version: 66.02
glider: 102
mission: 4
dive: 173
start: 12 19 107 9 59 39
data:
$ID,102
$MISSION,4
$DIVE,173
$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,-79409.875
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,094907,6232.499,-1134.851,41,1.6,41,-11.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.41
$_SM_ANGLEo,-50.0
$GPS2,095844,6232.452,-1134.750,13,1.4,13,-11.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.206,0.032
$KALMAN_X,224060.5,698.4,-762.9,-386930.2,8119.9
$KALMAN_Y,91617.9,-188.5,-1509.2,19923.3,6504.2
$MHEAD_RNG_PITCHd_Wd,289.8,40940,-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,-146.6,0.0,0.0,0,43,0.00,0.00,-21.40,0.000,2,0.000,0.000,28,1881,1115
$GC,46,-0.95,-146.6,4.5,-0.0,1,212,11.15,2.55,-145.65,0.000,4,0.105,0.076,2288,500,3476
$GC,357,-0.95,-146.6,17.5,-11.5,15,362,0.00,2.50,0.00,0.000,6,0.000,0.042,2288,1906,3475
$GC,680,-0.95,-146.6,42.7,-11.1,31,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1908,3475
$GC,988,-0.95,-146.6,68.8,-8.1,46,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1909,3476
$GC,1298,-0.95,-146.6,89.9,-6.3,61,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1909,3476
$GC,1607,-0.95,-146.6,112.2,-7.3,76,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1908,3475
$GC,1916,-0.95,-146.6,134.7,-6.7,91,1920,0.00,2.50,0.00,0.000,4,0.000,0.049,2288,3297,3476
$GC,1987,-0.95,-146.6,139.8,-6.7,94,1991,0.00,2.50,0.00,0.000,6,0.000,0.044,2288,1905,3476
$GC,2308,-0.95,-146.6,161.5,-6.8,110,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1905,3475
$GC,2618,-0.95,-146.6,181.9,-6.2,125,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1905,3475
$GC,2927,-0.95,-146.6,202.8,-6.8,140,2931,0.00,2.50,0.00,0.000,4,0.000,0.048,2288,3301,3476
$GC,3010,-0.95,-146.6,208.8,-7.7,144,3014,0.00,2.53,0.00,0.000,6,0.000,0.044,2288,1894,3475
$GC,3335,-0.95,-146.6,230.7,-6.8,160,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3475
$GC,3645,-0.95,-146.6,251.3,-6.5,175,3649,0.00,2.55,0.00,0.000,4,0.000,0.049,2288,3307,3475
$GC,3710,-0.95,-146.6,255.6,-6.1,178,3714,0.00,2.53,0.00,0.000,6,0.000,0.044,2288,1899,3476
$GC,4037,-0.95,-146.6,276.1,-6.2,194,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3476
$GC,4346,-0.95,-146.6,296.2,-6.7,209,4350,0.00,2.53,0.00,0.000,4,0.000,0.049,2288,3300,3475
$GC,4411,-0.95,-146.6,300.8,-7.0,212,4416,0.00,2.55,0.00,0.000,6,0.000,0.045,2288,1899,3476
$GC,4738,-0.95,-146.6,322.8,-6.7,228,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,5047,-0.95,-146.6,342.4,-6.3,243,5052,0.00,2.53,0.00,0.000,4,0.000,0.050,2288,3299,3475
$GC,5141,-0.95,-146.6,348.9,-6.7,247,5146,0.00,2.55,0.00,0.000,6,0.000,0.046,2288,1901,3475
$GC,5463,-0.95,-146.6,369.5,-6.4,263,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,5772,-0.95,-146.6,389.2,-6.6,278,5776,0.00,2.53,0.00,0.000,4,0.000,0.051,2288,3300,3475
$GC,5855,-0.95,-146.6,394.9,-7.4,282,5859,0.00,2.53,0.00,0.000,6,0.000,0.047,2288,1901,3475
$GC,6180,-0.95,-146.6,417.5,-7.6,298,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,6489,-0.95,-146.6,441.6,-7.9,313,6494,0.00,2.55,0.00,0.000,4,0.000,0.051,2288,3303,3475
$GC,6561,-0.95,-146.6,447.2,-8.1,316,6565,0.00,2.55,0.00,0.000,6,0.000,0.047,2288,1907,3475
$GC,6882,-0.95,-146.6,470.5,-7.5,332,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1906,3474
$GC,7191,-0.95,-146.6,492.4,-6.6,347,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1906,3474
$GC,7500,-0.95,-146.6,512.5,-6.6,362,7505,0.00,2.53,0.00,0.000,4,0.000,0.054,2288,3299,3474
