version: 66.02
glider: 102
mission: 4
dive: 167
start: 12 17 107 20 30 42
data:
$ID,102
$MISSION,4
$DIVE,167
$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,-79319.07
$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,19
$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
$GPS1,202238,6234.849,-1128.809,39,0.9,39,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.28
$_SM_ANGLEo,-43.1
$GPS2,202950,6234.860,-1128.680,33,0.9,33,-11.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.209,-0.000
$KALMAN_X,222480.1,248.9,-1814.7,-378508.7,18731.0
$KALMAN_Y,91524.1,-102.4,-882.4,23755.3,-2480.4
$MHEAD_RNG_PITCHd_Wd,280.9,44667,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.95,-146.6,0.0,0.0,0,30,0.00,0.00,-6.85,0.000,2,0.000,0.000,29,1896,774
$GC,33,-0.95,-146.6,4.5,-0.0,1,201,10.95,2.62,-150.05,0.000,4,0.097,0.073,2292,489,3476
$GC,319,-0.95,-146.6,18.2,-8.5,14,323,0.00,2.50,0.00,0.000,6,0.000,0.041,2292,1897,3476
$GC,641,-0.95,-146.6,40.0,-6.7,30,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1897,3476
$GC,950,-0.95,-146.6,59.3,-5.6,45,954,0.00,2.53,0.00,0.000,4,0.000,0.047,2292,3297,3476
$GC,1021,-0.95,-146.6,64.9,-8.6,48,1025,0.00,2.55,0.00,0.000,6,0.000,0.043,2292,1896,3476
$GC,1344,-0.95,-146.6,87.0,-6.7,64,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1897,3476
$GC,1652,-0.95,-146.6,105.4,-5.3,79,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1897,3476
$GC,1961,-0.95,-146.6,129.5,-8.6,94,1965,0.00,2.53,0.00,0.000,4,0.000,0.046,2292,3301,3476
$GC,2026,-0.95,-146.6,134.9,-7.8,97,2031,0.00,2.50,0.00,0.000,6,0.000,0.042,2292,1900,3476
$GC,2353,-0.95,-146.6,160.5,-8.5,113,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1900,3476
$GC,2662,-0.95,-146.6,185.4,-8.5,128,2666,0.00,2.50,0.00,0.000,4,0.000,0.046,2292,3296,3476
$GC,2728,-0.95,-146.6,191.0,-8.5,131,2732,0.00,2.50,0.00,0.000,6,0.000,0.043,2292,1901,3476
$GC,3054,-0.95,-146.6,216.2,-7.4,147,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1901,3476
$GC,3363,-0.95,-146.6,238.0,-7.0,162,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1901,3476
$GC,3673,-0.95,-146.6,258.9,-6.6,177,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1901,3476
$GC,3982,-0.95,-146.6,280.1,-7.1,192,3986,0.00,2.53,0.00,0.000,4,0.000,0.048,2292,3300,3476
$GC,4043,-0.95,-146.6,284.6,-7.7,195,4047,0.00,2.53,0.00,0.000,6,0.000,0.045,2292,1898,3476
$GC,4368,-0.95,-146.6,308.5,-7.6,211,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1897,3476
$GC,4677,-0.95,-146.6,331.6,-7.4,226,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1897,3476
$GC,4987,-0.95,-146.6,353.3,-6.7,241,4991,0.00,2.53,0.00,0.000,4,0.000,0.049,2292,3295,3475
$GC,5058,-0.95,-146.6,358.1,-7.0,244,5062,0.00,2.50,0.00,0.000,6,0.000,0.044,2291,1900,3475
$GC,5379,-0.95,-146.6,379.4,-6.9,260,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1900,3475
$GC,5688,-0.95,-146.6,399.5,-6.4,275,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1900,3475
$GC,5998,-0.95,-146.6,419.5,-6.5,290,6002,0.00,2.53,0.00,0.000,4,0.000,0.051,2292,3294,3475
$GC,6069,-0.95,-146.6,424.4,-6.9,293,6073,0.00,2.55,0.00,0.000,6,0.000,0.046,2292,1898,3475
$GC,6390,-0.95,-146.6,446.8,-7.2,309,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1898,3475
$GC,6699,-0.95,-146.6,470.1,-7.3,324,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1898,3474
