version: 66.02
glider: 102
mission: 4
dive: 152
start: 12 13 107 16 35 28
data:
$ID,102
$MISSION,4
$DIVE,152
$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,-79024.719
$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,27
$R_STBD_OVSHOOT,39
$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
$GPS1,162107,6234.857,-1116.420,43,1.5,43,-10.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.17
$_SM_ANGLEo,-53.8
$GPS2,163433,6234.943,-1116.533,16,1.5,16,-10.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,0.044
$KALMAN_X,173713.6,998.5,-3143.9,-318437.7,17282.6
$KALMAN_Y,126569.7,-449.1,1105.8,-12790.8,3189.3
$MHEAD_RNG_PITCHd_Wd,293.2,22058,-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,-21.85,0.000,2,0.000,0.000,28,1890,1112
$GC,46,-0.95,-146.6,4.3,-0.0,1,219,11.25,2.58,-155.18,0.000,4,0.110,0.074,2286,499,3476
$GC,376,-0.95,-146.6,15.8,-8.1,16,380,0.00,2.47,0.00,0.000,6,0.000,0.041,2286,1895,3476
$GC,698,-0.95,-146.6,38.9,-7.6,32,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3476
$GC,1007,-0.95,-146.6,62.0,-7.8,47,1011,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3298,3476
$GC,1068,-0.95,-146.6,66.8,-7.7,50,1072,0.00,2.50,0.00,0.000,6,0.000,0.044,2285,1898,3476
$GC,1394,-0.95,-146.6,91.1,-7.3,66,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3476
$GC,1703,-0.95,-146.6,114.2,-7.4,81,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3476
$GC,2013,-0.95,-146.6,136.2,-7.0,96,2018,0.00,2.53,0.00,0.000,4,0.000,0.047,2285,3302,3476
$GC,2080,-0.95,-146.6,141.4,-7.5,99,2084,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1900,3476
$GC,2406,-0.95,-146.6,164.7,-7.0,115,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,2715,-0.95,-146.6,187.7,-7.4,130,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,3025,-0.95,-146.6,209.6,-6.5,145,3029,0.00,2.50,0.00,0.000,4,0.000,0.047,2286,3300,3476
$GC,3085,-0.95,-146.6,213.6,-6.8,148,3090,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1900,3476
$GC,3411,-0.95,-146.6,233.3,-5.8,164,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,3720,-0.95,-146.6,252.7,-6.6,179,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,4029,-0.95,-146.6,272.1,-6.0,194,4034,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3301,3476
$GC,4096,-0.95,-146.6,276.3,-5.8,197,4100,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1896,3476
$GC,4422,-0.95,-146.6,297.5,-7.2,213,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,4731,-0.95,-146.6,320.3,-7.1,228,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,5040,-0.95,-146.6,341.9,-7.0,243,5045,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3300,3476
$GC,5108,-0.95,-146.6,346.4,-6.6,246,5112,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1900,3476
$GC,5427,-0.95,-146.6,369.2,-7.3,262,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,5737,-0.95,-146.6,391.2,-7.2,277,5741,0.00,2.53,0.00,0.000,4,0.000,0.050,2286,3298,3476
$GC,5813,-0.95,-146.6,397.1,-7.3,280,5821,0.00,2.55,0.00,0.000,6,0.000,0.047,2286,1902,3476
$GC,6130,-0.95,-146.6,420.7,-7.7,296,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,6439,-0.95,-146.6,441.4,-6.2,311,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3475
$GC,6748,-0.95,-146.6,461.2,-6.9,326,6752,0.00,2.53,0.00,0.000,4,0.000,0.051,2285,3307,3476
$GC,6835,-0.95,-146.6,467.9,-7.3,330,6840,0.00,2.55,0.00,0.000,6,0.000,0.047,2285,1905,3475
$GC,7163,-0.95,-146.6,490.2,-6.1,346,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3475
$GC,7472,-0.95,-146.6,509.2,-6.5,361,7476,0.00,2.53,0.00,0.000,4,0.000,0.051,2285,3300,3474
$GC,7537,-0.95,-146.6,513.8,-7.2,364,7542,0.00,2.53,0.00,0.000,6,0.000,0.046,2285,1896,3475
$GC,7864,-0.95,-146.6,531.0,-4.8,380,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1896,3475
$GC,8173,-0.95,-146.6,548.2,-6.4,395,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1896,3475
$GC,8483,-0.95,-146.6,567.5,-5.8,410,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1896,3475
$GC,8792,-0.95,-146.6,584.3,-4.8,425,8797,0.00,2.55,0.00,0.000,4,0.000,0.056,2285,3297,3474
$GC,8892,-0.95,-146.6,588.9,-4.2,429,8899,0.00,2.53,0.00,0.000,6,0.000,0.049,2285,1902,3475
$GC,9208,-0.95,-146.6,603.6,-5.7,445,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3474
$GC,9517,-0.95,-146.6,619.2,-3.7,460,9518,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3474
$GC,9826,-0.95,-146.6,638.0,-6.3,475,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3474
$GC,10135,-0.95,-146.6,657.8,-6.7,490,10140,0.00,2.58,0.00,0.000,4,0.000,0.061,2285,3302,3474
$GC,10201,-0.95,-146.6,662.6,-7.5,493,10206,0.00,2.58,0.00,0.000,6,0.000,0.054,2285,1883,3473
$STATE,10465,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10465,begin apogee
