version: 66.02
glider: 102
mission: 4
dive: 117
start: 12 4 107 17 36 8
data:
$ID,102
$MISSION,4
$DIVE,117
$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,-78436.867
$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,30
$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
$GPS1,172925,6205.129,-939.773,38,1.2,38,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-54.9
$GPS2,173514,6205.176,-939.588,10,1.2,10,-9.8
$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,88770.4,-767.0,510.3,-149798.3,15939.8
$KALMAN_Y,119716.8,395.1,2412.6,-63236.2,-723.1
$MHEAD_RNG_PITCHd_Wd,288.2,9034,-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,20,-0.95,-146.6,0.0,0.0,0,43,0.00,0.00,-21.67,0.000,2,0.000,0.000,31,1888,1092
$GC,45,-0.95,-146.6,3.2,-0.0,1,231,11.35,0.00,-169.85,0.000,6,0.115,0.000,2286,1891,3475
$GC,540,-0.95,-146.6,20.2,-5.9,25,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1890,3476
$GC,848,-0.95,-146.6,42.2,-6.5,40,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1890,3476
$GC,1157,-0.95,-146.6,65.4,-7.6,55,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1891,3475
$GC,1467,-0.95,-146.6,88.8,-9.0,70,1471,0.00,2.53,0.00,0.000,4,0.000,0.045,2287,3302,3476
$GC,1532,-0.95,-146.6,94.7,-8.6,73,1536,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1900,3476
$GC,1859,-0.95,-146.6,121.7,-7.8,89,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,2170,-0.95,-146.6,148.2,-8.6,104,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3475
$GC,2477,-0.95,-146.6,171.7,-7.7,119,2481,0.00,2.50,0.00,0.000,4,0.000,0.045,2286,3300,3475
$GC,2531,-0.95,-146.6,176.0,-7.7,121,2538,0.00,2.53,0.00,0.000,6,0.000,0.042,2286,1902,3476
$GC,2847,-0.95,-146.6,199.0,-6.5,137,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,3156,-0.95,-146.6,220.2,-7.4,152,3160,0.00,2.47,0.00,0.000,4,0.000,0.045,2286,3298,3476
$GC,3250,-0.95,-146.6,228.5,-8.6,156,3254,0.00,2.50,0.00,0.000,6,0.000,0.042,2286,1896,3475
$GC,3576,-0.95,-146.6,253.1,-7.3,172,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3475
$GC,3888,-0.95,-146.6,276.3,-7.6,187,3892,0.00,2.53,0.00,0.000,4,0.000,0.047,2286,3305,3476
$GC,3977,-0.95,-146.6,283.3,-7.3,191,3981,0.00,2.50,0.00,0.000,6,0.000,0.043,2286,1899,3475
$GC,4296,-0.95,-146.6,304.2,-6.1,207,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3475
$GC,4606,-0.95,-146.6,325.7,-7.1,222,4611,0.00,2.50,0.00,0.000,4,0.000,0.047,2286,3300,3476
$GC,4661,-0.95,-146.6,330.0,-7.5,224,4668,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1901,3475
$GC,4976,-0.95,-146.6,353.6,-7.3,240,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3475
$GC,5286,-0.95,-146.6,375.2,-7.1,255,5290,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3298,3475
$GC,5352,-0.95,-146.6,380.2,-8.0,258,5357,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1902,3476
$GC,5679,-0.95,-146.6,403.4,-7.3,274,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,5988,-0.95,-146.6,427.5,-7.6,289,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3475
$GC,6298,-0.95,-146.6,447.0,-5.9,304,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3475
