version: 66.02
glider: 102
mission: 4
dive: 157
start: 12 14 107 23 24 28
data:
$ID,102
$MISSION,4
$DIVE,157
$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,-79111.977
$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,22
$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
$GPS1,230938,6228.557,-1127.109,26,1.5,26,-10.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.36
$_SM_ANGLEo,-55.0
$GPS2,232333,6228.616,-1126.995,12,1.9,12,-10.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.177,-0.110
$KALMAN_X,206125.7,-691.5,-15249.5,-346246.5,89744.1
$KALMAN_Y,135068.4,-541.8,-12502.6,-19241.6,65618.5
$MHEAD_RNG_PITCHd_Wd,249.0,11413,-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,-21.83,0.000,2,0.000,0.000,28,1884,1117
$GC,46,-0.95,-146.6,4.3,-0.0,1,217,11.23,2.58,-153.85,0.000,4,0.109,0.075,2285,495,3475
$GC,469,-0.95,-146.6,22.9,-8.6,20,476,0.00,2.47,0.00,0.000,6,0.000,0.040,2286,1898,3475
$GC,785,-0.95,-146.6,49.7,-8.7,36,789,0.00,2.53,0.00,0.000,4,0.000,0.049,2286,3294,3475
$GC,1042,-0.95,-146.6,69.4,-7.0,47,1049,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1905,3475
$GC,1360,-0.95,-146.6,91.0,-7.4,63,1364,0.00,2.53,0.00,0.000,4,0.000,0.047,2286,3304,3475
$GC,1481,-0.95,-146.6,100.7,-8.7,68,1488,0.00,2.55,0.00,0.000,6,0.000,0.043,2285,1897,3475
$GC,1798,-0.95,-146.6,129.5,-8.8,84,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3475
$GC,2106,-0.95,-146.6,154.6,-8.4,99,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3475
$GC,2415,-0.95,-146.6,179.1,-7.7,114,2419,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3297,3475
$GC,2476,-0.95,-146.6,183.7,-7.8,117,2480,0.00,2.50,0.00,0.000,6,0.000,0.043,2285,1899,3475
$GC,2801,-0.95,-146.6,209.3,-8.1,133,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3475
$GC,3110,-0.95,-146.6,233.1,-7.6,148,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3475
$GC,3420,-0.95,-146.6,254.6,-6.6,163,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3475
$GC,3729,-0.95,-146.6,274.0,-6.5,178,3733,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3300,3475
$GC,3812,-0.95,-146.6,279.4,-6.4,182,3817,0.00,2.53,0.00,0.000,6,0.000,0.045,2285,1897,3475
$GC,4138,-0.95,-146.6,302.5,-7.4,198,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3475
$GC,4448,-0.95,-146.6,325.1,-7.2,213,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3475
$GC,4756,-0.95,-146.6,346.4,-6.7,228,4761,0.00,2.55,0.00,0.000,4,0.000,0.049,2285,3304,3475
$GC,4834,-0.95,-146.6,351.9,-7.3,231,4840,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1896,3475
$GC,5150,-0.95,-146.6,375.7,-8.0,247,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3475
$GC,5461,-0.95,-146.6,400.1,-8.0,262,5465,0.00,2.53,0.00,0.000,4,0.000,0.050,2285,3295,3475
$GC,5577,-0.95,-146.6,409.6,-7.8,267,5582,0.00,2.50,0.00,0.000,6,0.000,0.047,2285,1902,3475
$GC,5898,-0.95,-146.6,433.3,-7.2,283,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,6207,-0.95,-146.6,456.0,-8.0,298,6212,0.00,2.53,0.00,0.000,4,0.000,0.051,2285,3295,3475
$GC,6285,-0.95,-146.6,462.3,-7.8,301,6291,0.00,2.53,0.00,0.000,6,0.000,0.047,2285,1894,3475
$GC,6600,-0.95,-146.6,484.2,-7.8,317,6601,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1890,3474
$GC,6909,-0.95,-146.6,505.9,-6.9,332,6914,0.00,2.55,0.00,0.000,4,0.000,0.052,2285,3298,3474
$GC,6975,-0.95,-146.6,510.6,-7.8,335,6980,0.00,2.55,0.00,0.000,6,0.000,0.048,2285,1899,3474
