version: 66.02
glider: 102
mission: 4
dive: 139
start: 12 10 107 5 14 57
data:
$ID,102
$MISSION,4
$DIVE,139
$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,-78774.18
$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,24
$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
$GPS1,045508,6220.286,-1047.274,29,1.0,29,-10.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.17
$_SM_ANGLEo,-54.7
$GPS2,051402,6220.513,-1047.234,10,1.0,10,-10.5
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.039,0.205
$KALMAN_X,131776.1,-76.4,3183.5,-255913.0,-8042.7
$KALMAN_Y,140623.4,323.7,-1362.0,-51856.5,130.6
$MHEAD_RNG_PITCHd_Wd,359.7,13744,-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,-22.02,0.000,2,0.000,0.000,26,1889,1120
$GC,46,-0.95,-146.6,4.2,-0.0,1,212,11.25,2.58,-147.65,0.000,4,0.110,0.057,2285,3300,3476
$GC,307,-0.95,-146.6,13.1,-6.9,13,312,0.00,2.53,0.00,0.000,6,0.000,0.040,2285,1904,3476
$GC,636,-0.95,-146.6,41.8,-13.6,29,640,0.00,2.50,0.00,0.000,4,0.000,0.044,2285,3301,3476
$GC,662,-0.95,-146.6,46.8,-17.7,30,666,0.00,2.53,0.00,0.000,6,0.000,0.041,2285,1902,3475
$GC,983,-0.95,-146.6,77.1,-8.5,46,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,1292,-0.95,-146.6,104.9,-10.9,61,1297,0.00,2.53,0.00,0.000,4,0.000,0.045,2285,3307,3476
$GC,1347,-0.95,-146.6,111.6,-10.6,63,1354,0.00,2.55,0.00,0.000,6,0.000,0.041,2285,1897,3475
$GC,1663,-0.95,-146.6,138.9,-8.5,79,1667,0.00,2.53,0.00,0.000,4,0.000,0.046,2285,3302,3475
$GC,1711,-0.95,-146.6,142.2,-6.3,81,1716,0.00,2.53,0.00,0.000,6,0.000,0.041,2284,1905,3475
$GC,2032,-0.95,-146.6,166.0,-6.6,97,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3475
$GC,2342,-0.95,-146.6,187.1,-6.2,112,2346,0.00,2.60,0.00,0.000,4,0.000,0.065,2284,497,3475
$GC,2384,-0.95,-146.6,190.1,-7.4,114,2389,0.00,2.50,0.00,0.000,6,0.000,0.041,2285,1905,3475
$GC,2711,-0.95,-146.6,212.0,-6.8,130,2715,0.00,2.50,0.00,0.000,4,0.000,0.048,2285,3300,3475
$GC,2760,-0.95,-146.6,215.9,-8.3,132,2765,0.00,2.50,0.00,0.000,6,0.000,0.044,2285,1902,3475
$GC,3081,-0.95,-146.6,238.6,-6.9,148,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,3390,-0.95,-146.6,259.1,-7.5,163,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,3700,-0.95,-146.6,279.1,-6.5,178,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,4010,-0.95,-146.6,300.5,-7.2,193,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1903,3475
$GC,4318,-0.95,-146.6,321.9,-6.6,208,4322,0.00,2.50,0.00,0.000,4,0.000,0.047,2285,3303,3475
$GC,4401,-0.95,-146.6,327.7,-6.7,212,4406,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1895,3475
$GC,4728,-0.95,-146.6,350.5,-7.1,228,4732,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3299,3475
$GC,4771,-0.95,-146.6,353.8,-7.9,230,4775,0.00,2.50,0.00,0.000,6,0.000,0.044,2285,1901,3475
$GC,5098,-0.95,-146.6,377.3,-7.1,246,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3475
$GC,5407,-0.95,-146.6,399.9,-7.4,261,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,5716,-0.95,-146.6,424.6,-8.2,276,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,6025,-0.95,-146.6,449.8,-8.0,291,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,6335,-0.95,-146.6,471.9,-6.9,306,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,6645,-0.95,-146.6,492.0,-6.4,321,6649,0.00,2.53,0.00,0.000,4,0.000,0.050,2285,3298,3475
