version: 66.02
glider: 102
mission: 4
dive: 146
start: 12 12 107 0 43 14
data:
$ID,102
$MISSION,4
$DIVE,146
$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,-78900.617
$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,26
$R_STBD_OVSHOOT,35
$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
$GPS1,002337,6223.357,-1102.564,39,1.9,39,-10.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.24
$_SM_ANGLEo,-55.3
$GPS2,004220,6223.248,-1102.321,15,1.8,15,-10.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.154,0.141
$KALMAN_X,164741.6,720.4,-8069.8,-291740.1,67847.4
$KALMAN_Y,115873.0,-817.3,10360.0,-32608.2,-79492.8
$MHEAD_RNG_PITCHd_Wd,323.0,34563,-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,-21.90,0.000,2,0.000,0.000,28,1880,1117
$GC,47,-0.95,-146.6,4.3,-0.0,1,220,11.38,2.60,-153.75,0.000,4,0.116,0.071,2288,498,3476
$GC,309,-0.95,-146.6,10.9,-8.0,13,314,0.00,2.47,0.00,0.000,6,0.000,0.038,2288,1905,3476
$GC,633,-0.95,-146.6,34.9,-8.2,29,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1906,3476
$GC,941,-0.95,-146.6,58.3,-7.1,44,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1906,3476
$GC,1250,-0.95,-146.6,82.8,-7.8,59,1254,0.00,2.50,0.00,0.000,4,0.000,0.047,2288,3297,3476
$GC,1304,-0.95,-146.6,87.3,-8.8,61,1311,0.00,2.53,0.00,0.000,6,0.000,0.042,2288,1904,3476
$GC,1621,-0.95,-146.6,111.8,-8.1,77,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3476
$GC,1930,-0.95,-146.6,137.5,-8.5,92,1934,0.00,2.50,0.00,0.000,4,0.000,0.046,2288,3297,3476
$GC,2006,-0.95,-146.6,144.6,-9.2,95,2013,0.00,2.53,0.00,0.000,6,0.000,0.041,2288,1897,3476
$GC,2322,-0.95,-146.6,167.7,-6.8,111,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1897,3476
$GC,2631,-0.95,-146.6,189.6,-7.2,126,2636,0.00,2.53,0.00,0.000,4,0.000,0.046,2288,3302,3476
$GC,2693,-0.95,-146.6,194.2,-7.5,129,2697,0.00,2.50,0.00,0.000,6,0.000,0.042,2288,1891,3476
$GC,3018,-0.95,-146.6,219.6,-7.9,145,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1891,3476
$GC,3328,-0.95,-146.6,243.0,-7.3,160,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1890,3476
$GC,3637,-0.95,-146.6,266.1,-7.3,175,3641,0.00,2.53,0.00,0.000,4,0.000,0.047,2288,3295,3476
$GC,3702,-0.95,-146.6,271.3,-7.5,178,3706,0.00,2.53,0.00,0.000,6,0.000,0.043,2288,1901,3475
$GC,4029,-0.95,-146.6,293.4,-6.4,194,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,4338,-0.95,-146.6,313.3,-6.4,209,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,4647,-0.95,-146.6,334.0,-7.0,224,4651,0.00,2.50,0.00,0.000,4,0.000,0.048,2287,3295,3475
$GC,4724,-0.95,-146.6,339.4,-6.6,227,4730,0.00,2.50,0.00,0.000,6,0.000,0.043,2288,1894,3475
$GC,5039,-0.95,-146.6,360.3,-6.4,243,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3475
$GC,5349,-0.95,-146.6,380.1,-6.3,258,5353,0.00,2.53,0.00,0.000,4,0.000,0.048,2288,3295,3475
$GC,5414,-0.95,-146.6,384.6,-6.6,261,5418,0.00,2.53,0.00,0.000,6,0.000,0.044,2288,1903,3476
$GC,5741,-0.95,-146.6,403.8,-5.4,277,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1903,3475
$GC,6050,-0.95,-146.6,422.8,-6.3,292,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1903,3475
$GC,6359,-0.95,-146.6,443.1,-6.3,307,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1903,3476
$GC,6668,-0.95,-146.6,463.6,-7.0,322,6673,0.00,2.53,0.00,0.000,4,0.000,0.049,2288,3299,3475
$GC,6730,-0.95,-146.6,468.0,-7.3,325,6734,0.00,2.50,0.00,0.000,6,0.000,0.045,2288,1899,3475
$GC,7055,-0.95,-146.6,490.2,-6.9,341,7056,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3475
$GC,7365,-0.95,-146.6,511.9,-7.2,356,7369,0.00,2.53,0.00,0.000,4,0.000,0.050,2288,3298,3474
