version: 66.02
glider: 102
mission: 4
dive: 155
start: 12 14 107 10 30 50
data:
$ID,102
$MISSION,4
$DIVE,155
$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,-79064.664
$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,24
$R_STBD_OVSHOOT,34
$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
$GPS1,101608,6235.215,-1126.026,41,1.6,41,-11.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.11
$_SM_ANGLEo,-41.3
$GPS2,102957,6235.333,-1125.633,10,1.8,10,-11.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,-0.043
$KALMAN_X,197201.3,287.4,-15033.8,-337351.0,5952.5
$KALMAN_Y,142623.1,-201.8,-12588.8,-14650.9,796.9
$MHEAD_RNG_PITCHd_Wd,269.2,15764,-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,20,-0.95,-146.6,0.0,0.0,0,44,0.00,0.00,-22.00,0.000,2,0.000,0.000,27,1884,1118
$GC,47,-0.95,-146.6,4.3,-0.0,1,211,11.15,2.62,-144.18,0.000,4,0.100,0.071,2284,490,3476
$GC,440,-0.95,-146.6,28.7,-12.2,19,444,0.00,2.50,0.00,0.000,6,0.000,0.039,2284,1901,3475
$GC,763,-0.95,-146.6,53.2,-8.4,35,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3476
$GC,1071,-0.95,-146.6,67.9,-6.0,50,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3476
$GC,1380,-0.95,-146.6,90.0,-6.9,65,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3476
$GC,1690,-0.95,-146.6,113.5,-8.1,80,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3476
$GC,1998,-0.95,-146.6,139.0,-8.1,95,2003,0.00,2.50,0.00,0.000,4,0.000,0.048,2284,3295,3476
$GC,2075,-0.95,-146.6,145.5,-7.9,98,2083,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1906,3476
$GC,2391,-0.95,-146.6,169.7,-7.0,114,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3476
$GC,2700,-0.95,-146.6,192.0,-7.5,129,2704,0.00,2.53,0.00,0.000,4,0.000,0.048,2284,3304,3476
$GC,2777,-0.95,-146.6,198.2,-8.0,132,2783,0.00,2.55,0.00,0.000,6,0.000,0.044,2284,1901,3476
$GC,3092,-0.95,-146.6,221.5,-7.7,148,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3476
$GC,3401,-0.95,-146.6,246.4,-8.2,163,3406,0.00,2.53,0.00,0.000,4,0.000,0.048,2284,3302,3476
$GC,3463,-0.95,-146.6,251.5,-8.6,166,3467,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1899,3476
$GC,3789,-0.95,-146.6,275.9,-7.3,182,3793,0.00,2.53,0.00,0.000,4,0.000,0.048,2284,3301,3476
$GC,3850,-0.95,-146.6,280.6,-7.8,185,3854,0.00,2.53,0.00,0.000,6,0.000,0.045,2284,1898,3476
$GC,4176,-0.95,-146.6,306.8,-8.6,201,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3476
$GC,4485,-0.95,-146.6,331.2,-7.0,216,4489,0.00,2.53,0.00,0.000,4,0.000,0.048,2284,3299,3476
$GC,4578,-0.95,-146.6,337.9,-6.3,220,4582,0.00,2.55,0.00,0.000,6,0.000,0.046,2284,1898,3475
$GC,4900,-0.95,-146.6,357.8,-6.9,236,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3476
$GC,5209,-0.95,-146.6,378.4,-6.8,251,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3476
$GC,5519,-0.95,-146.6,400.7,-7.1,266,5523,0.00,2.53,0.00,0.000,4,0.000,0.050,2284,3297,3476
$GC,5590,-0.95,-146.6,406.1,-7.7,269,5594,0.00,2.53,0.00,0.000,6,0.000,0.046,2284,1897,3475
$GC,5911,-0.95,-146.6,428.5,-6.7,285,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1896,3475
$GC,6220,-0.95,-146.6,447.8,-6.7,300,6224,0.00,2.55,0.00,0.000,4,0.000,0.051,2284,3304,3475
