version: 66.02
glider: 102
mission: 4
dive: 166
start: 12 17 107 14 6 38
data:
$ID,102
$MISSION,4
$DIVE,166
$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,-79283.359
$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,35
$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
$GPS1,135308,6234.076,-1138.411,31,1.1,31,-11.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.45
$_SM_ANGLEo,-50.4
$GPS2,140545,6234.126,-1137.944,13,1.5,13,-11.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.021,0.208
$KALMAN_X,211909.8,-888.4,958.9,-377726.7,7193.2
$KALMAN_Y,94073.5,106.3,1657.1,17082.2,-8764.0
$MHEAD_RNG_PITCHd_Wd,5.3,37381,-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,-146.6,0.0,0.0,0,26,0.00,0.00,-4.05,0.000,2,0.000,0.000,28,1876,708
$GC,29,-0.95,-146.6,4.5,-0.0,0,201,11.02,2.60,-154.02,0.000,4,0.100,0.058,2284,3299,3476
$GC,207,-0.95,-146.6,7.1,-10.0,9,211,0.00,2.50,0.00,0.000,6,0.000,0.041,2284,1903,3476
$GC,533,-0.95,-146.6,34.2,-10.6,25,538,0.00,2.62,0.00,0.000,4,0.000,0.067,2284,495,3476
$GC,790,-0.95,-146.6,57.3,-10.4,36,797,0.00,2.50,0.00,0.000,6,0.000,0.039,2284,1901,3476
$GC,1106,-0.95,-146.6,83.9,-6.1,52,1110,0.00,2.62,0.00,0.000,4,0.000,0.065,2284,492,3477
$GC,1280,-0.95,-146.6,97.1,-7.3,60,1285,0.00,2.47,0.00,0.000,6,0.000,0.040,2285,1908,3476
$GC,1607,-0.95,-146.6,122.5,-7.7,76,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1911,3476
$GC,1918,-0.95,-146.6,146.7,-7.9,91,1922,0.00,2.50,0.00,0.000,4,0.000,0.048,2284,3298,3476
$GC,1967,-0.95,-146.6,150.8,-7.6,93,1971,0.00,2.53,0.00,0.000,6,0.000,0.043,2284,1904,3476
$GC,2288,-0.95,-146.6,174.1,-7.4,109,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1904,3476
$GC,2597,-0.95,-146.6,197.1,-7.4,124,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1904,3476
$GC,2906,-0.95,-146.6,218.1,-7.2,139,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1903,3476
$GC,3215,-0.95,-146.6,241.1,-7.5,154,3220,0.00,2.53,0.00,0.000,4,0.000,0.047,2284,3302,3476
$GC,3259,-0.95,-146.6,244.5,-7.8,156,3263,0.00,2.50,0.00,0.000,6,0.000,0.043,2284,1898,3476
$GC,3586,-0.95,-146.6,268.8,-7.6,172,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3476
$GC,3895,-0.95,-146.6,292.1,-7.7,187,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3476
$GC,4204,-0.95,-146.6,314.7,-7.3,202,4209,0.00,2.53,0.00,0.000,4,0.000,0.048,2284,3298,3476
$GC,4248,-0.95,-146.6,318.0,-7.3,204,4252,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1905,3476
$GC,4574,-0.95,-146.6,339.6,-6.5,220,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3475
$GC,4884,-0.95,-146.6,360.0,-6.7,235,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3475
$GC,5193,-0.95,-146.6,381.6,-7.4,250,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3475
$GC,5502,-0.95,-146.6,403.9,-7.5,265,5506,0.00,2.53,0.00,0.000,4,0.000,0.050,2284,3301,3475
$GC,5551,-0.95,-146.6,407.7,-7.5,267,5556,0.00,2.53,0.00,0.000,6,0.000,0.046,2284,1897,3475
$GC,5872,-0.95,-146.6,430.8,-7.2,283,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3475
$GC,6182,-0.95,-146.6,451.7,-6.7,298,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3475
$GC,6491,-0.95,-146.6,473.3,-7.2,313,6495,0.00,2.53,0.00,0.000,4,0.000,0.051,2285,3293,3474
$GC,6552,-0.95,-146.6,477.7,-7.6,316,6556,0.00,2.53,0.00,0.000,6,0.000,0.047,2285,1896,3475
$GC,6879,-0.95,-146.6,500.6,-7.1,332,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1894,3474
