version: 66.02
glider: 102
mission: 4
dive: 163
start: 12 16 107 17 45 34
data:
$ID,102
$MISSION,4
$DIVE,163
$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,-79219.148
$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,25
$R_STBD_OVSHOOT,35
$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
$GPS1,173437,6229.000,-1140.506,48,1.4,48,-11.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.29
$_SM_ANGLEo,-44.7
$GPS2,174439,6228.962,-1140.427,11,1.6,11,-11.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.116,0.173
$KALMAN_X,196610.0,-98.7,-161.7,-364289.3,7301.3
$KALMAN_Y,98787.0,1311.3,-69.3,3331.9,-7757.5
$MHEAD_RNG_PITCHd_Wd,337.3,39374,-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,-21.70,0.000,2,0.000,0.000,33,1874,1121
$GC,46,-0.95,-146.6,4.5,-0.0,1,198,11.27,2.60,-134.48,0.000,4,0.114,0.074,2286,503,3477
$GC,446,-0.95,-146.6,27.1,-7.5,19,450,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1901,3477
$GC,768,-0.95,-146.6,45.7,-4.3,35,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3477
$GC,1076,-0.95,-146.6,69.1,-7.8,50,1081,0.00,2.50,0.00,0.000,4,0.000,0.046,2286,3295,3477
$GC,1125,-0.95,-146.6,72.3,-7.1,52,1130,0.00,2.53,0.00,0.000,6,0.000,0.043,2286,1904,3477
$GC,1447,-0.95,-146.6,95.0,-7.8,68,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3477
$GC,1756,-0.95,-146.6,121.3,-8.4,83,1760,0.00,2.50,0.00,0.000,4,0.000,0.046,2286,3298,3477
$GC,1810,-0.95,-146.6,126.2,-8.8,85,1817,0.00,2.53,0.00,0.000,6,0.000,0.043,2285,1902,3477
$GC,2126,-0.95,-146.6,151.8,-7.8,101,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3477
$GC,2436,-0.95,-146.6,175.9,-8.1,116,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3477
$GC,2747,-0.95,-146.6,200.4,-7.7,131,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3477
$GC,3055,-0.95,-146.6,225.6,-8.2,146,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3477
$GC,3364,-0.95,-146.6,250.8,-8.1,161,3368,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3302,3477
$GC,3425,-0.95,-146.6,256.2,-8.5,164,3429,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1897,3477
$GC,3751,-0.95,-146.6,282.1,-7.6,180,3755,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3299,3477
$GC,3812,-0.95,-146.6,286.9,-7.8,183,3816,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1893,3477
$GC,4137,-0.95,-146.6,310.9,-7.7,199,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1893,3477
$GC,4446,-0.95,-146.6,334.4,-7.5,214,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1893,3476
$GC,4755,-0.95,-146.6,357.4,-7.3,229,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1893,3477
$GC,5065,-0.95,-146.6,380.1,-7.3,244,5069,0.00,2.50,0.00,0.000,4,0.000,0.050,2286,3297,3476
$GC,5158,-0.95,-146.6,387.3,-7.5,248,5163,0.00,2.53,0.00,0.000,6,0.000,0.046,2286,1906,3476
$GC,5479,-0.95,-146.6,410.1,-7.2,264,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,5789,-0.95,-146.6,432.2,-7.2,279,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,6098,-0.95,-146.6,454.6,-7.2,294,6102,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3298,3476
$GC,6197,-0.95,-146.6,462.0,-8.1,298,6204,0.00,2.55,0.00,0.000,6,0.000,0.047,2286,1901,3476
$GC,6513,-0.95,-146.6,484.6,-7.5,314,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3475
$GC,6822,-0.95,-146.6,507.2,-7.3,329,6826,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3296,3475
$GC,6876,-0.95,-146.6,511.3,-7.6,331,6883,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1907,3475
