version: 66.02
glider: 102
mission: 4
dive: 97
start: 11 29 107 20 21 33
data:
$ID,102
$MISSION,4
$DIVE,97
$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,120
$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,-78108.305
$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,2350
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,29
$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
$GPS1,201531,6149.088,-942.458,38,1.3,43,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-47.2
$GPS2,202039,6149.135,-942.610,15,1.3,15,-9.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.090,0.189
$KALMAN_X,43318.9,637.2,18115.9,-126150.0,-47713.9
$KALMAN_Y,131259.4,-1157.1,24045.9,-124489.1,-57530.9
$MHEAD_RNG_PITCHd_Wd,35.1,30072,-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,-146.6,0.0,0.0,0,123,0.00,0.00,-102.05,0.000,2,0.000,0.000,28,1885,2645
$GC,125,-0.95,-146.6,3.7,-1.1,5,181,11.88,2.60,-36.92,0.000,4,0.137,0.057,2287,3303,3476
$GC,271,-0.95,-146.6,11.5,-5.0,11,278,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1894,3476
$GC,586,-0.95,-146.6,40.4,-8.6,27,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3476
$GC,896,-0.95,-146.6,57.4,-5.1,42,900,0.00,2.53,0.00,0.000,4,0.000,0.044,2286,3304,3476
$GC,980,-0.95,-146.6,62.7,-5.9,46,985,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1893,3477
$GC,1306,-0.95,-146.6,83.3,-6.0,62,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1893,3476
$GC,1615,-0.95,-146.6,110.2,-10.2,77,1620,0.00,2.53,0.00,0.000,4,0.000,0.044,2286,3305,3476
$GC,1670,-0.95,-146.6,114.6,-8.6,79,1677,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1905,3476
$GC,1985,-0.95,-146.6,140.0,-7.2,95,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1904,3476
$GC,2294,-0.95,-146.6,166.9,-8.5,110,2299,0.00,2.53,0.00,0.000,4,0.000,0.045,2286,3311,3476
$GC,2356,-0.95,-146.6,173.2,-10.8,113,2360,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1893,3476
$GC,2681,-0.95,-146.6,202.8,-7.2,129,2685,0.00,2.53,0.00,0.000,4,0.000,0.045,2287,3304,3476
$GC,2774,-0.95,-146.6,209.6,-7.4,133,2779,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1901,3476
$GC,3095,-0.95,-146.6,237.6,-8.6,149,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,3404,-0.95,-146.6,266.8,-9.9,164,3409,0.00,2.53,0.00,0.000,4,0.000,0.046,2286,3311,3476
$GC,3443,-0.95,-146.6,270.6,-10.0,166,3448,0.00,2.53,0.00,0.000,6,0.000,0.041,2287,1896,3476
$GC,3769,-0.95,-146.6,304.0,-10.1,182,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,4078,-0.95,-146.6,335.4,-10.5,197,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,4388,-0.95,-146.6,371.6,-10.9,212,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1896,3477
$GC,4697,-0.95,-146.6,406.1,-11.2,227,4701,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3303,3476
$GC,4796,-0.95,-146.6,418.7,-13.1,231,4803,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1909,3476
$GC,5111,-0.95,-146.6,455.1,-11.0,247,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1909,3476
$GC,5420,-0.95,-146.6,489.5,-11.6,262,5425,0.00,2.50,0.00,0.000,4,0.000,0.051,2286,3307,3476
$GC,5486,-0.95,-146.6,498.1,-12.5,265,5491,0.00,2.55,0.00,0.000,6,0.000,0.044,2286,1902,3476
$GC,5813,-0.95,-146.6,537.4,-11.8,281,5818,0.00,2.55,0.00,0.000,4,0.000,0.050,2286,3311,3476
$GC,5890,-0.95,-146.6,548.1,-12.1,284,5897,0.00,2.55,0.00,0.000,6,0.000,0.044,2286,1902,3476
