version: 66.02
glider: 102
mission: 4
dive: 126
start: 12 6 107 19 16 9
data:
$ID,102
$MISSION,4
$DIVE,126
$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,-78590.117
$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,33
$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
$GPS1,190621,6215.978,-949.589,41,1.6,55,-9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.35
$_SM_ANGLEo,-53.6
$GPS2,191515,6216.028,-949.534,10,1.1,10,-9.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.118,-0.172
$KALMAN_X,124665.8,-876.8,-1111.0,-192728.0,12248.6
$KALMAN_Y,144325.2,-478.7,1100.3,-65481.6,6077.9
$MHEAD_RNG_PITCHd_Wd,224.4,39252,-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,20,-0.95,-146.6,0.0,0.0,0,28,0.00,0.00,-6.45,0.000,2,0.000,0.000,29,1875,758
$GC,30,-0.95,-146.6,3.4,-0.0,1,217,11.20,2.58,-164.18,0.000,4,0.108,0.058,2286,3295,3476
$GC,469,-0.95,-146.6,26.2,-6.7,21,474,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1900,3476
$GC,790,-0.95,-146.6,47.5,-6.5,37,794,0.00,2.53,0.00,0.000,4,0.000,0.045,2286,3304,3477
$GC,918,-0.95,-146.6,56.4,-7.2,43,923,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1899,3476
$GC,1244,-0.95,-146.6,81.9,-7.2,59,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3476
$GC,1554,-0.95,-146.6,105.2,-7.5,74,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3476
$GC,1863,-0.95,-146.6,128.1,-7.5,89,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3476
$GC,2173,-0.95,-146.6,150.3,-7.1,104,2177,0.00,2.53,0.00,0.000,4,0.000,0.044,2286,3306,3476
$GC,2222,-0.95,-146.6,154.2,-7.8,106,2227,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1906,3476
$GC,2543,-0.95,-146.6,177.1,-6.7,122,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,2852,-0.95,-146.6,198.4,-7.0,137,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3476
$GC,3162,-0.95,-146.6,221.3,-7.7,152,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,3471,-0.95,-146.6,247.0,-8.1,167,3475,0.00,2.50,0.00,0.000,4,0.000,0.047,2287,3300,3476
$GC,3548,-0.95,-146.6,253.1,-7.8,170,3555,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1904,3476
$GC,3863,-0.95,-146.6,277.2,-7.8,186,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,4173,-0.95,-146.6,299.1,-6.7,201,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,4482,-0.95,-146.6,318.9,-6.2,216,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,4791,-0.95,-146.6,338.1,-6.1,231,4795,0.00,2.50,0.00,0.000,4,0.000,0.048,2287,3298,3476
$GC,4857,-0.95,-146.6,342.2,-5.4,234,4861,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1900,3476
$GC,5183,-0.95,-146.6,361.8,-5.7,250,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3476
$GC,5492,-0.95,-146.6,379.2,-6.7,265,5496,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3303,3476
$GC,5541,-0.95,-146.6,382.4,-7.1,267,5546,0.00,2.55,0.00,0.000,6,0.000,0.044,2286,1901,3476
$GC,5862,-0.95,-146.6,404.6,-7.1,283,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,6171,-0.95,-146.6,427.5,-7.5,298,6176,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3303,3476
$GC,6210,-0.95,-146.6,430.3,-8.1,300,6214,0.00,2.53,0.00,0.000,6,0.000,0.045,2287,1898,3476
