version: 66.02
glider: 102
mission: 4
dive: 149
start: 12 12 107 21 42 1
data:
$ID,102
$MISSION,4
$DIVE,149
$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,-78975.32
$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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,212715,6227.788,-1106.988,50,2.2,69,-10.7
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,4.34
$_SM_ANGLEo,-50.0
$GPS2,214107,6227.903,-1106.866,29,1.8,40,-10.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.198,0.065
$KALMAN_X,164353.5,690.2,-2404.1,-300971.6,8175.8
$KALMAN_Y,117994.2,-547.9,1950.9,-17984.4,-8386.6
$MHEAD_RNG_PITCHd_Wd,298.9,28600,-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,-146.6,0.0,0.0,0,43,0.00,0.00,-21.92,0.000,2,0.000,0.000,30,1885,1121
$GC,46,-0.95,-146.6,4.3,-0.0,1,211,11.10,2.60,-142.60,0.000,4,0.104,0.059,2286,3302,3477
$GC,464,-0.95,-146.6,25.7,-9.2,20,468,0.00,2.47,0.00,0.000,6,0.000,0.041,2286,1905,3477
$GC,791,-0.95,-146.6,53.3,-7.0,36,795,0.00,2.53,0.00,0.000,4,0.000,0.046,2286,3306,3477
$GC,884,-0.95,-146.6,60.7,-7.1,40,889,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1896,3476
$GC,1205,-0.95,-146.6,83.9,-8.1,56,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3477
$GC,1515,-0.95,-146.6,107.4,-7.4,71,1519,0.00,2.55,0.00,0.000,4,0.000,0.046,2286,3314,3477
$GC,1586,-0.95,-146.6,112.8,-7.6,74,1590,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1894,3477
$GC,1908,-0.95,-146.6,134.1,-6.5,90,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3477
$GC,2216,-0.95,-146.6,154.2,-6.5,105,2220,0.00,2.55,0.00,0.000,4,0.000,0.046,2286,3314,3477
$GC,2304,-0.95,-146.6,160.5,-7.1,109,2308,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1895,3477
$GC,2631,-0.95,-146.6,182.7,-6.9,125,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3477
$GC,2939,-0.95,-146.6,204.8,-7.1,140,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3477
$GC,3250,-0.95,-146.6,226.0,-6.9,155,3254,0.00,2.53,0.00,0.000,4,0.000,0.047,2286,3305,3477
$GC,3333,-0.95,-146.6,232.1,-7.3,159,3337,0.00,2.50,0.00,0.000,6,0.000,0.043,2286,1899,3476
$GC,3658,-0.95,-146.6,255.5,-7.3,175,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,3967,-0.95,-146.6,277.0,-6.9,190,3971,0.00,2.53,0.00,0.000,4,0.000,0.047,2286,3309,3477
$GC,4039,-0.95,-146.6,282.1,-7.4,193,4043,0.00,2.55,0.00,0.000,6,0.000,0.044,2286,1901,3476
$GC,4360,-0.95,-146.6,303.5,-6.7,209,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,4669,-0.95,-146.6,323.7,-6.3,224,4673,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3305,3476
$GC,4730,-0.95,-146.6,327.8,-6.5,227,4734,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1896,3477
$GC,5055,-0.95,-146.6,348.1,-6.0,243,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,5364,-0.95,-146.6,367.9,-6.7,258,5368,0.00,2.55,0.00,0.000,4,0.000,0.049,2286,3307,3476
$GC,5452,-0.95,-146.6,374.0,-6.8,262,5456,0.00,2.55,0.00,0.000,6,0.000,0.045,2286,1903,3476
$GC,5779,-0.95,-146.6,394.2,-6.1,278,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1903,3476
$GC,6088,-0.95,-146.6,413.9,-6.5,293,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1903,3476
$GC,6397,-0.95,-146.6,436.1,-7.4,308,6401,0.00,2.55,0.00,0.000,4,0.000,0.050,2286,3312,3476
$GC,6464,-0.95,-146.6,441.1,-8.0,311,6468,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1901,3476
