version: 66.02
glider: 102
mission: 4
dive: 164
start: 12 17 107 0 28 44
data:
$ID,102
$MISSION,4
$DIVE,164
$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,-79234.641
$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,23
$R_STBD_OVSHOOT,32
$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
$GPS1,001056,6230.212,-1141.462,37,1.9,37,-11.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.35
$_SM_ANGLEo,-45.6
$GPS2,002750,6230.250,-1140.997,13,1.3,13,-11.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.156,0.138
$KALMAN_X,198838.1,-286.1,888.7,-367874.4,3131.4
$KALMAN_Y,94266.9,430.7,2265.7,8781.6,-15219.7
$MHEAD_RNG_PITCHd_Wd,322.7,37763,-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,-146.6,0.0,0.0,0,25,0.00,0.00,-3.72,0.000,2,0.000,0.000,33,1887,698
$GC,28,-0.95,-146.6,4.5,-0.0,0,193,10.82,2.58,-146.57,0.000,4,0.092,0.074,2289,496,3476
$GC,434,-0.95,-146.6,28.7,-6.3,18,441,0.00,2.50,0.00,0.000,6,0.000,0.040,2289,1908,3476
$GC,751,-0.95,-146.6,51.9,-6.5,34,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1908,3477
$GC,1059,-0.95,-146.6,75.0,-6.2,49,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1908,3476
$GC,1369,-0.95,-146.6,96.8,-6.9,64,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1908,3476
$GC,1678,-0.95,-146.6,120.6,-8.1,79,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1908,3476
$GC,1987,-0.95,-146.6,140.1,-5.8,94,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1908,3476
$GC,2296,-0.95,-146.6,162.9,-7.9,109,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1908,3476
$GC,2606,-0.95,-146.6,184.4,-7.0,124,2610,0.00,2.50,0.00,0.000,4,0.000,0.048,2290,3297,3476
$GC,2671,-0.95,-146.6,189.2,-6.8,127,2676,0.00,2.53,0.00,0.000,6,0.000,0.043,2290,1905,3477
$GC,2998,-0.95,-146.6,209.7,-6.0,143,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1904,3477
$GC,3307,-0.95,-146.6,229.7,-6.6,158,3312,0.00,2.50,0.00,0.000,4,0.000,0.046,2290,3298,3476
$GC,3384,-0.95,-146.6,235.3,-7.1,161,3391,0.00,2.53,0.00,0.000,6,0.000,0.043,2290,1904,3476
$GC,3700,-0.95,-146.6,256.5,-6.7,177,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1904,3476
$GC,4009,-0.95,-146.6,277.5,-6.9,192,4013,0.00,2.50,0.00,0.000,4,0.000,0.047,2289,3297,3476
$GC,4093,-0.95,-146.6,283.5,-7.4,196,4098,0.00,2.50,0.00,0.000,6,0.000,0.043,2290,1898,3476
$GC,4419,-0.95,-146.6,306.3,-6.8,212,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3476
$GC,4729,-0.95,-146.6,326.1,-6.2,227,4733,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3297,3477
$GC,4839,-0.95,-146.6,333.2,-6.1,232,4844,0.00,2.53,0.00,0.000,6,0.000,0.044,2289,1905,3476
$GC,5167,-0.95,-146.6,352.8,-6.0,248,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1905,3476
$GC,5476,-0.95,-146.6,370.9,-5.8,263,5480,0.00,2.53,0.00,0.000,4,0.000,0.049,2289,3303,3476
$GC,5530,-0.95,-146.6,374.4,-6.4,265,5537,0.00,2.55,0.00,0.000,6,0.000,0.045,2289,1898,3476
$GC,5846,-0.95,-146.6,393.2,-5.4,281,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3476
$GC,6155,-0.95,-146.6,412.8,-6.4,296,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3476
$GC,6464,-0.95,-146.6,433.3,-6.6,311,6469,0.00,2.53,0.00,0.000,4,0.000,0.051,2290,3300,3476
$GC,6553,-0.95,-146.6,439.7,-7.7,315,6557,0.00,2.55,0.00,0.000,6,0.000,0.046,2290,1901,3476
$GC,6880,-0.95,-146.6,461.0,-6.4,331,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3475
$GC,7189,-0.95,-146.6,481.1,-6.7,346,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3476
$GC,7498,-0.95,-146.6,503.6,-7.5,361,7503,0.00,2.50,0.00,0.000,4,0.000,0.050,2289,3295,3475
