version: 66.02
glider: 102
mission: 4
dive: 154
start: 12 14 107 4 34 38
data:
$ID,102
$MISSION,4
$DIVE,154
$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,-79052.195
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,042808,6235.752,-1120.660,42,1.1,42,-10.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.27
$_SM_ANGLEo,-50.7
$GPS2,043344,6235.770,-1120.645,13,1.4,13,-10.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.209,0.007
$KALMAN_X,183057.9,251.6,-3413.4,-330393.8,5058.1
$KALMAN_Y,135139.6,609.9,-4849.3,-14904.2,-1387.0
$MHEAD_RNG_PITCHd_Wd,282.9,19701,-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,20,-0.95,-146.6,0.0,0.0,0,43,0.00,0.00,-20.90,0.000,2,0.000,0.000,28,1873,1097
$GC,46,-0.95,-146.6,4.3,-0.0,1,211,11.18,2.55,-146.60,0.000,4,0.106,0.077,2293,508,3475
$GC,325,-0.95,-146.6,17.6,-12.3,14,330,0.00,2.45,0.00,0.000,6,0.000,0.041,2292,1904,3475
$GC,651,-0.95,-146.6,41.2,-7.2,30,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1906,3475
$GC,960,-0.95,-146.6,65.6,-6.0,45,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1906,3475
$GC,1269,-0.95,-146.6,87.2,-9.0,60,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1906,3475
$GC,1578,-0.95,-146.6,111.5,-7.2,75,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1906,3475
$GC,1888,-0.95,-146.6,135.2,-8.6,90,1892,0.00,2.50,0.00,0.000,4,0.000,0.048,2293,3295,3475
$GC,1953,-0.95,-146.6,140.7,-8.0,93,1958,0.00,2.50,0.00,0.000,6,0.000,0.044,2293,1918,3475
$GC,2280,-0.95,-146.6,161.8,-6.5,109,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1918,3475
$GC,2590,-0.95,-146.6,182.7,-7.0,124,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1918,3475
$GC,2898,-0.95,-146.6,204.6,-7.1,139,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1918,3475
$GC,3208,-0.95,-146.6,225.0,-6.3,154,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1918,3475
$GC,3517,-0.95,-146.6,245.6,-7.1,169,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1918,3474
$GC,3826,-0.95,-146.6,266.6,-6.9,184,3830,0.00,2.50,0.00,0.000,4,0.000,0.048,2293,3304,3475
$GC,3891,-0.95,-146.6,271.4,-7.5,187,3896,0.00,2.55,0.00,0.000,6,0.000,0.043,2293,1899,3475
$GC,4218,-0.95,-146.6,295.4,-7.7,203,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1898,3475
$GC,4527,-0.95,-146.6,318.9,-7.6,218,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1899,3474
$GC,4837,-0.95,-146.6,340.7,-6.9,233,4841,0.00,2.53,0.00,0.000,4,0.000,0.048,2292,3299,3474
$GC,4891,-0.95,-146.6,344.7,-7.5,235,4899,0.00,2.53,0.00,0.000,6,0.000,0.044,2293,1904,3475
$GC,5207,-0.95,-146.6,365.3,-6.1,251,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1904,3474
$GC,5517,-0.95,-146.6,383.7,-5.9,266,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1904,3474
$GC,5827,-0.95,-146.6,402.5,-6.0,281,5831,0.00,2.53,0.00,0.000,4,0.000,0.049,2293,3300,3474
$GC,5892,-0.95,-146.6,406.9,-6.3,284,5897,0.00,2.55,0.00,0.000,6,0.000,0.046,2293,1898,3474
$GC,6219,-0.95,-146.6,428.9,-7.3,300,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1898,3474
$GC,6529,-0.95,-146.6,452.7,-7.7,315,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1898,3474
$GC,6838,-0.95,-146.6,474.5,-6.9,330,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1896,3474
$GC,7147,-0.95,-146.6,496.2,-7.4,345,7151,0.00,2.53,0.00,0.000,4,0.000,0.051,2293,3301,3474
$GC,7280,-0.95,-146.6,506.0,-7.8,351,7284,0.00,2.55,0.00,0.000,6,0.000,0.046,2292,1898,3474
$GC,7606,-0.95,-146.6,530.0,-7.7,367,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1898,3474
$GC,7916,-0.95,-146.6,552.2,-6.9,382,7920,0.00,2.53,0.00,0.000,4,0.000,0.053,2293,3301,3474
$GC,7976,-0.95,-146.6,556.4,-6.7,385,7981,0.00,2.53,0.00,0.000,6,0.000,0.047,2293,1900,3474
$GC,8303,-0.95,-146.6,574.1,-4.9,401,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1900,3473
$GC,8613,-0.95,-146.6,587.0,-4.0,416,8617,0.00,2.55,0.00,0.000,4,0.000,0.055,2293,3299,3474
$GC,8729,-0.95,-146.6,592.5,-4.8,421,8733,0.00,2.53,0.00,0.000,6,0.000,0.049,2293,1901,3474
$GC,9050,-0.95,-146.6,608.5,-5.2,437,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1901,3474
$GC,9362,-0.95,-146.6,625.5,-5.5,452,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1901,3473
$GC,9668,-0.95,-146.6,642.5,-5.4,467,9670,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1902,3473
$GC,9978,-0.95,-146.6,658.2,-4.8,482,9982,0.00,2.55,0.00,0.000,4,0.000,0.060,2292,3295,3472
$GC,10073,-0.95,-146.6,663.6,-5.9,486,10078,0.00,2.55,0.00,0.000,6,0.000,0.054,2293,1897,3472
$GC,10388,-0.95,-146.6,681.5,-6.1,501,10389,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1896,3472
