version: 66.02
glider: 102
mission: 4
dive: 124
start: 12 6 107 8 16 38
data:
$ID,102
$MISSION,4
$DIVE,124
$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,-78564.125
$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,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
$GPS1,080531,6214.998,-943.464,42,1.5,42,-9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.42
$_SM_ANGLEo,-58.5
$GPS2,081544,6215.080,-943.337,13,1.5,13,-9.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.203,-0.049
$KALMAN_X,122302.7,-2996.4,285.5,-184126.0,27060.6
$KALMAN_Y,144873.5,-1955.0,542.0,-65726.0,17402.4
$MHEAD_RNG_PITCHd_Wd,266.3,44550,-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,-146.6,0.0,0.0,0,44,0.00,0.00,-22.27,0.000,2,0.000,0.000,28,1885,1111
$GC,46,-0.95,-146.6,3.4,-0.0,1,226,11.32,2.58,-157.80,0.000,4,0.114,0.058,2286,3294,3477
$GC,480,-0.95,-146.6,25.2,-7.1,21,484,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1898,3477
$GC,806,-0.95,-146.6,50.5,-7.5,37,810,0.00,2.53,0.00,0.000,4,0.000,0.047,2286,3298,3477
$GC,916,-0.95,-146.6,58.8,-8.2,42,920,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1902,3477
$GC,1243,-0.95,-146.6,85.1,-8.2,58,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3477
$GC,1552,-0.95,-146.6,109.1,-7.5,73,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,1861,-0.95,-146.6,131.7,-7.6,88,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3477
$GC,2170,-0.95,-146.6,155.5,-7.5,103,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1903,3477
$GC,2479,-0.95,-146.6,177.6,-7.0,118,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3477
$GC,2789,-0.95,-146.6,199.0,-6.8,133,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1903,3476
$GC,3098,-0.95,-146.6,220.1,-6.9,148,3102,0.00,2.50,0.00,0.000,4,0.000,0.047,2286,3294,3477
$GC,3153,-0.95,-146.6,223.9,-7.0,150,3157,0.00,2.50,0.00,0.000,6,0.000,0.042,2286,1892,3477
$GC,3474,-0.95,-146.6,244.1,-6.6,166,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1893,3477
$GC,3784,-0.95,-146.6,264.5,-6.5,181,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1893,3476
$GC,4093,-0.95,-146.6,285.4,-6.7,196,4097,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3294,3477
$GC,4158,-0.95,-146.6,289.9,-7.0,199,4162,0.00,2.53,0.00,0.000,6,0.000,0.043,2286,1899,3476
$GC,4485,-0.95,-146.6,311.7,-7.0,215,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3477
$GC,4794,-0.95,-146.6,333.5,-7.0,230,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3476
$GC,5103,-0.95,-146.6,355.2,-7.0,245,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3476
$GC,5413,-0.95,-146.6,376.4,-6.9,260,5417,0.00,2.50,0.00,0.000,4,0.000,0.049,2286,3293,3476
$GC,5513,-0.95,-146.6,383.4,-7.2,264,5517,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1896,3476
$GC,5834,-0.95,-146.6,405.4,-7.2,280,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,6143,-0.95,-146.6,427.0,-6.5,295,6148,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3294,3476
$GC,6220,-0.95,-146.6,432.0,-6.6,298,6227,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1903,3476
$GC,6536,-0.95,-146.6,451.4,-6.0,314,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1903,3476
$GC,6845,-0.95,-146.6,470.9,-6.7,329,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1903,3476
$GC,7155,-0.95,-146.6,490.6,-6.0,344,7159,0.00,2.53,0.00,0.000,4,0.000,0.052,2286,3294,3476
$GC,7243,-0.95,-146.6,496.3,-5.8,348,7247,0.00,2.50,0.00,0.000,6,0.000,0.046,2286,1900,3475
$GC,7570,-0.95,-146.6,517.2,-6.2,364,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,7879,-0.95,-146.6,537.1,-6.7,379,7883,0.00,2.53,0.00,0.000,4,0.000,0.053,2286,3294,3476
$GC,7962,-0.95,-146.6,542.7,-6.7,383,7966,0.00,2.50,0.00,0.000,6,0.000,0.047,2286,1900,3475
$GC,8288,-0.95,-146.6,562.9,-5.5,399,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,8597,-0.95,-146.6,579.2,-4.8,414,8601,0.00,2.55,0.00,0.000,4,0.000,0.055,2286,3297,3475
$GC,8696,-0.95,-146.6,584.2,-4.5,418,8703,0.00,2.53,0.00,0.000,6,0.000,0.048,2286,1897,3475
$GC,9012,-0.95,-146.6,598.1,-4.2,434,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3474
$GC,9321,-0.95,-146.6,611.0,-4.6,449,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3475
$GC,9630,-0.95,-146.6,624.7,-3.4,464,9635,0.00,2.58,0.00,0.000,4,0.000,0.061,2286,3297,3474
$GC,9708,-0.95,-146.6,627.8,-3.7,467,9714,0.00,2.55,0.00,0.000,6,0.000,0.054,2286,1898,3474
$GC,10023,-0.95,-146.6,640.7,-3.5,483,10024,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3474
$STATE,10187,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10187,begin apogee
