version: 66.02
glider: 102
mission: 4
dive: 145
start: 12 11 107 18 11 4
data:
$ID,102
$MISSION,4
$DIVE,145
$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,-78883.297
$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,21
$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
$GPS1,180232,6224.755,-1058.913,41,1.5,41,-10.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,4.14
$_SM_ANGLEo,-50.5
$GPS2,181011,6224.737,-1058.818,11,2.3,30,-10.6
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.205,-0.038
$KALMAN_X,158968.0,-651.5,-4105.4,-285441.0,-19412.5
$KALMAN_Y,122119.1,729.0,3766.7,-31068.8,12864.9
$MHEAD_RNG_PITCHd_Wd,270.2,36541,-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,-22.10,0.000,2,0.000,0.000,34,1885,1121
$GC,47,-0.95,-146.6,4.4,-0.0,1,219,11.32,2.60,-151.88,0.000,4,0.110,0.059,2284,3304,3476
$GC,308,-0.95,-146.6,10.2,-10.3,13,315,0.00,2.55,0.00,0.000,6,0.000,0.042,2284,1898,3476
$GC,626,-0.95,-146.6,33.9,-5.0,29,630,0.00,2.60,0.00,0.000,4,0.000,0.063,2284,492,3476
$GC,854,-0.95,-146.6,51.6,-7.3,39,858,0.00,2.50,0.00,0.000,6,0.000,0.039,2284,1904,3476
$GC,1175,-0.95,-146.6,75.9,-7.1,55,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1906,3476
$GC,1484,-0.95,-146.6,95.0,-6.5,70,1489,0.00,2.47,0.00,0.000,4,0.000,0.047,2284,3293,3476
$GC,1561,-0.95,-146.6,100.4,-7.2,73,1569,0.00,2.50,0.00,0.000,6,0.000,0.041,2284,1907,3476
$GC,1878,-0.95,-146.6,123.9,-7.8,89,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1907,3476
$GC,2187,-0.95,-146.6,146.8,-5.8,104,2191,0.00,2.50,0.00,0.000,4,0.000,0.046,2284,3301,3476
$GC,2241,-0.95,-146.6,150.0,-5.0,106,2249,0.00,2.53,0.00,0.000,6,0.000,0.043,2284,1903,3476
$GC,2557,-0.95,-146.6,168.5,-6.2,122,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1903,3476
$GC,2866,-0.95,-146.6,189.5,-6.5,137,2869,0.00,2.47,0.00,0.000,4,0.000,0.046,2284,3295,3476
$GC,2926,-0.95,-146.6,193.7,-6.8,139,2932,0.00,2.53,0.00,0.000,6,0.000,0.041,2284,1897,3476
$GC,3241,-0.95,-146.6,215.6,-7.6,155,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3476
$GC,3550,-0.95,-146.6,239.7,-7.9,170,3555,0.00,2.50,0.00,0.000,4,0.000,0.047,2284,3302,3476
$GC,3612,-0.95,-146.6,244.5,-8.3,173,3616,0.00,2.50,0.00,0.000,6,0.000,0.043,2284,1900,3476
$GC,3938,-0.95,-146.6,267.0,-6.7,189,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3476
$GC,4247,-0.95,-146.6,286.9,-6.5,204,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3476
$GC,4556,-0.95,-146.6,307.9,-6.4,219,4560,0.00,2.50,0.00,0.000,4,0.000,0.048,2284,3294,3476
$GC,4627,-0.95,-146.6,312.4,-6.5,222,4631,0.00,2.50,0.00,0.000,6,0.000,0.042,2284,1897,3476
$GC,4948,-0.95,-146.6,336.3,-8.4,238,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3476
$GC,5257,-0.95,-146.6,363.7,-9.1,253,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3476
$GC,5567,-0.95,-146.6,390.1,-8.1,268,5571,0.00,2.53,0.00,0.000,4,0.000,0.049,2284,3295,3476
$GC,5643,-0.95,-146.6,396.6,-8.8,271,5650,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1905,3476
$GC,5959,-0.95,-146.6,418.6,-6.4,287,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3476
$GC,6268,-0.95,-146.6,438.9,-6.9,302,6272,0.00,2.50,0.00,0.000,4,0.000,0.050,2284,3294,3476
