version: 66.02
glider: 102
mission: 4
dive: 151
start: 12 13 107 10 39 34
data:
$ID,102
$MISSION,4
$DIVE,151
$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,-79006.508
$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,30
$R_STBD_OVSHOOT,39
$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
$GPS1,102908,6233.870,-1113.059,35,1.4,35,-10.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.28
$_SM_ANGLEo,-55.7
$GPS2,103839,6233.993,-1112.882,11,1.3,11,-10.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.209,-0.003
$KALMAN_X,168584.0,-924.9,317.0,-311599.4,4551.2
$KALMAN_Y,122161.3,643.1,2056.4,-12202.4,-6887.5
$MHEAD_RNG_PITCHd_Wd,279.9,24340,-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,-21.90,0.000,2,0.000,0.000,30,1877,1118
$GC,46,-0.95,-146.6,4.4,-0.0,1,214,11.20,2.55,-150.15,0.000,4,0.108,0.074,2286,496,3476
$GC,270,-0.95,-146.6,8.9,-8.6,11,277,0.00,2.50,0.00,0.000,6,0.000,0.040,2285,1899,3476
$GC,586,-0.95,-146.6,30.8,-6.2,27,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3476
$GC,896,-0.95,-146.6,52.3,-5.7,42,900,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3300,3476
$GC,961,-0.95,-146.6,57.2,-7.4,45,966,0.00,2.53,0.00,0.000,6,0.000,0.042,2286,1908,3476
$GC,1288,-0.95,-146.6,79.3,-6.2,61,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,1598,-0.95,-146.6,102.6,-8.2,76,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,1907,-0.95,-146.6,124.5,-6.8,91,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,2216,-0.95,-146.6,147.6,-8.2,106,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,2526,-0.95,-146.6,171.7,-7.5,121,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,2835,-0.95,-146.6,193.3,-6.9,136,2839,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3297,3476
$GC,2895,-0.95,-146.6,197.8,-7.2,139,2900,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1899,3476
$GC,3221,-0.95,-146.6,220.7,-7.0,155,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3476
$GC,3530,-0.95,-146.6,242.3,-7.2,170,3535,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3300,3476
$GC,3596,-0.95,-146.6,247.4,-7.6,173,3601,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1903,3476
$GC,3923,-0.95,-146.6,272.3,-7.9,189,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,4232,-0.95,-146.6,295.5,-7.6,204,4236,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3304,3476
$GC,4293,-0.95,-146.6,300.3,-8.0,207,4298,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1894,3476
$GC,4620,-0.95,-146.6,326.0,-7.7,223,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3476
$GC,4928,-0.95,-146.6,347.6,-6.2,238,4933,0.00,2.53,0.00,0.000,4,0.000,0.049,2286,3296,3476
$GC,4994,-0.95,-146.6,351.8,-6.2,241,4999,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1906,3476
$GC,5321,-0.95,-146.6,372.0,-6.4,257,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,5630,-0.95,-146.6,391.9,-6.2,272,5634,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3301,3476
$GC,5695,-0.95,-146.6,395.8,-6.2,275,5700,0.00,2.53,0.00,0.000,6,0.000,0.046,2286,1897,3476
$GC,6022,-0.95,-146.6,415.6,-6.4,291,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3476
$GC,6332,-0.95,-146.6,435.6,-6.2,306,6336,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3299,3475
$GC,6420,-0.95,-146.6,441.1,-5.5,310,6424,0.00,2.53,0.00,0.000,6,0.000,0.047,2286,1895,3476
$GC,6741,-0.95,-146.6,459.0,-6.1,326,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,7050,-0.95,-146.6,477.9,-6.2,341,7054,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3300,3476
$GC,7156,-0.95,-146.6,484.4,-6.4,346,7161,0.00,2.50,0.00,0.000,6,0.000,0.047,2286,1902,3476
$GC,7482,-0.95,-146.6,505.0,-6.3,362,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3474
$GC,7792,-0.95,-146.6,522.9,-5.8,377,7796,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3298,3475
$GC,7868,-0.95,-146.6,528.0,-6.9,380,7875,0.00,2.55,0.00,0.000,6,0.000,0.047,2286,1900,3474
$GC,8184,-0.95,-146.6,549.8,-7.0,396,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3474
$GC,8494,-0.95,-146.6,569.7,-5.9,411,8499,0.00,2.55,0.00,0.000,4,0.000,0.054,2286,3300,3475
$GC,8605,-0.95,-146.6,577.4,-7.2,416,8610,0.00,2.55,0.00,0.000,6,0.000,0.048,2286,1901,3474
$GC,8932,-0.95,-146.6,597.4,-6.1,432,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3474
$GC,9241,-0.95,-146.6,617.9,-6.4,447,9246,0.00,2.55,0.00,0.000,4,0.000,0.058,2286,3301,3474
$GC,9341,-0.95,-146.6,623.6,-5.6,451,9348,0.00,2.55,0.00,0.000,6,0.000,0.050,2285,1897,3474
$GC,9657,-0.95,-146.6,641.1,-6.0,467,9658,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3474
$GC,9966,-0.95,-146.6,660.4,-6.2,482,9967,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3474