$GC,7567,-0.95,-146.6,517.0,-6.3,365,7571,0.00,2.53,0.00,0.000,6,0.000,0.048,2288,1902,3474
$GC,7893,-0.95,-146.6,539.6,-7.0,381,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3473
$GC,8203,-0.95,-146.6,559.9,-6.2,396,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3473
$GC,8513,-0.95,-146.6,579.1,-6.0,411,8517,0.00,2.55,0.00,0.000,4,0.000,0.055,2288,3299,3474
$GC,8596,-0.95,-146.6,584.5,-6.5,415,8601,0.00,2.53,0.00,0.000,6,0.000,0.049,2288,1900,3474
$GC,8923,-0.95,-146.6,603.9,-6.2,431,8927,0.00,2.58,0.00,0.000,4,0.000,0.057,2288,3305,3474
$GC,8983,-0.95,-146.6,607.9,-6.3,434,8988,0.00,2.55,0.00,0.000,6,0.000,0.050,2288,1896,3474
$GC,9309,-0.95,-146.6,629.2,-6.4,450,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1896,3474
$GC,9619,-0.95,-146.6,650.2,-6.7,465,9624,0.00,2.58,0.00,0.000,4,0.000,0.059,2288,3305,3473
$GC,9696,-0.95,-146.6,655.4,-7.0,468,9703,0.00,2.58,0.00,0.000,6,0.000,0.051,2288,1887,3474
$GC,10012,-0.95,-146.6,673.5,-6.0,484,10013,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1888,3473
$GC,10322,-0.95,-146.6,693.9,-6.3,499,10326,0.00,2.60,0.00,0.000,4,0.000,0.064,2288,3295,3473
$GC,10427,-0.95,-146.6,700.8,-7.1,504,10431,0.00,2.53,0.00,0.000,6,0.000,0.058,2288,1902,3473
$GC,10752,-0.95,-146.6,721.0,-6.5,520,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3472
$GC,11061,-0.95,-146.6,742.0,-7.1,535,11062,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1903,3471
$STATE,11225,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11225,begin apogee
$GC,11230,-0.36,0.0,753.8,7.0,543,11357,0.60,0.00,123.75,1.325,6,0.074,0.000,2418,2094,2878
$STATE,11357,end apogee,CONTROL_FINISHED_OK
$STATE,11357,begin climb
$GC,11359,0.95,146.6,757.3,0.0,549,11492,1.30,2.72,124.00,1.275,4,0.054,0.071,2704,3491,2280
$GC,11570,0.95,146.6,749.3,7.8,559,11577,0.00,2.58,0.00,0.000,6,0.000,0.058,2704,2104,2279
$GC,11886,0.99,183.2,729.0,4.9,575,11919,0.00,0.00,31.42,1.289,6,0.000,0.000,2704,2104,2131
$GC,12215,0.99,183.2,706.8,7.2,591,12216,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2104,2131
$GC,12525,0.99,183.2,686.0,6.8,606,12529,0.00,2.62,0.00,0.000,4,0.000,0.065,2704,3505,2129
$GC,12608,0.99,183.2,679.8,7.3,610,12613,0.00,2.60,0.00,0.000,6,0.000,0.058,2704,2098,2129
$GC,12934,0.99,183.2,657.4,7.0,626,12935,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2097,2128
$GC,13243,0.99,183.2,637.8,6.3,641,13247,0.00,2.62,0.00,0.000,4,0.000,0.065,2704,3499,2127
$GC,13432,1.00,190.0,625.3,5.8,649,13443,0.00,2.55,6.10,1.286,6,0.000,0.054,2704,2099,2103
$GC,13764,1.04,225.1,607.6,5.0,666,13796,0.00,0.00,30.17,1.270,6,0.000,0.000,2704,2099,1960
$GC,14093,1.04,225.1,588.3,6.3,682,14094,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2099,1959
$GC,14402,1.04,225.1,568.5,6.2,697,14406,0.00,2.58,0.00,0.000,4,0.000,0.057,2704,3506,1959
$GC,14473,1.04,225.1,563.8,6.4,700,14477,0.00,2.55,0.00,0.000,6,0.000,0.048,2705,2094,1960
$GC,14795,1.04,225.1,544.3,6.3,716,14796,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2094,1960
$GC,15103,1.04,225.1,522.6,6.8,731,15105,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2094,1960
$GC,15413,1.04,225.1,503.2,6.6,746,15414,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2094,1961
$GC,15722,1.04,225.1,480.8,7.0,761,15723,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2094,1961
$GC,16031,1.04,225.1,458.4,7.2,776,16032,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2094,1962
$GC,16341,1.04,225.1,436.0,7.1,791,16342,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2094,1962
