version: 66.02
glider: 102
mission: 4
dive: 121
start: 12 5 107 15 9 32
data:
$ID,102
$MISSION,4
$DIVE,121
$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,-78495.258
$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,29
$R_STBD_OVSHOOT,39
$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
$GPS1,150338,6211.015,-938.938,31,1.2,31,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.15
$_SM_ANGLEo,-60.8
$GPS2,150839,6211.046,-938.878,10,1.7,10,-9.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,0.019
$KALMAN_X,97271.9,-302.3,13084.0,-170727.5,2184.7
$KALMAN_Y,125478.4,-137.8,12745.4,-67868.0,-5952.7
$MHEAD_RNG_PITCHd_Wd,285.1,14778,-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,-146.6,0.0,0.0,0,43,0.00,0.00,-21.75,0.000,2,0.000,0.000,29,1880,1076
$GC,45,-0.95,-146.6,3.2,-0.0,1,232,11.32,2.55,-167.20,0.000,4,0.114,0.072,2287,498,3476
$GC,265,-0.95,-146.6,7.3,-8.8,11,269,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1896,3476
$GC,586,-0.95,-146.6,32.2,-7.6,27,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3476
$GC,895,-0.95,-146.6,55.6,-7.3,42,900,0.00,2.53,0.00,0.000,4,0.000,0.046,2287,3304,3476
$GC,1002,-0.95,-146.6,63.7,-7.4,47,1007,0.00,2.50,0.00,0.000,6,0.000,0.042,2287,1906,3476
$GC,1328,-0.95,-146.6,85.5,-6.4,63,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3476
$GC,1637,-0.95,-146.6,105.8,-6.6,78,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3476
$GC,1947,-0.95,-146.6,128.3,-7.5,93,1951,0.00,2.50,0.00,0.000,4,0.000,0.046,2287,3300,3476
$GC,2012,-0.95,-146.6,133.5,-8.1,96,2017,0.00,2.53,0.00,0.000,6,0.000,0.042,2287,1902,3476
$GC,2339,-0.95,-146.6,156.8,-7.1,112,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3476
$GC,2648,-0.95,-146.6,177.9,-6.5,127,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3476
$GC,2957,-0.95,-146.6,197.9,-6.3,142,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3476
$GC,3266,-0.95,-146.6,217.1,-6.1,157,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3476
$GC,3576,-0.95,-146.6,235.7,-5.9,172,3580,0.00,2.50,0.00,0.000,4,0.000,0.046,2286,3299,3476
$GC,3660,-0.95,-146.6,241.2,-6.6,176,3665,0.00,2.50,0.00,0.000,6,0.000,0.043,2287,1900,3476
$GC,3986,-0.95,-146.6,262.4,-6.6,192,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3476
$GC,4295,-0.95,-146.6,283.1,-6.8,207,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,4604,-0.95,-146.6,305.1,-7.4,222,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3476
$GC,4914,-0.95,-146.6,330.1,-8.5,237,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,5223,-0.95,-146.6,357.2,-9.0,252,5227,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3302,3475
$GC,5307,-0.95,-146.6,365.2,-10.0,256,5311,0.00,2.53,0.00,0.000,6,0.000,0.045,2287,1899,3476
$GC,5632,-0.95,-146.6,397.8,-10.4,272,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3476
$GC,5942,-0.95,-146.6,426.6,-8.4,287,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3476
$GC,6250,-0.95,-146.6,455.4,-9.8,302,6255,0.00,2.53,0.00,0.000,4,0.000,0.049,2287,3298,3476
$GC,6329,-0.95,-146.6,463.5,-10.3,305,6335,0.00,2.53,0.00,0.000,6,0.000,0.046,2287,1893,3476
$GC,6644,-0.95,-146.6,495.9,-9.8,321,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1893,3476
$GC,6953,-0.95,-146.6,521.8,-7.6,336,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1893,3475
$GC,7263,-0.95,-146.6,541.5,-5.6,351,7267,0.00,2.55,0.00,0.000,4,0.000,0.054,2287,3297,3475
$GC,7350,-0.95,-146.6,547.1,-6.1,355,7355,0.00,2.55,0.00,0.000,6,0.000,0.048,2287,1902,3475
$GC,7678,-0.95,-146.6,568.8,-6.7,371,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3475
$GC,7987,-0.95,-146.6,581.3,-3.5,386,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3475
$GC,8296,-0.95,-146.6,595.1,-4.2,401,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3474
$GC,8606,-0.95,-146.6,606.7,-3.6,416,8610,0.00,2.58,0.00,0.000,4,0.000,0.059,2286,3296,3474
$GC,8689,-0.95,-146.6,608.2,-1.5,420,8694,0.00,2.53,0.00,0.000,6,0.000,0.053,2287,1900,3474
$GC,9016,-0.95,-146.6,624.5,-4.8,436,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3473
