version: 66.02
glider: 102
mission: 4
dive: 123
start: 12 6 107 1 32 2
data:
$ID,102
$MISSION,4
$DIVE,123
$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,-78548.422
$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,19
$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
$GPS1,011758,6213.709,-941.543,28,3.4,47,-9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.30
$_SM_ANGLEo,-55.2
$GPS2,013110,6213.683,-941.516,14,2.1,33,-9.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.205,-0.039
$KALMAN_X,121271.6,-1684.5,-692.2,-181846.5,30898.4
$KALMAN_Y,143212.7,-1093.8,-192.4,-66763.1,17086.9
$MHEAD_RNG_PITCHd_Wd,269.2,46185,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.95,-146.6,0.0,0.0,0,25,0.00,0.00,-3.78,0.000,2,0.000,0.000,32,1904,692
$GC,28,-0.95,-146.6,3.3,-0.0,0,233,11.05,2.53,-186.05,0.000,4,0.102,0.058,2289,3288,3476
$GC,428,-0.95,-146.6,16.9,-7.4,19,433,0.00,2.50,0.00,0.000,6,0.000,0.041,2289,1892,3476
$GC,756,-0.95,-146.6,41.4,-6.7,35,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1892,3476
$GC,1065,-0.95,-146.6,63.4,-6.3,50,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1892,3476
$GC,1374,-0.95,-146.6,85.2,-6.7,65,1378,0.00,2.53,0.00,0.000,4,0.000,0.045,2289,3300,3476
$GC,1458,-0.95,-146.6,90.9,-6.5,69,1462,0.00,2.50,0.00,0.000,6,0.000,0.041,2289,1899,3476
$GC,1784,-0.95,-146.6,112.0,-6.2,85,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3476
$GC,2093,-0.95,-146.6,129.6,-5.4,100,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3476
$GC,2403,-0.95,-146.6,147.0,-5.3,115,2407,0.00,2.50,0.00,0.000,4,0.000,0.045,2289,3298,3476
$GC,2469,-0.95,-146.6,150.6,-5.3,118,2473,0.00,2.50,0.00,0.000,6,0.000,0.041,2289,1895,3476
$GC,2795,-0.95,-146.6,166.5,-4.8,134,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1896,3476
$GC,3105,-0.95,-146.6,180.6,-4.4,149,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1896,3476
$GC,3414,-0.95,-146.6,193.3,-4.0,164,3418,0.00,2.53,0.00,0.000,4,0.000,0.046,2289,3302,3476
$GC,3475,-0.95,-146.6,196.0,-4.2,167,3479,0.00,2.50,0.00,0.000,6,0.000,0.042,2289,1900,3476
$GC,3801,-0.95,-146.6,209.7,-4.2,183,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3476
$GC,4110,-0.95,-146.6,222.1,-3.8,198,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3476
$GC,4419,-0.95,-146.6,233.7,-3.6,213,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1900,3476
$GC,4729,-0.95,-146.6,245.8,-4.1,228,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3476
$GC,5038,-0.95,-146.6,259.1,-4.7,243,5042,0.00,2.50,0.00,0.000,4,0.000,0.046,2289,3298,3476
$GC,5115,-0.95,-146.6,263.0,-5.1,246,5121,0.00,2.50,0.00,0.000,6,0.000,0.043,2289,1897,3476
$GC,5430,-0.95,-146.6,278.4,-4.8,262,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3476
$GC,5739,-0.95,-146.6,292.4,-4.3,277,5744,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3302,3476
$GC,5801,-0.95,-146.6,295.1,-4.6,280,5806,0.00,2.50,0.00,0.000,6,0.000,0.043,2289,1897,3476
$GC,6128,-0.95,-146.6,309.4,-4.1,296,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3475
$GC,6437,-0.95,-146.6,322.3,-4.4,311,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3476
$GC,6747,-0.95,-146.6,334.6,-3.7,326,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3476
$GC,7056,-0.95,-146.6,343.3,-2.2,341,7060,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3298,3475
$GC,7127,-0.95,-146.6,344.8,-2.0,344,7131,0.00,2.50,0.00,0.000,6,0.000,0.045,2289,1900,3475
$GC,7449,-0.95,-146.6,350.1,-2.0,360,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3475
