.47,0.00,0.000,6,0.000,0.041,2293,1898,3477
$GC,5022,-0.95,-146.6,330.0,-5.3,242,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1898,3477
$GC,5332,-0.95,-146.6,346.3,-5.4,257,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1898,3477
$GC,5641,-0.95,-146.6,363.7,-5.8,272,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1898,3476
$GC,5950,-0.95,-146.6,382.5,-6.2,287,5954,0.00,2.50,0.00,0.000,4,0.000,0.048,2293,3295,3476
$GC,6021,-0.95,-146.6,386.8,-5.7,290,6026,0.00,2.47,0.00,0.000,6,0.000,0.043,2293,1902,3476
$GC,6343,-0.95,-146.6,405.6,-5.3,306,6347,0.00,2.50,0.00,0.000,4,0.000,0.048,2293,3296,3476
$GC,6404,-0.95,-146.6,409.0,-5.6,309,6408,0.00,2.50,0.00,0.000,6,0.000,0.044,2293,1896,3476
$GC,6729,-0.95,-146.6,427.7,-6.0,325,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1896,3476
$GC,7038,-0.95,-146.6,449.4,-7.4,340,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1896,3476
$GC,7347,-0.95,-146.6,472.0,-7.0,355,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1896,3476
$GC,7657,-0.95,-146.6,491.7,-6.0,370,7661,0.00,2.53,0.00,0.000,4,0.000,0.051,2293,3297,3476
$GC,7710,-0.95,-146.6,495.2,-6.9,372,7717,0.00,2.53,0.00,0.000,6,0.000,0.046,2293,1907,3476
$GC,8026,-0.95,-146.6,515.0,-5.9,388,8027,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1907,3476
$GC,8336,-0.95,-146.6,532.0,-5.7,403,8340,0.00,2.53,0.00,0.000,4,0.000,0.053,2293,3298,3476
$GC,8401,-0.95,-146.6,536.1,-7.1,406,8405,0.00,2.53,0.00,0.000,6,0.000,0.046,2293,1905,3475
$GC,8728,-0.95,-146.6,555.4,-5.8,422,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1905,3475
$GC,9037,-0.95,-146.6,573.9,-6.4,437,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1905,3475
$GC,9346,-0.95,-146.6,595.8,-6.9,452,9347,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1905,3475
$GC,9655,-0.95,-146.6,618.5,-7.8,467,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1905,3474
$GC,9965,-0.95,-146.6,639.6,-6.6,482,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1905,3474
$GC,10274,-0.95,-146.6,658.1,-5.6,497,10279,0.00,2.55,0.00,0.000,4,0.000,0.059,2293,3296,3474
$GC,10374,-0.95,-146.6,665.0,-8.6,501,10381,0.00,2.50,0.00,0.000,6,0.000,0.051,2293,1902,3474
$STATE,10523,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10523,begin apogee
$GC,10528,-0.36,0.0,676.0,6.7,509,10653,0.57,0.00,121.90,1.233,6,0.074,0.000,2418,2098,2878
$STATE,10653,end apogee,CONTROL_FINISHED_OK
$STATE,10654,begin climb
$GC,10655,0.95,146.6,678.9,0.0,515,10786,1.25,2.70,120.85,1.191,4,0.053,0.063,2698,3497,2280
$GC,10865,0.95,146.6,671.6,6.9,525,10869,0.00,2.55,0.00,0.000,6,0.000,0.049,2698,2100,2280
$GC,11192,1.02,201.7,659.6,4.4,541,11240,0.00,0.00,46.62,1.198,6,0.000,0.000,2698,2099,2055
$GC,11540,1.02,201.7,637.1,8.0,558,11544,0.00,2.60,0.00,0.000,4,0.000,0.058,2698,3500,2054
$GC,11640,1.02,201.7,628.5,8.9,562,11647,0.00,2.55,0.00,0.000,6,0.000,0.048,2698,2094,2054
$GC,11955,1.02,201.7,607.2,7.1,578,11956,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2094,2054
$GC,12264,1.02,201.7,586.2,6.4,593,12265,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2093,2053
$GC,12573,1.02,201.7,566.6,6.1,608,12575,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2094,2052
$GC,12883,1.05,228.4,549.5,5.2,623,12908,0.12,0.00,22.33,1.184,6,0.049,0.000,2743,2094,1946
$GC,13212,1.05,228.4,524.2,8.3,639,13213,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2094,1946
