version: 66.02
glider: 102
mission: 4
dive: 147
start: 12 12 107 7 40 9
data:
$ID,102
$MISSION,4
$DIVE,147
$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,-78916.062
$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,28
$R_STBD_OVSHOOT,23
$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
$GPS1,073307,6224.347,-1108.154,39,1.5,44,-10.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,4.37
$_SM_ANGLEo,-58.6
$GPS2,073915,6224.365,-1108.175,13,1.5,13,-10.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.028,0.207
$KALMAN_X,161906.8,584.1,-5878.9,-296107.0,23823.8
$KALMAN_Y,121227.2,-420.6,2853.6,-28795.8,-15348.4
$MHEAD_RNG_PITCHd_Wd,3.1,29148,-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,21,-0.95,-146.6,0.0,0.0,0,44,0.00,0.00,-21.85,0.000,2,0.000,0.000,32,1889,1124
$GC,47,-0.95,-146.6,4.4,-0.0,1,200,11.27,2.58,-135.60,0.000,4,0.113,0.072,2287,500,3477
$GC,391,-0.95,-146.6,22.6,-7.4,17,396,0.00,2.50,0.00,0.000,6,0.000,0.039,2287,1906,3477
$GC,719,-0.95,-146.6,46.2,-7.4,33,723,0.00,2.50,0.00,0.000,4,0.000,0.048,2287,3295,3477
$GC,762,-0.95,-146.6,49.4,-7.0,35,766,0.00,2.53,0.00,0.000,6,0.000,0.042,2287,1904,3477
$GC,1089,-0.95,-146.6,73.5,-7.4,51,1093,0.00,2.50,0.00,0.000,4,0.000,0.045,2287,3299,3477
$GC,1137,-0.95,-146.6,77.2,-7.3,53,1142,0.00,2.53,0.00,0.000,6,0.000,0.041,2287,1900,3477
$GC,1459,-0.95,-146.6,100.3,-7.4,69,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3477
$GC,1768,-0.95,-146.6,121.5,-6.7,84,1772,0.00,2.53,0.00,0.000,4,0.000,0.045,2287,3307,3477
$GC,1856,-0.95,-146.6,127.7,-6.7,88,1860,0.00,2.53,0.00,0.000,6,0.000,0.041,2287,1904,3477
$GC,2183,-0.95,-146.6,149.3,-6.5,104,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1904,3477
$GC,2492,-0.95,-146.6,170.6,-6.7,119,2496,0.00,2.50,0.00,0.000,4,0.000,0.045,2287,3307,3477
$GC,2546,-0.95,-146.6,174.6,-8.2,121,2553,0.00,2.53,0.00,0.000,6,0.000,0.041,2287,1905,3477
$GC,2862,-0.95,-146.6,195.2,-6.6,137,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3477
$GC,3171,-0.95,-146.6,216.1,-6.7,152,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3477
$GC,3480,-0.95,-146.6,236.8,-6.8,167,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3477
$GC,3790,-0.95,-146.6,257.4,-6.3,182,3794,0.00,2.50,0.00,0.000,4,0.000,0.046,2287,3299,3477
$GC,3861,-0.95,-146.6,262.4,-6.4,185,3866,0.00,2.53,0.00,0.000,6,0.000,0.043,2287,1903,3477
$GC,4183,-0.95,-146.6,281.6,-6.0,201,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1903,3477
$GC,4493,-0.95,-146.6,301.1,-6.8,216,4496,0.00,2.50,0.00,0.000,4,0.000,0.047,2287,3302,3477
$GC,4559,-0.95,-146.6,305.9,-7.1,219,4564,0.00,2.53,0.00,0.000,6,0.000,0.043,2287,1891,3477
$GC,4885,-0.95,-146.6,328.4,-7.1,235,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1890,3477
$GC,5197,-0.95,-146.6,350.0,-6.9,250,5201,0.00,2.55,0.00,0.000,4,0.000,0.048,2287,3305,3477
$GC,5267,-0.95,-146.6,355.1,-6.4,253,5272,0.00,2.55,0.00,0.000,6,0.000,0.044,2287,1898,3477
$GC,5590,-0.95,-146.6,375.7,-6.3,269,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3477
$GC,5898,-0.95,-146.6,394.5,-6.1,284,5902,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3299,3477
$GC,5959,-0.95,-146.6,398.2,-5.9,287,5963,0.00,2.50,0.00,0.000,6,0.000,0.044,2287,1900,3477
$GC,6284,-0.95,-146.6,418.4,-6.3,303,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3477
$GC,6593,-0.95,-146.6,436.1,-5.2,318,6598,0.00,2.50,0.00,0.000,4,0.000,0.048,2287,3299,3477
$GC,6660,-0.95,-146.6,439.8,-5.3,321,6664,0.00,2.50,0.00,0.000,6,0.000,0.045,2287,1900,3477
$GC,6987,-0.95,-146.6,455.7,-4.7,337,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3476
$GC,7296,-0.95,-146.6,470.2,-5.2,352,7297,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3477
