version: 66.02
glider: 102
mission: 4
dive: 131
start: 12 7 107 23 38 9
data:
$ID,102
$MISSION,4
$DIVE,131
$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,-78659.477
$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,28
$R_STBD_OVSHOOT,32
$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
$GPS1,233007,6214.067,-1003.200,36,0.9,36,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.74
$_SM_ANGLEo,-57.5
$GPS2,233715,6214.026,-1003.249,9,1.7,9,-10.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.207,-0.029
$KALMAN_X,133783.6,-1028.8,1372.9,-216295.8,11170.2
$KALMAN_Y,151504.9,-1003.6,229.5,-74971.0,7221.1
$MHEAD_RNG_PITCHd_Wd,272.2,27439,-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,-22.27,0.000,2,0.000,0.000,28,1887,1122
$GC,47,-0.95,-146.6,3.8,-0.0,1,226,11.30,2.62,-157.82,0.000,4,0.112,0.075,2287,493,3476
$GC,404,-0.95,-146.6,12.9,-10.4,17,411,0.00,2.50,0.00,0.000,6,0.000,0.039,2287,1910,3475
$GC,722,-0.95,-146.6,36.2,-8.3,33,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1911,3476
$GC,1029,-0.95,-146.6,61.2,-7.6,48,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1912,3475
$GC,1339,-0.95,-146.6,85.1,-7.7,63,1343,0.00,2.47,0.00,0.000,4,0.000,0.046,2287,3295,3475
$GC,1445,-0.95,-146.6,93.2,-6.8,68,1450,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1896,3475
$GC,1771,-0.95,-146.6,118.3,-7.2,84,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3475
$GC,2080,-0.95,-146.6,140.7,-6.7,99,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1896,3475
$GC,2389,-0.95,-146.6,164.4,-7.8,114,2393,0.00,2.50,0.00,0.000,4,0.000,0.044,2287,3298,3475
$GC,2488,-0.95,-146.6,172.6,-8.3,118,2494,0.00,2.53,0.00,0.000,6,0.000,0.041,2287,1900,3475
$GC,2803,-0.95,-146.6,198.2,-8.3,134,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,3112,-0.95,-146.6,221.2,-6.9,149,3117,0.00,2.50,0.00,0.000,4,0.000,0.045,2287,3300,3476
$GC,3196,-0.95,-146.6,227.3,-7.6,153,3200,0.00,2.50,0.00,0.000,6,0.000,0.043,2287,1902,3475
$GC,3522,-0.95,-146.6,250.1,-6.8,169,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3475
$GC,3830,-0.95,-146.6,272.2,-7.2,184,3834,0.00,2.50,0.00,0.000,4,0.000,0.046,2287,3297,3476
$GC,3895,-0.95,-146.6,277.0,-6.9,187,3899,0.00,2.53,0.00,0.000,6,0.000,0.043,2287,1902,3475
$GC,4222,-0.95,-146.6,298.3,-6.6,203,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1903,3475
$GC,4531,-0.95,-146.6,319.3,-6.8,218,4535,0.00,2.50,0.00,0.000,4,0.000,0.047,2286,3296,3475
$GC,4619,-0.95,-146.6,325.7,-7.8,222,4623,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1900,3475
$GC,4945,-0.95,-146.6,347.7,-6.8,238,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3475
$GC,5254,-0.95,-146.6,369.0,-7.3,253,5259,0.00,2.50,0.00,0.000,4,0.000,0.048,2287,3297,3475
$GC,5316,-0.95,-146.6,373.5,-7.1,256,5320,0.00,2.50,0.00,0.000,6,0.000,0.044,2287,1900,3475
$GC,5641,-0.95,-146.6,396.4,-7.3,272,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,5950,-0.95,-146.6,419.2,-7.2,287,5954,0.00,2.50,0.00,0.000,4,0.000,0.048,2287,3297,3475
$GC,6034,-0.95,-146.6,425.4,-7.2,291,6039,0.00,2.50,0.00,0.000,6,0.000,0.045,2287,1901,3475
$GC,6360,-0.95,-146.6,448.1,-6.4,307,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3475
$GC,6669,-0.95,-146.6,468.8,-6.5,322,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3475
$GC,6979,-0.95,-146.6,487.7,-5.8,337,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3475
$GC,7288,-0.95,-146.6,505.0,-5.7,352,7292,0.00,2.50,0.00,0.000,4,0.000,0.050,2287,3295,3475
$GC,7359,-0.95,-146.6,509.3,-6.0,355,7364,0.00,2.53,0.00,0.000,6,0.000,0.046,2287,1905,3475
