version: 66.02
glider: 102
mission: 4
dive: 119
start: 12 5 107 5 34 3
data:
$ID,102
$MISSION,4
$DIVE,119
$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,-78465.391
$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,25
$R_STBD_OVSHOOT,31
$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
$GPS1,052338,6210.864,-940.681,28,1.2,28,-9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.11
$_SM_ANGLEo,-57.7
$GPS2,053309,6211.038,-940.378,12,1.8,12,-9.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.176,-0.112
$KALMAN_X,104633.9,-998.9,-3896.4,-161738.3,13307.5
$KALMAN_Y,126725.4,-0.7,5065.8,-61601.9,2642.4
$MHEAD_RNG_PITCHd_Wd,247.5,13952,-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,-146.6,0.0,0.0,0,64,0.00,0.00,-42.80,0.000,2,0.000,0.000,26,1877,1517
$GC,66,-0.95,-146.6,3.1,-0.6,2,233,11.52,2.58,-146.98,0.000,4,0.117,0.074,2286,495,3475
$GC,316,-0.95,-146.6,10.5,-8.6,14,321,0.00,2.50,0.00,0.000,6,0.000,0.039,2286,1906,3476
$GC,645,-0.95,-146.6,35.9,-7.8,30,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,953,-0.95,-146.6,61.0,-8.0,45,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,1262,-0.95,-146.6,85.0,-7.6,60,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,1572,-0.95,-146.6,108.3,-7.4,75,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,1881,-0.95,-146.6,131.5,-7.2,90,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,2190,-0.95,-146.6,155.9,-7.8,105,2194,0.00,2.50,0.00,0.000,4,0.000,0.047,2286,3301,3476
$GC,2251,-0.95,-146.6,160.9,-8.4,108,2255,0.00,2.50,0.00,0.000,6,0.000,0.043,2286,1900,3476
$GC,2576,-0.95,-146.6,186.4,-7.9,124,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3475
$GC,2885,-0.95,-146.6,211.3,-8.1,139,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3476
$GC,3195,-0.95,-146.6,236.5,-8.0,154,3199,0.00,2.50,0.00,0.000,4,0.000,0.046,2286,3295,3475
$GC,3266,-0.95,-146.6,242.7,-8.6,157,3270,0.00,2.50,0.00,0.000,6,0.000,0.042,2286,1905,3475
$GC,3587,-0.95,-146.6,267.7,-7.6,173,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,3896,-0.95,-146.6,289.6,-7.0,188,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3475
$GC,4205,-0.95,-146.6,311.2,-6.9,203,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,4515,-0.95,-146.6,333.1,-7.0,218,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,4824,-0.95,-146.6,353.7,-6.5,233,4828,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3297,3475
$GC,4879,-0.95,-146.6,357.3,-6.6,235,4886,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1903,3475
$GC,5195,-0.95,-146.6,374.9,-5.0,251,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,5505,-0.95,-146.6,387.5,-3.8,266,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3475
$GC,5814,-0.95,-146.6,398.6,-3.8,281,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,6123,-0.95,-146.6,411.9,-4.7,296,6127,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3295,3475
$GC,6199,-0.95,-146.6,415.6,-5.2,299,6206,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1897,3475
$GC,6515,-0.95,-146.6,431.9,-5.5,315,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3475
$GC,6825,-0.95,-146.6,450.6,-6.7,330,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3475
$GC,7133,-0.95,-146.6,471.7,-7.0,345,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3474
$GC,7442,-0.95,-146.6,494.9,-7.7,360,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3474
$GC,7752,-0.95,-146.6,518.2,-7.1,375,7756,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3294,3474
$GC,7800,-0.95,-146.6,521.5,-6.7,377,7805,0.00,2.53,0.00,0.000,6,0.000,0.047,2286,1902,3474
$GC,8121,-0.95,-146.6,537.5,-4.6,393,8123,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3474
$GC,8431,-0.95,-146.6,547.4,-2.3,408,8435,0.00,2.53,0.00,0.000,4,0.000,0.053,2286,3295,3474
$GC,8479,-0.95,-146.6,548.7,-2.6,410,8484,0.00,2.53,0.00,0.000,6,0.000,0.047,2286,1893,3474
$GC,8801,-0.95,-146.6,557.2,-3.0,426,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1893,3474
$GC,9110,-0.95,-146.6,565.8,-2.7,441,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1893,3473