$STATE,10551,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10551,begin apogee
$GC,10556,-0.36,0.0,691.2,5.8,509,10683,0.57,0.00,123.12,1.266,6,0.074,0.000,2417,2093,2878
$STATE,10683,end apogee,CONTROL_FINISHED_OK
$STATE,10683,begin climb
$GC,10685,0.95,146.6,695.0,0.0,515,10816,1.27,2.75,122.32,1.226,4,0.049,0.071,2703,690,2280
$GC,10924,0.98,170.4,689.3,5.3,526,10950,0.00,2.58,20.77,1.216,6,0.000,0.051,2703,2098,2183
$GC,11266,0.99,180.2,670.3,5.7,543,11277,0.00,0.00,9.30,1.224,6,0.000,0.000,2703,2098,2142
$GC,11574,1.04,224.6,654.3,4.7,558,11619,0.00,2.67,37.28,1.237,4,0.000,0.062,2703,3496,1962
$GC,11663,1.04,225.8,649.1,6.0,562,11668,0.00,2.60,0.00,0.000,6,0.000,0.053,2703,2076,1962
$GC,11990,1.11,282.6,633.2,4.3,578,12042,0.15,0.00,48.95,1.233,6,0.042,0.000,2757,2076,1725
$GC,12339,1.11,282.6,608.5,8.0,595,12340,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2076,1724
$GC,12648,1.11,282.6,584.4,7.7,610,12653,0.00,2.62,0.00,0.000,4,0.000,0.058,2757,3504,1723
$GC,12736,1.11,282.6,576.5,9.5,614,12741,0.00,2.60,0.00,0.000,6,0.000,0.052,2756,2100,1723
$GC,13063,1.11,282.6,548.0,8.7,630,13064,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2100,1723
$GC,13372,1.11,282.6,519.3,9.8,645,13373,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2101,1723
$GC,13682,1.11,282.6,489.0,9.3,660,13683,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2101,1723
$GC,13991,1.11,282.6,461.2,8.3,675,13992,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2100,1723
$GC,14300,1.11,282.6,437.8,7.6,690,14301,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2100,1723
$GC,14609,1.11,282.6,412.6,8.6,705,14611,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2100,1723
$GC,14918,1.11,282.6,384.2,9.5,720,14920,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2100,1724
$GC,15228,1.11,282.6,353.7,10.1,735,15229,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2100,1724
$GC,15537,1.11,282.6,323.6,9.2,750,15538,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2100,1725
$GC,15846,1.11,282.6,293.9,9.9,765,15851,0.00,2.62,0.00,0.000,4,0.000,0.067,2757,687,1725
$GC,15902,1.11,282.6,288.3,9.7,767,15908,0.00,2.53,0.00,0.000,6,0.000,0.041,2757,2115,1725
$GC,16217,1.11,282.6,261.6,7.6,783,16218,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2119,1725
$GC,16526,1.11,282.6,238.7,7.3,798,16530,0.00,2.50,0.00,0.000,4,0.000,0.051,2757,3501,1726
$GC,16647,1.11,282.6,227.7,10.5,803,16654,0.00,2.53,0.00,0.000,6,0.000,0.043,2757,2097,1726
$GC,16963,1.11,282.6,203.9,7.4,819,16964,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2097,1726
$GC,17272,1.11,282.6,181.2,7.2,834,17273,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2097,1726
$GC,17581,1.11,282.6,160.3,6.3,849,17582,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2097,1726
$GC,17891,1.11,282.6,142.2,6.0,864,17896,0.00,2.58,0.00,0.000,4,0.000,0.063,2757,693,1726
$GC,17946,1.11,282.6,138.1,7.5,866,17953,0.00,2.47,0.00,0.000,6,0.000,0.039,2757,2100,1727
$GC,18262,1.11,282.6,114.6,8.7,882,18263,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2103,1727
$GC,18571,1.11,282.6,88.3,9.3,897,18572,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2103,1727
$GC,18880,1.11,282.6,60.9,7.5,912,18881,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2103,1727
$GC,19189,1.11,282.6,33.6,9.1,927,19194,0.00,2.60,0.00,0.000,4,0.000,0.061,2757,693,1727
$GC,19229,1.11,282.6,29.7,9.6,929,19233,0.00,2.45,0.00,0.000,6,0.000,0.041,2757,2107,1727
$GC,19555,1.19,341.3,3.7,4.2,945,19595,0.00,0.00,36.28,0.805,6,0.000,0.000,2757,2113,1486
$STATE,19882,end climb,NO_VERTICAL_VELOCITY
$STATE,19882,begin surface
$SM_CCo,19884,109.40,0.752,0,0,603,558.06
$SM_GC,4.10,11.73,0.00,0.00,0.028,0.000,0.000,28,1893,603,-11.26,-0.20,558.06
$IRIDIUM_FIX,6211.90,-1117.68,141207,020217
$TT8_MAMPS,0.026845
$HUMID,2045
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.60
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,625.5,75.1
$24V_AH,23.3,36.801
$10V_AH,10.1,17.096
$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,24.900,82.325,398.025,109.400,0.000,39.827,39.987,156.279,7.000,0.000,0.000,15.020,1678.486,16034.715,664.001,1964.165,411.169,33.357,1632.376,0.000,1935.672,0.000,36.255
$DEVICE_MAMPS,105.846,77.467,1265.550,751.660,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,704.031,649.076,608.778,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47352,961
$CFSIZE,260165632,249147392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,141207,101608,6235.215,-1126.026,41,1.6,41,-11.0