version: 66.02
glider: 102
mission: 4
dive: 150
start: 12 13 107 4 14 32
data:
$ID,102
$MISSION,4
$DIVE,150
$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,-78993.141
$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,31
$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
$GPS1,040426,6229.487,-1110.544,37,1.7,37,-10.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.18
$_SM_ANGLEo,-48.5
$GPS2,041338,6229.547,-1110.553,10,1.6,15,-10.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.147,0.148
$KALMAN_X,166670.8,-557.6,-540.9,-307147.8,8632.9
$KALMAN_Y,119436.5,1058.2,467.5,-16536.9,-5025.2
$MHEAD_RNG_PITCHd_Wd,326.1,25196,-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,-21.88,0.000,2,0.000,0.000,34,1882,1115
$GC,46,-0.95,-146.6,4.2,-0.0,1,191,11.18,2.58,-127.53,0.000,4,0.109,0.075,2285,500,3476
$GC,308,-0.95,-146.6,17.9,-6.7,13,313,0.00,2.50,0.00,0.000,6,0.000,0.040,2285,1906,3476
$GC,635,-0.95,-146.6,43.1,-8.3,29,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1910,3476
$GC,944,-0.95,-146.6,69.1,-9.7,44,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1910,3476
$GC,1254,-0.95,-146.6,95.0,-7.9,59,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1911,3476
$GC,1563,-0.95,-146.6,117.5,-6.9,74,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1910,3476
$GC,1872,-0.95,-146.6,139.6,-7.7,89,1876,0.00,2.50,0.00,0.000,4,0.000,0.048,2285,3298,3476
$GC,1927,-0.95,-146.6,144.1,-8.0,91,1934,0.00,2.53,0.00,0.000,6,0.000,0.043,2285,1905,3477
$GC,2242,-0.95,-146.6,169.9,-8.3,107,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3476
$GC,2552,-0.95,-146.6,195.1,-8.0,122,2556,0.00,2.53,0.00,0.000,4,0.000,0.046,2285,3308,3476
$GC,2616,-0.95,-146.6,200.2,-8.4,125,2620,0.00,2.53,0.00,0.000,6,0.000,0.043,2285,1898,3476
$GC,2942,-0.95,-146.6,226.8,-8.5,141,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3476
$GC,3251,-0.95,-146.6,252.7,-8.3,156,3255,0.00,2.53,0.00,0.000,4,0.000,0.047,2285,3302,3477
$GC,3300,-0.95,-146.6,257.0,-8.6,158,3305,0.00,2.53,0.00,0.000,6,0.000,0.042,2285,1905,3476
$GC,3622,-0.95,-146.6,282.2,-7.7,174,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3476
$GC,3931,-0.95,-146.6,305.4,-7.2,189,3934,0.00,2.50,0.00,0.000,4,0.000,0.048,2285,3298,3476
$GC,4013,-0.95,-146.6,311.8,-7.2,192,4020,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1902,3476
$GC,4329,-0.95,-146.6,335.3,-7.5,208,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3476
$GC,4638,-0.95,-146.6,358.9,-7.4,223,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3476
$GC,4947,-0.95,-146.6,382.1,-7.1,238,4951,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3305,3476
$GC,5001,-0.95,-146.6,386.1,-7.6,240,5009,0.00,2.55,0.00,0.000,6,0.000,0.044,2285,1901,3475
$GC,5317,-0.95,-146.6,406.6,-6.4,256,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3476
$GC,5627,-0.95,-146.6,424.7,-5.8,271,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3476
$GC,5936,-0.95,-146.6,443.1,-6.2,286,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3476
$GC,6245,-0.95,-146.6,462.5,-6.4,301,6249,0.00,2.53,0.00,0.000,4,0.000,0.050,2285,3300,3476
$GC,6316,-0.95,-146.6,467.7,-7.8,304,6320,0.00,2.55,0.00,0.000,6,0.000,0.046,2285,1897,3476
$GC,6637,-0.95,-146.6,490.2,-6.8,320,6642,0.00,2.53,0.00,0.000,4,0.000,0.051,2285,3299,3475
$GC,6692,-0.95,-146.6,494.0,-7.3,322,6699,0.00,2.53,0.00,0.000,6,0.000,0.046,2285,1906,3475
