version: 66.02
glider: 102
mission: 4
dive: 120
start: 12 5 107 10 27 56
data:
$ID,102
$MISSION,4
$DIVE,120
$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,-78482.055
$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,23
$R_STBD_OVSHOOT,35
$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
$GPS1,102208,6211.247,-938.072,31,1.3,31,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.08
$_SM_ANGLEo,-57.7
$GPS2,102703,6211.286,-937.961,13,1.3,13,-9.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.182,-0.101
$KALMAN_X,118864.1,-430.6,-11093.0,-167233.3,31654.2
$KALMAN_Y,132670.9,-35.0,3382.8,-65377.0,11878.2
$MHEAD_RNG_PITCHd_Wd,250.7,15637,-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,18,begin dive
$GC,20,-0.95,-146.6,0.0,0.0,0,64,0.00,0.00,-42.05,0.000,2,0.000,0.000,25,1885,1498
$GC,66,-0.95,-146.6,3.0,-0.2,2,233,11.40,0.00,-152.30,0.000,6,0.116,0.000,2286,1885,3475
$GC,554,-0.95,-146.6,24.6,-6.8,26,558,0.00,2.53,0.00,0.000,4,0.000,0.045,2285,3297,3476
$GC,616,-0.95,-146.6,29.2,-6.9,29,620,0.00,2.50,0.00,0.000,6,0.000,0.042,2285,1897,3476
$GC,943,-0.95,-146.6,51.8,-7.5,45,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3476
$GC,1251,-0.95,-146.6,75.7,-7.9,60,1256,0.00,2.53,0.00,0.000,4,0.000,0.045,2286,3302,3476
$GC,1313,-0.95,-146.6,81.0,-8.7,63,1317,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1900,3476
$GC,1638,-0.95,-146.6,107.4,-8.0,79,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,1948,-0.95,-146.6,132.5,-8.2,94,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,2256,-0.95,-146.6,157.7,-8.1,109,2260,0.00,2.50,0.00,0.000,4,0.000,0.044,2285,3298,3476
$GC,2311,-0.95,-146.6,162.3,-8.7,111,2318,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1897,3476
$GC,2626,-0.95,-146.6,190.6,-9.0,127,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3476
$GC,2936,-0.95,-146.6,220.7,-10.1,142,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3476
$GC,3245,-0.95,-146.6,253.7,-10.9,157,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3475
$GC,3554,-0.95,-146.6,289.0,-11.8,172,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3476
$GC,3864,-0.95,-146.6,325.5,-11.9,187,3868,0.00,2.53,0.00,0.000,4,0.000,0.046,2286,3304,3476
$GC,3943,-0.95,-146.6,334.9,-11.9,190,3949,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1901,3476
$GC,4257,-0.95,-146.6,370.2,-10.9,206,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,4566,-0.95,-146.6,402.7,-10.1,221,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3476
$GC,4876,-0.95,-146.6,430.9,-8.8,236,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,5186,-0.95,-146.6,455.5,-7.3,251,5190,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3296,3476
$GC,5235,-0.95,-146.6,459.1,-7.1,253,5240,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1898,3476
$GC,5550,-0.95,-146.6,476.4,-4.8,268,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3476
$GC,5859,-0.95,-146.6,488.8,-3.2,283,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3476
$GC,6168,-0.95,-146.6,496.3,-1.9,298,6173,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3295,3476
$GC,6231,-0.95,-146.6,497.4,-2.0,301,6235,0.00,2.50,0.00,0.000,6,0.000,0.045,2286,1902,3476
$GC,6556,-0.95,-146.6,503.3,-3.0,317,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,6865,-0.95,-146.6,520.5,-7.1,332,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,7174,-0.95,-146.6,546.2,-8.5,347,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3476
$GC,7483,-0.95,-146.6,573.8,-8.9,362,7488,0.00,2.53,0.00,0.000,4,0.000,0.054,2286,3295,3475
$GC,7567,-0.95,-146.6,580.6,-7.8,366,7572,0.00,2.53,0.00,0.000,6,0.000,0.048,2286,1897,3475
$GC,7893,-0.95,-146.6,608.6,-9.6,382,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3475
$GC,8202,-0.95,-146.6,633.1,-5.8,397,8207,0.00,2.58,0.00,0.000,4,0.000,0.059,2286,3294,3475
$GC,8279,-0.95,-146.6,637.9,-6.2,400,8287,0.00,2.55,0.00,0.000,6,0.000,0.051,2285,1910,3474
$GC,8596,-0.95,-146.6,656.7,-5.4,416,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1909,3474