$GC,7605,-0.95,-146.6,486.5,-5.8,367,7609,0.00,2.53,0.00,0.000,4,0.000,0.049,2287,3302,3477
$GC,7659,-0.95,-146.6,489.7,-5.5,369,7666,0.00,2.53,0.00,0.000,6,0.000,0.046,2287,1897,3477
$GC,7975,-0.95,-146.6,506.6,-5.2,385,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3477
$GC,8284,-0.95,-146.6,523.8,-5.6,400,8288,0.00,2.53,0.00,0.000,4,0.000,0.049,2287,3300,3476
$GC,8367,-0.95,-146.6,528.5,-6.2,404,8372,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1893,3476
$GC,8693,-0.95,-146.6,546.3,-5.3,420,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1893,3476
$GC,9003,-0.95,-146.6,561.9,-5.1,435,9007,0.00,2.53,0.00,0.000,4,0.000,0.052,2287,3299,3476
$GC,9051,-0.95,-146.6,564.7,-5.3,437,9056,0.00,2.53,0.00,0.000,6,0.000,0.047,2287,1899,3476
$GC,9373,-0.95,-146.6,582.8,-5.8,453,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3476
$GC,9682,-0.95,-146.6,601.8,-6.5,468,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3476
$GC,9991,-0.95,-146.6,622.9,-7.0,483,9995,0.00,2.55,0.00,0.000,4,0.000,0.055,2287,3297,3476
$GC,10045,-0.95,-146.6,626.7,-6.9,485,10052,0.00,2.55,0.00,0.000,6,0.000,0.048,2287,1899,3476
$GC,10361,-0.95,-146.6,646.4,-5.9,501,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,10670,-0.95,-146.6,666.4,-7.0,516,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,10979,-0.95,-146.6,685.8,-5.7,531,10981,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,11289,-0.95,-146.6,702.5,-5.5,546,11290,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3475
$GC,11598,-0.95,-146.6,716.3,-3.7,561,11599,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,11908,-0.95,-146.6,728.5,-4.1,576,11909,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,12217,-0.95,-146.6,742.5,-4.8,591,12221,0.00,2.55,0.00,0.000,4,0.000,0.058,2287,3294,3474
$GC,12345,-0.95,-146.6,750.2,-6.0,597,12349,0.00,2.55,0.00,0.000,6,0.000,0.054,2287,1898,3474
$GC,12671,-0.95,-146.6,767.7,-5.7,613,12672,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3474
$STATE,12957,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12958,begin apogee
$GC,12962,-0.36,0.0,784.7,6.2,627,13090,0.60,0.00,124.45,1.343,6,0.074,0.000,2417,2091,2878
$STATE,13091,end apogee,CONTROL_FINISHED_OK
$STATE,13091,begin climb
$GC,13092,0.95,146.6,788.5,0.0,633,13224,1.27,2.72,123.57,1.302,4,0.054,0.068,2701,3507,2280
$GC,13269,0.98,173.7,783.6,5.2,641,13301,0.00,2.62,23.75,1.281,6,0.000,0.054,2701,2104,2169
$GC,13610,0.99,180.3,764.4,5.8,658,13618,0.00,0.00,6.45,1.237,6,0.000,0.000,2701,2104,2143
$GC,13919,1.00,189.5,746.6,5.7,673,13930,0.00,0.00,8.98,1.282,6,0.000,0.000,2701,2104,2105
$GC,14228,1.00,193.0,728.4,5.9,688,14234,0.00,0.00,4.12,1.207,6,0.000,0.000,2701,2104,2091
$GC,14537,1.00,193.0,709.0,6.5,703,14542,0.00,2.60,0.00,0.000,4,0.000,0.061,2701,3503,2090
$GC,14632,1.00,193.0,702.1,7.3,707,14637,0.00,2.60,0.00,0.000,6,0.000,0.053,2701,2090,2090
$GC,14947,1.01,199.2,682.6,5.8,722,14956,0.00,0.00,6.38,1.276,6,0.000,0.000,2701,2089,2064
$GC,15278,1.02,209.7,663.5,5.7,738,15293,0.00,2.70,9.45,1.287,4,0.000,0.074,2701,687,2023
$GC,15370,1.02,209.7,657.8,6.1,741,15375,0.00,2.55,0.00,0.000,6,0.000,0.048,2701,2094,2023
$GC,15692,1.04,221.1,639.2,5.7,757,15705,0.00,0.00,11.00,1.269,6,0.000,0.000,2701,2095,1976
$GC,16001,1.07,242.3,622.0,5.4,772,16026,0.12,2.70,18.38,1.256,4,0.049,0.067,2746,696,1890
$GC,16075,1.07,242.3,616.2,8.4,775,16080,0.00,2.50,0.00,0.000,6,0.000,0.044,2746,2104,1890
$GC,16396,1.07,242.3,592.2,7.5,791,16401,0.00,2.55,0.00,0.000,4,0.000,0.055,2746,3503,1890
$GC,16451,1.07,242.3,587.8,7.5,793,16458,0.00,2.58,0.00,0.000,6,0.000,0.048,2746,2097,1890