$GC,6303,-0.95,-146.6,453.2,-7.4,304,6308,0.00,2.53,0.00,0.000,6,0.000,0.046,2284,1900,3475
$GC,6629,-0.95,-146.6,473.7,-6.2,320,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3475
$GC,6938,-0.95,-146.6,492.9,-6.3,335,6943,0.00,2.53,0.00,0.000,4,0.000,0.051,2284,3298,3474
$GC,7016,-0.95,-146.6,498.2,-6.8,338,7022,0.00,2.53,0.00,0.000,6,0.000,0.046,2284,1898,3474
$GC,7331,-0.95,-146.6,519.0,-6.6,354,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3474
$GC,7640,-0.95,-146.6,539.4,-6.1,369,7644,0.00,2.55,0.00,0.000,4,0.000,0.053,2284,3298,3474
$GC,7762,-0.95,-146.6,547.0,-6.2,374,7768,0.00,2.55,0.00,0.000,6,0.000,0.047,2284,1900,3474
$GC,8077,-0.95,-146.6,563.1,-5.1,390,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3474
$GC,8387,-0.95,-146.6,582.1,-6.5,405,8391,0.00,2.55,0.00,0.000,4,0.000,0.055,2284,3300,3473
$GC,8538,-0.95,-146.6,592.9,-7.8,412,8542,0.00,2.53,0.00,0.000,6,0.000,0.049,2284,1901,3474
$GC,8863,-0.95,-146.6,613.8,-5.6,428,8868,0.00,2.55,0.00,0.000,4,0.000,0.058,2284,3294,3474
$GC,8940,-0.95,-146.6,619.5,-7.4,431,8947,0.00,2.55,0.00,0.000,6,0.000,0.050,2284,1904,3474
$GC,9256,-0.95,-146.6,638.4,-6.2,447,9257,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1904,3474
$GC,9566,-0.95,-146.6,657.3,-6.3,462,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1904,3474
$GC,9874,-0.95,-146.6,676.0,-6.2,477,9879,0.00,2.55,0.00,0.000,4,0.000,0.062,2284,3298,3473
$GC,9975,-0.95,-146.6,682.4,-5.7,481,9981,0.00,2.55,0.00,0.000,6,0.000,0.055,2284,1901,3473
$STATE,10268,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10268,begin apogee
$GC,10273,-0.36,0.0,699.0,5.6,496,10399,0.62,0.00,122.50,1.276,6,0.074,0.000,2420,2095,2878
$STATE,10399,end apogee,CONTROL_FINISHED_OK
$STATE,10400,begin climb
$GC,10401,0.95,146.6,702.7,0.0,502,10528,1.25,0.00,122.62,1.229,6,0.054,0.000,2701,2095,2280
$GC,10834,0.95,146.6,680.9,7.6,523,10838,0.00,2.62,0.00,0.000,4,0.000,0.064,2701,3499,2279
$GC,10927,0.95,146.6,673.6,7.0,527,10932,0.00,2.55,0.00,0.000,6,0.000,0.053,2701,2102,2278
$GC,11249,0.99,177.7,656.1,5.1,543,11277,0.00,0.00,26.52,1.251,6,0.000,0.000,2701,2102,2153
$GC,11578,0.99,177.7,636.1,6.0,559,11582,0.00,2.62,0.00,0.000,4,0.000,0.061,2701,3506,2152
$GC,11678,0.99,177.7,629.5,6.4,563,11684,0.00,2.60,0.00,0.000,6,0.000,0.053,2701,2097,2152
$GC,11993,1.01,196.1,611.7,5.5,579,12015,0.00,2.70,16.35,1.254,4,0.000,0.061,2701,3505,2077
$GC,12076,1.01,196.1,606.5,6.9,582,12083,0.00,2.60,0.00,0.000,6,0.000,0.052,2701,2091,2077
$GC,12391,1.01,196.1,589.3,6.2,598,12396,0.00,2.62,0.00,0.000,4,0.000,0.061,2701,3500,2077
$GC,12453,1.01,196.1,584.7,7.6,601,12458,0.00,2.55,0.00,0.000,6,0.000,0.051,2700,2102,2077
$GC,12779,1.01,196.1,559.7,7.6,617,12783,0.00,2.58,0.00,0.000,4,0.000,0.059,2700,3500,2076
$GC,12901,1.01,196.1,550.2,7.6,622,12907,0.00,2.55,0.00,0.000,6,0.000,0.050,2700,2089,2076
$GC,13216,1.03,217.5,531.1,5.4,638,13237,0.00,0.00,18.25,1.222,6,0.000,0.000,2700,2089,1991
$GC,13546,1.06,235.8,513.2,5.5,654,13566,0.10,0.00,16.15,1.185,6,0.058,0.000,2738,2089,1916
$GC,13875,1.06,235.8,487.5,8.1,670,13879,0.00,2.58,0.00,0.000,4,0.000,0.055,2738,3500,1916
$GC,13945,1.06,235.8,481.5,8.1,673,13950,0.00,2.55,0.00,0.000,6,0.000,0.048,2737,2103,1916
