version: 66.02
glider: 102
mission: 4
dive: 116
start: 12 4 107 11 23 3
data:
$ID,102
$MISSION,4
$DIVE,116
$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,-78424.203
$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,36
$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
$GPS1,111631,6201.551,-939.595,48,1.2,48,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.13
$_SM_ANGLEo,-46.9
$GPS2,112209,6201.593,-939.646,11,1.6,11,-9.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.196,0.071
$KALMAN_X,85908.6,-754.9,-1718.5,-144768.8,18128.8
$KALMAN_Y,115659.7,908.9,683.3,-64599.4,-3514.2
$MHEAD_RNG_PITCHd_Wd,299.7,10974,-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,-146.6,0.0,0.0,0,25,0.00,0.00,-4.50,0.000,2,0.000,0.000,26,1879,711
$GC,28,-0.95,-146.6,3.1,-0.0,0,186,10.85,2.55,-140.12,0.000,4,0.092,0.058,2287,3295,3476
$GC,439,-0.95,-146.6,27.5,-6.8,19,443,0.00,2.47,0.00,0.000,6,0.000,0.041,2287,1922,3477
$GC,760,-0.95,-146.6,46.6,-7.5,35,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1922,3477
$GC,1069,-0.95,-146.6,70.4,-9.2,50,1074,0.00,2.45,0.00,0.000,4,0.000,0.044,2287,3300,3477
$GC,1131,-0.95,-146.6,76.4,-9.5,53,1135,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1895,3476
$GC,1456,-0.95,-146.6,102.7,-9.4,69,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3476
$GC,1766,-0.95,-146.6,128.7,-7.2,84,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3477
$GC,2075,-0.95,-146.6,152.3,-7.4,99,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1896,3477
$GC,2384,-0.95,-146.6,179.4,-9.0,114,2388,0.00,2.50,0.00,0.000,4,0.000,0.045,2287,3298,3477
$GC,2472,-0.95,-146.6,186.8,-7.5,118,2476,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1901,3477
$GC,2798,-0.95,-146.6,210.4,-6.8,134,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3477
$GC,3108,-0.95,-146.6,230.9,-6.6,149,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3477
$GC,3417,-0.95,-146.6,252.7,-7.0,164,3421,0.00,2.50,0.00,0.000,4,0.000,0.045,2287,3300,3477
$GC,3493,-0.95,-146.6,258.2,-6.8,167,3500,0.00,2.53,0.00,0.000,6,0.000,0.042,2287,1898,3476
$GC,3809,-0.95,-146.6,278.8,-6.4,183,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3476
$GC,4118,-0.95,-146.6,297.4,-5.8,198,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3477
$GC,4427,-0.95,-146.6,317.2,-6.4,213,4431,0.00,2.50,0.00,0.000,4,0.000,0.046,2287,3302,3477
$GC,4510,-0.95,-146.6,322.8,-6.8,216,4517,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1902,3477
$GC,4825,-0.95,-146.6,344.1,-7.1,232,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1903,3477
$GC,5135,-0.95,-146.6,366.3,-7.0,247,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3477
$GC,5444,-0.95,-146.6,388.4,-7.1,262,5448,0.00,2.50,0.00,0.000,4,0.000,0.047,2287,3297,3477
$GC,5522,-0.95,-146.6,394.1,-7.3,265,5528,0.00,2.50,0.00,0.000,6,0.000,0.044,2287,1895,3477
$GC,5836,-0.95,-146.6,418.4,-8.6,281,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3477
$GC,6146,-0.95,-146.6,443.7,-7.8,296,6150,0.00,2.53,0.00,0.000,4,0.000,0.049,2287,3300,3477
$GC,6240,-0.95,-146.6,451.2,-8.0,300,6245,0.00,2.50,0.00,0.000,6,0.000,0.045,2286,1901,3476
$GC,6561,-0.95,-146.6,472.8,-6.4,316,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3477
$GC,6871,-0.95,-146.6,492.4,-6.4,331,6875,0.00,2.50,0.00,0.000,4,0.000,0.049,2287,3296,3477