$GC,6206,-0.95,-146.6,589.2,-13.3,300,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3476
$GC,6515,-0.95,-146.6,620.5,-9.7,315,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,6824,-0.95,-146.6,649.5,-7.8,330,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,7135,-0.95,-146.6,675.4,-8.3,345,7139,0.00,2.58,0.00,0.000,4,0.000,0.058,2286,3306,3476
$GC,7174,-0.95,-146.6,679.1,-9.0,347,7178,0.00,2.55,0.00,0.000,6,0.000,0.048,2287,1896,3476
$GC,7499,-0.95,-146.6,704.5,-6.3,363,7503,0.00,2.58,0.00,0.000,4,0.000,0.058,2287,3300,3475
$GC,7553,-0.95,-146.6,707.6,-6.8,365,7561,0.00,2.53,0.00,0.000,6,0.000,0.049,2286,1907,3475
$GC,7869,-0.95,-146.6,721.4,-3.0,381,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3475
$GC,8178,-0.95,-146.6,727.2,-1.5,396,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3475
$GC,8488,-0.95,-146.6,732.6,-2.9,411,8489,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3474
$GC,8797,-0.95,-146.6,737.5,-2.1,426,8801,0.00,2.62,0.00,0.000,4,0.000,0.072,2286,489,3474
$GC,8823,-0.95,-146.6,738.3,-2.9,427,8827,0.00,2.50,0.00,0.000,6,0.000,0.048,2286,1897,3475
$GC,9144,-0.95,-146.6,747.5,-2.7,443,9148,0.00,2.62,0.00,0.000,4,0.000,0.071,2287,493,3474
$GC,9220,-0.95,-146.6,752.9,-9.2,446,9227,0.00,2.50,0.00,0.000,6,0.000,0.049,2286,1896,3474
$GC,9535,-0.95,-146.6,786.9,-10.9,462,9540,0.00,2.58,0.00,0.000,4,0.000,0.061,2286,3299,3474
$GC,9642,-0.95,-146.6,798.7,-12.2,467,9646,0.00,2.53,0.00,0.000,6,0.000,0.055,2286,1902,3474
$GC,9967,-0.95,-146.6,832.7,-3.8,483,9968,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3474
$STATE,10028,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10028,begin apogee
$GC,10033,-0.36,0.0,837.1,7.8,486,10161,0.62,0.00,124.22,1.359,6,0.093,0.000,2417,2340,2878
$STATE,10162,end apogee,CONTROL_FINISHED_OK
$STATE,10162,begin climb
$GC,10163,0.95,146.6,845.1,0.0,492,10294,1.27,2.72,122.95,1.323,4,0.059,0.074,2696,3750,2280
$GC,10547,0.95,146.6,831.9,15.4,509,10554,0.00,2.55,0.00,0.000,6,0.000,0.050,2696,2347,2279
$GC,10862,0.95,146.6,772.8,20.0,525,10867,0.00,2.62,0.00,0.000,4,0.000,0.066,2696,3762,2278
$GC,11063,1.19,345.1,756.3,0.1,534,11237,0.25,2.58,163.75,1.306,6,0.035,0.051,2768,2349,1471
$GC,11552,1.19,345.1,741.7,6.5,558,11556,0.00,2.67,0.00,0.000,4,0.000,0.073,2768,940,1470
$GC,11673,1.19,345.1,730.6,10.5,563,11680,0.00,2.58,0.00,0.000,6,0.000,0.048,2768,2350,1469
$GC,11988,1.19,345.1,693.5,11.1,579,11993,0.00,2.62,0.00,0.000,4,0.000,0.065,2768,934,1469
$GC,12099,1.19,345.1,682.2,10.6,584,12104,0.00,2.58,0.00,0.000,6,0.000,0.046,2768,2350,1468
$GC,12426,1.19,345.1,647.5,11.4,600,12430,0.00,2.62,0.00,0.000,4,0.000,0.064,2769,940,1469
$GC,12474,1.19,345.1,642.1,11.3,602,12479,0.00,2.55,0.00,0.000,6,0.000,0.044,2768,2351,1469
$GC,12795,1.19,345.1,604.7,11.5,618,12799,0.00,2.62,0.00,0.000,4,0.000,0.064,2768,938,1469
$GC,12883,1.19,345.1,594.9,11.1,622,12887,0.00,2.53,0.00,0.000,6,0.000,0.042,2768,2344,1469
$GC,13209,1.19,345.1,563.3,9.2,638,13214,0.00,2.60,0.00,0.000,4,0.000,0.062,2769,941,1470
$GC,13271,1.19,345.1,557.0,10.7,641,13275,0.00,2.50,0.00,0.000,6,0.000,0.041,2768,2351,1469
$GC,13596,1.23,379.1,538.5,5.0,657,13630,0.00,2.72,28.50,1.179,4,0.000,0.062,2768,939,1332
$GC,13750,1.23,379.1,527.8,7.6,664,13754,0.00,2.53,0.00,0.000,6,0.000,0.041,2768,2356,1332