$GC,10470,-0.36,0.0,679.4,6.1,506,10596,0.62,0.00,123.05,1.253,6,0.075,0.000,2421,2095,2878
$STATE,10597,end apogee,CONTROL_FINISHED_OK
$STATE,10597,begin climb
$GC,10599,0.95,146.6,684.1,0.0,512,10729,1.27,0.00,122.18,1.218,6,0.053,0.000,2702,2096,2280
$GC,11037,0.96,157.9,667.0,5.7,534,11049,0.00,0.00,10.27,1.220,6,0.000,0.000,2702,2096,2234
$GC,11347,0.97,161.5,650.0,5.9,549,11352,0.00,0.00,4.12,1.147,6,0.000,0.000,2702,2096,2219
$GC,11656,1.02,207.7,634.7,4.6,564,11697,0.00,0.00,38.97,1.246,6,0.000,0.000,2702,2096,2031
$GC,12006,1.04,218.0,615.2,5.7,581,12017,0.00,0.00,9.82,1.233,6,0.000,0.000,2702,2096,1990
$GC,12314,1.04,218.0,596.3,6.5,596,12315,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2096,1989
$GC,12624,1.04,218.0,575.6,7.2,611,12625,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2096,1988
$GC,12933,1.05,227.5,555.5,5.7,626,12947,0.00,2.65,8.62,1.216,4,0.000,0.056,2702,3499,1950
$GC,13010,1.05,227.5,550.6,6.2,629,13014,0.00,2.55,0.00,0.000,6,0.000,0.048,2702,2095,1950
$GC,13330,1.05,227.5,529.1,7.0,645,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2095,1950
$GC,13640,1.05,227.5,505.4,7.9,660,13641,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2095,1950
$GC,13949,1.05,227.5,481.8,8.0,675,13950,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2095,1950
$GC,14258,1.05,227.5,458.3,7.9,690,14259,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2095,1950
$GC,14568,1.05,227.5,434.7,8.1,705,14572,0.00,2.62,0.00,0.000,4,0.000,0.069,2702,687,1950
$GC,14633,1.05,227.5,429.2,8.4,708,14638,0.00,2.50,0.00,0.000,6,0.000,0.041,2703,2096,1950
$GC,14960,1.05,227.5,406.6,6.9,724,14961,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2096,1951
$GC,15269,1.05,227.5,384.8,7.5,739,15270,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2097,1950
$GC,15578,1.05,227.5,362.5,6.8,754,15579,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2097,1951
$GC,15887,1.05,227.5,339.8,7.4,769,15888,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2099,1952
$GC,16197,1.05,227.5,318.8,6.2,784,16198,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2100,1952
$GC,16506,1.05,227.5,298.1,7.0,799,16510,0.00,2.58,0.00,0.000,4,0.000,0.061,2702,690,1953
$GC,16582,1.05,227.5,292.4,6.9,802,16590,0.00,2.50,0.00,0.000,6,0.000,0.040,2702,2096,1953
$GC,16898,1.05,227.5,271.0,6.9,818,16899,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2100,1953
$GC,17207,1.05,231.4,251.7,5.9,833,17214,0.00,0.00,5.15,0.995,6,0.000,0.000,2702,2099,1934
$GC,17517,1.08,255.7,234.1,5.3,848,17539,0.12,0.00,20.02,0.974,6,0.051,0.000,2749,2099,1835
$GC,17846,1.08,255.7,208.9,8.3,864,17851,0.00,2.62,0.00,0.000,4,0.000,0.061,2749,685,1835
$GC,17907,1.08,255.7,203.1,8.9,867,17912,0.00,2.50,0.00,0.000,6,0.000,0.040,2749,2106,1835
$GC,18233,1.08,255.7,172.9,9.1,883,18235,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2111,1835
$GC,18543,1.08,255.7,145.3,8.8,898,18544,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2111,1835
$GC,18852,1.08,255.7,118.6,9.3,913,18853,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2110,1835
$GC,19161,1.08,255.7,91.0,8.7,928,19163,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2110,1835
$GC,19471,1.08,255.7,61.1,10.7,943,19475,0.00,2.50,0.00,0.000,4,0.000,0.051,2748,3499,1835
$GC,19541,1.08,255.7,53.9,8.7,946,19546,0.00,2.50,0.00,0.000,6,0.000,0.041,2749,2102,1836
$GC,19863,1.08,255.7,25.2,11.6,962,19864,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2102,1836
$GC,20172,1.15,308.0,4.2,4.4,977,20212,0.00,0.00,33.40,0.806,6,0.000,0.000,2748,2096,1621
$GC,20523,1.41,525.3,4.2,-0.5,994,20532,0.20,0.00,6.78,0.842,2,0.043,0.000,2807,2096,1577
$STATE,20533,end climb,NO_VERTICAL_VELOCITY
$STATE,20533,begin surface
$SM_CCo,20536,120.82,0.747,0,0,602,558.06
$SM_GC,4.37,11.98,0.00,0.00,0.028,0.000,0.000,28,1881,603,-11.27,-0.54,558.06
$IRIDIUM_FIX,6207.28,-1111.28,131207,202021
$TT8_MAMPS,0.026845
$HUMID,2033
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,18.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,600.1,88.5
$24V_AH,23.3,36.449
$10V_AH,10.1,16.912
$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,25.450,81.850,382.400,120.825,0.000,120.196,153.388,294.576,5.750,0.000,0.000,17.585,1736.773,16720.787,680.086,1987.642,761.739,33.354,1658.816,0.000,1958.740,0.000,34.683
$DEVICE_MAMPS,109.681,74.399,1253.278,747.058,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,736.566,672.023,620.606,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50688,994
$CFSIZE,260165632,249270272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,131207,222801,6237.089,-1122.086,42,1.5,42,-10.9