version: 66.02
glider: 102
mission: 4
dive: 127
start: 12 7 107 0 35 9
data:
$ID,102
$MISSION,4
$DIVE,127
$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,-78601.984
$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,36
$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
$GPS1,002837,6214.318,-947.420,43,2.0,43,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.47
$_SM_ANGLEo,-50.0
$GPS2,003415,6214.295,-947.482,9,1.0,9,-9.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,-0.023
$KALMAN_X,129618.0,-750.7,-1233.9,-195907.0,17348.6
$KALMAN_Y,146363.0,-420.6,1053.7,-70755.7,7765.9
$MHEAD_RNG_PITCHd_Wd,273.7,40996,-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,-146.6,0.0,0.0,0,28,0.00,0.00,-7.28,0.000,2,0.000,0.000,28,1910,776
$GC,30,-0.95,-146.6,3.5,-0.0,1,227,11.18,2.50,-177.38,0.000,4,0.107,0.058,2284,3301,3475
$GC,383,-0.95,-146.6,19.1,-7.2,17,391,0.00,2.55,0.00,0.000,6,0.000,0.042,2284,1896,3475
$GC,699,-0.95,-146.6,42.5,-8.1,33,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1895,3475
$GC,1008,-0.95,-146.6,64.4,-7.5,48,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1895,3475
$GC,1318,-0.95,-146.6,87.6,-7.0,63,1322,0.00,2.53,0.00,0.000,4,0.000,0.045,2284,3305,3475
$GC,1379,-0.95,-146.6,92.0,-7.5,66,1384,0.00,2.53,0.00,0.000,6,0.000,0.041,2284,1890,3475
$GC,1706,-0.95,-146.6,118.2,-8.7,82,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1890,3475
$GC,2016,-0.95,-146.6,143.1,-8.1,97,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1890,3475
$GC,2323,-0.95,-146.6,168.1,-8.1,112,2327,0.00,2.53,0.00,0.000,4,0.000,0.046,2284,3301,3475
$GC,2407,-0.95,-146.6,175.1,-8.4,115,2414,0.00,2.50,0.00,0.000,6,0.000,0.042,2284,1894,3475
$GC,2723,-0.95,-146.6,200.4,-8.0,131,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1894,3475
$GC,3032,-0.95,-146.6,225.0,-7.8,146,3036,0.00,2.53,0.00,0.000,4,0.000,0.046,2284,3303,3475
$GC,3131,-0.95,-146.6,232.8,-7.9,150,3138,0.00,2.53,0.00,0.000,6,0.000,0.042,2284,1905,3475
$GC,3447,-0.95,-146.6,256.4,-7.4,166,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3475
$GC,3756,-0.95,-146.6,277.7,-6.8,181,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1904,3475
$GC,4065,-0.95,-146.6,299.1,-7.0,196,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3475
$GC,4375,-0.95,-146.6,319.7,-6.7,211,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3475
$GC,4684,-0.95,-146.6,340.8,-6.6,226,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3475
$GC,4994,-0.95,-146.6,361.2,-6.5,241,4998,0.00,2.50,0.00,0.000,4,0.000,0.048,2284,3296,3475
$GC,5064,-0.95,-146.6,366.2,-7.0,244,5069,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1903,3475
$GC,5386,-0.95,-146.6,386.5,-6.4,260,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1903,3475
$GC,5695,-0.95,-146.6,407.3,-7.1,275,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1903,3475
$GC,6004,-0.95,-146.6,430.7,-8.0,290,6008,0.00,2.53,0.00,0.000,4,0.000,0.049,2285,3300,3475
$GC,6075,-0.95,-146.6,436.7,-8.7,293,6079,0.00,2.53,0.00,0.000,6,0.000,0.046,2284,1896,3475
$GC,6396,-0.95,-146.6,462.5,-7.6,309,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3475
$GC,6705,-0.95,-146.6,485.4,-7.9,324,6709,0.00,2.53,0.00,0.000,4,0.000,0.050,2284,3298,3475
$GC,6799,-0.95,-146.6,493.3,-8.3,328,6804,0.00,2.53,0.00,0.000,6,0.000,0.046,2284,1895,3475
$GC,7120,-0.95,-146.6,523.8,-10.6,344,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1896,3475
$GC,7429,-0.95,-146.6,552.8,-8.5,359,7434,0.00,2.53,0.00,0.000,4,0.000,0.052,2284,3298,3475
$GC,7564,-0.95,-146.6,562.1,-6.4,365,7568,0.00,2.50,0.00,0.000,6,0.000,0.047,2284,1901,3475
$GC,7884,-0.95,-146.6,582.7,-7.5,381,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3475
$GC,8193,-0.95,-146.6,614.0,-10.7,396,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3474
$GC,8502,-0.95,-146.6,641.0,-6.8,411,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3474
$GC,8812,-0.95,-146.6,660.1,-6.3,426,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3474
$STATE,8831,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8831,begin apogee
$GC,8836,-0.36,0.0,661.6,6.6,427,8961,0.62,0.00,122.32,1.226,6,0.074,0.000,2420,2096,2878
$STATE,8962,end apogee,CONTROL_FINISHED_OK
$STATE,8962,begin climb
$GC,8964,0.95,146.6,666.3,0.0,433,9092,1.25,2.67,120.70,1.185,4,0.054,0.063,2701,3498,2280