$GC,7757,-0.95,-146.6,359.4,-3.8,375,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3475
$GC,8067,-0.95,-146.6,375.0,-5.2,390,8072,0.00,2.53,0.00,0.000,4,0.000,0.049,2289,3300,3475
$GC,8133,-0.95,-146.6,379.3,-5.6,393,8138,0.00,2.53,0.00,0.000,6,0.000,0.046,2289,1894,3475
$GC,8460,-0.95,-146.6,399.1,-5.7,409,8461,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3474
$GC,8770,-0.95,-146.6,415.6,-4.9,424,8774,0.00,2.53,0.00,0.000,4,0.000,0.050,2289,3297,3474
$GC,8880,-0.95,-146.6,420.7,-4.4,429,8884,0.00,2.50,0.00,0.000,6,0.000,0.045,2289,1899,3475
$GC,9207,-0.95,-146.6,433.4,-3.6,445,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3474
$GC,9516,-0.95,-146.6,444.1,-3.2,460,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3474
$GC,9825,-0.95,-146.6,455.4,-4.1,475,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3474
$GC,10135,-0.95,-146.6,468.6,-4.1,490,10139,0.00,2.53,0.00,0.000,4,0.000,0.050,2289,3301,3474
$GC,10219,-0.95,-146.6,472.4,-4.6,494,10223,0.00,2.53,0.00,0.000,6,0.000,0.047,2288,1897,3474
$GC,10544,-0.95,-146.6,488.1,-5.7,510,10545,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3473
$GC,10853,-0.95,-146.6,510.7,-8.1,525,10857,0.00,2.53,0.00,0.000,4,0.000,0.052,2289,3295,3473
$GC,10947,-0.95,-146.6,519.7,-9.8,529,10952,0.00,2.53,0.00,0.000,6,0.000,0.047,2289,1906,3474
$GC,11268,-0.95,-146.6,554.6,-11.1,545,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1905,3473
$GC,11578,-0.95,-146.6,585.7,-9.3,560,11582,0.00,2.53,0.00,0.000,4,0.000,0.056,2289,3294,3473
$GC,11661,-0.95,-146.6,593.1,-8.1,564,11665,0.00,2.53,0.00,0.000,6,0.000,0.049,2289,1898,3473
$GC,11987,-0.95,-146.6,615.5,-5.8,580,11989,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3473
$GC,12296,-0.95,-146.6,631.6,-4.3,595,12301,0.00,2.58,0.00,0.000,4,0.000,0.060,2289,3301,3473
$GC,12396,-0.95,-146.6,636.0,-3.7,599,12403,0.00,2.55,0.00,0.000,6,0.000,0.054,2289,1902,3473
$GC,12712,-0.95,-146.6,647.5,-4.4,615,12713,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3472
$GC,13021,-0.95,-146.6,663.6,-5.0,630,13025,0.00,2.62,0.00,0.000,4,0.000,0.075,2289,492,3472
$GC,13053,-0.95,-146.6,664.9,-3.9,631,13060,0.00,2.50,0.00,0.000,6,0.000,0.053,2289,1897,3471
$GC,13368,-0.95,-146.6,676.1,-5.2,647,13369,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3470
$STATE,13490,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,13490,begin apogee
$GC,13495,-0.36,0.0,682.5,3.4,653,13620,0.60,0.00,121.85,1.271,6,0.071,0.000,2420,2104,2878
$STATE,13620,end apogee,CONTROL_FINISHED_OK
$STATE,13621,begin climb
$GC,13622,0.95,146.6,685.5,0.0,659,13748,1.27,0.00,121.38,1.226,6,0.054,0.000,2700,2103,2280
$GC,14042,0.95,147.9,668.3,6.0,680,14043,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2104,2279
$GC,14351,0.95,147.9,643.6,7.2,695,14356,0.00,2.67,0.00,0.000,4,0.000,0.071,2700,687,2279
$GC,14467,0.95,147.9,637.3,9.6,700,14472,0.00,2.55,0.00,0.000,6,0.000,0.050,2700,2085,2278
$GC,14789,0.95,147.9,609.7,9.3,716,14794,0.00,2.62,0.00,0.000,4,0.000,0.061,2700,3506,2277
$GC,14879,1.00,186.3,606.0,4.9,720,14919,0.00,2.58,33.30,1.233,6,0.000,0.052,2700,2099,2118
$GC,15246,1.00,186.3,579.7,10.6,738,15247,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2099,2117
$GC,15555,1.00,186.3,540.9,13.6,753,15559,0.00,2.60,0.00,0.000,4,0.000,0.058,2700,3506,2117
$GC,15738,1.00,186.3,519.1,10.9,761,15743,0.00,2.58,0.00,0.000,6,0.000,0.049,2700,2099,2116
$GC,16059,1.00,186.3,493.6,6.3,777,16060,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2099,2116