$GC,7008,-0.95,-146.6,491.9,-7.0,339,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1897,3473
$GC,7318,-0.95,-146.6,512.1,-6.3,354,7322,0.00,2.53,0.00,0.000,4,0.000,0.052,2292,3293,3473
$GC,7394,-0.95,-146.6,517.6,-7.3,357,7401,0.00,2.50,0.00,0.000,6,0.000,0.046,2292,1899,3474
$GC,7710,-0.95,-146.6,539.4,-7.0,373,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1900,3474
$GC,8019,-0.95,-146.6,560.6,-6.7,388,8023,0.00,2.55,0.00,0.000,4,0.000,0.054,2292,3300,3474
$GC,8135,-0.95,-146.6,568.7,-6.9,393,8139,0.00,2.55,0.00,0.000,6,0.000,0.048,2292,1886,3474
$GC,8456,-0.95,-146.6,589.2,-6.5,409,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1885,3474
$GC,8766,-0.95,-146.6,608.2,-6.3,424,8770,0.00,2.58,0.00,0.000,4,0.000,0.057,2292,3293,3474
$GC,8832,-0.95,-146.6,612.3,-5.7,427,8836,0.00,2.53,0.00,0.000,6,0.000,0.049,2292,1893,3474
$GC,9158,-0.95,-146.6,631.9,-6.3,443,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1894,3474
$GC,9471,-0.95,-146.6,650.6,-5.8,458,9475,0.00,2.55,0.00,0.000,4,0.000,0.059,2292,3292,3473
$GC,9564,-0.95,-146.6,656.5,-6.5,462,9569,0.00,2.55,0.00,0.000,6,0.000,0.051,2291,1905,3474
$GC,9885,-0.95,-146.6,676.9,-6.5,478,9887,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1906,3474
$GC,10195,-0.95,-146.6,694.8,-5.5,493,10196,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1905,3473
$STATE,10482,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10482,begin apogee
$GC,10487,-0.36,0.0,711.9,5.9,507,10612,0.57,0.00,122.57,1.305,6,0.073,0.000,2416,2088,2879
$STATE,10613,end apogee,CONTROL_FINISHED_OK
$STATE,10613,begin climb
$GC,10615,0.95,146.6,715.5,0.0,513,10745,1.30,0.00,122.28,1.268,6,0.055,0.000,2703,2088,2280
$GC,11053,0.95,147.2,695.7,6.0,535,11054,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2088,2279
$GC,11362,0.95,147.2,676.8,6.1,550,11364,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2088,2278
$GC,11671,0.95,147.2,657.7,6.4,565,11676,0.00,2.62,0.00,0.000,4,0.000,0.064,2703,3504,2277
$GC,11748,0.95,147.2,652.6,6.2,568,11755,0.00,2.58,0.00,0.000,6,0.000,0.054,2703,2102,2277
$GC,12064,0.95,147.2,632.1,6.4,584,12068,0.00,2.60,0.00,0.000,4,0.000,0.063,2703,3500,2276
$GC,12238,0.95,147.2,620.5,6.8,592,12242,0.00,2.58,0.00,0.000,6,0.000,0.054,2702,2095,2275
$GC,12563,0.95,147.2,599.7,6.1,608,12564,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2095,2275
$GC,12872,1.00,187.5,583.5,4.8,623,12914,0.00,2.70,33.42,1.295,4,0.000,0.060,2702,3498,2113
$GC,13132,1.00,187.5,567.6,6.0,634,13139,0.00,2.53,0.00,0.000,6,0.000,0.048,2702,2101,2112
$GC,13448,1.00,187.5,549.8,6.0,650,13449,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2101,2112
$GC,13756,1.00,187.5,530.8,6.2,665,13761,0.00,2.58,0.00,0.000,4,0.000,0.055,2703,3508,2112
$GC,13924,1.00,187.5,519.3,6.9,672,13930,0.00,2.55,0.00,0.000,6,0.000,0.046,2702,2099,2112
$GC,14239,1.00,187.5,499.3,6.5,688,14240,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2100,2113
$GC,14548,1.00,187.5,479.5,6.4,703,14550,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,2113
$GC,14858,1.01,193.9,460.3,5.8,718,14871,0.00,2.65,6.50,1.182,4,0.000,0.053,2702,3501,2087
$GC,14949,1.01,193.9,454.4,6.6,722,14954,0.00,2.53,0.00,0.000,6,0.000,0.046,2702,2099,2087
$GC,15276,1.01,193.9,434.9,6.2,738,15277,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,2087