$GC,9419,-0.95,-146.6,577.5,-5.7,456,9424,0.00,2.55,0.00,0.000,4,0.000,0.055,2287,3293,3473
$GC,9503,-0.95,-146.6,583.8,-7.5,460,9507,0.00,2.53,0.00,0.000,6,0.000,0.049,2287,1897,3473
$GC,9829,-0.95,-146.6,620.5,-13.8,476,9833,0.00,2.62,0.00,0.000,4,0.000,0.074,2286,492,3473
$GC,9877,-0.95,-146.6,627.5,-14.4,478,9882,0.00,2.47,0.00,0.000,6,0.000,0.048,2286,1885,3473
$GC,10198,-0.95,-146.6,663.4,-10.4,494,10202,0.00,2.60,0.00,0.000,4,0.000,0.062,2286,3302,3473
$STATE,10240,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10240,begin apogee
$GC,10247,-0.36,0.0,668.6,12.1,496,10372,0.60,0.00,121.93,1.244,6,0.083,0.000,2416,2101,2878
$STATE,10373,end apogee,CONTROL_FINISHED_OK
$STATE,10373,begin climb
$GC,10374,0.95,146.6,676.4,0.0,502,10500,1.27,0.00,121.68,1.201,6,0.055,0.000,2699,2097,2280
$GC,10805,1.01,196.3,660.9,4.5,523,10849,0.00,0.00,41.97,1.209,6,0.000,0.000,2699,2097,2077
$GC,11153,1.01,196.3,637.9,9.7,540,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2097,2076
$GC,11463,1.01,196.3,617.3,6.7,555,11464,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2096,2076
$GC,11772,1.04,219.9,597.7,5.3,570,11798,0.00,2.65,20.10,1.239,4,0.000,0.061,2699,3500,1981
$GC,11876,1.17,325.2,593.5,2.9,575,11969,0.22,2.58,85.80,1.198,6,0.038,0.053,2763,2097,1552
$GC,12283,1.17,325.2,566.1,10.0,595,12284,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2097,1551
$GC,12593,1.17,325.2,516.2,16.9,610,12594,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2097,1551
$GC,12902,1.17,325.2,460.1,17.9,625,12903,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2097,1551
$GC,13211,1.17,325.2,407.7,16.4,640,13215,0.00,2.62,0.00,0.000,4,0.000,0.068,2762,690,1551
$GC,13288,1.17,325.2,394.8,16.0,643,13295,0.00,2.50,0.00,0.000,6,0.000,0.042,2762,2095,1551
$GC,13604,1.17,325.2,346.8,15.1,659,13605,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2098,1551
$GC,13913,1.17,325.2,300.4,14.7,674,13917,0.00,2.62,0.00,0.000,4,0.000,0.064,2762,687,1551
$GC,13967,1.17,325.2,292.2,14.2,676,13974,0.00,2.50,0.00,0.000,6,0.000,0.041,2762,2099,1551
$GC,14282,1.17,325.2,247.0,14.1,692,14284,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2099,1552
$GC,14592,1.17,325.2,205.5,13.2,707,14596,0.00,2.60,0.00,0.000,4,0.000,0.061,2762,690,1552
$GC,14658,1.17,325.2,196.6,12.6,710,14662,0.00,2.47,0.00,0.000,6,0.000,0.040,2762,2110,1552
$GC,14985,1.17,325.2,157.1,11.8,726,14986,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2114,1553
$GC,15294,1.17,325.2,120.9,11.8,741,15298,0.00,2.62,0.00,0.000,4,0.000,0.061,2762,690,1553
$GC,15355,1.17,325.2,113.6,12.0,744,15359,0.00,2.47,0.00,0.000,6,0.000,0.039,2762,2102,1554
$GC,15680,1.17,325.2,74.3,11.9,760,15682,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2105,1554
$GC,15989,1.17,325.2,41.4,10.0,775,15994,0.00,2.60,0.00,0.000,4,0.000,0.061,2762,689,1555
$GC,16038,1.17,325.2,36.0,10.5,777,16043,0.00,2.50,0.00,0.000,6,0.000,0.039,2762,2099,1554
$GC,16360,1.17,325.2,4.4,9.7,793,16361,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2102,1554
$GC,16669,1.42,532.3,2.5,-0.2,808,16773,0.15,0.00,100.65,0.772,2,0.051,0.000,2809,2104,771
$STATE,16774,end climb,NO_VERTICAL_VELOCITY
$STATE,16774,begin surface
$SM_CCo,16776,22.23,0.746,0,0,603,558.06
$SM_GC,3.34,11.95,0.00,0.00,0.027,0.000,0.000,26,1891,604,-11.27,-0.25,557.81
$IRIDIUM_FIX,6144.36,-951.95,051207,090931
$TT8_MAMPS,0.026845
$HUMID,2073
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,601.7,76.9
$24V_AH,23.4,30.447
$10V_AH,10.1,13.743
$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,25.725,81.300,492.125,22.225,0.000,79.247,82.791,243.749,5.750,0.000,0.000,14.412,1423.389,13472.939,682.141,1667.612,547.774,33.357,1527.957,0.000,1638.124,0.000,37.589
$DEVICE_MAMPS,116.584,74.399,1244.074,745.524,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,590.593,549.117,533.123,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41128,813
$CFSIZE,260165632,251432960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,051207,102208,6211.247,-938.072,31,1.3,31,-9.8