version: 66.02
glider: 102
mission: 4
dive: 148
start: 12 12 107 14 46 44
data:
$ID,102
$MISSION,4
$DIVE,148
$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,-78932.391
$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,28
$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
$GPS1,143637,6226.613,-1102.838,27,1.6,27,-10.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.40
$_SM_ANGLEo,-57.5
$GPS2,144550,6226.554,-1102.793,14,1.6,14,-10.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.152,0.143
$KALMAN_X,161462.9,-508.9,548.6,-296238.3,5397.3
$KALMAN_Y,120914.3,427.0,76.7,-22505.3,-4783.0
$MHEAD_RNG_PITCHd_Wd,323.8,32452,-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,-21.70,0.000,2,0.000,0.000,32,1894,1121
$GC,46,-0.95,-146.6,4.4,-0.0,1,214,11.23,2.62,-149.32,0.000,4,0.110,0.078,2287,506,3476
$GC,405,-0.95,-146.6,17.6,-8.7,17,412,0.00,2.47,0.00,0.000,6,0.000,0.040,2287,1906,3476
$GC,722,-0.95,-146.6,40.9,-7.6,33,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3476
$GC,1030,-0.95,-146.6,62.9,-7.6,48,1034,0.00,2.50,0.00,0.000,4,0.000,0.048,2287,3294,3476
$GC,1084,-0.95,-146.6,67.4,-8.8,50,1091,0.00,2.53,0.00,0.000,6,0.000,0.042,2288,1902,3476
$GC,1401,-0.95,-146.6,90.3,-6.7,66,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3476
$GC,1709,-0.95,-146.6,112.0,-7.3,81,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3476
$GC,2018,-0.95,-146.6,135.2,-8.0,96,2023,0.00,2.50,0.00,0.000,4,0.000,0.045,2288,3294,3476
$GC,2084,-0.95,-146.6,140.8,-8.5,99,2089,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1893,3476
$GC,2411,-0.95,-146.6,167.1,-8.2,115,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1893,3476
$GC,2720,-0.95,-146.6,192.1,-8.1,130,2725,0.00,2.50,0.00,0.000,4,0.000,0.046,2288,3294,3476
$GC,2804,-0.95,-146.6,199.2,-8.8,134,2808,0.00,2.50,0.00,0.000,6,0.000,0.042,2288,1892,3476
$GC,3130,-0.95,-146.6,225.2,-7.9,150,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1892,3476
$GC,3439,-0.95,-146.6,249.6,-7.8,165,3446,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3295,3476
$GC,3524,-0.95,-146.6,257.0,-8.6,168,3530,0.00,2.53,0.00,0.000,6,0.000,0.043,2288,1898,3476
$GC,3839,-0.95,-146.6,282.3,-8.1,184,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3476
$GC,4149,-0.95,-146.6,307.5,-8.0,199,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3476
$GC,4458,-0.95,-146.6,331.5,-7.5,214,4462,0.00,2.50,0.00,0.000,4,0.000,0.048,2287,3293,3476
$GC,4529,-0.95,-146.6,337.2,-8.1,217,4534,0.00,2.50,0.00,0.000,6,0.000,0.043,2287,1907,3476
$GC,4850,-0.95,-146.6,361.3,-7.4,233,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3476
$GC,5159,-0.95,-146.6,384.5,-7.3,248,5164,0.00,2.50,0.00,0.000,4,0.000,0.049,2288,3293,3476
$GC,5221,-0.95,-146.6,389.0,-8.0,251,5225,0.00,2.50,0.00,0.000,6,0.000,0.044,2287,1899,3476
$GC,5546,-0.95,-146.6,413.3,-7.2,267,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3476
$GC,5855,-0.95,-146.6,434.6,-6.5,282,5859,0.00,2.50,0.00,0.000,4,0.000,0.049,2287,3293,3476
$GC,5927,-0.95,-146.6,439.3,-7.1,285,5932,0.00,2.53,0.00,0.000,6,0.000,0.044,2288,1902,3475
$GC,6249,-0.95,-146.6,457.7,-5.5,301,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3475
$GC,6558,-0.95,-146.6,475.0,-5.5,316,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3475
$GC,6868,-0.95,-146.6,491.1,-5.2,331,6872,0.00,2.50,0.00,0.000,4,0.000,0.050,2287,3292,3476
$GC,6961,-0.95,-146.6,496.8,-6.1,335,6965,0.00,2.50,0.00,0.000,6,0.000,0.044,2288,1894,3475
