version: 66.02
glider: 102
mission: 4
dive: 128
start: 12 7 107 6 6 27
data:
$ID,102
$MISSION,4
$DIVE,128
$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,-78617.156
$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,38
$R_STBD_OVSHOOT,37
$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
$GPS1,055957,6214.643,-954.041,41,2.7,60,-10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.61
$_SM_ANGLEo,-53.4
$GPS2,060533,6214.686,-954.027,13,1.3,13,-10.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.165,-0.128
$KALMAN_X,125796.6,-312.5,2260.7,-201794.9,8838.7
$KALMAN_Y,146129.9,-7.1,1966.1,-71132.5,4172.9
$MHEAD_RNG_PITCHd_Wd,242.2,35337,-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,-146.6,0.0,0.0,0,43,0.00,0.00,-22.08,0.000,2,0.000,0.000,27,1871,1110
$GC,45,-0.95,-146.6,3.7,-0.0,1,232,11.15,2.62,-162.52,0.000,4,0.106,0.057,2286,3303,3475
$GC,484,-0.95,-146.6,20.7,-7.3,21,489,0.00,2.47,0.00,0.000,6,0.000,0.041,2286,1911,3475
$GC,806,-0.95,-146.6,45.4,-5.8,37,810,0.00,2.47,0.00,0.000,4,0.000,0.045,2286,3296,3475
$GC,912,-0.95,-146.6,53.0,-7.5,42,916,0.00,2.50,0.00,0.000,6,0.000,0.042,2286,1895,3475
$GC,1237,-0.95,-146.6,74.9,-8.0,58,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3475
$GC,1547,-0.95,-146.6,93.7,-5.9,73,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3475
$GC,1857,-0.95,-146.6,115.0,-7.3,88,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3475
$GC,2165,-0.95,-146.6,140.7,-8.3,103,2170,0.00,2.53,0.00,0.000,4,0.000,0.045,2286,3304,3475
$GC,2250,-0.95,-146.6,147.6,-8.5,107,2254,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1901,3475
$GC,2575,-0.95,-146.6,174.3,-8.5,123,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3475
$GC,2884,-0.95,-146.6,199.3,-7.9,138,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3475
$GC,3193,-0.95,-146.6,222.7,-7.8,153,3198,0.00,2.50,0.00,0.000,4,0.000,0.045,2286,3296,3475
$GC,3271,-0.95,-146.6,229.1,-8.1,156,3277,0.00,2.50,0.00,0.000,6,0.000,0.042,2286,1897,3475
$GC,3586,-0.95,-146.6,254.1,-8.5,172,3590,0.00,2.50,0.00,0.000,4,0.000,0.046,2286,3296,3475
$GC,3647,-0.95,-146.6,259.4,-8.5,175,3651,0.00,2.50,0.00,0.000,6,0.000,0.043,2286,1894,3475
$GC,3973,-0.95,-146.6,285.7,-7.7,191,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3475
$GC,4283,-0.95,-146.6,304.6,-5.5,206,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3475
$GC,4592,-0.95,-146.6,320.2,-4.7,221,4596,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3299,3475
$GC,4653,-0.95,-146.6,323.0,-4.1,224,4657,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1900,3474
$GC,4978,-0.95,-146.6,337.4,-4.1,240,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3475
$GC,5287,-0.95,-146.6,353.6,-5.9,255,5291,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3295,3475
$GC,5336,-0.95,-146.6,356.5,-5.4,257,5341,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1894,3475
$GC,5658,-0.95,-146.6,373.6,-5.2,273,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3475
$GC,5966,-0.95,-146.6,391.6,-6.1,288,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3475
$GC,6276,-0.95,-146.6,411.2,-6.7,303,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3475
$GC,6585,-0.95,-146.6,433.3,-7.6,318,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3475
$GC,6894,-0.95,-146.6,453.7,-6.7,333,6899,0.00,2.53,0.00,0.000,4,0.000,0.050,2285,3300,3475
$GC,6956,-0.95,-146.6,458.3,-7.8,336,6960,0.00,2.53,0.00,0.000,6,0.000,0.046,2286,1896,3475
$GC,7281,-0.95,-146.6,482.5,-7.7,352,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3475
$GC,7590,-0.95,-146.6,503.3,-6.5,367,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3475
$GC,7899,-0.95,-146.6,522.0,-6.7,382,7904,0.00,2.55,0.00,0.000,4,0.000,0.052,2286,3298,3475
$GC,7984,-0.95,-146.6,528.1,-8.5,386,7988,0.00,2.53,0.00,0.000,6,0.000,0.047,2286,1897,3475
$GC,8309,-0.95,-146.6,552.6,-7.6,402,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3474
$GC,8621,-0.95,-146.6,575.8,-7.6,417,8626,0.00,2.55,0.00,0.000,4,0.000,0.054,2286,3294,3474
$GC,8676,-0.95,-146.6,580.4,-8.3,419,8683,0.00,2.53,0.00,0.000,6,0.000,0.048,2286,1906,3475
$GC,8991,-0.95,-146.6,603.3,-6.6,435,8996,0.00,2.53,0.00,0.000,4,0.000,0.057,2286,3294,3474
$GC,9040,-0.95,-146.6,606.5,-7.1,437,9045,0.00,2.50,0.00,0.000,6,0.000,0.048,2286,1901,3474
$GC,9362,-0.95,-146.6,626.4,-5.8,453,9366,0.00,2.55,0.00,0.000,4,0.000,0.057,2286,3295,3474