$GC,7564,-0.95,-146.6,508.9,-7.8,364,7569,0.00,2.53,0.00,0.000,6,0.000,0.044,2289,1902,3475
$GC,7891,-0.95,-146.6,532.8,-7.5,380,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3475
$GC,8200,-0.95,-146.6,553.7,-6.3,395,8204,0.00,2.53,0.00,0.000,4,0.000,0.052,2289,3300,3475
$GC,8284,-0.95,-146.6,558.9,-6.3,399,8288,0.00,2.53,0.00,0.000,6,0.000,0.047,2289,1899,3475
$GC,8610,-0.95,-146.6,577.9,-5.8,415,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3475
$GC,8919,-0.95,-146.6,595.4,-5.5,430,8923,0.00,2.53,0.00,0.000,4,0.000,0.054,2289,3294,3475
$GC,8967,-0.95,-146.6,598.6,-6.4,432,8972,0.00,2.50,0.00,0.000,6,0.000,0.046,2289,1899,3475
$GC,9288,-0.95,-146.6,621.9,-8.4,448,9290,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1899,3475
$GC,9598,-0.95,-146.6,645.8,-6.9,463,9602,0.00,2.55,0.00,0.000,4,0.000,0.056,2289,3300,3474
$GC,9652,-0.95,-146.6,649.6,-6.8,465,9659,0.00,2.55,0.00,0.000,6,0.000,0.050,2290,1903,3475
$GC,9968,-0.95,-146.6,666.2,-4.7,481,9969,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1904,3474
$GC,10277,-0.95,-146.6,683.1,-6.0,496,10278,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1904,3474
$GC,10588,-0.95,-146.6,703.1,-6.6,511,10592,0.00,2.58,0.00,0.000,4,0.000,0.058,2289,3300,3474
$GC,10698,-0.95,-146.6,710.8,-6.7,516,10703,0.00,2.58,0.00,0.000,6,0.000,0.052,2289,1889,3474
$GC,11025,-0.95,-146.6,730.9,-5.9,532,11030,0.00,2.62,0.00,0.000,4,0.000,0.077,2289,489,3474
$GC,11064,-0.95,-146.6,733.1,-6.3,534,11069,0.00,2.50,0.00,0.000,6,0.000,0.053,2289,1891,3474
$GC,11390,-0.95,-146.6,750.9,-5.9,550,11391,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1893,3473
$STATE,11656,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11656,begin apogee
$GC,11661,-0.36,0.0,767.9,6.1,563,11788,0.60,0.00,123.55,1.318,6,0.073,0.000,2419,2105,2878
$STATE,11788,end apogee,CONTROL_FINISHED_OK
$STATE,11788,begin climb
$GC,11790,0.95,146.6,771.7,0.0,569,11921,1.30,2.70,123.03,1.273,4,0.054,0.070,2706,3504,2280
$GC,12050,0.96,154.4,760.7,5.8,581,12064,0.00,2.60,7.50,1.230,6,0.000,0.058,2706,2104,2248
$GC,12385,0.96,156.1,741.1,5.9,598,12387,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2104,2247
$GC,12695,0.97,167.0,722.7,5.7,613,12708,0.00,0.00,11.23,1.303,6,0.000,0.000,2706,2104,2197
$GC,13004,0.98,176.0,704.8,5.7,628,13014,0.00,0.00,8.65,1.302,6,0.000,0.000,2706,2104,2160
$GC,13313,0.98,176.0,685.4,6.5,643,13314,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2104,2159
$GC,13622,0.98,176.0,663.5,7.5,658,13627,0.00,2.58,0.00,0.000,4,0.000,0.060,2706,3501,2158
$GC,13773,0.98,176.0,652.3,6.7,665,13778,0.00,2.55,0.00,0.000,6,0.000,0.051,2706,2095,2158
$GC,14099,1.00,190.6,633.6,5.6,681,14118,0.00,0.00,12.85,1.286,6,0.000,0.000,2706,2095,2101
$GC,14426,1.00,190.6,610.5,6.9,697,14428,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2095,2101
$GC,14736,1.01,200.1,591.6,5.7,712,14747,0.00,0.00,9.30,1.242,6,0.000,0.000,2706,2095,2062
$GC,15046,1.06,238.4,576.4,4.9,727,15087,0.00,2.72,32.28,1.208,4,0.000,0.071,2706,698,1906
$GC,15133,1.06,239.0,571.4,6.0,731,15137,0.00,2.50,0.00,0.000,6,0.000,0.044,2706,2106,1906
$GC,15458,1.06,240.8,550.8,5.9,747,15464,0.00,0.00,3.53,1.111,6,0.000,0.000,2706,2107,1895
$GC,15767,1.06,240.8,531.1,7.0,762,15771,0.00,2.65,0.00,0.000,4,0.000,0.067,2706,691,1895
$GC,15816,1.06,240.8,527.6,7.1,764,15820,0.00,2.50,0.00,0.000,6,0.000,0.043,2706,2106,1896
$GC,16137,1.06,240.8,503.1,7.1,780,16138,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2107,1896
$GC,16446,1.06,240.8,480.9,7.5,795,16447,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2108,1896