$GC,6607,-0.95,-146.6,463.7,-5.1,319,6611,0.00,2.53,0.00,0.000,4,0.000,0.049,2286,3301,3475
$GC,6690,-0.95,-146.6,467.8,-4.6,323,6694,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1894,3475
$GC,7016,-0.95,-146.6,483.8,-5.1,339,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3475
$GC,7325,-0.95,-146.6,497.4,-3.7,354,7326,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3475
$GC,7634,-0.95,-146.6,510.1,-5.0,369,7638,0.00,2.55,0.00,0.000,4,0.000,0.051,2286,3303,3475
$GC,7733,-0.95,-146.6,516.0,-6.4,373,7740,0.00,2.55,0.00,0.000,6,0.000,0.046,2286,1901,3475
$GC,8049,-0.95,-146.6,533.3,-5.8,389,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3474
$GC,8358,-0.95,-146.6,552.9,-5.7,404,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3475
$GC,8667,-0.95,-146.6,570.3,-5.7,419,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3474
$GC,8977,-0.95,-146.6,587.0,-5.4,434,8978,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3474
$GC,9288,-0.95,-146.6,603.4,-5.4,449,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3474
$GC,9595,-0.95,-146.6,619.1,-5.7,464,9599,0.00,2.55,0.00,0.000,4,0.000,0.057,2286,3304,3474
$GC,9701,-0.95,-146.6,626.3,-7.7,469,9705,0.00,2.55,0.00,0.000,6,0.000,0.050,2286,1897,3474
$GC,10026,-0.95,-146.6,649.6,-7.2,485,10027,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3474
$GC,10335,-0.95,-146.6,668.9,-5.9,500,10336,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3473
$STATE,10643,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10643,begin apogee
$GC,10648,-0.36,0.0,690.0,7.6,515,10773,0.60,0.00,122.38,1.253,6,0.073,0.000,2416,2093,2878
$STATE,10774,end apogee,CONTROL_FINISHED_OK
$STATE,10774,begin climb
$GC,10776,0.95,146.6,694.6,0.0,521,10907,1.27,2.75,121.25,1.212,4,0.054,0.068,2702,693,2280
$GC,11080,0.95,146.6,680.1,8.4,535,11085,0.00,2.55,0.00,0.000,6,0.000,0.048,2702,2093,2280
$GC,11407,0.95,146.6,654.2,8.3,551,11411,0.00,2.62,0.00,0.000,4,0.000,0.062,2701,3507,2279
$GC,11483,0.95,146.6,646.8,9.0,554,11490,0.00,2.58,0.00,0.000,6,0.000,0.052,2702,2094,2279
$GC,11799,0.95,146.6,621.5,7.3,570,11800,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2094,2278
$GC,12108,0.95,146.6,599.0,6.8,585,12112,0.00,2.60,0.00,0.000,4,0.000,0.060,2702,3509,2277
$GC,12326,0.96,156.2,587.2,5.7,595,12340,0.00,2.55,8.75,1.230,6,0.000,0.050,2702,2100,2241
$GC,12656,1.08,258.2,576.4,3.0,611,12747,0.12,2.65,83.70,1.195,4,0.051,0.056,2745,3506,1825
$GC,12825,1.08,258.2,566.2,7.1,619,12829,0.00,2.55,0.00,0.000,6,0.000,0.050,2745,2101,1825
$GC,13150,1.11,281.7,546.8,5.3,635,13173,0.00,0.00,20.23,1.180,6,0.000,0.000,2745,2101,1729
$GC,13480,1.14,301.1,529.7,5.4,651,13500,0.00,0.00,16.83,1.171,6,0.000,0.000,2745,2100,1650
$GC,13809,1.14,301.1,508.2,7.3,667,13813,0.00,2.62,0.00,0.000,4,0.000,0.069,2745,691,1650
$GC,13857,1.14,301.1,504.0,8.4,669,13862,0.00,2.50,0.00,0.000,6,0.000,0.043,2745,2110,1650
$GC,14178,1.14,301.1,475.6,9.3,685,14179,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2115,1650