$GC,7282,-0.95,-146.6,516.2,-6.4,351,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3475
$GC,7592,-0.95,-146.6,537.8,-7.6,366,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1891,3475
$GC,7901,-0.95,-146.6,560.8,-7.3,381,7905,0.00,2.55,0.00,0.000,4,0.000,0.052,2287,3298,3475
$GC,8039,-0.95,-146.6,570.4,-6.1,387,8044,0.00,2.55,0.00,0.000,6,0.000,0.048,2287,1901,3475
$GC,8361,-0.95,-146.6,590.7,-7.2,403,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,8670,-0.95,-146.6,613.4,-6.7,418,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,8979,-0.95,-146.6,634.1,-7.0,433,8983,0.00,2.55,0.00,0.000,4,0.000,0.056,2287,3295,3474
$GC,9055,-0.95,-146.6,639.9,-7.4,436,9062,0.00,2.55,0.00,0.000,6,0.000,0.048,2287,1900,3475
$GC,9371,-0.95,-146.6,665.5,-7.1,452,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,9681,-0.95,-146.6,678.1,-3.3,467,9682,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,9990,-0.95,-146.6,689.6,-3.5,482,9994,0.00,2.55,0.00,0.000,4,0.000,0.056,2287,3295,3474
$GC,10089,-0.95,-146.6,694.2,-5.1,486,10095,0.00,2.53,0.00,0.000,6,0.000,0.050,2287,1900,3474
$GC,10405,-0.95,-146.6,713.5,-6.0,502,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,10713,-0.95,-146.6,737.0,-9.0,517,10715,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,11023,-0.95,-146.6,758.7,-6.1,532,11027,0.00,2.58,0.00,0.000,4,0.000,0.061,2287,3294,3474
$GC,11107,-0.95,-146.6,763.9,-6.8,536,11111,0.00,2.53,0.00,0.000,6,0.000,0.055,2287,1902,3473
$STATE,11327,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11327,begin apogee
$GC,11332,-0.36,0.0,777.7,5.9,547,11460,0.60,0.00,124.53,1.326,6,0.072,0.000,2417,2094,2878
$STATE,11461,end apogee,CONTROL_FINISHED_OK
$STATE,11461,begin climb
$GC,11463,0.95,146.6,782.1,0.0,553,11591,1.27,0.00,123.72,1.292,6,0.051,0.000,2701,2094,2280
$GC,11894,0.95,146.6,762.0,6.2,574,11898,0.00,2.62,0.00,0.000,4,0.000,0.065,2701,3501,2279
$GC,11959,0.95,146.6,757.8,6.7,577,11963,0.00,2.60,0.00,0.000,6,0.000,0.054,2701,2094,2278
$GC,12285,0.95,146.6,737.9,6.2,593,12290,0.00,2.65,0.00,0.000,4,0.000,0.064,2701,3503,2277
$GC,12470,0.97,167.1,727.8,5.4,601,12494,0.00,2.58,17.77,1.309,6,0.000,0.054,2701,2101,2195
$GC,12811,0.99,185.3,710.4,5.5,618,12831,0.00,0.00,16.35,1.305,6,0.000,0.000,2701,2101,2122
$GC,13140,0.99,185.3,689.9,6.6,634,13141,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2101,2121
$GC,13449,0.99,185.3,668.4,6.8,649,13450,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2101,2121
$GC,13758,0.99,185.3,645.5,7.3,664,13759,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2101,2120
$GC,14067,0.99,185.3,623.5,6.7,679,14069,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2101,2120
$GC,14377,1.00,189.9,604.7,5.9,694,14387,0.00,2.62,4.88,1.195,4,0.000,0.054,2701,3507,2103
$GC,14488,1.00,189.9,597.6,6.3,699,14493,0.00,2.58,0.00,0.000,6,0.000,0.046,2701,2091,2103
$GC,14808,1.00,189.9,576.5,6.7,715,14809,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2091,2103
$GC,15117,1.00,189.9,555.7,6.7,730,15118,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2091,2102
$GC,15427,1.00,190.3,536.1,6.0,745,15431,0.00,2.60,0.00,0.000,4,0.000,0.054,2701,3504,2103
$GC,15510,1.00,190.3,530.5,6.7,749,15514,0.00,2.53,0.00,0.000,6,0.000,0.045,2701,2098,2103
$GC,15835,1.00,190.3,509.6,6.4,765,15836,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,2104
$GC,16144,1.00,190.3,489.4,6.4,780,16149,0.00,2.55,0.00,0.000,4,0.000,0.052,2701,3506,2104