$GC,6356,-0.95,-146.6,445.6,-7.5,306,6360,0.00,2.53,0.00,0.000,6,0.000,0.045,2284,1902,3476
$GC,6682,-0.95,-146.6,469.6,-7.5,322,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3475
$GC,6992,-0.95,-146.6,490.6,-6.6,337,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3475
$GC,7301,-0.95,-146.6,509.9,-5.5,352,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3475
$GC,7611,-0.95,-146.6,526.2,-5.5,367,7615,0.00,2.53,0.00,0.000,4,0.000,0.051,2284,3301,3475
$GC,7694,-0.95,-146.6,531.3,-6.0,371,7699,0.00,2.53,0.00,0.000,6,0.000,0.045,2284,1897,3475
$GC,8020,-0.95,-146.6,553.9,-7.5,387,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3475
$GC,8330,-0.95,-146.6,578.0,-7.3,402,8331,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3474
$GC,8639,-0.95,-146.6,598.3,-6.8,417,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3474
$GC,8948,-0.95,-146.6,620.4,-6.6,432,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1897,3474
$GC,9257,-0.95,-146.6,641.9,-7.2,447,9262,0.00,2.58,0.00,0.000,4,0.000,0.058,2284,3298,3474
$GC,9363,-0.95,-146.6,649.7,-7.3,452,9368,0.00,2.53,0.00,0.000,6,0.000,0.049,2283,1896,3475
$GC,9695,-0.95,-146.6,670.4,-5.9,468,9699,0.00,2.55,0.00,0.000,4,0.000,0.058,2284,3295,3474
$GC,9778,-0.95,-146.6,675.5,-6.3,472,9782,0.00,2.53,0.00,0.000,6,0.000,0.049,2284,1899,3474
$GC,10103,-0.95,-146.6,694.7,-5.3,488,10105,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3473
$GC,10413,-0.95,-146.6,712.4,-6.2,503,10414,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3474
$GC,10722,-0.95,-146.6,733.6,-7.1,518,10726,0.00,2.58,0.00,0.000,4,0.000,0.059,2284,3297,3474
$GC,10905,-0.95,-146.6,746.2,-6.9,526,10909,0.00,2.55,0.00,0.000,6,0.000,0.054,2284,1900,3473
$GC,11226,-0.95,-146.6,765.8,-6.2,542,11227,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3473
$GC,11535,-0.95,-146.6,783.7,-5.8,557,11537,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3472
$STATE,11720,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11720,begin apogee
$GC,11725,-0.36,0.0,796.2,7.1,566,11853,0.62,0.00,124.50,1.345,6,0.077,0.000,2419,2090,2878
$STATE,11853,end apogee,CONTROL_FINISHED_OK
$STATE,11854,begin climb
$GC,11855,0.95,146.6,799.0,0.0,572,11983,1.27,0.00,123.75,1.305,6,0.058,0.000,2699,2091,2280
$GC,12287,0.98,174.9,780.1,5.2,593,12314,0.00,0.00,24.65,1.306,6,0.000,0.000,2698,2091,2165
$GC,12615,0.98,174.9,759.3,7.1,609,12616,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2091,2164
$GC,12924,1.02,206.1,740.5,5.1,624,12953,0.00,0.00,27.23,1.324,6,0.000,0.000,2698,2091,2037
$GC,13253,1.02,206.1,719.3,6.9,640,13255,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2091,2036
$GC,13562,1.02,206.1,698.6,7.1,655,13567,0.00,2.60,0.00,0.000,4,0.000,0.060,2699,3501,2035
$GC,13679,1.02,206.1,689.5,7.2,660,13683,0.00,2.58,0.00,0.000,6,0.000,0.051,2699,2105,2035
$GC,14001,1.11,279.6,674.6,3.8,676,14070,0.15,2.65,61.10,1.295,4,0.048,0.055,2752,3502,1737
$GC,14181,1.11,279.6,659.7,9.3,684,14186,0.00,2.58,0.00,0.000,6,0.000,0.051,2753,2106,1737
$GC,14502,1.11,279.6,629.5,10.2,700,14504,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2106,1737
$GC,14811,1.11,279.6,598.8,9.4,715,14813,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2106,1737