$GC,8905,-0.95,-146.6,672.0,-5.6,431,8909,0.00,2.55,0.00,0.000,4,0.000,0.061,2286,3294,3473
$GC,8970,-0.95,-146.6,676.4,-7.3,434,8975,0.00,2.58,0.00,0.000,6,0.000,0.054,2285,1903,3473
$STATE,9047,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9047,begin apogee
$GC,9052,-0.36,0.0,681.7,6.7,438,9178,0.62,0.00,122.30,1.262,6,0.074,0.000,2421,2098,2879
$STATE,9178,end apogee,CONTROL_FINISHED_OK
$STATE,9178,begin climb
$GC,9180,0.95,146.6,686.5,0.0,444,9313,1.27,2.70,121.25,1.215,4,0.054,0.064,2702,3498,2280
$GC,9335,0.98,174.8,683.6,5.2,452,9365,0.00,2.58,24.10,1.198,6,0.000,0.051,2702,2098,2165
$GC,9686,0.98,174.8,661.7,6.9,469,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,2165
$GC,9995,0.98,174.8,635.9,10.4,484,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,2164
$GC,10305,0.98,174.8,607.7,8.8,499,10306,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,2163
$GC,10614,0.98,174.8,578.9,11.0,514,10618,0.00,2.60,0.00,0.000,4,0.000,0.059,2701,3506,2162
$GC,10781,0.98,174.8,558.5,12.4,521,10787,0.00,2.55,0.00,0.000,6,0.000,0.051,2701,2099,2162
$GC,11096,1.43,541.2,552.2,-4.9,537,11403,0.43,2.65,295.40,1.160,4,0.032,0.053,2816,3511,671
$GC,11453,1.43,541.2,534.8,12.7,554,11457,0.00,2.60,0.00,0.000,6,0.000,0.052,2816,2103,671
$GC,11773,1.43,541.2,497.7,11.0,570,11777,0.00,2.67,0.00,0.000,4,0.000,0.074,2816,690,671
$GC,11912,1.43,541.2,476.8,15.3,576,11917,0.00,2.53,0.00,0.000,6,0.000,0.044,2816,2103,671
$GC,12233,1.43,541.2,436.5,12.5,592,12237,0.00,2.67,0.00,0.000,4,0.000,0.072,2816,690,671
$GC,12355,1.43,541.2,419.3,13.9,597,12361,0.00,2.50,0.00,0.000,6,0.000,0.043,2816,2098,671
$GC,12670,1.43,541.2,380.7,12.0,613,12674,0.00,2.65,0.00,0.000,4,0.000,0.070,2816,690,672
$GC,12786,1.43,541.2,364.2,14.4,618,12790,0.00,2.47,0.00,0.000,6,0.000,0.041,2816,2103,672
$GC,13107,1.43,541.2,323.7,12.7,634,13111,0.00,2.65,0.00,0.000,4,0.000,0.069,2816,690,672
$GC,13217,1.43,541.2,308.3,13.9,639,13222,0.00,2.53,0.00,0.000,6,0.000,0.041,2816,2103,672
$GC,13544,1.43,541.2,269.1,11.6,655,13548,0.00,2.65,0.00,0.000,4,0.000,0.069,2816,690,672
$GC,13660,1.43,541.2,254.0,12.6,660,13664,0.00,2.47,0.00,0.000,6,0.000,0.041,2816,2101,672
$GC,13981,1.43,541.2,217.2,11.6,676,13985,0.00,2.65,0.00,0.000,4,0.000,0.067,2815,684,673
$GC,14102,1.43,541.2,201.1,12.5,681,14109,0.00,2.50,0.00,0.000,6,0.000,0.041,2816,2102,673
$GC,14418,1.43,541.2,166.1,10.6,697,14422,0.00,2.62,0.00,0.000,4,0.000,0.067,2816,690,673
$GC,14523,1.43,541.2,153.6,11.7,702,14528,0.00,2.47,0.00,0.000,6,0.000,0.040,2816,2103,673
$GC,14851,1.43,541.2,116.8,11.5,718,14855,0.00,2.65,0.00,0.000,4,0.000,0.067,2816,684,673
$GC,14972,1.43,541.2,100.9,12.5,723,14980,0.00,2.47,0.00,0.000,6,0.000,0.040,2816,2093,674
$GC,15290,1.43,541.2,62.4,12.2,739,15294,0.00,2.62,0.00,0.000,4,0.000,0.067,2816,680,674
$GC,15388,1.43,541.2,48.2,14.1,743,15396,0.00,2.50,0.00,0.000,6,0.000,0.040,2816,2095,674
$GC,15704,1.43,541.2,6.7,13.5,759,15709,0.00,2.62,0.00,0.000,4,0.000,0.065,2816,680,674
$GC,15798,1.68,740.9,2.4,0.0,763,15819,0.20,2.50,14.70,0.848,6,0.079,0.040,2857,2110,602
$STATE,16056,end climb,NO_VERTICAL_VELOCITY
$STATE,16056,begin surface
$SM_CCo,16478,0.00,0.000,0,0,602,558.30
$SM_GC,3.25,12.18,0.00,0.00,0.031,0.000,0.000,29,1886,602,-11.27,-0.40,558.30
$IRIDIUM_FIX,6148.92,-943.65,051207,090915
$TT8_MAMPS,0.026845
$HUMID,2077
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,15.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.8,90.5
$24V_AH,23.4,30.651
$10V_AH,10.1,13.821
$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,26.100,113.250,577.750,0.000,0.000,36.241,37.221,132.625,5.500,0.000,0.000,16.034,1410.826,12445.611,710.373,1863.000,348.264,33.356,1695.666,0.000,1823.982,0.000,34.679
$DEVICE_MAMPS,115.817,74.399,1261.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,569.060,522.585,509.091,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37947,776
$CFSIZE,260165632,251383808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,051207,150338,6211.015,-938.938,31,1.2,31,-9.8