$GC,14266,1.06,235.8,459.1,6.7,689,14268,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2104,1916
$GC,14576,1.06,235.8,435.1,8.3,704,14580,0.00,2.55,0.00,0.000,4,0.000,0.051,2738,3504,1917
$GC,14624,1.06,235.8,430.8,8.6,706,14629,0.00,2.55,0.00,0.000,6,0.000,0.046,2738,2101,1916
$GC,14945,1.06,235.8,406.0,7.6,722,14946,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2101,1917
$GC,15255,1.06,235.8,382.1,7.7,737,15256,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2101,1917
$GC,15564,1.06,235.8,357.2,8.0,752,15568,0.00,2.55,0.00,0.000,4,0.000,0.051,2737,3504,1917
$GC,15629,1.06,235.8,351.5,9.1,755,15634,0.00,2.53,0.00,0.000,6,0.000,0.044,2738,2104,1918
$GC,15956,1.06,235.8,324.9,7.9,771,15958,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2104,1918
$GC,16265,1.06,235.8,301.4,7.6,786,16267,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2104,1918
$GC,16575,1.06,235.8,278.0,7.3,801,16576,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2104,1918
$GC,16884,1.06,235.8,256.0,7.1,816,16885,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2104,1919
$GC,17193,1.06,235.8,230.8,8.4,831,17194,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2104,1919
$GC,17502,1.06,235.8,202.5,9.3,846,17507,0.00,2.53,0.00,0.000,4,0.000,0.049,2738,3507,1919
$GC,17591,1.06,235.8,193.2,12.3,850,17595,0.00,2.50,0.00,0.000,6,0.000,0.041,2737,2096,1920
$GC,17918,1.06,235.8,164.9,8.5,866,17919,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2097,1920
$GC,18227,1.06,235.8,138.7,9.3,881,18229,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2096,1920
$GC,18537,1.12,287.6,124.4,4.5,896,18587,0.00,2.62,42.05,0.877,4,0.000,0.048,2738,3505,1704
$GC,18671,1.12,287.6,114.0,8.5,902,18675,0.00,2.53,0.00,0.000,6,0.000,0.041,2738,2088,1704
$GC,19000,1.12,287.6,92.7,8.2,918,19001,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2088,1704
$GC,19308,1.16,317.1,75.7,5.1,933,19333,0.00,0.00,23.77,0.851,6,0.000,0.000,2738,2088,1584
$GC,19638,1.21,359.9,46.1,4.7,949,19678,0.00,0.00,33.88,0.814,6,0.000,0.000,2738,2087,1410
$GC,19989,1.21,359.9,8.3,9.7,966,19993,0.00,2.58,0.00,0.000,4,0.000,0.061,2737,692,1409
$GC,20099,1.45,558.5,3.7,0.1,971,20213,0.35,2.50,106.72,0.747,6,0.063,0.043,2814,2110,602
$STATE,20526,end climb,NO_VERTICAL_VELOCITY
$STATE,20526,begin surface
$SM_CCo,20948,0.00,0.000,0,0,604,557.81
$SM_GC,4.06,12.10,0.00,0.00,0.035,0.000,0.000,31,1889,604,-11.25,-0.28,557.81
$IRIDIUM_FIX,6211.90,-1122.26,141207,141434
$TT8_MAMPS,0.026078
$HUMID,2048
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.70
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,601.2,106.2
$24V_AH,23.3,36.992
$10V_AH,10.1,17.195
$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,25.575,123.250,528.825,0.000,0.000,113.881,109.752,375.511,7.250,0.000,0.000,11.838,1772.404,16308.865,704.412,2199.489,793.579,33.361,1804.638,0.000,2162.039,0.000,34.733
$DEVICE_MAMPS,100.477,71.331,1276.288,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,731.893,669.063,639.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50556,992
$CFSIZE,260165632,249061376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,141207,162108,6233.433,-1126.295,36,1.5,36,-11.0