$GC,15121,1.11,279.6,570.8,8.7,730,15122,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2106,1737
$GC,15430,1.11,279.6,543.4,8.9,745,15431,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2106,1737
$GC,15739,1.11,279.6,514.1,9.7,760,15740,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2106,1737
$GC,16048,1.11,279.6,484.1,9.7,775,16050,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2106,1738
$GC,16358,1.11,279.6,454.3,9.7,790,16359,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2105,1739
$GC,16667,1.11,279.6,426.0,8.6,805,16668,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2106,1739
$GC,16976,1.11,279.6,400.1,9.1,820,16977,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2105,1739
$GC,17286,1.11,279.6,371.0,9.8,835,17287,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2106,1740
$GC,17595,1.11,279.6,340.9,9.0,850,17596,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2105,1740
$GC,17904,1.11,279.6,313.4,9.2,865,17905,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2105,1741
$GC,18214,1.11,279.6,283.7,9.5,880,18215,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2105,1740
$GC,18523,1.11,279.6,256.4,8.8,895,18524,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2105,1740
$GC,18832,1.11,279.6,229.0,9.0,910,18833,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2105,1741
$GC,19141,1.11,279.6,203.2,8.4,925,19143,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2105,1741
$GC,19450,1.11,279.6,177.5,8.5,940,19455,0.00,2.60,0.00,0.000,4,0.000,0.061,2753,687,1741
$GC,19506,1.11,279.6,172.9,9.3,942,19512,0.00,2.47,0.00,0.000,6,0.000,0.038,2753,2110,1741
$GC,19821,1.11,279.6,146.4,8.4,958,19823,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2113,1742
$GC,20132,1.11,279.6,119.5,9.4,973,20133,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2114,1742
$GC,20440,1.11,279.6,93.1,7.6,988,20441,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2114,1742
$GC,20749,1.11,279.6,66.1,8.6,1003,20750,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2113,1742
$GC,21058,1.11,279.6,39.4,9.4,1018,21059,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2113,1742
$GC,21367,1.11,279.6,9.4,10.0,1033,21369,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2113,1743
$GC,21677,1.37,486.8,3.7,-0.2,1048,21790,0.15,0.00,109.03,0.779,6,0.053,0.000,2799,2115,893
$STATE,21820,end climb,NO_VERTICAL_VELOCITY
$STATE,21820,begin surface
$SM_CCo,21823,37.05,0.763,0,0,603,558.06
$SM_GC,4.33,11.95,0.00,0.00,0.030,0.000,0.000,29,1886,604,-11.27,-0.40,558.06
$IRIDIUM_FIX,6158.08,-1058.57,111207,151511
$TT8_MAMPS,0.026078
$HUMID,2042
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,700.0,105.7
$24V_AH,23.3,35.191
$10V_AH,10.1,16.204
$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,25.475,81.900,470.250,37.050,0.000,37.515,42.056,261.794,7.500,0.000,0.000,32.295,1828.327,17536.283,679.681,2169.898,525.758,33.352,1728.710,0.000,2120.689,0.000,42.028
$DEVICE_MAMPS,110.448,62.894,1345.318,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,767.777,713.443,644.691,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53761,1055
$CFSIZE,260165632,249724928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,121207,002337,6223.357,-1102.564,39,1.9,39,-10.7