$GC,6687,-0.95,-146.6,495.1,-7.0,323,6692,0.00,2.53,0.00,0.000,6,0.000,0.045,2285,1906,3474
$GC,7014,-0.95,-146.6,517.3,-7.2,339,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3474
$GC,7323,-0.95,-146.6,539.0,-6.8,354,7328,0.00,2.53,0.00,0.000,4,0.000,0.051,2285,3301,3474
$GC,7378,-0.95,-146.6,542.7,-7.3,356,7385,0.00,2.55,0.00,0.000,6,0.000,0.047,2285,1903,3474
$GC,7693,-0.95,-146.6,564.5,-6.5,372,7695,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3473
$GC,8003,-0.95,-146.6,587.4,-6.8,387,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3473
$GC,8312,-0.95,-146.6,609.4,-7.2,402,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3473
$GC,8621,-0.95,-146.6,634.3,-7.9,417,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3473
$GC,8931,-0.95,-146.6,659.2,-7.6,432,8935,0.00,2.60,0.00,0.000,4,0.000,0.069,2285,493,3473
$GC,8996,-0.95,-146.6,665.1,-8.5,435,9001,0.00,2.50,0.00,0.000,6,0.000,0.046,2285,1899,3473
$GC,9323,-0.95,-146.6,687.1,-6.8,451,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3473
$GC,9633,-0.95,-146.6,711.2,-8.7,466,9634,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3473
$GC,9942,-0.95,-146.6,733.9,-4.8,481,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3472
$STATE,9960,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9961,begin apogee
$GC,9965,-0.36,0.0,734.9,4.4,482,10092,0.62,0.00,123.15,1.277,6,0.076,0.000,2421,2105,2878
$STATE,10092,end apogee,CONTROL_FINISHED_OK
$STATE,10092,begin climb
$GC,10094,0.95,146.6,738.1,0.0,488,10223,1.27,0.00,122.53,1.241,6,0.051,0.000,2703,2104,2280
$GC,10532,0.97,167.5,717.2,5.4,510,10557,0.00,2.67,18.10,1.261,4,0.000,0.063,2703,3496,2195
$GC,10620,1.03,210.5,711.8,4.7,514,10662,0.00,2.58,36.15,1.256,6,0.000,0.053,2703,2099,2020
$GC,10970,1.03,210.5,687.4,8.7,531,10972,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2100,2019
$GC,11279,1.03,210.5,665.5,6.6,546,11284,0.00,2.65,0.00,0.000,4,0.000,0.074,2703,689,2018
$GC,11368,1.03,210.5,659.0,7.3,550,11372,0.00,2.53,0.00,0.000,6,0.000,0.048,2703,2096,2018
$GC,11695,1.03,210.5,636.4,7.1,566,11696,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2097,2017
$GC,12004,1.03,210.5,613.5,7.8,581,12005,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,2017
$GC,12314,1.03,210.5,591.2,7.3,596,12315,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,2017
$GC,12623,1.03,210.5,568.3,7.8,611,12624,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2100,2017
$GC,12932,1.03,210.5,545.0,7.1,626,12933,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2101,2017
$GC,13241,1.03,210.5,525.0,6.1,641,13246,0.00,2.62,0.00,0.000,4,0.000,0.064,2703,686,2017
$GC,13296,1.03,210.5,521.2,6.5,643,13303,0.00,2.53,0.00,0.000,6,0.000,0.043,2703,2100,2017
$GC,13611,1.03,210.5,501.4,6.4,659,13612,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2100,2017
$GC,13921,1.04,226.0,483.1,5.5,674,13940,0.00,0.00,13.35,1.166,6,0.000,0.000,2703,2101,1956
$GC,14249,1.05,230.5,464.3,5.9,690,14256,0.00,0.00,4.85,1.100,6,0.000,0.000,2703,2103,1938
$GC,14558,1.05,230.5,446.2,6.0,705,14559,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2103,1938
$GC,14868,1.05,233.3,427.5,5.9,720,14877,0.00,2.65,3.62,1.046,4,0.000,0.063,2703,694,1926