$GC,7681,-0.95,-146.6,530.5,-7.0,371,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3474
$GC,7991,-0.95,-146.6,553.3,-7.2,386,7995,0.00,2.53,0.00,0.000,4,0.000,0.051,2287,3301,3474
$GC,8091,-0.95,-146.6,560.6,-7.6,390,8098,0.00,2.53,0.00,0.000,6,0.000,0.047,2287,1896,3474
$GC,8406,-0.95,-146.6,582.2,-7.0,406,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3474
$GC,8716,-0.95,-146.6,603.2,-6.6,421,8720,0.00,2.55,0.00,0.000,4,0.000,0.054,2287,3297,3474
$GC,8815,-0.95,-146.6,610.5,-7.2,425,8822,0.00,2.55,0.00,0.000,6,0.000,0.048,2286,1899,3474
$GC,9131,-0.95,-146.6,634.2,-7.3,441,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3474
$GC,9440,-0.95,-146.6,652.7,-5.6,456,9445,0.00,2.55,0.00,0.000,4,0.000,0.055,2287,3298,3474
$GC,9529,-0.95,-146.6,657.9,-6.0,460,9533,0.00,2.55,0.00,0.000,6,0.000,0.048,2287,1902,3474
$GC,9856,-0.95,-146.6,674.8,-5.8,476,9857,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3474
$GC,10165,-0.95,-146.6,693.2,-5.7,491,10170,0.00,2.55,0.00,0.000,4,0.000,0.057,2287,3294,3474
$GC,10294,-0.95,-146.6,701.2,-6.5,497,10298,0.00,2.53,0.00,0.000,6,0.000,0.051,2286,1900,3474
$GC,10619,-0.95,-146.6,720.4,-5.7,513,10624,0.00,2.58,0.00,0.000,4,0.000,0.060,2287,3301,3474
$GC,10726,-0.95,-146.6,727.4,-7.1,518,10731,0.00,2.55,0.00,0.000,6,0.000,0.054,2286,1901,3474
$GC,11052,-0.95,-146.6,746.6,-5.9,534,11053,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3473
$GC,11362,-0.95,-146.6,764.1,-5.7,549,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3473
$GC,11671,-0.95,-146.6,779.9,-5.7,564,11675,0.00,2.58,0.00,0.000,4,0.000,0.064,2287,3293,3472
$GC,11742,-0.95,-146.6,784.6,-7.2,567,11746,0.00,2.58,0.00,0.000,6,0.000,0.059,2286,1904,3472
$GC,12063,-0.95,-146.6,803.4,-6.8,583,12064,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1904,3471
$STATE,12102,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12103,begin apogee
$GC,12107,-0.36,0.0,806.2,7.1,585,12234,0.60,0.00,124.05,1.350,6,0.074,0.000,2416,2096,2878
$STATE,12235,end apogee,CONTROL_FINISHED_OK
$STATE,12236,begin climb
$GC,12237,0.95,146.6,809.8,0.0,591,12366,1.30,0.00,124.00,1.308,6,0.055,0.000,2700,2096,2279
$GC,12674,0.95,146.6,792.6,6.1,613,12675,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2095,2279
$GC,12983,0.95,146.6,772.9,6.3,628,12984,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2096,2278
$GC,13292,0.95,146.6,753.6,6.4,643,13297,0.00,2.62,0.00,0.000,4,0.000,0.064,2700,3507,2277
$GC,13420,0.95,146.6,745.3,6.4,649,13425,0.00,2.60,0.00,0.000,6,0.000,0.056,2700,2096,2277
$GC,13746,0.96,154.1,725.8,5.8,665,13755,0.00,0.00,7.10,1.316,6,0.000,0.000,2700,2097,2249
$GC,14055,1.01,195.3,709.4,4.8,680,14095,0.00,0.00,35.65,1.325,6,0.000,0.000,2700,2097,2080
$GC,14404,1.03,214.5,691.0,5.4,697,14425,0.00,0.00,17.05,1.315,6,0.000,0.000,2700,2097,2003
$GC,14733,1.03,214.5,671.4,6.3,713,14738,0.00,2.60,0.00,0.000,4,0.000,0.060,2700,3501,2003
$GC,14805,1.03,214.5,666.3,6.3,716,14809,0.00,2.55,0.00,0.000,6,0.000,0.051,2700,2101,2003
$GC,15126,1.03,214.5,644.9,7.0,732,15127,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2100,2002
$GC,15435,1.03,214.5,624.1,6.8,747,15439,0.00,2.65,0.00,0.000,4,0.000,0.071,2700,688,2002
$GC,15478,1.03,214.5,620.8,7.3,749,15482,0.00,2.50,0.00,0.000,6,0.000,0.045,2700,2099,2002
$GC,15804,1.03,214.5,597.6,7.4,765,15805,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2100,2002
$GC,16113,1.03,214.5,575.7,6.7,780,16115,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2101,2003
$GC,16423,1.04,225.8,556.6,5.7,795,16436,0.00,0.00,10.50,1.208,6,0.000,0.000,2701,2102,1957