$GC,16755,1.06,240.8,459.2,6.9,810,16759,0.00,2.65,0.00,0.000,4,0.000,0.064,2706,685,1898
$GC,16811,1.06,240.8,455.3,7.0,812,16817,0.00,2.50,0.00,0.000,6,0.000,0.042,2706,2101,1897
$GC,17125,1.07,244.4,435.2,5.9,828,17132,0.00,0.00,4.47,1.088,6,0.000,0.000,2706,2102,1881
$GC,17434,1.07,244.4,416.5,6.2,843,17435,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2102,1881
$GC,17744,1.07,244.4,394.9,7.2,858,17745,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2103,1881
$GC,18053,1.07,244.4,372.6,6.9,873,18057,0.00,2.62,0.00,0.000,4,0.000,0.063,2706,689,1882
$GC,18114,1.07,244.4,367.9,8.1,876,18118,0.00,2.50,0.00,0.000,6,0.000,0.041,2706,2106,1881
$GC,18439,1.07,244.4,348.3,6.0,892,18440,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2110,1882
$GC,18748,1.07,244.4,327.8,8.4,907,18753,0.00,2.60,0.00,0.000,4,0.000,0.061,2706,691,1882
$GC,18809,1.07,244.4,321.9,10.1,910,18814,0.00,2.47,0.00,0.000,6,0.000,0.040,2706,2103,1883
$GC,19135,1.07,244.4,299.4,6.2,926,19136,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2106,1883
$GC,19444,1.07,244.4,278.5,7.1,941,19449,0.00,2.60,0.00,0.000,4,0.000,0.062,2706,690,1883
$GC,19510,1.07,244.4,273.6,8.5,944,19515,0.00,2.50,0.00,0.000,6,0.000,0.040,2706,2094,1883
$GC,19837,1.07,244.4,250.1,7.3,960,19838,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2098,1883
$GC,20146,1.07,244.4,228.3,7.0,975,20150,0.00,2.58,0.00,0.000,4,0.000,0.061,2706,691,1884
$GC,20207,1.07,244.4,224.0,7.0,978,20211,0.00,2.47,0.00,0.000,6,0.000,0.040,2706,2100,1884
$GC,20532,1.07,244.4,203.9,6.0,994,20533,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2104,1884
$GC,20841,1.07,244.4,182.8,7.8,1009,20845,0.00,2.60,0.00,0.000,4,0.000,0.061,2706,685,1884
$GC,20902,1.07,244.4,177.6,8.5,1012,20906,0.00,2.47,0.00,0.000,6,0.000,0.040,2706,2103,1884
$GC,21227,1.07,244.4,151.0,8.3,1028,21228,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2105,1884
$GC,21537,1.07,244.4,126.1,8.7,1043,21538,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2105,1884
$GC,21847,1.07,244.4,104.0,6.7,1058,21852,0.00,2.60,0.00,0.000,4,0.000,0.061,2706,691,1884
$GC,21919,1.07,244.4,98.3,7.6,1061,21923,0.00,2.45,0.00,0.000,6,0.000,0.039,2706,2101,1884
$GC,22240,1.07,244.4,75.2,6.8,1077,22241,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2104,1884
$GC,22550,1.20,349.5,57.1,2.9,1092,22635,0.17,0.00,81.75,0.830,6,0.041,0.000,2769,2104,1452
$GC,22942,1.20,349.5,18.5,8.8,1111,22946,0.00,2.62,0.00,0.000,4,0.000,0.060,2769,688,1452
$GC,23030,1.25,389.1,12.2,4.8,1115,23068,0.00,2.50,30.80,0.800,6,0.000,0.039,2769,2106,1291
$GC,23378,1.49,589.7,3.9,0.0,1132,23482,0.22,2.58,96.68,0.765,4,0.048,0.043,2824,3496,603
$STATE,23513,end climb,NO_VERTICAL_VELOCITY
$STATE,23513,begin surface
$SM_CCo,23938,0.00,0.000,0,0,603,558.06
$SM_GC,4.54,12.07,0.00,0.00,0.031,0.000,0.000,35,1896,603,-11.26,-0.08,558.06
$IRIDIUM_FIX,6202.67,-1206.01,171207,040411
$TT8_MAMPS,0.026845
$HUMID,2041
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,700.3,76.8
$24V_AH,23.3,38.670
$10V_AH,10.1,18.151
$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,25.200,133.250,545.600,0.000,0.000,154.063,137.239,415.401,7.750,0.000,0.000,14.862,2015.122,18873.949,703.104,2423.835,934.632,33.361,1913.758,0.000,2381.862,0.000,44.068
$DEVICE_MAMPS,92.040,76.700,1317.706,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,838.914,768.063,677.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56862,1138
$CFSIZE,260165632,248389632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,171207,070855,6232.013,-1139.980,40,1.7,40,-11.1