$GC,7302,-0.95,-146.6,534.1,-7.8,351,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3474
$GC,7612,-0.95,-146.6,556.5,-6.9,366,7616,0.00,2.53,0.00,0.000,4,0.000,0.053,2285,3295,3474
$GC,7683,-0.95,-146.6,561.6,-6.7,369,7687,0.00,2.53,0.00,0.000,6,0.000,0.047,2285,1905,3474
$GC,8004,-0.95,-146.6,585.1,-7.7,385,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3474
$GC,8313,-0.95,-146.6,606.1,-6.3,400,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3474
$GC,8622,-0.95,-146.6,626.4,-7.0,415,8626,0.00,2.55,0.00,0.000,4,0.000,0.056,2285,3298,3474
$GC,8728,-0.95,-146.6,633.6,-6.6,420,8733,0.00,2.55,0.00,0.000,6,0.000,0.050,2285,1894,3474
$GC,9055,-0.95,-146.6,652.5,-6.4,436,9059,0.00,2.58,0.00,0.000,4,0.000,0.058,2285,3300,3474
$GC,9171,-0.95,-146.6,661.0,-7.2,441,9175,0.00,2.58,0.00,0.000,6,0.000,0.051,2285,1899,3474
$GC,9492,-0.95,-146.6,687.2,-8.5,457,9496,0.00,2.58,0.00,0.000,4,0.000,0.058,2285,3300,3474
$GC,9591,-0.95,-146.6,695.5,-8.6,461,9598,0.00,2.58,0.00,0.000,6,0.000,0.052,2285,1903,3474
$GC,9907,-0.95,-146.6,714.8,-5.5,477,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1903,3474
$GC,10216,-0.95,-146.6,732.0,-5.5,492,10220,0.00,2.58,0.00,0.000,4,0.000,0.061,2285,3293,3474
$GC,10327,-0.95,-146.6,738.8,-6.0,497,10331,0.00,2.55,0.00,0.000,6,0.000,0.054,2285,1895,3474
$GC,10654,-0.95,-146.6,758.7,-6.3,513,10658,0.00,2.60,0.00,0.000,4,0.000,0.064,2285,3295,3474
$GC,10726,-0.95,-146.6,763.4,-6.8,516,10731,0.00,2.55,0.00,0.000,6,0.000,0.056,2285,1902,3474
$GC,11041,-0.95,-146.6,782.7,-6.4,531,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3473
$GC,11351,-0.95,-146.6,800.4,-6.5,546,11352,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3472
$STATE,11493,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11493,begin apogee
$GC,11498,-0.36,0.0,810.5,5.9,553,11625,0.62,0.00,124.35,1.348,6,0.072,0.000,2421,2088,2878
$STATE,11626,end apogee,CONTROL_FINISHED_OK
$STATE,11626,begin climb
$GC,11628,0.95,146.6,815.3,0.0,559,11761,1.30,2.80,123.45,1.305,4,0.058,0.077,2703,679,2280
$GC,11932,1.00,186.8,807.6,4.8,573,11972,0.00,2.62,34.55,1.304,6,0.000,0.057,2703,2096,2116
$GC,12282,1.00,186.8,782.5,7.1,590,12284,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2096,2116
$GC,12591,1.00,186.8,763.3,6.6,605,12595,0.00,2.65,0.00,0.000,4,0.000,0.071,2703,3509,2114
$GC,12651,1.00,186.8,758.7,8.9,608,12656,0.00,2.62,0.00,0.000,6,0.000,0.061,2703,2103,2113
$GC,12977,1.00,186.8,735.2,6.8,624,12982,0.00,2.65,0.00,0.000,4,0.000,0.067,2703,3506,2112
$GC,13061,1.10,272.2,731.0,3.5,628,13139,0.15,2.62,70.95,1.322,6,0.045,0.059,2751,2092,1768
$GC,13447,1.10,272.2,699.5,11.3,646,13448,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2092,1767
$GC,13756,1.10,272.2,670.2,8.4,661,13761,0.00,2.62,0.00,0.000,4,0.000,0.060,2751,3511,1766
$GC,13788,1.10,272.2,667.2,8.4,662,13795,0.00,2.60,0.00,0.000,6,0.000,0.053,2752,2087,1767
$GC,14104,1.10,272.2,639.6,8.5,678,14105,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2087,1766
$GC,14413,1.10,272.2,614.8,8.3,693,14417,0.00,2.60,0.00,0.000,4,0.000,0.056,2751,3512,1766
$GC,14478,1.10,272.2,608.6,9.1,696,14483,0.00,2.58,0.00,0.000,6,0.000,0.048,2751,2090,1767
$GC,14805,1.10,272.2,579.8,8.7,712,14806,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2091,1767
$GC,15114,1.10,272.2,552.4,8.9,727,15115,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2090,1767