$GC,16732,1.06,239.8,538.4,5.6,810,16747,0.12,0.00,12.80,1.182,6,0.051,0.000,2745,2103,1900
$GC,17042,1.06,239.8,514.5,8.0,825,17043,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2104,1900
$GC,17351,1.06,239.8,490.4,8.0,840,17352,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2104,1900
$GC,17660,1.06,239.8,465.7,8.0,855,17661,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2103,1902
$GC,17969,1.06,239.8,440.1,8.4,870,17970,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2104,1902
$GC,18279,1.06,239.8,413.9,8.5,885,18280,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2104,1902
$GC,18588,1.06,239.8,387.9,8.3,900,18589,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2104,1903
$GC,18897,1.06,239.8,363.5,7.5,915,18898,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2103,1903
$GC,19207,1.06,239.8,340.7,7.2,930,19210,0.00,2.53,0.00,0.000,4,0.000,0.050,2746,3509,1903
$GC,19283,1.06,239.8,334.5,7.7,933,19288,0.00,2.55,0.00,0.000,6,0.000,0.043,2746,2092,1903
$GC,19605,1.06,239.8,310.9,7.2,949,19606,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2092,1904
$GC,19914,1.06,239.8,288.1,7.4,964,19915,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2093,1904
$GC,20224,1.06,239.8,265.1,7.4,979,20228,0.00,2.58,0.00,0.000,4,0.000,0.049,2745,3511,1904
$GC,20277,1.06,239.8,260.7,7.6,981,20284,0.00,2.53,0.00,0.000,6,0.000,0.041,2746,2102,1904
$GC,20593,1.06,239.8,236.0,7.9,997,20594,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2102,1905
$GC,20902,1.06,239.8,210.8,8.3,1012,20903,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2102,1905
$GC,21211,1.06,239.8,186.5,7.4,1027,21213,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2102,1905
$GC,21521,1.06,239.8,165.0,6.7,1042,21522,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2102,1905
$GC,21830,1.06,239.8,141.1,8.0,1057,21832,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2102,1905
$GC,22140,1.06,239.8,118.7,7.2,1072,22141,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2102,1906
$GC,22449,1.06,239.8,95.5,7.6,1087,22450,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2102,1905
$GC,22760,1.06,239.8,71.6,9.0,1102,22761,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2102,1906
$GC,23068,1.06,239.8,47.8,7.4,1117,23069,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2102,1906
$GC,23377,1.06,239.8,27.5,7.1,1132,23378,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2101,1905
$GC,23686,1.06,239.8,3.2,7.7,1147,23687,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2101,1906
$GC,23996,1.31,439.7,3.1,0.0,1162,24067,0.15,0.00,68.43,0.776,2,0.054,0.000,2794,2098,1380
$STATE,24068,end climb,NO_VERTICAL_VELOCITY
$STATE,24068,begin surface
$SM_CCo,24071,96.22,0.734,0,0,602,558.06
$SM_GC,3.82,11.90,0.00,0.00,0.028,0.000,0.000,30,1891,603,-11.27,-0.23,558.06
$IRIDIUM_FIX,6153.50,-1003.42,071207,212124
$TT8_MAMPS,0.026078
$HUMID,2027
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,725.1,90.4
$24V_AH,23.3,32.549
$10V_AH,10.1,14.820
$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,25.375,102.200,399.575,96.225,0.000,39.281,34.970,258.978,6.500,0.000,0.000,10.718,2038.079,19391.416,708.385,2354.088,524.514,33.385,1850.257,0.000,2332.996,0.000,42.767
$DEVICE_MAMPS,111.982,75.166,1349.920,734.019,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,866.881,788.586,699.480,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60024,1165
$CFSIZE,260165632,250654720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,081207,062907,6212.198,-1012.968,37,1.3,37,-10.1