$GC,6783,-0.95,-146.6,464.2,-6.9,327,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,7092,-0.95,-146.6,484.7,-6.8,342,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,7402,-0.95,-146.6,506.8,-7.5,357,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,7711,-0.95,-146.6,531.6,-8.8,372,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3475
$GC,8020,-0.95,-146.6,557.4,-8.5,387,8024,0.00,2.53,0.00,0.000,4,0.000,0.052,2285,3303,3475
$GC,8149,-0.95,-146.6,568.3,-7.9,393,8154,0.00,2.53,0.00,0.000,6,0.000,0.047,2286,1902,3475
$GC,8475,-0.95,-146.6,589.0,-5.5,409,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3475
$GC,8784,-0.95,-146.6,605.4,-5.6,424,8788,0.00,2.55,0.00,0.000,4,0.000,0.054,2286,3302,3475
$GC,8855,-0.95,-146.6,609.7,-6.7,427,8860,0.00,2.55,0.00,0.000,6,0.000,0.049,2286,1905,3475
$GC,9176,-0.95,-146.6,629.0,-6.3,443,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3475
$GC,9485,-0.95,-146.6,649.1,-7.0,458,9490,0.00,2.55,0.00,0.000,4,0.000,0.056,2286,3304,3474
$GC,9558,-0.95,-146.6,654.7,-7.6,461,9563,0.00,2.58,0.00,0.000,6,0.000,0.049,2286,1900,3474
$GC,9880,-0.95,-146.6,675.5,-6.6,477,9884,0.00,2.58,0.00,0.000,4,0.000,0.058,2286,3309,3474
$GC,9974,-0.95,-146.6,682.4,-7.5,481,9978,0.00,2.55,0.00,0.000,6,0.000,0.051,2286,1901,3474
$GC,10294,-0.95,-146.6,704.9,-6.7,497,10296,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3474
$GC,10604,-0.95,-146.6,725.1,-6.3,512,10605,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3473
$GC,10913,-0.95,-146.6,743.7,-5.6,527,10915,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3473
$STATE,10973,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10974,begin apogee
$GC,10978,-0.36,0.0,747.7,6.3,530,11105,0.60,0.00,124.18,1.300,6,0.074,0.000,2416,2106,2879
$STATE,11106,end apogee,CONTROL_FINISHED_OK
$STATE,11106,begin climb
$GC,11108,0.95,146.6,751.6,0.0,536,11237,1.30,0.00,123.03,1.268,6,0.052,0.000,2705,2106,2280
$GC,11545,0.96,160.7,733.9,5.6,558,11560,0.00,0.00,12.98,1.257,6,0.000,0.000,2705,2106,2222
$GC,11854,0.96,160.7,713.1,7.0,573,11855,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2106,2221
$GC,12164,0.96,160.7,692.9,6.4,588,12165,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2106,2220
$GC,12473,0.96,160.7,674.2,6.3,603,12474,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2106,2219
$GC,12782,0.96,160.7,652.5,7.2,618,12786,0.00,2.60,0.00,0.000,4,0.000,0.061,2704,3507,2218
$GC,12903,0.96,160.7,642.5,8.3,623,12910,0.00,2.58,0.00,0.000,6,0.000,0.051,2705,2098,2218
$GC,13219,0.96,160.7,619.1,6.8,639,13220,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2098,2217
$GC,13529,0.97,164.2,599.4,5.9,654,13534,0.00,0.00,3.33,1.147,6,0.000,0.000,2705,2098,2207
$GC,13838,1.02,203.4,584.2,4.8,669,13880,0.00,2.67,33.08,1.249,4,0.000,0.056,2705,3496,2048
$GC,13957,1.02,203.4,576.9,6.9,674,13961,0.00,2.55,0.00,0.000,6,0.000,0.046,2705,2102,2048
$GC,14278,1.02,203.4,557.3,6.4,690,14279,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2102,2048
$GC,14587,1.02,203.4,537.6,6.2,705,14588,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2102,2048
$GC,14897,1.02,203.4,518.4,6.5,720,14901,0.00,2.55,0.00,0.000,4,0.000,0.051,2705,3506,2048
$GC,14984,1.02,203.4,511.9,7.3,724,14989,0.00,2.53,0.00,0.000,6,0.000,0.044,2705,2097,2047
$GC,15311,1.02,203.4,488.7,6.8,740,15312,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2097,2048