$GC,16369,1.06,237.2,478.4,4.5,792,16413,0.12,0.00,42.03,1.152,6,0.051,0.000,2742,2099,1910
$GC,16718,1.06,237.2,455.9,6.9,809,16719,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2100,1909
$GC,17027,1.06,237.2,433.3,7.2,824,17031,0.00,2.58,0.00,0.000,4,0.000,0.052,2742,3512,1910
$GC,17098,1.06,237.2,427.9,7.5,827,17103,0.00,2.58,0.00,0.000,6,0.000,0.044,2742,2094,1910
$GC,17419,1.06,237.2,402.9,7.9,843,17420,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2094,1909
$GC,17728,1.06,237.2,376.9,8.5,858,17729,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2094,1910
$GC,18037,1.06,237.2,352.4,7.4,873,18039,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2094,1911
$GC,18347,1.06,237.2,332.7,6.8,888,18351,0.00,2.55,0.00,0.000,4,0.000,0.051,2742,3508,1912
$GC,18434,1.06,237.2,326.3,7.0,892,18439,0.00,2.55,0.00,0.000,6,0.000,0.043,2742,2096,1912
$GC,18761,1.06,237.2,305.8,6.9,908,18762,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2097,1912
$GC,19070,1.06,237.2,284.6,6.5,923,19075,0.00,2.55,0.00,0.000,4,0.000,0.050,2742,3511,1913
$GC,19125,1.06,237.2,280.2,8.2,925,19132,0.00,2.53,0.00,0.000,6,0.000,0.041,2742,2103,1912
$GC,19441,1.06,237.2,256.3,7.3,941,19442,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2103,1913
$GC,19750,1.06,237.2,231.9,8.1,956,19751,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2103,1914
$GC,20059,1.06,237.2,206.6,8.1,971,20064,0.00,2.55,0.00,0.000,4,0.000,0.048,2742,3516,1914
$GC,20136,1.06,237.2,199.7,9.0,974,20143,0.00,2.53,0.00,0.000,6,0.000,0.040,2742,2102,1914
$GC,20452,1.06,237.2,173.1,8.5,990,20453,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2102,1914
$GC,20762,1.06,237.2,144.4,9.4,1005,20763,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2102,1914
$GC,21071,1.06,237.2,115.6,9.1,1020,21072,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2102,1914
$GC,21380,1.06,237.2,88.3,8.7,1035,21381,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2102,1914
$GC,21690,1.06,237.2,62.3,8.2,1050,21691,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2102,1914
$GC,21999,1.06,237.2,37.7,7.6,1065,22000,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2102,1915
$GC,22308,1.06,237.2,13.9,8.0,1080,22312,0.00,2.53,0.00,0.000,4,0.000,0.045,2742,3509,1915
$GC,22351,1.06,237.2,10.3,8.3,1082,22355,0.00,2.50,0.00,0.000,6,0.000,0.038,2742,2098,1914
$GC,22678,1.31,439.5,2.7,-0.0,1098,22790,0.15,2.62,105.05,0.767,4,0.054,0.061,2788,697,1085
$GC,22813,1.57,654.5,2.6,-0.4,1104,22879,0.22,2.53,59.88,0.739,6,0.063,0.038,2838,2125,602
$STATE,23112,end climb,NO_VERTICAL_VELOCITY
$STATE,23113,begin surface
$SM_CCo,23534,0.00,0.000,0,0,604,557.81
$SM_GC,3.51,12.10,0.00,0.00,0.030,0.000,0.000,29,1892,604,-11.26,-0.23,557.81
$IRIDIUM_FIX,6148.92,-926.22,061207,050535
$TT8_MAMPS,0.027612
$HUMID,2058
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.90
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,650.6,41.7
$24V_AH,23.4,31.178
$10V_AH,10.1,14.090
$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,25.525,117.550,483.475,0.000,0.000,113.388,147.885,283.578,8.250,0.000,0.000,35.852,1976.088,18557.721,643.964,2413.696,737.048,33.374,1836.412,0.000,2351.739,0.000,40.698
$DEVICE_MAMPS,102.011,75.166,1270.919,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,821.647,757.492,704.508,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56852,1119
$CFSIZE,260165632,251154432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,061207,080531,6214.998,-943.464,42,1.5,42,-9.9