$GC,7436,-0.95,-146.6,517.4,-8.2,359,7440,0.00,2.53,0.00,0.000,6,0.000,0.045,2288,1892,3474
$GC,7757,-0.95,-146.6,539.6,-6.8,375,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1892,3474
$GC,8066,-0.95,-146.6,559.7,-6.6,390,8070,0.00,2.55,0.00,0.000,4,0.000,0.052,2288,3297,3474
$GC,8165,-0.95,-146.6,566.7,-7.2,394,8172,0.00,2.50,0.00,0.000,6,0.000,0.046,2288,1900,3474
$GC,8480,-0.95,-146.6,589.0,-7.4,410,8485,0.00,2.55,0.00,0.000,4,0.000,0.054,2288,3301,3474
$GC,8564,-0.95,-146.6,595.4,-7.8,414,8569,0.00,2.53,0.00,0.000,6,0.000,0.047,2288,1900,3474
$GC,8890,-0.95,-146.6,618.4,-6.8,430,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3474
$GC,9199,-0.95,-146.6,638.8,-6.5,445,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3474
$GC,9509,-0.95,-146.6,660.1,-6.9,460,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3474
$GC,9818,-0.95,-146.6,679.8,-5.9,475,9822,0.00,2.55,0.00,0.000,4,0.000,0.054,2288,3300,3474
$GC,9895,-0.95,-146.6,684.5,-6.2,478,9902,0.00,2.55,0.00,0.000,6,0.000,0.048,2287,1904,3474
$GC,10211,-0.95,-146.6,703.3,-6.1,494,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3474
$GC,10520,-0.95,-146.6,722.8,-6.3,509,10521,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3474
$GC,10830,-0.95,-146.6,740.9,-5.8,524,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3473
$GC,11139,-0.95,-146.6,759.1,-6.1,539,11140,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3473
$GC,11448,-0.95,-146.6,779.1,-6.3,554,11449,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3473
$GC,11757,-0.95,-146.6,798.4,-6.3,569,11761,0.00,2.58,0.00,0.000,4,0.000,0.063,2288,3291,3473
$GC,11796,-0.95,-146.6,800.9,-6.7,571,11800,0.00,2.55,0.00,0.000,6,0.000,0.056,2288,1904,3473
$GC,12121,-0.95,-146.6,819.2,-4.9,587,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3473
$STATE,12161,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12161,begin apogee
$GC,12166,-0.36,0.0,821.7,5.4,589,12293,0.60,0.00,124.32,1.367,6,0.074,0.000,2418,2096,2878
$STATE,12294,end apogee,CONTROL_FINISHED_OK
$STATE,12294,begin climb
$GC,12296,0.95,146.6,825.3,0.0,595,12428,1.30,2.72,124.25,1.328,4,0.057,0.070,2703,3506,2280
$GC,12466,0.95,146.6,819.7,6.4,604,12470,0.00,2.62,0.00,0.000,6,0.000,0.056,2703,2096,2280
$GC,12793,1.00,192.3,802.6,4.6,620,12838,0.00,2.70,39.38,1.330,4,0.000,0.067,2703,3499,2093
$GC,12917,1.00,192.3,795.1,6.4,626,12921,0.00,2.60,0.00,0.000,6,0.000,0.058,2703,2099,2092
$GC,13242,1.00,192.3,769.6,9.4,642,13246,0.00,2.67,0.00,0.000,4,0.000,0.078,2703,691,2091
$GC,13307,1.00,192.3,763.0,10.3,645,13312,0.00,2.55,0.00,0.000,6,0.000,0.053,2703,2098,2091
$GC,13634,1.00,192.3,732.1,8.6,661,13635,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,2090
$GC,13943,1.03,212.0,713.2,5.4,676,13965,0.00,2.67,16.83,1.325,4,0.000,0.061,2703,3507,2013
$GC,14056,1.03,213.8,706.9,5.9,681,14061,0.00,2.60,0.00,0.000,6,0.000,0.052,2703,2091,2013
$GC,14381,1.03,213.8,688.8,6.1,697,14383,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2091,2012
$GC,14691,1.03,213.8,667.6,6.9,712,14692,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2091,2012
$GC,15000,1.03,213.8,645.1,7.7,727,15001,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2091,2012
$GC,15309,1.03,213.8,621.5,7.4,742,15310,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2091,2012
$GC,15619,1.03,213.8,600.0,6.6,757,15620,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2091,2012
$GC,15928,1.03,213.8,580.8,6.2,772,15929,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2091,2013