$GC,13521,1.05,228.4,498.7,8.4,654,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2094,1946
$GC,13831,1.05,228.4,470.7,9.1,669,13835,0.00,2.55,0.00,0.000,4,0.000,0.052,2743,3499,1946
$GC,13941,1.05,228.4,460.5,9.2,674,13945,0.00,2.53,0.00,0.000,6,0.000,0.044,2743,2102,1945
$GC,14267,1.05,228.4,429.5,9.9,690,14269,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2102,1945
$GC,14577,1.05,228.4,400.4,9.3,705,14581,0.00,2.53,0.00,0.000,4,0.000,0.049,2743,3507,1946
$GC,14653,1.05,228.4,392.9,9.6,708,14660,0.00,2.53,0.00,0.000,6,0.000,0.043,2743,2105,1946
$GC,14969,1.05,228.4,362.5,9.8,724,14970,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2105,1946
$GC,15278,1.05,228.4,333.9,8.8,739,15279,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2105,1946
$GC,15587,1.05,228.4,308.6,7.9,754,15588,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2105,1946
$GC,15896,1.05,228.4,285.8,6.8,769,15900,0.00,2.50,0.00,0.000,4,0.000,0.048,2743,3507,1947
$GC,15979,1.05,228.4,279.9,7.5,772,15986,0.00,2.53,0.00,0.000,6,0.000,0.041,2743,2094,1946
$GC,16294,1.05,228.4,258.1,7.5,788,16296,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2094,1947
$GC,16604,1.05,228.4,233.0,8.2,803,16605,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2094,1947
$GC,16913,1.05,228.4,207.0,8.6,818,16914,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2094,1948
$GC,17222,1.05,228.4,179.9,8.7,833,17223,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2094,1948
$GC,17531,1.05,228.4,153.7,8.4,848,17535,0.00,2.53,0.00,0.000,4,0.000,0.047,2743,3502,1948
$GC,17637,1.05,228.4,144.1,8.9,852,17644,0.00,2.50,0.00,0.000,6,0.000,0.039,2743,2098,1948
$GC,17952,1.05,228.4,119.0,7.3,868,17954,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2098,1948
$GC,18262,1.05,228.4,97.2,7.2,883,18263,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2098,1949
$GC,18571,1.05,228.4,73.4,7.5,898,18572,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2098,1948
$GC,18881,1.06,236.1,51.4,5.8,913,18895,0.00,2.58,7.43,0.875,4,0.000,0.047,2743,3500,1915
$GC,18956,1.06,236.1,44.7,9.0,916,18961,0.00,2.50,0.00,0.000,6,0.000,0.038,2743,2101,1915
$GC,19278,1.06,236.1,16.6,8.6,932,19279,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2101,1915
$GC,19587,1.31,437.9,2.7,-0.0,947,19699,0.15,2.65,104.55,0.755,4,0.053,0.058,2789,694,1092
$GC,19712,1.58,659.5,2.4,-0.6,953,19779,0.22,2.50,60.62,0.730,6,0.058,0.040,2838,2109,603
$STATE,20078,end climb,NO_VERTICAL_VELOCITY
$STATE,20078,begin surface
$SM_CCo,20499,0.00,0.000,0,0,604,557.81
$SM_GC,3.24,12.05,0.00,0.00,0.028,0.000,0.000,32,1891,604,-11.26,-0.25,557.81
$IRIDIUM_FIX,6135.28,-945.07,031207,222231
$TT8_MAMPS,0.026845
$HUMID,2060
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,15.70
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,600.2,85.5
$24V_AH,23.4,29.614
$10V_AH,10.1,13.295
$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,25.850,91.775,484.300,0.000,0.000,37.153,37.828,150.939,7.750,0.000,0.000,13.643,1692.643,16085.637,627.488,2034.259,381.658,33.364,1648.932,0.000,2005.065,0.000,34.673
$DEVICE_MAMPS,119.652,62.894,1233.336,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,710.027,657.871,644.513,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47434,971
$CFSIZE,260165632,251736064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,041207,052801,6200.713,-937.028,40,0.8,40,-9.7