$GC,10275,-0.95,-146.6,678.9,-6.6,497,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3473
$STATE,10295,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10295,begin apogee
$GC,10300,-0.36,0.0,680.1,6.4,498,10426,0.60,0.00,123.05,1.246,6,0.076,0.000,2415,2091,2878
$STATE,10427,end apogee,CONTROL_FINISHED_OK
$STATE,10427,begin climb
$GC,10428,0.95,146.6,683.8,0.0,504,10558,1.30,0.00,122.62,1.209,6,0.052,0.000,2701,2090,2280
$GC,10866,0.95,152.6,665.2,5.8,526,10874,0.00,0.00,5.95,1.170,6,0.000,0.000,2701,2090,2255
$GC,11176,0.99,181.8,646.9,5.1,541,11203,0.00,0.00,25.30,1.221,6,0.000,0.000,2701,2090,2136
$GC,11504,0.99,181.8,627.0,6.5,557,11508,0.00,2.60,0.00,0.000,4,0.000,0.060,2701,3503,2135
$GC,11580,0.99,181.8,621.9,6.1,560,11588,0.00,2.58,0.00,0.000,6,0.000,0.051,2701,2108,2135
$GC,11897,1.03,212.1,605.6,5.1,576,11925,0.00,0.00,26.00,1.228,6,0.000,0.000,2701,2108,2013
$GC,12225,1.03,212.1,582.6,7.6,592,12226,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2108,2012
$GC,12535,1.03,212.1,558.9,7.5,607,12536,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2108,2011
$GC,12844,1.03,212.1,536.1,7.5,622,12845,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2108,2011
$GC,13153,1.03,212.1,511.9,7.7,637,13157,0.00,2.58,0.00,0.000,4,0.000,0.054,2701,3507,2011
$GC,13207,1.03,212.1,507.6,7.2,639,13214,0.00,2.53,0.00,0.000,6,0.000,0.046,2701,2099,2010
$GC,13523,1.04,223.5,487.0,5.7,655,13535,0.00,0.00,10.02,1.166,6,0.000,0.000,2701,2099,1966
$GC,13832,1.06,241.0,469.4,5.5,670,13853,0.12,0.00,15.55,1.149,6,0.052,0.000,2744,2098,1894
$GC,14162,1.06,241.0,446.4,7.0,686,14163,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2099,1894
$GC,14471,1.06,241.0,423.6,7.6,701,14472,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2099,1894
$GC,14780,1.06,241.0,397.9,8.5,716,14781,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2099,1895
$GC,15090,1.06,241.0,370.4,8.8,731,15091,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2099,1895
$GC,15399,1.06,241.0,344.3,8.2,746,15400,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2098,1895
$GC,15708,1.06,241.0,317.9,8.8,761,15712,0.00,2.55,0.00,0.000,4,0.000,0.051,2744,3508,1895
$GC,15784,1.06,241.0,310.5,9.3,764,15791,0.00,2.50,0.00,0.000,6,0.000,0.042,2744,2098,1895
$GC,16100,1.06,241.0,283.3,8.6,780,16101,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2098,1895
$GC,16409,1.06,241.0,257.1,8.3,795,16411,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2098,1895
$GC,16718,1.06,241.0,232.5,7.6,810,16720,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2098,1896
$GC,17027,1.06,241.0,209.6,7.0,825,17029,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2097,1896
$GC,17337,1.06,241.0,186.5,7.8,840,17338,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2097,1896
$GC,17646,1.06,241.0,162.9,7.8,855,17647,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2097,1897
$GC,17956,1.06,241.0,136.8,8.5,870,17960,0.00,2.55,0.00,0.000,4,0.000,0.048,2744,3504,1897
$GC,18021,1.06,241.0,130.7,8.5,873,18025,0.00,2.50,0.00,0.000,6,0.000,0.040,2744,2103,1897
$GC,18348,1.06,241.0,102.8,8.3,889,18349,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2103,1897
$GC,18657,1.06,241.0,77.5,7.9,904,18658,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2103,1897
$GC,18966,1.06,241.0,53.4,8.2,919,18968,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2102,1897
$GC,19276,1.06,241.0,28.8,8.3,934,19277,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2102,1897
$GC,19587,1.06,241.0,4.2,8.6,949,19591,0.00,2.60,0.00,0.000,4,0.000,0.068,2744,696,1897
$GC,19636,1.30,437.3,3.7,0.1,951,19745,0.15,2.45,103.07,0.772,6,0.065,0.038,2782,2114,1095
$STATE,19930,end climb,NO_VERTICAL_VELOCITY
$STATE,19930,begin surface
$SM_CCo,19933,61.62,0.751,0,0,602,558.06
$SM_GC,4.24,11.85,0.00,0.00,0.028,0.000,0.000,29,1896,604,-11.27,-0.11,557.81
$IRIDIUM_FIX,6211.90,-1116.76,131207,141400
$TT8_MAMPS,0.026845
$HUMID,2039
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.70
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,601.3,88.5
$24V_AH,23.3,36.268
$10V_AH,10.1,16.817
$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,25.225,86.800,431.575,61.625,0.000,76.860,163.909,168.215,7.500,0.000,0.000,12.736,1683.862,16102.824,677.164,1936.800,587.239,33.358,1633.406,0.000,1914.258,0.000,34.676
$DEVICE_MAMPS,108.147,73.632,1245.608,750.893,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,712.139,652.045,618.867,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47418,965
$CFSIZE,260165632,249335808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,131207,162107,6234.857,-1116.420,43,1.5,43,-10.9