$GC,7187,-0.95,-146.6,523.1,-7.3,347,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1894,3473
$GC,7496,-0.95,-146.6,544.2,-6.3,362,7501,0.00,2.53,0.00,0.000,4,0.000,0.052,2284,3294,3473
$GC,7551,-0.95,-146.6,547.9,-6.7,364,7558,0.00,2.53,0.00,0.000,6,0.000,0.046,2285,1908,3474
$GC,7867,-0.95,-146.6,568.4,-6.8,380,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1908,3474
$GC,8176,-0.95,-146.6,590.0,-6.8,395,8180,0.00,2.62,0.00,0.000,4,0.000,0.071,2284,496,3474
$GC,8241,-0.95,-146.6,595.0,-7.7,398,8245,0.00,2.50,0.00,0.000,6,0.000,0.046,2284,1893,3474
$GC,8568,-0.95,-146.6,616.0,-6.5,414,8569,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1894,3474
$GC,8877,-0.95,-146.6,635.7,-5.9,429,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1894,3474
$GC,9186,-0.95,-146.6,654.6,-6.1,444,9187,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1894,3473
$GC,9496,-0.95,-146.6,672.9,-6.2,459,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1894,3474
$GC,9805,-0.95,-146.6,693.1,-6.4,474,9806,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1894,3473
$STATE,10092,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10092,begin apogee
$GC,10097,-0.36,0.0,711.1,5.8,488,10224,0.62,0.00,123.12,1.302,6,0.078,0.000,2419,2098,2878
$STATE,10224,end apogee,CONTROL_FINISHED_OK
$STATE,10224,begin climb
$GC,10226,0.95,146.6,715.5,0.0,494,10358,1.27,2.75,121.53,1.276,4,0.055,0.068,2702,3499,2279
$GC,10419,0.95,146.6,710.4,6.4,503,10424,0.00,2.60,0.00,0.000,6,0.000,0.055,2702,2101,2280
$GC,10746,0.95,146.6,690.3,6.7,519,10747,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2101,2279
$GC,11055,0.95,146.6,670.4,6.9,534,11056,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2101,2278
$GC,11365,0.95,146.6,650.7,6.1,549,11366,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2101,2276
$GC,11674,0.95,146.6,632.9,6.0,564,11675,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2101,2276
$GC,11983,0.95,151.6,613.6,5.9,579,11992,0.00,2.62,4.12,1.230,4,0.000,0.061,2702,3498,2260
$GC,12077,0.98,176.3,608.4,5.3,583,12104,0.00,2.58,21.73,1.297,6,0.000,0.053,2702,2089,2159
$GC,12419,1.03,215.2,591.2,4.8,600,12458,0.00,0.00,33.40,1.268,6,0.000,0.000,2702,2089,2000
$GC,12767,1.03,215.2,572.0,6.0,617,12768,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2089,1999
$GC,13077,1.03,215.2,554.0,6.4,632,13081,0.00,2.62,0.00,0.000,4,0.000,0.071,2702,686,1999
$GC,13142,1.03,215.2,549.4,7.0,635,13146,0.00,2.53,0.00,0.000,6,0.000,0.045,2702,2093,1999
$GC,13470,1.03,215.2,526.7,7.3,651,13471,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2093,1999
$GC,13779,1.03,215.2,504.8,6.9,666,13780,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2093,1999
$GC,14088,1.03,215.2,483.8,6.7,681,14089,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2094,1999
$GC,14397,1.03,215.2,462.3,6.8,696,14402,0.00,2.60,0.00,0.000,4,0.000,0.064,2702,690,2000
$GC,14463,1.03,215.2,457.5,7.2,699,14467,0.00,2.50,0.00,0.000,6,0.000,0.042,2702,2101,2000
$GC,14790,1.03,215.2,435.9,6.6,715,14791,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2102,2001
$GC,15099,1.03,215.2,415.8,6.7,730,15100,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2105,2001
$GC,15408,1.03,215.2,394.5,6.9,745,15413,0.00,2.62,0.00,0.000,4,0.000,0.064,2702,690,2002
$GC,15462,1.03,215.2,390.6,6.9,747,15469,0.00,2.53,0.00,0.000,6,0.000,0.042,2702,2098,2002