$GC,6936,-0.95,-146.6,496.9,-6.8,334,6941,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1898,3477
$GC,7263,-0.95,-146.6,517.5,-6.6,350,7267,0.00,2.53,0.00,0.000,4,0.000,0.050,2287,3298,3477
$GC,7311,-0.95,-146.6,520.9,-7.2,352,7316,0.00,2.53,0.00,0.000,6,0.000,0.045,2287,1905,3476
$GC,7632,-0.95,-146.6,542.0,-6.6,368,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3477
$GC,7942,-0.95,-146.6,562.4,-6.6,383,7946,0.00,2.53,0.00,0.000,4,0.000,0.052,2287,3300,3477
$GC,8040,-0.95,-146.6,569.5,-7.3,387,8047,0.00,2.55,0.00,0.000,6,0.000,0.048,2287,1901,3476
$GC,8356,-0.95,-146.6,589.2,-5.7,403,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,8666,-0.95,-146.6,605.9,-5.2,418,8670,0.00,2.55,0.00,0.000,4,0.000,0.055,2286,3299,3476
$GC,8749,-0.95,-146.6,610.2,-5.2,422,8753,0.00,2.53,0.00,0.000,6,0.000,0.049,2286,1900,3476
$GC,9075,-0.95,-146.6,627.3,-5.3,438,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,9384,-0.95,-146.6,643.2,-5.4,453,9388,0.00,2.60,0.00,0.000,4,0.000,0.069,2286,493,3475
$GC,9456,-0.95,-146.6,647.8,-6.9,456,9460,0.00,2.47,0.00,0.000,6,0.000,0.047,2286,1896,3475
$GC,9771,-0.95,-146.6,664.2,-5.2,471,9772,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3475
$GC,10080,-0.95,-146.6,681.7,-5.7,486,10084,0.00,2.58,0.00,0.000,4,0.000,0.060,2286,3303,3475
$GC,10168,-0.95,-146.6,686.8,-5.7,490,10172,0.00,2.55,0.00,0.000,6,0.000,0.054,2286,1903,3475
$GC,10495,-0.95,-146.6,705.9,-6.4,506,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1903,3474
$STATE,10534,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10534,begin apogee
$GC,10539,-0.36,0.0,708.4,6.2,508,10665,0.60,0.00,122.80,1.263,6,0.074,0.000,2416,2098,2878
$STATE,10666,end apogee,CONTROL_FINISHED_OK
$STATE,10666,begin climb
$GC,10667,0.95,146.6,711.5,0.0,514,10798,1.30,0.00,122.00,1.220,6,0.054,0.000,2703,2098,2280
$GC,11107,0.95,146.6,689.0,6.3,536,11111,0.00,2.60,0.00,0.000,4,0.000,0.062,2703,3499,2279
$GC,11213,0.95,146.6,681.3,7.2,541,11217,0.00,2.55,0.00,0.000,6,0.000,0.051,2703,2099,2279
$GC,11539,0.96,155.9,661.9,5.7,557,11553,0.00,2.67,8.62,1.243,4,0.000,0.060,2703,3501,2242
$GC,11799,0.96,155.9,645.1,6.1,568,11806,0.00,2.58,0.00,0.000,6,0.000,0.051,2703,2103,2241
$GC,12115,1.00,187.0,628.7,5.1,584,12143,0.00,0.00,26.50,1.245,6,0.000,0.000,2703,2103,2115
$GC,12444,1.00,187.0,609.8,6.1,600,12448,0.00,2.65,0.00,0.000,4,0.000,0.070,2703,686,2114
$GC,12504,1.00,187.0,606.0,6.2,603,12509,0.00,2.53,0.00,0.000,6,0.000,0.047,2703,2105,2114
$GC,12830,1.00,187.0,587.0,6.2,619,12831,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,2114
$GC,13139,1.00,187.0,567.0,6.3,634,13144,0.00,2.55,0.00,0.000,4,0.000,0.057,2703,3500,2114
$GC,13212,1.00,187.0,562.1,7.1,637,13217,0.00,2.55,0.00,0.000,6,0.000,0.048,2703,2094,2114
$GC,13527,1.00,187.0,542.1,6.2,652,13528,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2094,2114
$GC,13836,1.00,187.0,522.0,6.2,667,13837,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2094,2114
$GC,14146,1.00,190.5,503.4,5.9,682,14152,0.00,0.00,4.05,1.121,6,0.000,0.000,2703,2094,2101
$GC,14455,1.01,199.6,485.2,5.7,697,14465,0.00,0.00,8.62,1.153,6,0.000,0.000,2703,2094,2064
$GC,14764,1.01,199.6,466.3,6.6,712,14768,0.00,2.55,0.00,0.000,4,0.000,0.053,2703,3507,2064