$GC,10192,-0.36,0.0,647.9,4.5,491,10317,0.60,0.00,122.07,1.230,6,0.073,0.000,2416,2093,2877
$STATE,10317,end apogee,CONTROL_FINISHED_OK
$STATE,10318,begin climb
$GC,10319,0.95,146.6,651.3,0.0,497,10451,1.30,2.70,120.20,1.190,4,0.053,0.065,2704,3493,2280
$GC,10575,0.95,146.6,641.5,6.6,509,10579,0.00,2.58,0.00,0.000,6,0.000,0.050,2704,2100,2279
$GC,10896,1.00,186.5,624.4,4.8,525,10936,0.00,0.00,33.95,1.193,6,0.000,0.000,2704,2100,2117
$GC,11245,1.00,186.5,602.7,6.5,542,11246,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2099,2117
$GC,11554,1.08,256.0,587.6,3.9,557,11615,0.12,0.00,57.47,1.203,6,0.050,0.000,2748,2100,1833
$GC,11923,1.08,256.0,565.6,6.7,575,11924,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2099,1832
$GC,12232,1.08,256.0,542.5,7.5,590,12234,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2100,1832
$GC,12542,1.08,256.0,518.0,7.9,605,12543,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2100,1832
$GC,12851,1.08,256.0,492.5,8.2,620,12853,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2099,1832
$GC,13160,1.08,256.0,466.0,8.8,635,13164,0.00,2.60,0.00,0.000,4,0.000,0.067,2747,690,1832
$GC,13221,1.08,256.0,460.6,8.2,638,13226,0.00,2.47,0.00,0.000,6,0.000,0.043,2748,2102,1832
$GC,13547,1.08,256.0,434.6,7.8,654,13552,0.00,2.62,0.00,0.000,4,0.000,0.065,2749,691,1832
$GC,13590,1.08,256.0,430.8,8.0,656,13595,0.00,2.50,0.00,0.000,6,0.000,0.043,2748,2093,1832
$GC,13917,1.08,256.0,405.1,7.9,672,13918,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2098,1832
$GC,14227,1.08,256.0,379.4,8.4,687,14231,0.00,2.60,0.00,0.000,4,0.000,0.063,2748,691,1832
$GC,14292,1.08,256.0,373.3,9.3,690,14296,0.00,2.50,0.00,0.000,6,0.000,0.041,2748,2102,1832
$GC,14619,1.08,256.0,344.2,9.0,706,14623,0.00,2.62,0.00,0.000,4,0.000,0.064,2748,690,1832
$GC,14673,1.08,256.0,339.2,9.0,708,14680,0.00,2.53,0.00,0.000,6,0.000,0.041,2748,2102,1832
$GC,14988,1.08,256.0,311.2,8.9,724,14993,0.00,2.62,0.00,0.000,4,0.000,0.064,2748,689,1833
$GC,15044,1.08,256.0,306.1,9.7,726,15050,0.00,2.50,0.00,0.000,6,0.000,0.041,2748,2106,1833
$GC,15359,1.08,256.0,279.3,8.4,742,15360,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2111,1833
$GC,15668,1.08,256.0,252.4,8.9,757,15672,0.00,2.62,0.00,0.000,4,0.000,0.062,2748,689,1834
$GC,15744,1.08,256.0,245.1,9.2,760,15752,0.00,2.53,0.00,0.000,6,0.000,0.040,2747,2107,1834
$GC,16060,1.08,256.0,218.6,8.3,776,16062,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2108,1834
$GC,16370,1.08,256.0,193.0,8.1,791,16374,0.00,2.60,0.00,0.000,4,0.000,0.061,2749,689,1834
$GC,16435,1.08,256.0,187.4,8.7,794,16439,0.00,2.50,0.00,0.000,6,0.000,0.039,2748,2096,1834
$GC,16762,1.08,256.0,161.2,8.1,810,16763,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2100,1835
$GC,17071,1.08,256.0,135.8,8.2,825,17076,0.00,2.60,0.00,0.000,4,0.000,0.061,2749,685,1835
$GC,17148,1.08,256.0,129.1,9.2,828,17156,0.00,2.47,0.00,0.000,6,0.000,0.039,2748,2097,1835
$GC,17464,1.08,256.0,103.3,8.2,844,17465,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2097,1835
$GC,17773,1.08,256.0,76.6,8.7,859,17778,0.00,2.60,0.00,0.000,4,0.000,0.061,2748,684,1835
$GC,17850,1.08,256.0,69.4,8.6,862,17858,0.00,2.47,0.00,0.000,6,0.000,0.038,2748,2097,1835
$GC,18166,1.08,256.0,40.8,9.1,878,18167,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2097,1835
$GC,18475,1.08,256.0,15.7,7.7,893,18480,0.00,2.58,0.00,0.000,4,0.000,0.061,2748,690,1835
$GC,18496,1.08,256.0,13.5,9.9,894,18501,0.00,2.47,0.00,0.000,6,0.000,0.038,2748,2089,1835
$GC,18825,1.33,456.6,2.8,0.0,910,18937,0.15,2.65,103.75,0.768,4,0.051,0.056,2797,691,1016
$STATE,18996,end climb,NO_VERTICAL_VELOCITY
$STATE,18996,begin surface
$SM_CCo,18998,52.10,0.745,0,0,602,558.06
$SM_GC,3.45,11.90,0.00,0.00,0.028,0.000,0.000,29,1912,602,-11.26,0.34,558.30
$IRIDIUM_FIX,6148.92,-948.98,061207,121223
$TT8_MAMPS,0.026845
$HUMID,2049
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,18.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,575.2,82.6
$24V_AH,23.4,31.348
$10V_AH,10.1,14.180
$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,25.400,111.900,437.450,52.100,0.000,77.302,169.493,194.773,6.000,0.000,0.000,15.081,1635.870,15154.755,676.739,2008.675,609.398,33.374,1687.354,0.000,1974.461,0.000,33.040
$DEVICE_MAMPS,113.516,67.496,1229.501,744.757,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,676.865,620.942,591.382,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44197,918
$CFSIZE,260165632,251125760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,061207,134226,6214.673,-946.849,41,1.0,41,-9.9