$GC,15423,1.10,272.2,524.3,8.9,742,15425,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2090,1768
$GC,15733,1.10,272.2,495.8,9.3,757,15734,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2090,1768
$GC,16042,1.10,272.2,466.9,9.5,772,16043,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2090,1769
$GC,16351,1.10,272.2,437.3,9.6,787,16352,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2091,1770
$GC,16661,1.10,272.2,408.6,9.0,802,16665,0.00,2.60,0.00,0.000,4,0.000,0.068,2751,688,1771
$GC,16709,1.10,272.2,403.8,10.4,804,16714,0.00,2.53,0.00,0.000,6,0.000,0.042,2751,2114,1771
$GC,17030,1.10,272.2,373.4,9.8,820,17031,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2117,1771
$GC,17340,1.10,272.2,344.3,9.1,835,17341,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2117,1771
$GC,17649,1.10,272.2,315.4,9.5,850,17650,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2117,1771
$GC,17958,1.10,272.2,284.8,10.1,865,17962,0.00,2.65,0.00,0.000,4,0.000,0.063,2751,687,1771
$GC,18019,1.10,272.2,278.3,11.2,868,18023,0.00,2.47,0.00,0.000,6,0.000,0.041,2751,2103,1771
$GC,18344,1.10,272.2,246.4,9.7,884,18345,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2106,1772
$GC,18653,1.10,272.2,217.9,8.8,899,18654,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2106,1772
$GC,18963,1.10,272.2,190.4,8.4,914,18967,0.00,2.62,0.00,0.000,4,0.000,0.063,2751,686,1772
$GC,19011,1.10,272.2,185.9,8.4,916,19016,0.00,2.53,0.00,0.000,6,0.000,0.040,2751,2104,1772
$GC,19332,1.10,272.2,159.5,8.1,932,19333,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2106,1772
$GC,19642,1.10,272.2,135.2,7.6,947,19643,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2106,1772
$GC,19951,1.10,272.2,110.7,7.9,962,19955,0.00,2.62,0.00,0.000,4,0.000,0.061,2751,683,1773
$GC,20012,1.10,272.2,105.5,8.0,965,20016,0.00,2.50,0.00,0.000,6,0.000,0.040,2752,2106,1773
$GC,20339,1.10,272.2,79.5,7.9,981,20340,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2109,1773
$GC,20648,1.10,272.2,54.1,8.1,996,20652,0.00,2.62,0.00,0.000,4,0.000,0.061,2751,687,1773
$GC,20702,1.10,272.2,49.3,8.6,998,20709,0.00,2.47,0.00,0.000,6,0.000,0.039,2751,2095,1773
$GC,21018,1.10,272.2,23.8,8.0,1014,21019,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2099,1773
$GC,21327,1.30,435.7,3.8,1.1,1029,21423,0.12,2.67,88.07,0.775,4,0.067,0.059,2784,692,1101
$GC,21434,1.57,652.6,3.6,-0.5,1034,21502,0.25,2.47,62.08,0.736,6,0.053,0.038,2842,2105,603
$STATE,21651,end climb,NO_VERTICAL_VELOCITY
$STATE,21652,begin surface
$SM_CCo,22073,0.00,0.000,0,0,603,558.30
$SM_GC,4.74,12.20,0.00,0.00,0.033,0.000,0.000,31,1884,603,-11.27,-0.45,558.30
$IRIDIUM_FIX,6202.67,-1123.15,151207,030334
$TT8_MAMPS,0.026845
$HUMID,2049
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.70
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,751.0,68.4
$24V_AH,23.3,37.370
$10V_AH,10.1,17.402
$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,25.875,134.100,503.450,0.000,0.000,115.017,160.799,326.539,8.250,0.000,0.000,14.220,1874.814,17210.658,674.244,2341.245,806.226,33.376,1850.757,0.000,2299.207,0.000,44.328
$DEVICE_MAMPS,108.914,77.467,1347.619,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,769.800,705.178,637.029,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53739,1045
$CFSIZE,260165632,248905728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,151207,053332,6224.018,-1132.395,37,1.7,37,-10.9