version: 66.02
glider: 102
mission: 4
dive: 137
start: 12 9 107 16 14 10
data:
$ID,102
$MISSION,4
$DIVE,137
$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,-78743.172
$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,32
$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
$GPS1,160608,6217.110,-1044.019,32,1.2,32,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.01
$_SM_ANGLEo,-57.3
$GPS2,161315,6217.045,-1044.208,10,1.6,10,-10.5
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.186,0.094
$KALMAN_X,130096.8,40.8,-925.3,-247568.0,5042.9
$KALMAN_Y,144376.1,417.3,-2085.3,-61397.3,5184.6
$MHEAD_RNG_PITCHd_Wd,307.2,20011,-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,-21.95,0.000,2,0.000,0.000,30,1884,1119
$GC,46,-0.95,-146.6,4.1,-0.0,1,214,11.45,2.58,-149.38,0.000,4,0.119,0.059,2286,3294,3476
$GC,299,-0.95,-146.6,12.7,-10.7,13,304,0.00,2.47,0.00,0.000,6,0.000,0.041,2286,1907,3476
$GC,626,-0.95,-146.6,40.1,-8.1,29,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3476
$GC,935,-0.95,-146.6,62.5,-7.2,44,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3476
$GC,1244,-0.95,-146.6,91.0,-8.8,59,1248,0.00,2.50,0.00,0.000,4,0.000,0.045,2286,3300,3476
$GC,1337,-0.95,-146.6,98.7,-8.9,63,1342,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1882,3476
$GC,1660,-0.95,-146.6,119.8,-6.7,79,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1882,3476
$GC,1968,-0.95,-146.6,141.6,-7.6,94,1973,0.00,2.55,0.00,0.000,4,0.000,0.045,2286,3305,3476
$GC,2068,-0.95,-146.6,149.0,-6.5,98,2076,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1904,3476
$GC,2384,-0.95,-146.6,166.9,-5.7,114,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3475
$GC,2693,-0.95,-146.6,185.5,-6.1,129,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,3002,-0.95,-146.6,208.0,-7.9,144,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,3311,-0.95,-146.6,234.3,-9.0,159,3315,0.00,2.50,0.00,0.000,4,0.000,0.047,2286,3300,3476
$GC,3382,-0.95,-146.6,240.8,-9.3,162,3386,0.00,2.50,0.00,0.000,6,0.000,0.042,2286,1897,3476
$GC,3703,-0.95,-146.6,267.7,-8.4,178,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3476
$GC,4012,-0.95,-146.6,292.9,-8.1,193,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3476
$GC,4321,-0.95,-146.6,316.6,-7.5,208,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3476
$GC,4631,-0.95,-146.6,339.6,-7.5,223,4635,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3301,3476
$GC,4714,-0.95,-146.6,346.2,-8.3,227,4718,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1900,3476
$GC,5039,-0.95,-146.6,370.9,-7.9,243,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,5348,-0.95,-146.6,394.2,-7.4,258,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,5658,-0.95,-146.6,417.8,-7.8,273,5662,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3300,3476
$GC,5719,-0.95,-146.6,422.6,-7.7,276,5724,0.00,2.47,0.00,0.000,6,0.000,0.044,2286,1901,3476
$GC,6045,-0.95,-146.6,446.8,-7.7,292,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,6354,-0.95,-146.6,469.4,-7.1,307,6359,0.00,2.50,0.00,0.000,4,0.000,0.049,2286,3300,3476
$GC,6420,-0.95,-146.6,474.1,-7.0,310,6425,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1894,3476
$GC,6747,-0.95,-146.6,495.1,-6.6,326,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3476
$GC,7056,-0.95,-146.6,515.9,-7.2,341,7061,0.00,2.53,0.00,0.000,4,0.000,0.051,2285,3298,3475
$GC,7150,-0.95,-146.6,523.0,-7.7,345,7155,0.00,2.50,0.00,0.000,6,0.000,0.046,2286,1900,3476
$GC,7472,-0.95,-146.6,547.4,-7.5,361,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,7781,-0.95,-146.6,571.2,-7.3,376,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3475
$GC,8091,-0.95,-146.6,590.5,-5.7,391,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3475
$GC,8400,-0.95,-146.6,605.1,-4.3,406,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3475
$GC,8709,-0.95,-146.6,618.2,-5.1,421,8713,0.00,2.55,0.00,0.000,4,0.000,0.053,2286,3302,3475
$GC,8798,-0.95,-146.6,624.2,-7.4,425,8802,0.00,2.53,0.00,0.000,6,0.000,0.047,2286,1896,3474
$GC,9125,-0.95,-146.6,651.4,-8.7,441,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3475
$GC,9434,-0.95,-146.6,674.7,-7.1,456,9435,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3474
$GC,9743,-0.95,-146.6,698.5,-8.3,471,9748,0.00,2.55,0.00,0.000,4,0.000,0.057,2286,3295,3474
$GC,9820,-0.95,-146.6,704.4,-6.9,474,9828,0.00,2.55,0.00,0.000,6,0.000,0.049,2286,1903,3474
$GC,10136,-0.95,-146.6,720.0,-3.5,490,10138,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1903,3474
$GC,10445,-0.95,-146.6,732.9,-5.3,505,10450,0.00,2.55,0.00,0.000,4,0.000,0.057,2286,3295,3474
$GC,10522,-0.95,-146.6,737.7,-6.5,508,10529,0.00,2.55,0.00,0.000,6,0.000,0.049,2286,1899,3474
$GC,10838,-0.95,-146.6,755.7,-7.4,524,10842,0.00,2.58,0.00,0.000,4,0.000,0.060,2286,3303,3474