$GC,15778,1.04,222.2,371.5,5.8,763,15787,0.00,0.00,7.20,1.099,6,0.000,0.000,2702,2103,1972
$GC,16087,1.04,222.2,353.2,6.2,778,16089,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2103,1972
$GC,16396,1.04,222.2,333.3,6.4,793,16401,0.00,2.62,0.00,0.000,4,0.000,0.064,2702,689,1973
$GC,16458,1.04,222.2,329.3,6.8,796,16462,0.00,2.50,0.00,0.000,6,0.000,0.041,2702,2101,1973
$GC,16783,1.04,222.2,309.6,6.5,812,16785,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2104,1972
$GC,17092,1.04,222.2,289.9,6.2,827,17094,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2104,1973
$GC,17402,1.04,222.2,270.3,6.1,842,17406,0.00,2.62,0.00,0.000,4,0.000,0.063,2702,687,1973
$GC,17463,1.04,222.2,266.1,7.5,845,17467,0.00,2.50,0.00,0.000,6,0.000,0.041,2702,2106,1973
$GC,17788,1.05,231.6,246.7,5.7,861,17799,0.00,0.00,9.05,1.025,6,0.000,0.000,2703,2111,1933
$GC,18098,1.06,240.9,229.0,5.7,876,18109,0.12,0.00,8.30,1.010,6,0.048,0.000,2753,2111,1896
$GC,18407,1.06,240.9,206.0,7.5,891,18409,0.12,0.00,0.00,0.000,6,0.084,0.000,2727,2111,1896
$GC,18716,1.07,243.0,186.8,5.9,906,18721,0.00,0.00,3.10,0.937,6,0.000,0.000,2727,2110,1887
$GC,19042,1.07,243.0,168.0,6.1,922,19046,0.00,2.65,0.00,0.000,4,0.000,0.062,2727,686,1887
$GC,19096,1.07,243.0,164.2,7.3,924,19103,0.00,2.53,0.00,0.000,6,0.000,0.041,2727,2099,1887
$GC,19412,1.07,243.0,142.4,6.9,940,19413,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2099,1887
$GC,19721,1.07,243.0,119.6,7.9,955,19726,0.00,2.60,0.00,0.000,4,0.000,0.061,2727,690,1887
$GC,19776,1.07,243.0,115.4,7.4,957,19783,0.00,2.50,0.00,0.000,6,0.000,0.040,2727,2096,1887
$GC,20092,1.07,243.0,93.7,7.4,973,20096,0.00,2.53,0.00,0.000,4,0.000,0.049,2727,3496,1887
$GC,20153,1.07,243.0,88.7,8.7,976,20158,0.00,2.47,0.00,0.000,6,0.000,0.041,2727,2094,1887
$GC,20479,1.07,243.0,61.2,8.4,992,20480,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2094,1887
$GC,20788,1.07,243.0,39.6,6.2,1007,20793,0.00,2.58,0.00,0.000,4,0.000,0.061,2727,690,1887
$GC,20832,1.07,243.0,35.9,8.0,1009,20836,0.00,2.47,0.00,0.000,6,0.000,0.040,2727,2103,1887
$GC,21159,1.07,243.0,9.8,6.7,1025,21160,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2105,1888
$GC,21469,1.30,432.9,3.8,0.3,1040,21579,0.22,2.60,101.68,0.796,4,0.052,0.048,2784,3499,1112
$GC,21617,1.57,653.9,3.8,-0.6,1047,21687,0.25,2.58,64.30,0.753,6,0.064,0.051,2839,2099,602
$GC,22009,1.82,857.7,3.8,-0.1,1066,22015,0.20,2.53,0.05,2.305,4,0.076,0.047,2888,3497,603
$STATE,22062,end climb,NO_VERTICAL_VELOCITY
$STATE,22063,begin surface
$SM_CCo,22487,0.00,0.000,0,0,602,558.06
$SM_GC,4.46,12.27,0.00,0.00,0.028,0.000,0.000,30,1903,602,-11.26,0.08,558.06
$IRIDIUM_FIX,6211.90,-1136.00,171207,171743
$TT8_MAMPS,0.026078
$HUMID,2039
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,18.70
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,650.9,70.1
$24V_AH,23.3,39.022
$10V_AH,10.1,18.354
$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,26.125,118.200,497.575,0.000,0.000,113.939,105.554,299.666,8.500,0.000,0.000,15.807,1868.914,17763.715,632.957,2243.680,732.093,33.355,1761.000,0.000,2206.125,0.000,40.797
$DEVICE_MAMPS,100.477,71.331,2304.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,783.296,720.684,677.166,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53713,1068
$CFSIZE,260165632,248258560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,171207,202238,6234.849,-1128.809,39,0.9,39,-11.0