version: 66.02
glider: 102
mission: 4
dive: 125
start: 12 6 107 13 56 9
data:
$ID,102
$MISSION,4
$DIVE,125
$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,-78577.43
$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,18
$R_STBD_OVSHOOT,38
$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
$GPS1,134226,6214.673,-946.849,41,1.0,41,-9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.38
$_SM_ANGLEo,-53.7
$GPS2,135515,6214.697,-946.920,11,1.0,11,-9.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.206,-0.036
$KALMAN_X,121685.0,-1086.2,-519.5,-187809.9,19844.3
$KALMAN_Y,142906.7,-658.8,13.5,-65238.7,11462.9
$MHEAD_RNG_PITCHd_Wd,269.9,41464,-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,-146.6,0.0,0.0,0,25,0.00,0.00,-4.32,0.000,2,0.000,0.000,28,1910,706
$GC,28,-0.95,-146.6,3.4,-0.0,0,226,11.10,2.50,-178.20,0.000,4,0.103,0.058,2291,3301,3475
$GC,478,-0.95,-146.6,24.1,-6.5,21,482,0.00,2.53,0.00,0.000,6,0.000,0.042,2291,1888,3475
$GC,799,-0.95,-146.6,48.3,-7.5,37,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1888,3475
$GC,1108,-0.95,-146.6,70.9,-7.2,52,1112,0.00,2.53,0.00,0.000,4,0.000,0.045,2291,3294,3475
$GC,1169,-0.95,-146.6,75.4,-7.7,55,1174,0.00,2.50,0.00,0.000,6,0.000,0.042,2291,1897,3475
$GC,1495,-0.95,-146.6,97.4,-6.9,71,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1897,3475
$GC,1804,-0.95,-146.6,118.8,-7.1,86,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1897,3475
$GC,2113,-0.95,-146.6,139.2,-6.3,101,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1897,3475
$GC,2423,-0.95,-146.6,158.2,-6.1,116,2427,0.00,2.50,0.00,0.000,4,0.000,0.046,2291,3295,3475
$GC,2494,-0.95,-146.6,162.7,-6.3,119,2498,0.00,2.53,0.00,0.000,6,0.000,0.041,2291,1897,3475
$GC,2815,-0.95,-146.6,180.9,-5.5,135,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1897,3475
$GC,3124,-0.95,-146.6,198.8,-6.2,150,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1897,3475
$GC,3433,-0.95,-146.6,217.8,-6.2,165,3438,0.00,2.50,0.00,0.000,4,0.000,0.047,2291,3294,3475
$GC,3489,-0.95,-146.6,221.5,-6.8,167,3495,0.00,2.47,0.00,0.000,6,0.000,0.043,2291,1899,3475
$GC,3804,-0.95,-146.6,241.2,-6.5,183,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1899,3475
$GC,4113,-0.95,-146.6,262.6,-7.0,198,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1899,3475
$GC,4422,-0.95,-146.6,284.5,-7.1,213,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1899,3475
$GC,4732,-0.95,-146.6,307.1,-7.2,228,4736,0.00,2.50,0.00,0.000,4,0.000,0.047,2291,3294,3475
$GC,4831,-0.95,-146.6,314.6,-7.6,232,4838,0.00,2.53,0.00,0.000,6,0.000,0.043,2291,1900,3475
$GC,5146,-0.95,-146.6,337.6,-7.6,248,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1900,3475
$GC,5456,-0.95,-146.6,362.1,-7.9,263,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1899,3475
$GC,5765,-0.95,-146.6,386.9,-8.0,278,5769,0.00,2.50,0.00,0.000,4,0.000,0.048,2291,3294,3475
$GC,5836,-0.95,-146.6,392.7,-8.1,281,5840,0.00,2.53,0.00,0.000,6,0.000,0.044,2291,1899,3475
$GC,6157,-0.95,-146.6,419.1,-8.3,297,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1899,3475
$GC,6466,-0.95,-146.6,442.5,-7.3,312,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1899,3475
$GC,6775,-0.95,-146.6,462.9,-6.5,327,6780,0.00,2.50,0.00,0.000,4,0.000,0.050,2291,3294,3475
$GC,6875,-0.95,-146.6,470.1,-8.0,331,6882,0.00,2.50,0.00,0.000,6,0.000,0.045,2291,1899,3475
$GC,7190,-0.95,-146.6,492.8,-7.4,347,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1900,3475
$GC,7500,-0.95,-146.6,518.0,-8.4,362,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1900,3474
$GC,7809,-0.95,-146.6,543.3,-9.0,377,7813,0.00,2.60,0.00,0.000,4,0.000,0.069,2291,495,3474
$GC,7902,-0.95,-146.6,552.5,-9.7,381,7906,0.00,2.50,0.00,0.000,6,0.000,0.044,2291,1895,3474
$GC,8223,-0.95,-146.6,578.2,-8.0,397,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1896,3474
$GC,8532,-0.95,-146.6,598.2,-6.6,412,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1896,3474
$GC,8842,-0.95,-146.6,613.4,-4.6,427,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1896,3474
$GC,9151,-0.95,-146.6,626.0,-4.1,442,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1895,3474
$GC,9460,-0.95,-146.6,637.9,-4.4,457,9461,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1896,3473