$GC,6536,-0.95,-146.6,452.5,-7.1,316,6540,0.00,2.53,0.00,0.000,4,0.000,0.049,2286,3300,3476
$GC,6642,-0.95,-146.6,460.0,-8.0,321,6646,0.00,2.53,0.00,0.000,6,0.000,0.046,2287,1895,3476
$GC,6967,-0.95,-146.6,487.2,-9.1,337,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3475
$GC,7276,-0.95,-146.6,517.8,-9.7,352,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3475
$GC,7585,-0.95,-146.6,541.3,-6.6,367,7590,0.00,2.53,0.00,0.000,4,0.000,0.052,2286,3301,3475
$GC,7685,-0.95,-146.6,548.2,-6.4,371,7692,0.00,2.55,0.00,0.000,6,0.000,0.048,2286,1886,3475
$GC,8001,-0.95,-146.6,567.7,-6.3,387,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1886,3475
$GC,8310,-0.95,-146.6,589.8,-7.8,402,8314,0.00,2.58,0.00,0.000,4,0.000,0.055,2286,3296,3475
$GC,8442,-0.95,-146.6,600.9,-8.1,408,8448,0.00,2.55,0.00,0.000,6,0.000,0.050,2286,1904,3475
$GC,8769,-0.95,-146.6,625.6,-7.8,424,8774,0.00,2.53,0.00,0.000,4,0.000,0.058,2286,3297,3474
$GC,8863,-0.95,-146.6,633.1,-8.0,428,8868,0.00,2.55,0.00,0.000,6,0.000,0.051,2286,1897,3474
$STATE,9121,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9122,begin apogee
$GC,9126,-0.36,0.0,651.4,6.5,441,9251,0.60,0.00,122.12,1.227,6,0.077,0.000,2415,2096,2878
$STATE,9252,end apogee,CONTROL_FINISHED_OK
$STATE,9252,begin climb
$GC,9254,0.95,146.6,656.0,0.0,447,9384,1.27,2.72,120.55,1.182,4,0.054,0.063,2697,3506,2280
$GC,9445,0.97,163.1,651.6,5.5,456,9465,0.00,2.58,14.85,1.167,6,0.000,0.051,2697,2102,2213
$GC,9793,0.97,163.2,630.8,6.0,473,9797,0.00,2.60,0.00,0.000,4,0.000,0.060,2698,3499,2212
$GC,9869,0.97,163.2,625.3,6.8,476,9876,0.00,2.55,0.00,0.000,6,0.000,0.051,2698,2099,2212
$GC,10185,0.97,163.2,601.8,7.7,492,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2099,2211
$GC,10494,0.97,163.2,577.3,8.7,507,10498,0.00,2.60,0.00,0.000,4,0.000,0.058,2698,3501,2210
$GC,10582,0.97,163.2,568.8,9.7,511,10586,0.00,2.58,0.00,0.000,6,0.000,0.050,2698,2097,2210
$GC,10909,1.03,211.6,546.9,4.6,527,10954,0.00,2.67,40.15,1.190,4,0.000,0.058,2698,3506,2014
$GC,11005,1.04,222.2,542.0,5.7,531,11020,0.10,2.58,9.57,1.167,6,0.055,0.049,2734,2101,1972
$GC,11336,1.12,284.1,525.4,4.2,548,11398,0.00,2.70,51.25,1.153,4,0.000,0.071,2734,692,1718
$GC,11420,1.15,311.4,521.4,5.2,552,11449,0.00,2.53,23.38,1.125,6,0.000,0.045,2734,2102,1607
$GC,11771,1.15,311.4,500.1,6.3,569,11775,0.00,2.65,0.00,0.000,4,0.000,0.067,2735,692,1607
$GC,11809,1.15,311.4,497.4,7.0,571,11814,0.00,2.50,0.00,0.000,6,0.000,0.044,2735,2097,1607
$GC,12134,1.15,311.4,475.6,6.9,587,12139,0.00,2.62,0.00,0.000,4,0.000,0.066,2735,691,1607
$GC,12178,1.15,311.4,472.2,7.4,589,12182,0.00,2.53,0.00,0.000,6,0.000,0.043,2735,2103,1607
$GC,12505,1.15,311.4,446.7,8.4,605,12506,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2105,1607
$GC,12814,1.15,311.4,420.2,9.0,620,12815,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2106,1607
$GC,13123,1.15,311.4,394.7,8.0,635,13127,0.00,2.65,0.00,0.000,4,0.000,0.064,2734,685,1607
$GC,13161,1.15,311.4,391.4,8.4,637,13166,0.00,2.50,0.00,0.000,6,0.000,0.042,2735,2103,1608
$GC,13487,1.15,311.4,363.8,8.6,653,13491,0.00,2.62,0.00,0.000,4,0.000,0.064,2734,692,1608
