version: 66.02
glider: 102
mission: 4
dive: 118
start: 12 4 107 23 26 39
data:
$ID,102
$MISSION,4
$DIVE,118
$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,-78450.352
$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,31
$R_STBD_OVSHOOT,38
$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
$GPS1,232038,6207.586,-940.024,32,1.1,32,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.06
$_SM_ANGLEo,-55.9
$GPS2,232545,6207.583,-939.997,11,1.1,11,-9.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.207,0.028
$KALMAN_X,94232.6,-669.9,643.4,-155878.6,19578.3
$KALMAN_Y,123391.4,129.2,2809.6,-62557.8,5940.0
$MHEAD_RNG_PITCHd_Wd,287.5,9905,-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,-22.35,0.000,2,0.000,0.000,27,1881,1105
$GC,46,-0.95,-146.6,3.1,-0.0,1,235,11.27,2.55,-170.50,0.000,4,0.111,0.058,2286,3295,3475
$GC,245,-0.95,-146.6,3.8,-5.6,10,253,0.00,2.50,0.00,0.000,6,0.000,0.040,2286,1906,3476
$GC,561,-0.95,-146.6,27.3,-7.7,26,565,0.00,2.60,0.00,0.000,4,0.000,0.064,2286,499,3476
$GC,817,-0.95,-146.6,48.5,-7.5,37,825,0.00,2.47,0.00,0.000,6,0.000,0.040,2286,1897,3476
$GC,1133,-0.95,-146.6,72.7,-7.5,53,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3476
$GC,1442,-0.95,-146.6,97.0,-8.2,68,1447,0.00,2.50,0.00,0.000,4,0.000,0.046,2286,3295,3476
$GC,1527,-0.95,-146.6,104.2,-8.5,72,1531,0.00,2.47,0.00,0.000,6,0.000,0.041,2286,1904,3475
$GC,1852,-0.95,-146.6,130.5,-8.2,88,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3475
$GC,2161,-0.95,-146.6,156.1,-8.2,103,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,2470,-0.95,-146.6,181.0,-7.9,118,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,2779,-0.95,-146.6,206.0,-8.0,133,2784,0.00,2.50,0.00,0.000,4,0.000,0.045,2286,3301,3476
$GC,2857,-0.95,-146.6,212.4,-8.4,136,2864,0.00,2.53,0.00,0.000,6,0.000,0.043,2287,1902,3476
$GC,3172,-0.95,-146.6,236.2,-7.6,152,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,3481,-0.95,-146.6,259.9,-7.9,167,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,3791,-0.95,-146.6,284.0,-7.8,182,3795,0.00,2.50,0.00,0.000,4,0.000,0.046,2286,3298,3476
$GC,3856,-0.95,-146.6,289.4,-8.2,185,3860,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1902,3476
$GC,4183,-0.95,-146.6,314.0,-7.3,201,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3476
$GC,4492,-0.95,-146.6,337.0,-7.3,216,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,4802,-0.95,-146.6,357.9,-6.6,231,4806,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3297,3476
$GC,4856,-0.95,-146.6,361.7,-7.6,233,4862,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1903,3476
$GC,5171,-0.95,-146.6,382.5,-6.5,249,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,5481,-0.95,-146.6,401.3,-5.5,264,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3476
$GC,5790,-0.95,-146.6,417.6,-5.4,279,5794,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3304,3476
$GC,5856,-0.95,-146.6,421.4,-5.9,282,5860,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1895,3475
$GC,6182,-0.95,-146.6,439.8,-6.0,298,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,6491,-0.95,-146.6,460.8,-7.6,313,6495,0.00,2.53,0.00,0.000,4,0.000,0.049,2287,3299,3476
$GC,6580,-0.95,-146.6,468.2,-8.6,317,6584,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1888,3476
$GC,6906,-0.95,-146.6,495.2,-8.3,333,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1888,3475
$GC,7215,-0.95,-146.6,520.9,-8.4,348,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1888,3475
$GC,7525,-0.95,-146.6,543.1,-6.4,363,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1888,3475
$GC,7834,-0.95,-146.6,560.5,-5.3,378,7839,0.00,2.55,0.00,0.000,4,0.000,0.054,2286,3302,3475
$GC,7923,-0.95,-146.6,566.0,-6.3,382,7927,0.00,2.55,0.00,0.000,6,0.000,0.049,2286,1907,3475
$GC,8249,-0.95,-146.6,583.5,-4.8,398,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3475
$GC,8559,-0.95,-146.6,600.0,-5.7,413,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3474
$GC,8868,-0.95,-146.6,621.7,-7.7,428,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3474
$GC,9177,-0.95,-146.6,643.5,-6.9,443,9181,0.00,2.53,0.00,0.000,4,0.000,0.059,2287,3294,3474
$GC,9254,-0.95,-146.6,648.1,-5.6,446,9260,0.00,2.53,0.00,0.000,6,0.000,0.052,2286,1901,3474
$GC,9569,-0.95,-146.6,665.2,-5.8,462,9571,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3474
$STATE,9836,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9836,begin apogee
$GC,9840,-0.36,0.0,680.7,6.0,475,9966,0.60,0.00,122.32,1.249,6,0.079,0.000,2414,2095,2878
$STATE,9966,end apogee,CONTROL_FINISHED_OK
$STATE,9966,begin climb
$GC,9968,0.95,146.6,684.7,0.0,481,10093,1.30,0.00,121.03,1.217,6,0.057,0.000,2702,2094,2279
$GC,10400,0.96,154.3,666.2,5.8,502,10409,0.00,0.00,7.32,1.200,6,0.000,0.000,2701,2094,2249