$GC,16650,1.04,225.1,414.3,6.8,806,16651,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2094,1962
$GC,16959,1.04,225.1,391.8,7.3,821,16960,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2094,1963
$GC,17268,1.04,225.1,369.8,7.1,836,17273,0.00,2.58,0.00,0.000,4,0.000,0.066,2705,691,1964
$GC,17334,1.04,225.1,365.1,7.6,839,17339,0.00,2.47,0.00,0.000,6,0.000,0.042,2704,2105,1964
$GC,17661,1.04,225.1,342.7,6.7,855,17662,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2108,1964
$GC,17970,1.04,226.0,323.5,6.0,870,17972,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2109,1964
$GC,18280,1.04,226.0,304.4,6.2,885,18289,0.00,2.65,3.03,0.967,4,0.000,0.063,2704,694,1956
$GC,18356,1.04,226.0,299.1,6.7,888,18361,0.00,2.50,0.00,0.000,6,0.000,0.041,2704,2102,1956
$GC,18678,1.04,226.0,278.6,6.4,904,18679,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2105,1957
$GC,18987,1.04,226.0,257.8,6.7,919,18988,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2105,1957
$GC,19296,1.04,226.0,238.1,6.1,934,19297,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2105,1957
$GC,19606,1.06,237.3,220.0,5.7,949,19621,0.00,2.67,10.40,0.976,4,0.000,0.062,2704,685,1909
$GC,19688,1.06,237.3,214.8,6.9,952,19693,0.00,2.53,0.00,0.000,6,0.000,0.041,2705,2105,1909
$GC,20014,1.06,238.7,194.5,6.0,968,20016,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2108,1909
$GC,20324,1.07,245.9,175.9,5.8,983,20334,0.10,0.00,7.80,0.959,6,0.055,0.000,2748,2108,1875
$GC,20633,1.07,245.9,153.2,7.6,998,20637,0.00,2.62,0.00,0.000,4,0.000,0.062,2748,685,1875
$GC,20694,1.07,245.9,148.0,8.3,1001,20698,0.00,2.50,0.00,0.000,6,0.000,0.041,2748,2101,1875
$GC,21020,1.07,245.9,122.4,8.2,1017,21021,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2104,1875
$GC,21329,1.07,245.9,96.6,8.2,1032,21330,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2104,1875
$GC,21638,1.07,245.9,72.8,7.4,1047,21643,0.00,2.53,0.00,0.000,4,0.000,0.049,2748,3504,1875
$GC,21716,1.07,245.9,66.1,7.8,1050,21723,0.00,2.53,0.00,0.000,6,0.000,0.041,2748,2092,1875
$GC,22033,1.07,245.9,41.8,8.2,1066,22037,0.00,2.55,0.00,0.000,4,0.000,0.049,2748,3500,1875
$GC,22094,1.07,245.9,36.3,9.6,1069,22098,0.00,2.47,0.00,0.000,6,0.000,0.041,2748,2095,1876
$GC,22420,1.07,245.9,9.4,9.5,1085,22421,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2095,1875
$GC,22729,1.31,439.0,3.7,0.2,1100,22840,0.15,2.62,102.80,0.763,4,0.061,0.049,2790,3506,1087
$GC,23064,1.55,638.3,3.8,0.1,1115,23080,0.20,2.55,10.25,0.801,2,0.056,0.048,2837,2103,1014
$STATE,23081,end climb,NO_VERTICAL_VELOCITY
$STATE,23081,begin surface
$SM_CCo,23084,52.30,0.740,0,0,603,558.06
$SM_GC,4.38,12.23,0.00,0.00,0.035,0.000,0.000,30,1890,604,-11.27,-0.28,557.81
$IRIDIUM_FIX,6207.28,-1130.49,191207,131302
$TT8_MAMPS,0.026845
$HUMID,2033
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,18.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,726.1,37.4
$24V_AH,23.3,40.252
$10V_AH,10.1,19.041
$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,25.725,123.300,449.725,52.300,0.000,76.556,71.714,254.423,8.250,0.000,0.000,14.909,1979.865,18466.180,681.467,2387.942,620.481,33.408,1855.292,0.000,2343.405,0.000,48.354
$DEVICE_MAMPS,105.079,75.933,1324.609,740.155,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,829.079,754.262,680.608,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56874,1116
$CFSIZE,260165632,247787520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,191207,163326,6231.697,-1138.000,36,1.9,36,-11.0