$GC,9131,0.98,173.1,662.3,5.2,441,9161,0.00,2.55,22.52,1.189,6,0.000,0.051,2701,2104,2172
$GC,9477,0.98,173.1,639.7,6.7,458,9481,0.00,2.67,0.00,0.000,4,0.000,0.074,2701,689,2172
$GC,9547,0.98,173.1,634.7,7.5,461,9552,0.00,2.55,0.00,0.000,6,0.000,0.048,2701,2091,2172
$GC,9869,1.02,206.4,616.8,5.0,477,9899,0.00,0.00,28.35,1.205,6,0.000,0.000,2701,2091,2036
$GC,10198,1.02,206.4,590.7,8.9,493,10199,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2092,2035
$GC,10507,1.02,206.4,565.7,7.2,508,10508,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2093,2034
$GC,10816,1.02,206.4,544.1,7.6,523,10818,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2093,2033
$GC,11125,1.02,206.4,520.3,7.9,538,11127,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2094,2033
$GC,11435,1.02,206.4,497.0,7.8,553,11439,0.00,2.60,0.00,0.000,4,0.000,0.065,2701,690,2033
$GC,11489,1.02,206.4,492.8,7.5,555,11496,0.00,2.53,0.00,0.000,6,0.000,0.042,2701,2107,2033
$GC,11805,1.02,206.4,473.3,7.0,571,11806,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2107,2033
$GC,12114,1.02,206.4,450.0,7.5,586,12118,0.00,2.50,0.00,0.000,4,0.000,0.053,2701,3498,2034
$GC,12185,1.02,206.4,444.3,8.4,589,12189,0.00,2.50,0.00,0.000,6,0.000,0.044,2701,2095,2033
$GC,12506,1.02,206.4,417.7,8.8,605,12507,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2095,2033
$GC,12815,1.02,206.4,390.2,9.0,620,12816,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2095,2034
$GC,13124,1.02,206.4,362.9,8.9,635,13126,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2095,2034
$GC,13433,1.02,206.4,336.2,8.4,650,13435,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2095,2034
$GC,13743,1.02,206.4,311.9,7.6,665,13744,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2095,2034
$GC,14052,1.02,206.4,289.4,7.1,680,14053,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2095,2035
$GC,14361,1.02,206.4,268.0,6.6,695,14362,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2095,2035
$GC,14671,1.04,218.0,249.3,5.7,710,14683,0.00,0.00,10.38,0.997,6,0.000,0.000,2701,2095,1989
$GC,14980,1.04,218.0,226.1,8.7,725,14981,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2095,1989
$GC,15289,1.04,218.0,201.9,7.2,740,15290,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2095,1989
$GC,15599,1.04,224.8,182.8,5.8,755,15612,0.00,2.62,6.50,0.954,4,0.000,0.048,2701,3506,1962
$GC,15668,1.05,230.9,178.6,5.8,758,15680,0.10,2.50,6.03,0.948,6,0.057,0.038,2738,2094,1935
$GC,15988,1.05,230.9,155.9,7.5,773,15989,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2094,1936
$GC,16298,1.05,230.9,133.4,7.0,788,16299,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2094,1936
$GC,16607,1.05,230.9,112.6,6.3,803,16608,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2094,1936
$GC,16916,1.05,230.9,92.6,6.6,818,16917,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2094,1936
$GC,17225,1.05,230.9,70.1,8.9,833,17227,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2094,1936
$GC,17535,1.05,230.9,48.5,6.9,848,17539,0.00,2.55,0.00,0.000,4,0.000,0.048,2738,3506,1936
$GC,17596,1.08,250.5,44.3,5.4,851,17618,0.00,2.47,16.35,0.858,6,0.000,0.039,2738,2099,1856
$GC,17928,1.08,250.5,20.7,10.0,867,17929,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1856
$GC,18236,1.32,453.4,3.0,-0.0,882,18348,0.20,2.62,105.55,0.761,4,0.054,0.058,2788,688,1027
$GC,18601,1.57,651.0,3.0,0.1,899,18665,0.22,2.47,52.72,0.752,6,0.094,0.038,2831,2107,602
$STATE,18972,end climb,NO_VERTICAL_VELOCITY
$STATE,18972,begin surface
$SM_CCo,19394,0.00,0.000,0,0,604,557.81
$SM_GC,3.55,12.07,0.00,0.00,0.030,0.000,0.000,28,1878,604,-11.27,-0.62,557.81
$IRIDIUM_FIX,6153.50,-950.56,061207,232344
$TT8_MAMPS,0.026845
$HUMID,2054
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,600.7,70.0
$24V_AH,23.4,31.865
$10V_AH,10.1,14.441
$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,25.650,76.875,491.425,0.000,0.000,38.307,37.367,168.665,7.500,0.000,0.000,11.240,1601.774,15166.712,629.431,1937.268,399.549,33.358,1601.135,0.000,1912.507,0.000,37.561
$DEVICE_MAMPS,107.380,73.632,1226.433,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,670.669,618.791,646.213,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44315,917
$CFSIZE,260165632,250957824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,071207,055957,6214.643,-954.041,41,2.7,60,-10.0