$GC,14487,1.14,301.1,446.3,9.3,700,14488,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2115,1650
$GC,14797,1.14,301.1,416.8,9.3,715,14798,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2114,1650
$GC,15106,1.14,301.1,389.0,8.8,730,15110,0.00,2.65,0.00,0.000,4,0.000,0.064,2745,690,1651
$GC,15177,1.14,301.1,382.4,9.6,733,15181,0.00,2.50,0.00,0.000,6,0.000,0.041,2745,2099,1651
$GC,15498,1.14,301.1,354.3,8.8,749,15499,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2103,1652
$GC,15807,1.14,301.1,327.9,8.5,764,15811,0.00,2.60,0.00,0.000,4,0.000,0.063,2745,690,1652
$GC,15855,1.14,301.1,323.6,8.0,766,15860,0.00,2.53,0.00,0.000,6,0.000,0.040,2745,2104,1652
$GC,16177,1.14,301.1,297.1,8.3,782,16178,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2108,1653
$GC,16486,1.14,301.1,271.3,8.3,797,16490,0.00,2.62,0.00,0.000,4,0.000,0.062,2745,689,1652
$GC,16556,1.14,301.1,264.9,9.6,800,16561,0.00,2.50,0.00,0.000,6,0.000,0.039,2745,2098,1652
$GC,16878,1.14,301.1,239.1,7.9,816,16879,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2102,1652
$GC,17187,1.14,301.1,213.5,8.4,831,17192,0.00,2.58,0.00,0.000,4,0.000,0.061,2745,690,1652
$GC,17236,1.14,301.1,209.2,8.1,833,17241,0.00,2.47,0.00,0.000,6,0.000,0.039,2745,2105,1652
$GC,17557,1.14,301.1,183.7,8.1,849,17558,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2109,1653
$GC,17866,1.14,301.1,158.9,8.0,864,17871,0.00,2.62,0.00,0.000,4,0.000,0.061,2745,684,1653
$GC,17943,1.14,301.1,152.1,8.2,867,17950,0.00,2.50,0.00,0.000,6,0.000,0.039,2745,2104,1653
$GC,18260,1.14,301.1,126.5,8.3,883,18261,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2106,1653
$GC,18569,1.14,301.1,101.3,8.3,898,18570,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2107,1653
$GC,18878,1.14,301.1,77.2,7.4,913,18882,0.00,2.60,0.00,0.000,4,0.000,0.061,2745,689,1654
$GC,18932,1.14,301.1,72.7,7.9,915,18940,0.00,2.47,0.00,0.000,6,0.000,0.038,2745,2098,1654
$GC,19248,1.14,301.1,46.9,8.5,931,19249,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2098,1654
$GC,19557,1.14,301.1,19.7,9.0,946,19558,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2098,1654
$GC,19867,1.39,503.3,2.4,-0.0,961,19976,0.22,0.00,105.88,0.760,6,0.047,0.000,2806,2100,825
$STATE,20153,end climb,NO_VERTICAL_VELOCITY
$STATE,20153,begin surface
$SM_CCo,20155,28.60,0.757,0,0,603,558.06
$SM_GC,3.26,11.95,0.00,0.00,0.028,0.000,0.000,27,1884,603,-11.27,-0.45,558.06
$IRIDIUM_FIX,6135.28,-939.79,041207,151512
$TT8_MAMPS,0.026845
$HUMID,2041
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,600.1,99.4
$24V_AH,23.4,30.108
$10V_AH,10.1,13.572
$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,25.525,102.650,479.000,28.600,0.000,38.560,36.029,178.549,6.250,0.000,0.000,12.035,1724.224,16064.245,682.747,2072.458,410.733,33.365,1722.715,0.000,2039.123,0.000,34.708
$DEVICE_MAMPS,115.050,69.030,1253.278,757.029,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,715.803,658.794,622.227,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47455,975
$CFSIZE,260165632,251539456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,041207,232038,6207.586,-940.024,32,1.1,32,-9.8