$GC,14944,1.07,247.6,423.0,5.6,723,14965,0.12,2.47,12.52,1.091,6,0.050,0.041,2750,2107,1867
$GC,15286,1.07,247.6,398.6,7.4,740,15288,0.12,0.00,0.00,0.000,6,0.085,0.000,2725,2111,1868
$GC,15594,1.11,280.3,381.2,5.0,755,15624,0.00,0.00,27.33,1.051,6,0.000,0.000,2725,2110,1735
$GC,15924,1.12,289.1,362.7,5.7,771,15934,0.00,0.00,8.50,1.049,6,0.000,0.000,2725,2110,1698
$GC,16234,1.12,289.1,343.8,6.2,786,16238,0.00,2.65,0.00,0.000,4,0.000,0.063,2725,685,1698
$GC,16288,1.12,289.1,340.2,6.4,788,16295,0.00,2.50,0.00,0.000,6,0.000,0.040,2725,2091,1698
$GC,16603,1.12,289.1,320.0,6.6,804,16604,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2095,1699
$GC,16913,1.12,289.1,299.0,6.8,819,16917,0.00,2.60,0.00,0.000,4,0.000,0.061,2725,690,1699
$GC,16961,1.12,289.1,295.3,7.5,821,16966,0.00,2.50,0.00,0.000,6,0.000,0.039,2725,2096,1699
$GC,17282,1.12,289.1,271.0,7.9,837,17287,0.00,2.60,0.00,0.000,4,0.000,0.061,2725,690,1699
$GC,17326,1.12,289.1,267.2,8.3,839,17330,0.00,2.47,0.00,0.000,6,0.000,0.039,2725,2103,1699
$GC,17652,1.12,289.1,239.6,8.4,855,17653,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2106,1699
$GC,17961,1.12,289.1,214.1,8.0,870,17966,0.00,2.62,0.00,0.000,4,0.000,0.061,2725,685,1699
$GC,18018,1.12,289.1,209.5,7.6,872,18024,0.00,2.47,0.00,0.000,6,0.000,0.039,2725,2098,1699
$GC,18332,1.12,289.1,182.2,8.7,888,18333,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2102,1699
$GC,18641,1.12,289.1,156.9,8.3,903,18646,0.00,2.60,0.00,0.000,4,0.000,0.060,2725,689,1699
$GC,18685,1.12,289.1,153.3,8.5,905,18689,0.00,2.47,0.00,0.000,6,0.000,0.038,2725,2104,1699
$GC,19012,1.12,289.1,127.4,7.8,921,19013,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2106,1699
$GC,19321,1.12,289.1,104.2,7.2,936,19325,0.00,2.60,0.00,0.000,4,0.000,0.060,2724,690,1700
$GC,19382,1.12,289.1,99.3,7.7,939,19386,0.00,2.47,0.00,0.000,6,0.000,0.038,2725,2105,1700
$GC,19708,1.12,289.1,73.3,7.7,955,19709,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2108,1700
$GC,20017,1.12,289.1,47.8,8.5,970,20021,0.00,2.62,0.00,0.000,4,0.000,0.061,2725,683,1700
$GC,20078,1.12,289.1,42.6,8.7,973,20083,0.00,2.47,0.00,0.000,6,0.000,0.038,2724,2098,1700
$GC,20405,1.15,313.1,19.2,5.3,989,20426,0.00,0.00,19.88,0.840,6,0.000,0.000,2725,2102,1601
$GC,20736,1.40,518.4,3.7,-0.1,1005,20848,0.32,0.00,108.82,0.762,6,0.039,0.000,2809,2104,763
$STATE,20978,end climb,NO_VERTICAL_VELOCITY
$STATE,20978,begin surface
$SM_CCo,20981,21.08,0.765,0,0,602,558.06
$SM_GC,4.18,11.95,0.00,0.00,0.028,0.000,0.000,34,1883,602,-11.25,-0.48,558.30
$IRIDIUM_FIX,6158.08,-956.72,101207,090942
$TT8_MAMPS,0.026078
$HUMID,2034
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,651.5,92.9
$24V_AH,23.3,34.079
$10V_AH,10.2,15.627
$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,25.675,112.750,498.800,21.075,0.000,148.334,214.022,476.822,6.750,0.000,0.000,12.062,1776.769,16994.781,707.898,2039.168,1040.803,33.361,1734.078,0.000,2014.813,0.000,37.927
$DEVICE_MAMPS,109.681,73.632,1277.055,764.699,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,746.724,688.186,617.134,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50480,1017
$CFSIZE,260165632,250109952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,101207,111308,6223.999,-1041.678,33,1.1,33,-10.5