$GC,10707,0.96,154.3,645.4,6.4,517,10708,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2095,2249
$GC,11017,0.96,154.3,625.2,6.4,532,11018,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2095,2248
$GC,11326,1.03,217.7,610.6,4.1,547,11388,0.00,2.70,52.60,1.225,4,0.000,0.060,2701,3494,1990
$GC,11483,1.03,217.7,602.3,6.1,554,11487,0.00,2.55,0.00,0.000,6,0.000,0.053,2702,2103,1989
$GC,11802,1.03,217.7,584.9,6.0,570,11807,0.00,2.65,0.00,0.000,4,0.000,0.075,2702,691,1989
$GC,11864,1.03,217.7,580.5,6.9,573,11868,0.00,2.53,0.00,0.000,6,0.000,0.048,2701,2105,1989
$GC,12189,1.03,217.7,556.2,7.9,589,12190,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2106,1988
$GC,12498,1.03,217.7,532.1,7.6,604,12499,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2107,1987
$GC,12807,1.03,217.7,511.0,6.7,619,12808,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2107,1988
$GC,13117,1.03,217.7,492.1,6.2,634,13118,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2109,1987
$GC,13426,1.03,217.7,472.4,6.5,649,13427,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2109,1987
$GC,13735,1.03,217.7,450.9,7.2,664,13736,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2109,1987
$GC,14044,1.03,217.7,428.0,7.4,679,14049,0.00,2.65,0.00,0.000,4,0.000,0.066,2702,685,1988
$GC,14132,1.03,217.7,420.9,8.0,683,14137,0.00,2.50,0.00,0.000,6,0.000,0.042,2702,2095,1987
$GC,14459,1.03,217.7,398.6,6.6,699,14460,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2095,1988
$GC,14769,1.03,217.7,379.0,6.3,714,14770,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2099,1989
$GC,15078,1.03,217.7,359.2,6.5,729,15082,0.00,2.58,0.00,0.000,4,0.000,0.062,2702,689,1989
$GC,15149,1.03,217.7,354.0,7.4,732,15153,0.00,2.50,0.00,0.000,6,0.000,0.041,2701,2109,1989
$GC,15470,1.03,217.7,331.4,7.4,748,15471,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2114,1989
$GC,15779,1.03,217.7,309.4,7.0,763,15780,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2114,1990
$GC,16088,1.03,217.7,287.8,7.2,778,16092,0.00,2.62,0.00,0.000,4,0.000,0.061,2702,687,1990
$GC,16143,1.03,217.7,283.7,7.0,780,16150,0.00,2.47,0.00,0.000,6,0.000,0.040,2701,2093,1990
$GC,16459,1.03,217.7,261.8,7.0,796,16460,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2097,1991
$GC,16768,1.03,217.7,240.0,6.9,811,16772,0.00,2.58,0.00,0.000,4,0.000,0.059,2701,684,1991
$GC,16844,1.03,217.7,234.4,7.6,814,16851,0.00,2.47,0.00,0.000,6,0.000,0.040,2702,2097,1991
$GC,17160,1.03,217.7,212.9,6.8,830,17161,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,1991
$GC,17469,1.03,217.7,191.6,7.1,845,17470,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,1991
$GC,17778,1.03,217.7,170.7,6.5,860,17783,0.00,2.58,0.00,0.000,4,0.000,0.060,2702,688,1992
$GC,17833,1.03,217.7,167.0,6.6,862,17840,0.00,2.47,0.00,0.000,6,0.000,0.038,2702,2093,1991
$GC,18149,1.03,217.7,146.2,6.7,878,18150,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2097,1991
$GC,18458,1.03,217.7,125.9,6.3,893,18459,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2097,1991
$GC,18768,1.04,222.8,107.2,5.8,908,18778,0.00,2.60,5.78,0.906,4,0.000,0.059,2702,690,1969
$GC,18833,1.04,222.8,102.8,6.7,911,18838,0.00,2.50,0.00,0.000,6,0.000,0.038,2702,2099,1968
$GC,19161,1.05,234.0,83.1,5.7,927,19173,0.10,0.00,9.75,0.898,6,0.056,0.000,2745,2103,1923
$GC,19471,1.05,234.0,61.5,7.1,942,19475,0.00,2.60,0.00,0.000,4,0.000,0.060,2745,689,1923
$GC,19548,1.05,234.0,55.1,8.3,945,19555,0.00,2.50,0.00,0.000,6,0.000,0.038,2745,2098,1923
$GC,19863,1.05,234.0,31.4,7.6,961,19864,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2102,1923
$GC,20173,1.05,234.0,7.6,7.7,976,20174,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2102,1924
$GC,20482,1.30,436.2,2.5,-0.0,991,20590,0.15,0.00,104.50,0.770,6,0.061,0.000,2788,2104,1097
$STATE,20872,end climb,NO_VERTICAL_VELOCITY
$STATE,20872,begin surface
$SM_CCo,20874,61.72,0.749,0,0,603,558.06
$SM_GC,3.09,11.82,0.00,0.00,0.026,0.000,0.000,26,1885,604,-11.27,-0.42,557.81
$IRIDIUM_FIX,6139.81,-941.33,041207,212113
$TT8_MAMPS,0.026845
$HUMID,2054
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,601.3,88.7
$24V_AH,23.4,30.265
$10V_AH,10.1,13.665
$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,25.250,97.225,423.300,61.725,0.000,36.692,30.714,147.189,6.750,0.000,0.000,12.858,1767.411,16745.191,679.755,2096.826,377.944,33.358,1715.714,0.000,2068.605,0.000,34.684
$DEVICE_MAMPS,111.215,75.166,1249.443,749.359,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,735.618,683.061,668.253,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50538,1010
$CFSIZE,260165632,251469824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,051207,052338,6210.864,-940.681,28,1.2,28,-9.8