$GC,11016,-0.95,-146.6,769.0,-8.3,532,11021,0.00,2.55,0.00,0.000,6,0.000,0.051,2285,1895,3474
$GC,11337,-0.95,-146.6,790.8,-5.5,548,11338,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3474
$STATE,11645,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11645,begin apogee
$GC,11650,-0.36,0.0,805.5,5.4,563,11777,0.60,0.00,124.32,1.332,6,0.074,0.000,2415,2101,2878
$STATE,11778,end apogee,CONTROL_FINISHED_OK
$STATE,11778,begin climb
$GC,11780,0.95,146.6,808.2,0.0,569,11907,1.27,0.00,123.18,1.291,6,0.054,0.000,2699,2101,2279
$GC,12212,1.00,191.8,794.5,4.7,590,12253,0.00,0.00,38.90,1.299,6,0.000,0.000,2699,2101,2096
$GC,12559,1.00,191.8,778.3,6.8,607,12563,0.00,2.70,0.00,0.000,4,0.000,0.077,2699,688,2095
$GC,12624,1.00,191.8,772.2,10.7,610,12629,0.00,2.58,0.00,0.000,6,0.000,0.054,2699,2102,2095
$GC,12951,1.00,191.8,744.3,7.4,626,12953,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2102,2093
$GC,13261,1.12,283.4,733.2,3.3,641,13344,0.17,2.70,76.28,1.308,4,0.042,0.061,2756,3506,1722
$GC,13573,1.12,283.4,703.8,10.1,655,13578,0.00,2.60,0.00,0.000,6,0.000,0.053,2756,2104,1721
$GC,13901,1.12,283.4,668.1,9.3,671,13902,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2103,1721
$GC,14210,1.12,283.4,643.5,7.7,686,14211,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2104,1721
$GC,14519,1.12,283.4,614.6,9.7,701,14520,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2103,1721
$GC,14828,1.12,283.4,584.4,9.9,716,14829,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2104,1721
$GC,15137,1.12,283.4,552.3,10.8,731,15139,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2104,1721
$GC,15447,1.12,283.4,520.8,9.6,746,15448,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2103,1721
$GC,15756,1.12,283.4,494.8,8.5,761,15757,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2104,1722
$GC,16065,1.12,283.4,465.5,9.7,776,16066,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2104,1723
$GC,16375,1.12,283.4,432.9,10.8,791,16376,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2104,1723
$GC,16684,1.12,283.4,400.9,10.1,806,16685,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2104,1723
$GC,16993,1.12,283.4,371.2,9.3,821,16997,0.00,2.60,0.00,0.000,4,0.000,0.064,2756,685,1724
$GC,17058,1.12,283.4,364.6,10.1,824,17063,0.00,2.50,0.00,0.000,6,0.000,0.040,2756,2105,1724
$GC,17385,1.12,283.4,335.8,8.8,840,17386,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2109,1724
$GC,17694,1.12,283.4,308.8,8.9,855,17695,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2108,1724
$GC,18003,1.12,283.4,282.2,8.4,870,18008,0.00,2.60,0.00,0.000,4,0.000,0.062,2756,687,1724
$GC,18058,1.12,283.4,277.1,8.8,872,18065,0.00,2.47,0.00,0.000,6,0.000,0.039,2756,2102,1724
$GC,18373,1.12,283.4,250.2,8.2,888,18374,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2105,1724
$GC,18683,1.12,283.4,222.8,8.9,903,18684,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2105,1725
$GC,18992,1.12,283.4,194.8,9.7,918,18993,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2105,1725
$GC,19301,1.12,283.4,165.3,10.0,933,19302,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2105,1726
$GC,19612,1.12,283.4,135.8,9.2,948,19613,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2105,1726
$GC,19921,1.12,283.4,105.2,8.8,963,19922,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2105,1726
$GC,20229,1.12,283.4,77.3,8.0,978,20234,0.00,2.62,0.00,0.000,4,0.000,0.061,2756,680,1726
$GC,20284,1.12,283.4,72.3,9.7,980,20291,0.00,2.53,0.00,0.000,6,0.000,0.038,2756,2105,1726
$GC,20600,1.12,283.4,43.9,9.9,996,20601,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2109,1726
$GC,20909,1.12,283.4,14.9,10.0,1011,20910,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2108,1726
$GC,21218,1.36,482.1,3.5,0.1,1026,21330,0.15,2.72,104.75,0.771,4,0.058,0.061,2802,690,912
$STATE,21412,end climb,NO_VERTICAL_VELOCITY
$STATE,21412,begin surface
$SM_CCo,21414,39.40,0.755,0,0,602,558.06
$SM_GC,4.40,11.93,0.00,0.00,0.028,0.000,0.000,27,1914,602,-11.27,0.42,558.06
$IRIDIUM_FIX,6148.92,-1059.58,091207,131327
$TT8_MAMPS,0.026845
$HUMID,2041
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,18.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,725.5,89.8
$24V_AH,23.3,33.701
$10V_AH,10.1,15.429
$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,25.575,91.750,467.425,39.400,0.000,36.477,39.018,254.118,7.000,0.000,0.000,11.701,1809.402,17184.598,658.760,2148.834,503.626,33.363,1724.257,0.000,2115.107,0.000,42.763
$DEVICE_MAMPS,118.885,76.700,1332.279,754.728,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,762.030,700.290,622.280,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50509,1035
$CFSIZE,260165632,250253312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,091207,222001,6219.220,-1049.290,40,1.2,40,-10.5