$GC,7007,-0.95,-146.6,515.4,-7.1,338,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1903,3475
$GC,7317,-0.95,-146.6,536.3,-6.6,353,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1903,3475
$GC,7626,-0.95,-146.6,556.0,-6.5,368,7627,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1903,3475
$GC,7936,-0.95,-146.6,576.1,-6.7,383,7940,0.00,2.55,0.00,0.000,4,0.000,0.053,2285,3304,3474
$GC,8030,-0.95,-146.6,582.7,-7.3,387,8034,0.00,2.55,0.00,0.000,6,0.000,0.048,2285,1907,3474
$GC,8350,-0.95,-146.6,606.0,-7.2,403,8355,0.00,2.55,0.00,0.000,4,0.000,0.055,2285,3303,3474
$GC,8434,-0.95,-146.6,612.0,-7.1,407,8439,0.00,2.55,0.00,0.000,6,0.000,0.049,2285,1895,3474
$GC,8760,-0.95,-146.6,633.7,-6.9,423,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1896,3474
$GC,9070,-0.95,-146.6,651.8,-5.5,438,9074,0.00,2.58,0.00,0.000,4,0.000,0.058,2285,3297,3474
$GC,9204,-0.95,-146.6,659.5,-5.6,444,9209,0.00,2.53,0.00,0.000,6,0.000,0.050,2285,1901,3474
$GC,9526,-0.95,-146.6,679.8,-6.5,460,9527,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3474
$GC,9834,-0.95,-146.6,701.5,-7.0,475,9838,0.00,2.58,0.00,0.000,4,0.000,0.059,2285,3303,3474
$GC,9978,-0.95,-146.6,711.9,-6.9,481,9985,0.00,2.58,0.00,0.000,6,0.000,0.054,2285,1899,3473
$GC,10294,-0.95,-146.6,732.3,-6.7,497,10298,0.00,2.58,0.00,0.000,4,0.000,0.062,2285,3295,3473
$STATE,10376,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10376,begin apogee
$GC,10383,-0.36,0.0,738.3,7.1,501,10510,0.60,0.00,123.65,1.289,6,0.074,0.000,2415,2102,2878
$STATE,10511,end apogee,CONTROL_FINISHED_OK
$STATE,10511,begin climb
$GC,10512,0.95,146.6,742.9,0.0,507,10643,1.27,2.70,122.62,1.246,4,0.051,0.065,2701,3491,2280
$GC,10762,1.02,201.9,736.0,4.4,519,10815,0.00,2.55,46.75,1.239,6,0.000,0.052,2701,2100,2054
$GC,11124,1.02,201.9,712.2,7.0,537,11128,0.00,2.67,0.00,0.000,4,0.000,0.075,2701,687,2053
$GC,11200,1.02,201.9,705.9,8.1,540,11208,0.00,2.55,0.00,0.000,6,0.000,0.051,2701,2084,2053
$GC,11516,1.02,201.9,683.3,6.5,556,11517,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2084,2052
$GC,11826,1.02,201.9,665.3,6.1,571,11827,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2085,2052
$GC,12135,1.02,201.9,646.4,6.2,586,12136,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2085,2051
$GC,12444,1.02,201.9,626.2,6.7,601,12448,0.00,2.60,0.00,0.000,4,0.000,0.071,2701,687,2050
$GC,12498,1.02,201.9,622.3,7.0,603,12505,0.00,2.53,0.00,0.000,6,0.000,0.048,2701,2104,2050
$GC,12813,1.02,201.9,602.2,6.5,619,12814,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2104,2049
$GC,13123,1.02,201.9,582.3,6.0,634,13124,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2105,2050
$GC,13432,1.03,210.4,564.4,5.7,649,13441,0.00,0.00,7.30,1.208,6,0.000,0.000,2701,2105,2019
$GC,13741,1.03,210.4,544.3,6.6,664,13745,0.00,2.60,0.00,0.000,4,0.000,0.066,2701,690,2020
$GC,13829,1.03,210.4,538.0,7.3,668,13834,0.00,2.53,0.00,0.000,6,0.000,0.044,2701,2102,2020
$GC,14156,1.03,210.4,516.0,6.3,684,14157,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2102,2020
$GC,14465,1.03,210.4,496.7,6.8,699,14466,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2103,2020
$GC,14774,1.03,210.4,476.6,6.3,714,14778,0.00,2.62,0.00,0.000,4,0.000,0.065,2701,689,2021
$GC,14835,1.03,210.4,472.5,6.4,717,14839,0.00,2.50,0.00,0.000,6,0.000,0.043,2701,2103,2021