$GC,13513,1.15,311.4,361.4,8.9,654,13517,0.00,2.50,0.00,0.000,6,0.000,0.041,2734,2098,1608
$GC,13834,1.15,311.4,336.5,7.3,670,13839,0.00,2.62,0.00,0.000,4,0.000,0.064,2735,690,1608
$GC,13866,1.15,311.4,333.9,7.4,671,13873,0.00,2.53,0.00,0.000,6,0.000,0.041,2735,2103,1608
$GC,14182,1.15,311.4,311.5,7.2,687,14186,0.00,2.62,0.00,0.000,4,0.000,0.064,2734,691,1608
$GC,14220,1.15,311.4,308.4,8.2,689,14224,0.00,2.50,0.00,0.000,6,0.000,0.041,2735,2108,1608
$GC,14545,1.15,311.4,282.4,8.2,705,14549,0.00,2.62,0.00,0.000,4,0.000,0.063,2734,691,1608
$GC,14593,1.15,311.4,278.2,8.4,707,14598,0.00,2.50,0.00,0.000,6,0.000,0.040,2734,2094,1608
$GC,14914,1.15,311.4,249.6,9.0,723,14916,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2098,1609
$GC,15223,1.15,311.4,222.5,8.3,738,15228,0.00,2.60,0.00,0.000,4,0.000,0.062,2735,689,1609
$GC,15301,1.15,311.4,215.9,8.6,741,15307,0.00,2.50,0.00,0.000,6,0.000,0.039,2735,2098,1609
$GC,15616,1.15,311.4,190.3,8.1,757,15620,0.00,2.60,0.00,0.000,4,0.000,0.061,2735,689,1609
$GC,15671,1.15,311.4,185.6,8.2,759,15677,0.00,2.50,0.00,0.000,6,0.000,0.039,2735,2101,1609
$GC,15986,1.15,311.4,159.4,8.6,775,15987,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2104,1609
$GC,16297,1.15,311.4,132.1,8.8,790,16302,0.00,2.60,0.00,0.000,4,0.000,0.061,2735,690,1609
$GC,16363,1.15,311.4,125.5,10.0,793,16368,0.00,2.50,0.00,0.000,6,0.000,0.038,2734,2117,1609
$GC,16690,1.15,311.4,97.2,9.0,809,16694,0.00,2.62,0.00,0.000,4,0.000,0.061,2735,691,1609
$GC,16733,1.15,311.4,93.3,9.6,811,16738,0.00,2.47,0.00,0.000,6,0.000,0.038,2735,2105,1609
$GC,17060,1.15,311.4,63.4,9.3,827,17064,0.00,2.62,0.00,0.000,4,0.000,0.061,2734,685,1610
$GC,17098,1.15,311.4,59.8,9.9,829,17103,0.00,2.47,0.00,0.000,6,0.000,0.039,2735,2108,1610
$GC,17424,1.15,311.4,34.1,8.4,845,17429,0.00,2.62,0.00,0.000,4,0.000,0.061,2735,685,1610
$GC,17473,1.15,311.4,30.1,7.3,847,17478,0.00,2.50,0.00,0.000,6,0.000,0.039,2735,2096,1610
$GC,17795,1.15,311.4,5.5,7.0,863,17796,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2100,1610
$GC,18104,1.39,510.0,3.0,0.1,878,18216,0.25,2.72,104.07,0.769,4,0.052,0.067,2799,691,797
$STATE,18220,end climb,NO_VERTICAL_VELOCITY
$STATE,18221,begin surface
$SM_CCo,18223,25.52,0.749,0,0,603,558.06
$SM_GC,3.58,11.95,0.00,0.00,0.030,0.000,0.000,28,1909,603,-11.27,0.25,558.06
$IRIDIUM_FIX,6148.92,-948.98,061207,232305
$TT8_MAMPS,0.026845
$HUMID,2057
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,18.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,551.1,109.8
$24V_AH,23.4,31.708
$10V_AH,10.1,14.355
$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,25.375,153.550,485.950,25.525,0.000,74.118,76.129,222.084,5.000,0.000,0.000,12.059,1609.890,14333.619,658.965,2068.686,539.318,33.364,1740.237,0.000,2026.087,0.000,31.503
$DEVICE_MAMPS,108.147,70.564,1227.200,749.359,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,643.447,595.406,586.019,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44265,883
$CFSIZE,260165632,251002880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,071207,002837,6214.318,-947.420,43,2.0,43,-9.9