$GC,9433,-0.95,-146.6,630.7,-5.5,456,9437,0.00,2.53,0.00,0.000,6,0.000,0.050,2286,1897,3474
$GC,9755,-0.95,-146.6,644.7,-4.1,472,9759,0.00,2.55,0.00,0.000,4,0.000,0.058,2286,3292,3474
$GC,9854,-0.95,-146.6,649.6,-5.9,476,9861,0.00,2.53,0.00,0.000,6,0.000,0.049,2286,1895,3474
$STATE,10003,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10003,begin apogee
$GC,10008,-0.36,0.0,657.2,4.9,484,10133,0.60,0.00,122.20,1.222,6,0.075,0.000,2415,2091,2878
$STATE,10134,end apogee,CONTROL_FINISHED_OK
$STATE,10134,begin climb
$GC,10136,0.95,146.6,659.9,0.0,490,10268,1.33,2.72,121.15,1.184,4,0.054,0.068,2704,693,2280
$GC,10385,0.95,146.6,649.6,8.1,502,10389,0.00,2.55,0.00,0.000,6,0.000,0.048,2705,2094,2279
$GC,10712,0.95,146.6,623.7,8.4,518,10716,0.00,2.65,0.00,0.000,4,0.000,0.069,2704,691,2279
$GC,10968,1.11,281.6,612.2,2.0,529,11085,0.15,2.53,110.55,1.184,6,0.045,0.047,2754,2102,1730
$GC,11401,1.11,281.6,581.4,10.5,551,11406,0.00,2.67,0.00,0.000,4,0.000,0.072,2754,694,1729
$GC,11523,1.11,281.6,567.8,10.1,556,11530,0.00,2.53,0.00,0.000,6,0.000,0.046,2754,2107,1729
$GC,11839,1.11,281.6,537.0,9.8,572,11840,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2108,1729
$GC,12148,1.11,281.6,511.4,7.1,587,12152,0.00,2.65,0.00,0.000,4,0.000,0.069,2754,692,1728
$GC,12191,1.11,281.6,508.0,7.7,589,12195,0.00,2.53,0.00,0.000,6,0.000,0.044,2754,2102,1728
$GC,12517,1.11,281.6,484.2,7.3,605,12518,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2105,1728
$GC,12826,1.11,281.6,460.6,8.5,620,12828,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2105,1728
$GC,13136,1.11,281.6,430.6,10.1,635,13137,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2105,1728
$GC,13445,1.11,281.6,399.4,9.9,650,13449,0.00,2.62,0.00,0.000,4,0.000,0.064,2754,692,1729
$GC,13484,1.11,281.6,395.4,11.2,652,13488,0.00,2.47,0.00,0.000,6,0.000,0.041,2754,2100,1728
$GC,13809,1.11,281.6,362.1,10.7,668,13810,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2104,1728
$GC,14118,1.11,281.6,329.0,10.6,683,14123,0.00,2.62,0.00,0.000,4,0.000,0.064,2754,689,1729
$GC,14156,1.11,281.6,324.7,11.4,685,14161,0.00,2.50,0.00,0.000,6,0.000,0.041,2754,2104,1729
$GC,14482,1.11,281.6,291.1,10.0,701,14484,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2108,1729
$GC,14792,1.11,281.6,261.8,9.0,716,14796,0.00,2.62,0.00,0.000,4,0.000,0.062,2754,689,1728
$GC,14834,1.11,281.6,257.7,9.1,718,14839,0.00,2.50,0.00,0.000,6,0.000,0.040,2754,2093,1729
$GC,15161,1.11,281.6,229.0,8.9,734,15162,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2098,1729
$GC,15470,1.11,281.6,201.0,9.1,749,15471,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2098,1729
$GC,15779,1.11,281.6,172.6,8.9,764,15781,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2098,1730
$GC,16091,1.11,281.6,143.8,9.3,779,16092,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2098,1730
$GC,16399,1.11,281.6,114.1,9.4,794,16403,0.00,2.58,0.00,0.000,4,0.000,0.060,2754,691,1731
$GC,16437,1.11,281.6,110.3,10.1,796,16442,0.00,2.47,0.00,0.000,6,0.000,0.038,2754,2107,1731
$GC,16763,1.11,281.6,79.7,8.9,812,16764,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2112,1731
$GC,17072,1.11,281.6,50.1,9.0,827,17073,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2112,1731
$GC,17382,1.11,281.6,18.7,10.0,842,17383,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2112,1731
$GC,17692,1.36,484.4,3.0,-0.0,857,17804,0.15,2.67,105.68,0.771,4,0.061,0.058,2797,687,902
$STATE,17930,end climb,NO_VERTICAL_VELOCITY
$STATE,17930,begin surface
$SM_CCo,17933,38.17,0.759,0,0,603,558.06
$SM_GC,3.68,11.95,0.00,0.00,0.031,0.000,0.000,29,1905,604,-11.27,0.17,558.06
$IRIDIUM_FIX,6148.92,-953.53,071207,040426
$TT8_MAMPS,0.026078
$HUMID,2043
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,18.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,575.8,90.8
$24V_AH,23.4,32.029
$10V_AH,10.1,14.526
$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,25.325,111.875,459.575,38.175,0.000,38.541,36.657,164.175,5.000,0.000,0.000,14.546,1565.857,14139.785,649.020,1986.879,391.845,33.371,1661.166,0.000,1950.800,0.000,33.062
$DEVICE_MAMPS,105.846,72.098,1221.831,758.563,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,635.650,585.891,574.235,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44275,868
$CFSIZE,260165632,250888192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,071207,111439,6214.648,-953.912,45,2.7,64,-10.0