$GC,9325,-0.95,-146.6,640.7,-6.0,451,9326,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3472
$STATE,9508,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9508,begin apogee
$GC,9513,-0.36,0.0,650.8,6.0,460,9637,0.60,0.00,121.38,1.252,6,0.078,0.000,2415,2097,2878
$STATE,9638,end apogee,CONTROL_FINISHED_OK
$STATE,9638,begin climb
$GC,9640,0.95,146.6,654.6,0.0,466,9765,1.33,0.00,121.03,1.199,6,0.055,0.000,2705,2097,2280
$GC,10061,0.95,146.6,634.0,7.5,487,10066,0.00,2.60,0.00,0.000,4,0.000,0.060,2706,3499,2280
$GC,10178,0.95,146.6,625.2,7.3,492,10182,0.00,2.58,0.00,0.000,6,0.000,0.051,2706,2104,2279
$GC,10499,1.06,241.1,608.7,3.2,508,10584,0.00,2.70,77.75,1.206,4,0.000,0.061,2705,3500,1894
$GC,10674,1.07,246.2,597.5,5.8,516,10685,0.00,2.58,5.30,1.145,6,0.000,0.052,2705,2097,1874
$GC,11000,1.07,246.2,575.8,7.3,532,11002,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2097,1873
$GC,11310,1.09,262.2,558.0,5.5,547,11330,0.12,0.00,13.95,1.213,6,0.051,0.000,2748,2097,1809
$GC,11638,1.09,262.2,525.5,9.5,563,11643,0.00,2.65,0.00,0.000,4,0.000,0.072,2748,687,1809
$GC,11700,1.09,262.2,519.4,10.5,566,11705,0.00,2.53,0.00,0.000,6,0.000,0.046,2748,2103,1809
$GC,12026,1.09,262.2,488.8,9.6,582,12030,0.00,2.55,0.00,0.000,4,0.000,0.055,2748,3502,1809
$GC,12086,1.09,262.2,483.2,9.6,585,12091,0.00,2.55,0.00,0.000,6,0.000,0.050,2748,2095,1808
$GC,12412,1.09,262.2,453.8,9.1,601,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2095,1809
$GC,12722,1.09,262.2,423.6,10.2,616,12723,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2095,1809
$GC,13031,1.09,262.2,393.1,9.8,631,13032,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2095,1809
$GC,13340,1.09,262.2,363.6,9.5,646,13341,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2095,1809
$GC,13649,1.09,262.2,334.5,9.5,661,13650,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2094,1809
$GC,13959,1.09,262.2,305.2,9.5,676,13960,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2095,1809
$GC,14268,1.09,262.2,277.5,8.7,691,14269,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2095,1810
$GC,14577,1.09,262.2,251.6,8.5,706,14578,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2095,1810
$GC,14886,1.09,262.2,225.4,8.7,721,14888,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2095,1811
$GC,15196,1.09,262.2,196.6,9.5,736,15197,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2094,1811
$GC,15505,1.09,262.2,169.5,8.6,751,15509,0.00,2.55,0.00,0.000,4,0.000,0.062,2748,691,1811
$GC,15553,1.09,262.2,164.8,9.4,753,15558,0.00,2.47,0.00,0.000,6,0.000,0.038,2747,2117,1811
$GC,15875,1.09,262.2,135.5,9.1,769,15876,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2122,1812
$GC,16184,1.09,262.2,106.8,9.1,784,16185,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2122,1812
$GC,16493,1.09,262.2,78.5,9.2,799,16497,0.00,2.62,0.00,0.000,4,0.000,0.059,2748,689,1812
$GC,16541,1.09,262.2,73.8,9.0,801,16546,0.00,2.50,0.00,0.000,6,0.000,0.038,2748,2103,1811
$GC,16863,1.09,262.2,44.9,8.6,817,16864,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2105,1812
$GC,17172,1.09,262.2,19.3,7.8,832,17173,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2105,1812
$GC,17482,1.33,461.5,2.6,0.1,847,17590,0.15,0.00,104.50,0.765,6,0.062,0.000,2791,2107,996
$STATE,17770,end climb,NO_VERTICAL_VELOCITY
$STATE,17770,begin surface
$SM_CCo,17773,49.40,0.752,0,0,603,558.06
$SM_GC,3.28,11.95,0.00,0.00,0.031,0.000,0.000,28,1888,604,-11.27,-0.34,557.81
$IRIDIUM_FIX,6144.36,-942.88,051207,141445
$TT8_MAMPS,0.026078
$HUMID,2051
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,600.8,59.4
$24V_AH,23.4,30.812
$10V_AH,10.1,13.901
$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,25.475,72.000,443.900,49.400,0.000,36.898,41.337,136.618,6.250,0.000,0.000,12.580,1500.958,14288.279,645.355,1762.682,352.244,33.351,1529.274,0.000,1736.549,0.000,34.599
$DEVICE_MAMPS,114.283,72.098,1251.744,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,629.881,582.171,579.085,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44309,861
$CFSIZE,260165632,251330560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,051207,201438,6214.126,-938.625,29,0.9,29,-9.8