$GC,16767,1.07,242.3,564.0,7.6,809,16768,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2097,1889
$GC,17076,1.07,242.3,539.1,8.1,824,17077,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2097,1890
$GC,17385,1.07,242.3,514.0,8.0,839,17386,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2097,1890
$GC,17694,1.07,242.3,488.8,8.6,854,17696,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2097,1892
$GC,18004,1.07,242.3,464.0,7.6,869,18008,0.00,2.60,0.00,0.000,4,0.000,0.067,2746,688,1892
$GC,18052,1.07,242.3,459.7,8.1,871,18056,0.00,2.53,0.00,0.000,6,0.000,0.041,2746,2102,1892
$GC,18373,1.07,242.3,432.7,8.8,887,18377,0.00,2.53,0.00,0.000,4,0.000,0.052,2746,3500,1892
$GC,18439,1.07,242.3,426.5,9.6,890,18443,0.00,2.50,0.00,0.000,6,0.000,0.044,2746,2098,1892
$GC,18765,1.07,242.3,398.6,8.4,906,18767,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2098,1892
$GC,19075,1.07,242.3,373.4,8.1,921,19076,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2098,1893
$GC,19384,1.07,242.3,349.2,7.5,936,19385,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2098,1893
$GC,19693,1.07,242.3,326.0,7.5,951,19694,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2098,1893
$GC,20002,1.07,242.3,303.1,7.6,966,20004,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2098,1894
$GC,20312,1.07,242.3,278.2,8.2,981,20313,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2098,1894
$GC,20621,1.07,242.3,252.4,8.4,996,20625,0.00,2.55,0.00,0.000,4,0.000,0.049,2746,3506,1894
$GC,20682,1.07,242.3,246.9,8.6,999,20686,0.00,2.50,0.00,0.000,6,0.000,0.041,2746,2091,1894
$GC,21007,1.07,242.3,219.4,8.2,1015,21008,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2091,1895
$GC,21316,1.07,242.3,194.2,8.2,1030,21317,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2091,1895
$GC,21625,1.07,242.3,169.7,7.4,1045,21630,0.00,2.55,0.00,0.000,4,0.000,0.048,2746,3505,1894
$GC,21686,1.07,242.3,164.9,7.0,1048,21691,0.00,2.47,0.00,0.000,6,0.000,0.040,2746,2100,1895
$GC,22013,1.07,242.3,140.5,7.5,1064,22014,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2100,1894
$GC,22322,1.07,242.3,115.4,8.6,1079,22323,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2100,1895
$GC,22631,1.07,242.3,88.7,8.3,1094,22632,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2100,1894
$GC,22940,1.07,242.3,64.2,7.9,1109,22942,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2100,1895
$GC,23250,1.07,242.3,40.1,7.1,1124,23251,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2099,1895
$GC,23559,1.07,242.3,14.8,7.9,1139,23560,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2099,1896
$GC,23868,1.32,446.6,3.9,-0.1,1154,23984,0.15,2.60,107.75,0.778,4,0.074,0.046,2784,3504,1055
$GC,24239,1.57,652.0,3.8,-0.1,1171,24302,0.22,2.50,56.33,0.765,6,0.051,0.040,2838,2094,602
$STATE,24506,end climb,NO_VERTICAL_VELOCITY
$STATE,24506,begin surface
$SM_CCo,24928,0.00,0.000,0,0,604,558.06
$SM_GC,4.64,12.10,0.00,0.00,0.031,0.000,0.000,32,1901,604,-11.26,0.03,558.06
$IRIDIUM_FIX,6158.08,-1112.23,121207,040432
$TT8_MAMPS,0.026845
$HUMID,2034
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,725.0,69.6
$24V_AH,23.3,35.571
$10V_AH,10.1,16.419
$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,25.750,127.850,500.600,0.000,0.000,38.250,33.867,191.411,7.750,0.000,0.000,14.818,2082.777,19601.254,634.130,2510.646,465.221,33.373,1888.958,0.000,2466.019,0.000,45.654
$DEVICE_MAMPS,112.749,73.632,1343.017,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,871.349,801.002,723.466,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59884,1184
$CFSIZE,260165632,249565184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,121207,143637,6226.613,-1102.838,27,1.6,27,-10.7