$GC,16237,1.03,213.8,561.5,6.3,787,16238,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2091,2013
$GC,16546,1.03,213.8,541.4,6.8,802,16551,0.00,2.60,0.00,0.000,4,0.000,0.053,2703,3507,2014
$GC,16608,1.03,213.8,537.0,6.4,805,16612,0.00,2.53,0.00,0.000,6,0.000,0.046,2703,2098,2014
$GC,16933,1.03,213.8,515.0,6.7,821,16934,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,2014
$GC,17243,1.03,213.8,493.7,6.8,836,17247,0.00,0.00,3.05,1.043,6,0.000,0.000,2703,2098,2006
$GC,17552,1.03,213.8,472.2,6.9,851,17553,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,2006
$GC,17861,1.03,213.8,451.2,6.9,866,17862,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,2006
$GC,18170,1.03,213.8,429.0,7.2,881,18172,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,2007
$GC,18479,1.03,213.8,407.1,7.0,896,18481,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,2007
$GC,18789,1.03,213.8,387.5,6.1,911,18790,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,2007
$GC,19098,1.05,234.0,369.9,5.4,926,19119,0.00,0.00,17.60,1.062,6,0.000,0.000,2703,2098,1923
$GC,19427,1.09,264.1,352.5,5.1,942,19455,0.12,0.00,24.92,1.037,6,0.047,0.000,2752,2098,1801
$GC,19756,1.09,264.1,329.6,7.0,958,19757,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2098,1801
$GC,20066,1.09,264.1,306.8,7.8,973,20067,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2098,1801
$GC,20375,1.09,264.1,283.5,7.1,988,20376,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2098,1801
$GC,20684,1.09,264.1,260.5,7.8,1003,20685,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2097,1801
$GC,20994,1.09,264.1,233.5,9.0,1018,20995,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2098,1802
$GC,21303,1.09,264.1,206.5,8.7,1033,21304,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2097,1801
$GC,21612,1.09,264.1,180.2,8.4,1048,21613,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2097,1801
$GC,21921,1.09,264.1,153.9,8.5,1063,21922,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2097,1802
$GC,22231,1.09,264.1,127.5,8.6,1078,22232,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2096,1802
$GC,22540,1.09,264.1,101.9,8.1,1093,22541,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2097,1802
$GC,22850,1.09,264.1,75.3,8.6,1108,22851,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2097,1802
$GC,23160,1.09,264.1,48.3,8.7,1123,23164,0.00,2.55,0.00,0.000,4,0.000,0.047,2752,3511,1802
$GC,23214,1.09,264.1,43.0,9.4,1125,23221,0.00,2.53,0.00,0.000,6,0.000,0.039,2752,2094,1802
$GC,23532,1.09,264.1,14.7,9.0,1141,23533,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2094,1802
$GC,23840,1.34,465.4,3.8,-0.0,1156,23949,0.15,0.00,105.88,0.776,6,0.053,0.000,2796,2088,979
$STATE,24043,end climb,NO_VERTICAL_VELOCITY
$STATE,24043,begin surface
$SM_CCo,24046,47.50,0.762,0,0,602,558.06
$SM_GC,4.43,11.90,0.00,0.00,0.028,0.000,0.000,33,1894,603,-11.26,-0.11,558.06
$IRIDIUM_FIX,6158.08,-1057.68,121207,040422
$TT8_MAMPS,0.026845
$HUMID,2029
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,725.2,106.4
$24V_AH,23.3,35.396
$10V_AH,10.1,16.313
$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,25.450,97.700,456.225,47.500,0.000,149.887,218.486,448.294,8.250,0.000,0.000,16.684,2003.539,19632.602,690.288,2275.708,1036.955,33.364,1807.109,0.000,2242.501,0.000,42.814
$DEVICE_MAMPS,115.817,78.234,1366.794,761.631,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,864.299,788.358,673.677,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56807,1166
$CFSIZE,260165632,249643008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,121207,073307,6224.347,-1108.154,39,1.5,44,-10.7