$GC,7192,-0.95,-146.6,534.9,-7.6,347,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3475
$GC,7501,-0.95,-146.6,558.9,-7.8,362,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3475
$GC,7810,-0.95,-146.6,581.9,-7.1,377,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1907,3475
$GC,8119,-0.95,-146.6,602.8,-6.9,392,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3475
$GC,8428,-0.95,-146.6,625.0,-7.3,407,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3475
$GC,8738,-0.95,-146.6,647.6,-7.4,422,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3475
$GC,9047,-0.95,-146.6,670.1,-7.1,437,9051,0.00,2.55,0.00,0.000,4,0.000,0.058,2286,3298,3475
$GC,9132,-0.95,-146.6,676.1,-7.2,441,9136,0.00,2.53,0.00,0.000,6,0.000,0.049,2286,1901,3475
$GC,9457,-0.95,-146.6,695.0,-5.7,457,9462,0.00,2.53,0.00,0.000,4,0.000,0.058,2286,3293,3475
$GC,9508,-0.95,-146.6,698.1,-5.9,459,9513,0.00,2.53,0.00,0.000,6,0.000,0.049,2286,1897,3475
$GC,9823,-0.95,-146.6,713.4,-4.4,474,9824,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3474
$GC,10134,-0.95,-146.6,729.7,-6.4,489,10138,0.00,2.62,0.00,0.000,4,0.000,0.073,2286,489,3474
$GC,10188,-0.95,-146.6,733.9,-8.3,491,10195,0.00,2.50,0.00,0.000,6,0.000,0.050,2286,1886,3474
$GC,10503,-0.95,-146.6,757.7,-7.0,507,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1886,3474
$GC,10813,-0.95,-146.6,776.3,-5.8,522,10818,0.00,2.62,0.00,0.000,4,0.000,0.065,2285,3298,3474
$GC,10879,-0.95,-146.6,780.4,-6.5,525,10884,0.00,2.55,0.00,0.000,6,0.000,0.059,2286,1904,3474
$STATE,11205,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11205,begin apogee
$GC,11210,-0.36,0.0,800.1,5.7,541,11338,0.60,0.00,124.47,1.328,6,0.076,0.000,2415,2097,2878
$STATE,11339,end apogee,CONTROL_FINISHED_OK
$STATE,11339,begin climb
$GC,11340,0.95,146.6,803.3,0.0,547,11472,1.27,2.70,123.18,1.289,4,0.055,0.069,2697,3499,2280
$GC,11698,0.96,157.8,790.0,5.7,563,11713,0.00,2.62,10.43,1.281,6,0.000,0.059,2697,2098,2234
$GC,12034,0.99,184.1,773.6,5.2,580,12059,0.00,0.00,22.90,1.316,6,0.000,0.000,2697,2098,2127
$GC,12364,0.99,184.1,752.8,6.4,596,12368,0.00,2.65,0.00,0.000,4,0.000,0.066,2697,3503,2126
$GC,12457,0.99,184.1,745.8,7.4,600,12461,0.00,2.60,0.00,0.000,6,0.000,0.058,2697,2098,2125
$GC,12778,0.99,184.1,725.6,6.1,616,12783,0.00,2.70,0.00,0.000,4,0.000,0.081,2697,688,2124
$GC,12895,1.00,189.0,718.6,5.9,621,12907,0.00,2.55,4.85,1.279,6,0.000,0.052,2697,2103,2107
$GC,13216,1.04,222.5,702.1,5.0,637,13247,0.10,0.00,28.88,1.319,6,0.054,0.000,2737,2104,1971
$GC,13545,1.04,222.5,677.5,8.2,653,13546,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2104,1970
$GC,13854,1.04,222.5,652.6,7.9,668,13855,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2105,1970
$GC,14163,1.04,222.5,629.4,7.3,683,14167,0.00,2.58,0.00,0.000,4,0.000,0.058,2737,3507,1970
$GC,14291,1.04,222.5,619.0,8.5,689,14296,0.00,2.58,0.00,0.000,6,0.000,0.049,2737,2090,1970
$GC,14617,1.04,222.5,594.2,7.6,705,14618,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2089,1970
$GC,14927,1.04,222.5,570.9,8.6,720,14928,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2089,1970
$GC,15236,1.04,222.5,546.7,8.1,735,15237,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2089,1971
$GC,15545,1.04,222.5,519.6,9.2,750,15546,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2089,1971
$GC,15854,1.04,222.5,493.8,7.9,765,15855,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2089,1971