$GC,15585,1.01,193.9,415.5,6.2,753,15586,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,2088
$GC,15894,1.01,193.9,396.0,6.2,768,15899,0.00,2.58,0.00,0.000,4,0.000,0.053,2702,3507,2088
$GC,15983,1.01,193.9,389.9,6.2,772,15987,0.00,2.53,0.00,0.000,6,0.000,0.044,2703,2098,2089
$GC,16310,1.01,196.9,369.6,5.9,788,16316,0.00,0.00,4.10,1.094,6,0.000,0.000,2703,2098,2074
$GC,16619,1.01,196.9,349.6,7.0,803,16623,0.00,2.55,0.00,0.000,4,0.000,0.052,2703,3502,2075
$GC,16684,1.01,196.9,344.8,7.0,806,16688,0.00,2.50,0.00,0.000,6,0.000,0.043,2702,2098,2075
$GC,17011,1.01,196.9,323.3,6.3,822,17012,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,2075
$GC,17320,1.01,196.9,303.8,6.3,837,17321,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,2075
$GC,17629,1.01,196.9,284.3,6.2,852,17631,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,2075
$GC,17938,1.01,196.9,264.9,6.2,867,17943,0.00,2.58,0.00,0.000,4,0.000,0.051,2703,3506,2076
$GC,18000,1.02,202.3,260.9,5.8,870,18011,0.00,2.50,5.60,1.062,6,0.000,0.041,2702,2097,2053
$GC,18326,1.02,202.3,241.4,6.0,886,18327,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2097,2053
$GC,18635,1.02,208.8,223.5,5.8,901,18643,0.00,0.00,6.32,1.039,6,0.000,0.000,2702,2096,2025
$GC,18945,1.02,208.8,204.1,6.6,916,18946,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2097,2026
$GC,19254,1.02,208.8,183.5,6.6,931,19255,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2097,2026
$GC,19563,1.02,208.8,163.9,6.3,946,19564,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2096,2026
$GC,19873,1.07,250.1,147.4,4.8,961,19913,0.12,0.00,33.30,0.920,6,0.051,0.000,2746,2096,1858
$GC,20223,1.07,250.1,118.9,8.5,978,20227,0.00,2.58,0.00,0.000,4,0.000,0.049,2745,3504,1858
$GC,20294,1.07,250.1,111.3,11.8,981,20298,0.00,2.53,0.00,0.000,6,0.000,0.041,2745,2085,1857
$GC,20616,1.07,250.1,82.6,8.2,997,20620,0.00,2.58,0.00,0.000,4,0.000,0.048,2746,3503,1858
$GC,20664,1.07,250.1,78.9,6.4,999,20668,0.00,2.53,0.00,0.000,6,0.000,0.041,2746,2099,1858
$GC,20986,1.07,250.1,54.6,8.5,1015,20987,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2099,1858
$GC,21295,1.07,250.1,26.4,9.2,1030,21299,0.00,2.55,0.00,0.000,4,0.000,0.047,2746,3507,1857
$GC,21360,1.07,250.1,20.3,10.1,1033,21365,0.00,2.53,0.00,0.000,6,0.000,0.040,2746,2077,1858
$GC,21688,1.32,450.1,3.7,0.0,1049,21797,0.15,0.00,106.00,0.772,6,0.070,0.000,2785,2074,1043
$STATE,21932,end climb,NO_VERTICAL_VELOCITY
$STATE,21933,begin surface
$SM_CCo,21935,55.78,0.759,0,0,603,558.06
$SM_GC,4.44,11.85,0.00,0.00,0.027,0.000,0.000,27,1900,605,-11.27,0.00,557.57
$IRIDIUM_FIX,6207.28,-1135.06,171207,181840
$TT8_MAMPS,0.026845
$HUMID,2039
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.60
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,675.7,46.1
$24V_AH,23.3,39.192
$10V_AH,10.1,18.452
$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,24.950,112.725,440.100,55.775,0.000,37.731,36.297,233.173,8.000,0.000,0.000,35.081,1881.928,17501.188,676.848,2267.518,515.221,33.361,1778.973,0.000,2219.631,0.000,42.315
$DEVICE_MAMPS,96.642,72.865,1304.667,759.330,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,793.830,716.212,651.754,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53669,1061
$CFSIZE,260165632,248193024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,181207,024531,6233.881,-1130.586,36,1.3,42,-11.0