$GC,9770,-0.95,-146.6,653.8,-5.4,472,9771,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1896,3473
$STATE,10057,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10057,begin apogee
$GC,10062,-0.36,0.0,668.7,5.9,486,10187,0.57,0.00,122.07,1.248,6,0.071,0.000,2416,2097,2877
$STATE,10188,end apogee,CONTROL_FINISHED_OK
$STATE,10188,begin climb
$GC,10190,0.95,146.6,669.8,0.0,492,10320,1.27,2.75,120.93,1.203,4,0.056,0.066,2701,3504,2280
$GC,10382,0.95,146.6,661.7,6.7,501,10387,0.00,2.60,0.00,0.000,6,0.000,0.054,2701,2107,2279
$GC,10709,0.95,147.1,640.9,6.0,517,10713,0.00,2.60,0.00,0.000,4,0.000,0.061,2700,3506,2279
$GC,10821,0.95,147.1,633.5,6.1,522,10825,0.00,2.58,0.00,0.000,6,0.000,0.052,2701,2101,2278
$GC,11140,1.14,305.3,621.4,1.3,538,11273,0.20,0.00,130.40,1.203,6,0.040,0.000,2761,2101,1633
$GC,11570,1.14,305.3,581.6,10.2,559,11571,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2101,1633
$GC,11879,1.14,305.3,552.4,8.9,574,11880,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2101,1632
$GC,12188,1.14,305.3,524.6,9.9,589,12189,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2101,1632
$GC,12497,1.14,305.3,492.7,9.5,604,12498,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2101,1632
$GC,12807,1.14,305.3,463.8,8.4,619,12808,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2101,1632
$GC,13116,1.14,305.3,437.1,8.2,634,13117,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2101,1632
$GC,13425,1.14,305.3,409.8,8.9,649,13429,0.00,2.60,0.00,0.000,4,0.000,0.067,2761,689,1632
$GC,13469,1.14,305.3,405.7,9.6,651,13473,0.00,2.53,0.00,0.000,6,0.000,0.041,2761,2118,1631
$GC,13795,1.14,305.3,376.1,9.4,667,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2124,1632
$GC,14104,1.14,305.3,348.4,9.1,682,14106,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2124,1633
$GC,14414,1.14,305.3,319.4,9.6,697,14418,0.00,2.65,0.00,0.000,4,0.000,0.064,2761,690,1633
$GC,14468,1.14,305.3,313.7,10.1,699,14475,0.00,2.50,0.00,0.000,6,0.000,0.041,2761,2104,1633
$GC,14783,1.14,305.3,281.9,10.2,715,14784,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2106,1633
$GC,15093,1.14,305.3,250.8,9.9,730,15094,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2107,1634
$GC,15402,1.14,305.3,221.8,9.2,745,15403,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2107,1634
$GC,15711,1.14,305.3,193.8,9.1,760,15712,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2106,1634
$GC,16020,1.14,305.3,165.9,9.1,775,16025,0.00,2.62,0.00,0.000,4,0.000,0.062,2761,685,1635
$GC,16069,1.14,305.3,161.0,9.3,777,16074,0.00,2.50,0.00,0.000,6,0.000,0.039,2761,2096,1635
$GC,16391,1.14,305.3,130.6,9.5,793,16392,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2099,1635
$GC,16700,1.14,305.3,101.2,9.3,808,16701,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2099,1635
$GC,17009,1.14,305.3,71.4,9.8,823,17010,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2100,1635
$GC,17319,1.14,305.3,40.9,9.8,838,17320,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2100,1636
$GC,17628,1.14,305.3,10.2,10.1,853,17629,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2100,1635
$GC,17937,1.40,510.8,2.9,-0.1,868,18052,0.17,2.70,107.72,0.770,4,0.058,0.063,2804,691,794
$GC,18068,1.65,718.1,2.7,-0.2,874,18074,0.22,2.50,0.30,1.150,2,0.066,0.038,2851,2108,793
$STATE,18075,end climb,NO_VERTICAL_VELOCITY
$STATE,18075,begin surface
$SM_CCo,18078,24.85,0.755,0,0,602,558.06
$SM_GC,3.56,12.12,0.00,0.00,0.028,0.000,0.000,30,1883,604,-11.26,-0.48,557.81
$IRIDIUM_FIX,6148.92,-948.98,061207,171702
$TT8_MAMPS,0.026078
$HUMID,2061
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,600.4,78.1
$24V_AH,23.4,31.531
$10V_AH,10.1,14.266
$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,25.675,72.075,481.425,24.850,0.000,114.628,128.273,293.193,5.750,0.000,0.000,12.683,1522.870,14623.091,659.551,1786.373,703.987,33.347,1554.389,0.000,1765.084,0.000,34.646
$DEVICE_MAMPS,102.778,69.030,1247.909,755.495,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,639.393,590.718,574.241,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44100,874
$CFSIZE,260165632,251076608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,061207,190621,6215.978,-949.589,41,1.6,55,-9.9