$GC,15620,1.02,203.4,468.9,6.4,755,15622,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2097,2048
$GC,15929,1.02,203.4,448.5,6.9,770,15931,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2097,2049
$GC,16239,1.02,203.4,425.8,7.3,785,16240,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2097,2049
$GC,16548,1.02,203.4,404.1,7.2,800,16549,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2097,2049
$GC,16858,1.03,213.3,384.3,5.7,815,16869,0.00,0.00,9.52,1.118,6,0.000,0.000,2705,2097,2008
$GC,17167,1.06,236.4,367.7,5.3,830,17188,0.00,0.00,19.38,1.092,6,0.000,0.000,2705,2097,1914
$GC,17496,1.06,236.4,347.7,6.2,846,17498,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2097,1914
$GC,17805,1.06,236.4,327.6,6.5,861,17807,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2097,1914
$GC,18115,1.06,236.4,307.8,6.3,876,18119,0.00,2.60,0.00,0.000,4,0.000,0.064,2705,687,1914
$GC,18180,1.06,236.4,303.2,6.9,879,18185,0.00,2.47,0.00,0.000,6,0.000,0.040,2705,2104,1914
$GC,18507,1.06,236.4,281.8,6.3,895,18508,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2108,1914
$GC,18816,1.08,255.7,263.6,5.4,910,18839,0.12,2.67,16.60,1.018,4,0.049,0.061,2751,690,1834
$GC,18877,1.08,255.7,259.1,7.5,912,18884,0.00,2.47,0.00,0.000,6,0.000,0.040,2751,2099,1834
$GC,19193,1.08,255.7,235.1,7.8,928,19194,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2103,1835
$GC,19502,1.08,255.7,207.8,9.2,943,19503,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2103,1834
$GC,19812,1.08,255.7,179.9,9.0,958,19813,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2103,1835
$GC,20121,1.08,255.7,152.8,8.8,973,20122,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2103,1835
$GC,20430,1.08,255.7,124.6,8.8,988,20431,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2103,1835
$GC,20740,1.08,255.7,102.1,7.1,1003,20741,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2103,1835
$GC,21050,1.08,255.7,80.3,6.9,1018,21051,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2103,1835
$GC,21358,1.08,255.7,55.3,7.8,1033,21359,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2103,1835
$GC,21668,1.08,255.7,31.2,8.9,1048,21669,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2103,1835
$GC,21977,1.08,255.7,4.6,7.0,1063,21981,0.00,2.58,0.00,0.000,4,0.000,0.055,2751,687,1835
$GC,22061,1.34,469.9,3.8,-0.4,1067,22179,0.17,2.47,111.18,0.764,6,0.064,0.041,2792,2100,962
$STATE,22404,end climb,NO_VERTICAL_VELOCITY
$STATE,22404,begin surface
$SM_CCo,22407,45.30,0.758,0,0,602,558.06
$SM_GC,4.33,11.85,0.00,0.00,0.028,0.000,0.000,35,1885,604,-11.26,-0.42,557.81
$IRIDIUM_FIX,6202.67,-1114.04,131207,010157
$TT8_MAMPS,0.027612
$HUMID,2037
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.90
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,650.2,106.5
$24V_AH,23.3,35.929
$10V_AH,10.1,16.627
$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,25.150,97.475,453.250,45.300,0.000,111.969,198.943,258.059,7.250,0.000,0.000,42.308,1898.197,18112.855,647.750,2279.330,766.087,33.358,1761.609,0.000,2217.711,0.000,37.955
$DEVICE_MAMPS,104.312,64.428,1300.065,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,803.399,733.374,658.378,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53714,1083
$CFSIZE,260165632,249438208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,131207,040426,6229.487,-1110.544,37,1.7,37,-10.8