$GC,15160,1.03,210.4,450.8,6.6,733,15161,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2104,2021
$GC,15469,1.03,210.4,430.8,6.5,748,15470,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2104,2021
$GC,15779,1.03,210.4,410.7,6.7,763,15783,0.00,2.53,0.00,0.000,4,0.000,0.054,2701,3504,2021
$GC,15862,1.03,210.4,404.5,7.7,767,15866,0.00,2.53,0.00,0.000,6,0.000,0.045,2701,2091,2022
$GC,16187,1.03,210.4,380.2,7.6,783,16188,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2091,2021
$GC,16496,1.03,210.4,358.5,6.6,798,16497,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2091,2022
$GC,16806,1.04,220.1,340.3,5.7,813,16820,0.00,2.62,9.65,1.055,4,0.000,0.066,2701,694,1980
$GC,16870,1.06,235.4,336.5,5.5,815,16889,0.10,2.47,13.02,1.042,6,0.051,0.040,2746,2104,1918
$GC,17196,1.06,235.4,312.0,7.8,831,17197,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2107,1918
$GC,17505,1.06,235.4,286.8,8.6,846,17507,0.12,0.00,0.00,0.000,6,0.084,0.000,2721,2107,1918
$GC,17814,1.06,235.4,261.5,8.0,861,17816,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2106,1918
$GC,18123,1.06,235.4,237.5,7.9,876,18125,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2107,1918
$GC,18433,1.06,235.4,213.9,7.6,891,18434,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2107,1919
$GC,18742,1.06,235.4,189.8,7.7,906,18747,0.00,2.60,0.00,0.000,4,0.000,0.061,2721,689,1919
$GC,18808,1.06,235.4,184.3,7.6,909,18813,0.00,2.50,0.00,0.000,6,0.000,0.039,2721,2099,1918
$GC,19135,1.06,235.4,159.7,7.4,925,19136,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2102,1919
$GC,19445,1.06,235.4,137.2,7.0,940,19446,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2102,1919
$GC,19754,1.06,235.4,114.9,7.4,955,19755,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2102,1920
$GC,20063,1.06,235.4,92.7,6.9,970,20067,0.00,2.58,0.00,0.000,4,0.000,0.060,2721,693,1919
$GC,20117,1.06,235.4,88.4,7.5,972,20124,0.00,2.50,0.00,0.000,6,0.000,0.039,2721,2106,1920
$GC,20433,1.06,235.4,64.7,7.7,988,20434,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2106,1920
$GC,20742,1.06,235.4,43.4,6.9,1003,20743,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2106,1920
$GC,21052,1.06,236.6,21.0,6.0,1018,21053,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2106,1920
$GC,21361,1.08,255.0,4.5,5.5,1033,21382,0.00,2.70,16.42,0.838,4,0.000,0.061,2721,691,1838
$GC,21572,1.33,459.2,3.7,-0.1,1042,21681,0.28,2.47,101.75,0.762,6,0.038,0.040,2802,2106,1005
$STATE,21932,end climb,NO_VERTICAL_VELOCITY
$STATE,21932,begin surface
$SM_CCo,21935,50.62,0.756,0,0,601,558.06
$SM_GC,4.26,11.90,0.00,0.00,0.028,0.000,0.000,31,1882,603,-11.25,-0.51,558.06
$IRIDIUM_FIX,6202.67,-1104.91,131207,080819
$TT8_MAMPS,0.026845
$HUMID,2052
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,675.9,72.2
$24V_AH,23.3,36.099
$10V_AH,10.1,16.727
$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,25.450,117.375,441.175,50.625,0.000,74.078,75.336,231.216,7.750,0.000,0.000,17.185,1870.351,17593.342,635.299,2273.092,587.068,33.357,1768.052,0.000,2237.847,0.000,39.484
$DEVICE_MAMPS,108.914,75.166,1288.560,756.262,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,770.895,739.025,670.309,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53690,1060
$CFSIZE,260165632,249372672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,131207,102908,6233.870,-1113.059,35,1.4,35,-10.8