$GC,16228,1.00,190.3,483.7,7.3,784,16233,0.00,2.53,0.00,0.000,6,0.000,0.044,2701,2092,2104
$GC,16554,1.00,191.6,463.8,6.0,800,16559,0.00,2.55,0.00,0.000,4,0.000,0.053,2701,3501,2104
$GC,16648,1.00,191.6,457.6,7.3,804,16653,0.00,2.53,0.00,0.000,6,0.000,0.044,2701,2104,2104
$GC,16969,1.00,191.6,437.0,6.5,820,16970,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2103,2105
$GC,17278,1.00,191.6,416.1,6.7,835,17279,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2104,2105
$GC,17588,1.00,191.6,395.8,6.5,850,17597,0.00,2.58,3.33,1.019,4,0.000,0.050,2701,3501,2096
$GC,17681,1.00,191.6,389.5,6.2,854,17685,0.00,2.50,0.00,0.000,6,0.000,0.042,2701,2099,2096
$GC,18008,1.01,198.0,370.3,5.8,870,18016,0.00,0.00,6.38,1.055,6,0.000,0.000,2701,2098,2070
$GC,18317,1.03,216.4,352.9,5.5,885,18338,0.00,0.00,16.25,1.045,6,0.000,0.000,2701,2098,1994
$GC,18647,1.06,242.1,335.4,5.2,901,18671,0.12,0.00,21.40,1.025,6,0.049,0.000,2746,2098,1890
$GC,18975,1.06,242.1,312.1,7.3,917,18977,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2098,1890
$GC,19285,1.06,242.1,286.6,8.5,932,19289,0.00,2.55,0.00,0.000,4,0.000,0.049,2746,3503,1889
$GC,19356,1.06,242.1,279.9,9.6,935,19360,0.00,2.53,0.00,0.000,6,0.000,0.042,2746,2102,1889
$GC,19677,1.06,242.1,252.6,8.4,951,19679,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2102,1889
$GC,19986,1.06,242.1,227.2,8.1,966,19988,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2102,1889
$GC,20296,1.06,242.1,202.3,7.6,981,20297,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2102,1890
$GC,20605,1.06,242.1,179.4,7.2,996,20606,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2101,1890
$GC,20915,1.06,242.1,157.1,7.3,1011,20916,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2102,1890
$GC,21224,1.06,242.1,133.7,7.8,1026,21225,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2102,1890
$GC,21533,1.06,242.1,108.8,8.1,1041,21534,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2101,1890
$GC,21842,1.06,242.1,84.2,7.9,1056,21847,0.00,2.53,0.00,0.000,4,0.000,0.047,2746,3504,1890
$GC,21908,1.06,242.1,78.4,8.6,1059,21913,0.00,2.50,0.00,0.000,6,0.000,0.039,2746,2101,1890
$GC,22237,1.06,242.1,52.1,8.4,1075,22238,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2101,1890
$GC,22545,1.06,242.1,27.6,7.0,1090,22546,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2100,1891
$GC,22854,1.06,242.1,3.8,6.0,1105,22858,0.00,2.55,0.00,0.000,4,0.000,0.051,2746,3504,1891
$GC,23110,1.32,446.9,3.7,-0.1,1116,23224,0.12,2.53,106.75,0.768,6,0.048,0.042,2785,2100,1055
$STATE,23446,end climb,NO_VERTICAL_VELOCITY
$STATE,23446,begin surface
$SM_CCo,23448,56.72,0.756,0,0,602,558.06
$SM_GC,4.44,11.90,0.00,0.00,0.031,0.000,0.000,31,1886,603,-11.26,-0.28,558.06
$IRIDIUM_FIX,6202.67,-1059.45,121207,181834
$TT8_MAMPS,0.026845
$HUMID,2019
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.90
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,700.4,86.7
$24V_AH,23.3,35.746
$10V_AH,10.1,16.524
$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,25.250,117.450,441.350,56.725,0.000,79.470,67.938,231.478,8.000,0.000,0.000,15.693,2007.667,18760.143,675.333,2446.823,587.932,33.360,1879.752,0.000,2410.620,0.000,41.147
$DEVICE_MAMPS,110.448,78.234,1326.143,756.262,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,839.952,766.494,694.317,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56865,1133
$CFSIZE,260165632,249499648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,121207,212715,6227.788,-1106.988,50,2.2,69,-10.7