$GC,16163,1.04,222.5,468.5,8.2,780,16165,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2089,1972
$GC,16473,1.04,222.5,443.4,8.0,795,16477,0.00,2.58,0.00,0.000,4,0.000,0.052,2737,3506,1973
$GC,16549,1.04,222.5,436.6,8.4,798,16556,0.00,2.53,0.00,0.000,6,0.000,0.044,2737,2095,1974
$GC,16865,1.04,222.5,410.9,8.2,814,16866,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2095,1973
$GC,17174,1.04,222.5,386.8,7.7,829,17175,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2095,1973
$GC,17483,1.04,222.5,363.4,7.5,844,17488,0.00,2.58,0.00,0.000,4,0.000,0.051,2737,3509,1974
$GC,17555,1.04,222.5,357.6,7.9,847,17559,0.00,2.53,0.00,0.000,6,0.000,0.043,2737,2106,1974
$GC,17876,1.04,222.5,333.1,7.6,863,17877,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2106,1974
$GC,18185,1.04,222.5,309.9,7.7,878,18186,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2106,1974
$GC,18494,1.04,222.5,285.0,8.1,893,18499,0.00,2.53,0.00,0.000,4,0.000,0.048,2737,3506,1975
$GC,18566,1.04,222.5,278.6,8.8,896,18570,0.00,2.53,0.00,0.000,6,0.000,0.041,2737,2094,1974
$GC,18887,1.04,222.5,248.9,9.5,912,18888,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2094,1975
$GC,19196,1.04,222.5,220.1,8.7,927,19197,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2093,1975
$GC,19505,1.04,222.5,197.1,7.0,942,19506,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2094,1976
$GC,19815,1.04,225.8,177.8,5.9,957,19825,0.00,2.60,5.10,0.946,4,0.000,0.049,2737,3513,1956
$GC,19882,1.05,228.3,173.6,5.9,960,19891,0.00,2.53,3.05,0.913,6,0.000,0.039,2737,2097,1946
$GC,20207,1.05,228.3,154.1,6.2,976,20208,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2098,1947
$GC,20518,1.08,254.6,135.0,5.2,991,20541,0.00,0.00,21.35,0.897,6,0.000,0.000,2737,2098,1839
$GC,20850,1.08,254.6,114.0,7.0,1007,20851,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2098,1839
$GC,21158,1.15,313.9,95.2,4.2,1022,21207,0.00,0.00,46.92,0.839,6,0.000,0.000,2737,2098,1597
$GC,21509,1.15,313.9,62.6,9.5,1039,21513,0.00,2.60,0.00,0.000,4,0.000,0.062,2737,692,1597
$GC,21563,1.15,313.9,57.4,9.8,1041,21570,0.00,2.53,0.00,0.000,6,0.000,0.038,2737,2105,1597
$GC,21880,1.15,313.9,25.9,12.0,1057,21881,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2108,1597
$GC,22188,1.36,479.1,4.0,1.1,1072,22282,0.20,0.00,90.40,0.757,6,0.054,0.000,2794,2113,924
$GC,22582,1.61,686.0,4.0,-0.2,1091,22591,0.20,0.00,6.78,0.802,2,0.068,0.000,2841,2112,878
$STATE,22592,end climb,NO_VERTICAL_VELOCITY
$STATE,22592,begin surface
$SM_CCo,22595,35.22,0.738,0,0,603,558.06
$SM_GC,4.50,12.07,0.00,0.00,0.028,0.000,0.000,34,1896,604,-11.25,-0.11,557.81
$IRIDIUM_FIX,6207.28,-1301.08,161207,212143
$TT8_MAMPS,0.026845
$HUMID,2046
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,18.90
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,750.4,59.4
$24V_AH,23.3,38.465
$10V_AH,10.1,18.042
$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,25.725,108.050,488.300,35.225,0.000,78.226,178.100,180.673,8.500,0.000,0.000,12.623,1927.726,18121.574,667.540,2301.403,633.731,33.369,1807.747,0.000,2255.521,0.000,50.181
$DEVICE_MAMPS,113.516,80.535,1328.444,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,805.932,736.333,665.159,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53675,1091
$CFSIZE,260165632,248475648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,171207,001056,6230.212,-1141.462,37,1.9,37,-11.1