$GC,14075,1.23,379.1,506.9,6.4,680,14079,0.00,2.62,0.00,0.000,4,0.000,0.060,2768,932,1333
$GC,14181,1.23,379.1,499.1,7.2,685,14185,0.00,2.50,0.00,0.000,6,0.000,0.040,2769,2352,1333
$GC,14506,1.23,379.1,477.8,6.9,701,14510,0.00,2.62,0.00,0.000,4,0.000,0.061,2769,932,1333
$GC,14612,1.23,379.1,469.2,8.3,706,14616,0.00,2.50,0.00,0.000,6,0.000,0.040,2769,2353,1333
$GC,14937,1.23,379.1,443.8,7.7,722,14941,0.00,2.60,0.00,0.000,4,0.000,0.061,2769,941,1334
$GC,15054,1.23,379.1,433.7,8.2,727,15058,0.00,2.50,0.00,0.000,6,0.000,0.039,2768,2351,1333
$GC,15368,1.23,379.1,405.2,9.2,742,15373,0.00,2.65,0.00,0.000,4,0.000,0.061,2768,931,1334
$GC,15474,1.23,379.1,394.7,10.1,747,15479,0.00,2.53,0.00,0.000,6,0.000,0.041,2769,2358,1334
$GC,15800,1.23,379.1,362.9,9.9,763,15804,0.00,2.60,0.00,0.000,4,0.000,0.060,2769,939,1334
$GC,15910,1.23,379.1,350.4,11.7,768,15915,0.00,2.50,0.00,0.000,6,0.000,0.039,2768,2342,1334
$GC,16237,1.23,379.1,316.5,10.2,784,16241,0.00,2.58,0.00,0.000,4,0.000,0.060,2769,941,1335
$GC,16348,1.23,379.1,305.8,9.2,789,16353,0.00,2.50,0.00,0.000,6,0.000,0.039,2768,2354,1335
$GC,16668,1.23,379.1,279.0,8.9,805,16673,0.00,2.60,0.00,0.000,4,0.000,0.059,2769,938,1335
$GC,16768,1.23,379.1,269.7,7.7,809,16774,0.00,2.50,0.00,0.000,6,0.000,0.039,2769,2346,1335
$GC,17083,1.23,379.1,241.1,9.8,825,17087,0.00,2.58,0.00,0.000,4,0.000,0.059,2769,940,1335
$GC,17183,1.23,379.1,230.1,10.5,829,17189,0.00,2.50,0.00,0.000,6,0.000,0.038,2769,2358,1335
$GC,17498,1.23,379.1,199.4,8.2,845,17502,0.00,2.60,0.00,0.000,4,0.000,0.058,2769,939,1336
$GC,17574,1.23,379.1,193.2,8.2,848,17581,0.00,2.50,0.00,0.000,6,0.000,0.038,2769,2350,1336
$GC,17889,1.23,379.1,161.9,11.2,864,17894,0.00,2.60,0.00,0.000,4,0.000,0.057,2769,940,1336
$GC,17983,1.23,379.1,149.2,11.3,868,17988,0.00,2.50,0.00,0.000,6,0.000,0.038,2769,2352,1336
$GC,18306,1.23,379.1,118.6,9.2,884,18310,0.00,2.62,0.00,0.000,4,0.000,0.059,2769,931,1336
$GC,18389,1.23,379.1,109.6,10.2,888,18394,0.00,2.50,0.00,0.000,6,0.000,0.038,2769,2354,1336
$GC,18715,1.23,379.1,76.9,8.0,904,18720,0.00,2.60,0.00,0.000,4,0.000,0.055,2769,939,1336
$GC,18799,1.23,379.1,67.0,12.7,908,18804,0.00,2.47,0.00,0.000,6,0.000,0.038,2768,2352,1336
$GC,19125,1.23,379.1,33.2,9.3,924,19130,0.00,2.62,0.00,0.000,4,0.000,0.059,2769,932,1337
$GC,19241,1.23,379.1,20.1,12.4,929,19246,0.00,2.50,0.00,0.000,6,0.000,0.038,2769,2345,1337
$STATE,19439,end climb,SURFACE_DEPTH_REACHED
$STATE,19439,begin surface coast
$FINISH,1.9,1.002000
$STATE,19460,end surface coast,CONTROL_FINISHED_OK
$STATE,19460,begin surface
$SM_CCo,19540,0.00,0.000,0,0,1335,378.25
$SM_GC,2.63,11.62,0.00,0.00,0.026,0.000,0.000,30,1887,1335,-11.26,-0.37,378.25
$IRIDIUM_FIX,6126.23,-941.22,291107,171720
$TT8_MAMPS,0.026845
$HUMID,2047
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.1,96.9
$24V_AH,23.3,26.637
$10V_AH,10.1,11.722
$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,25.650,180.775,439.425,0.000,0.000,37.802,27.231,144.741,6.500,0.000,0.000,16.753,1768.997,14721.820,620.338,2368.132,366.448,33.346,1808.480,0.000,2314.252,0.000,44.394
$DEVICE_MAMPS,136.526,73.632,1359.124,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,684.503,635.015,557.235,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47493,940
$CFSIZE,260165632,252829696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,0,0
$GPS,301107,014831,6150.937,-942.356,40,1.9,45,-9.7