$GC,14847,1.01,199.6,460.7,7.2,716,14852,0.00,2.53,0.00,0.000,6,0.000,0.044,2703,2098,2064
$GC,15173,1.04,222.8,442.0,5.3,732,15195,0.00,0.00,20.00,1.108,6,0.000,0.000,2703,2098,1968
$GC,15502,1.04,222.8,422.4,6.2,748,15504,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,1969
$GC,15811,1.04,222.8,401.7,7.0,763,15813,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,1969
$GC,16121,1.04,222.8,378.2,7.6,778,16122,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,1970
$GC,16430,1.04,222.8,355.5,7.1,793,16431,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,1970
$GC,16739,1.04,222.8,334.3,6.9,808,16744,0.00,2.60,0.00,0.000,4,0.000,0.065,2703,687,1970
$GC,16801,1.04,222.8,329.6,7.6,811,16805,0.00,2.50,0.00,0.000,6,0.000,0.040,2703,2107,1970
$GC,17126,1.04,222.8,306.0,7.5,827,17127,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2112,1970
$GC,17435,1.04,222.8,279.0,9.7,842,17436,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2111,1971
$GC,17744,1.04,222.8,250.5,9.0,857,17749,0.00,2.60,0.00,0.000,4,0.000,0.061,2703,693,1971
$GC,17794,1.04,222.8,245.8,9.6,859,17798,0.00,2.47,0.00,0.000,6,0.000,0.039,2703,2105,1971
$GC,18115,1.04,222.8,217.9,9.1,875,18116,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2109,1971
$GC,18424,1.04,222.8,190.2,9.1,890,18425,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2109,1971
$GC,18733,1.04,222.8,165.3,8.5,905,18734,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2109,1972
$GC,19043,1.04,222.8,140.3,7.5,920,19044,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2109,1972
$GC,19352,1.06,238.6,117.9,5.5,935,19375,0.10,2.65,13.77,0.906,4,0.055,0.060,2744,698,1905
$GC,19430,1.06,238.6,112.2,8.1,938,19434,0.00,2.50,0.00,0.000,6,0.000,0.038,2744,2102,1905
$GC,19752,1.06,238.6,88.5,7.4,954,19753,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2105,1905
$GC,20060,1.06,238.6,64.8,6.8,969,20062,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2105,1905
$GC,20370,1.06,238.6,40.9,7.9,984,20371,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2105,1905
$GC,20679,1.06,238.6,15.9,9.5,999,20680,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2105,1905
$GC,20989,1.30,435.2,2.5,0.1,1014,21096,0.15,2.55,101.30,0.755,4,0.062,0.045,2786,3499,1102
$GC,21297,1.54,624.9,2.4,0.3,1028,21365,0.20,2.55,61.67,0.739,6,0.055,0.047,2834,2092,602
$STATE,21489,end climb,NO_VERTICAL_VELOCITY
$STATE,21489,begin surface
$SM_CCo,21911,0.00,0.000,0,0,603,558.06
$SM_GC,3.20,12.10,0.00,0.00,0.031,0.000,0.000,31,1894,603,-11.26,-0.20,558.06
$IRIDIUM_FIX,6135.28,-958.62,041207,090912
$TT8_MAMPS,0.026845
$HUMID,2048
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.90
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,625.2,91.8
$24V_AH,23.4,29.937
$10V_AH,10.1,13.482
$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,25.300,112.325,489.350,0.000,0.000,33.089,40.103,161.420,7.750,0.000,0.000,12.881,1848.986,17097.588,632.618,2262.918,409.636,33.366,1754.352,0.000,2227.900,0.000,36.307
$DEVICE_MAMPS,92.040,69.797,1263.249,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,763.595,701.298,656.609,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50646,1037
$CFSIZE,260165632,251588608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,041207,172925,6205.129,-939.773,38,1.2,38,-9.8