version: 66.02
glider: 102
mission: 4
dive: 180
start: 12 21 107 7 41 10
data:
$ID,102
$MISSION,4
$DIVE,180
$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,-79536.758
$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,33
$R_STBD_OVSHOOT,38
$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
$GPS1,073038,6242.615,-1203.161,37,1.0,37,-11.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.05
$_SM_ANGLEo,-49.8
$GPS2,074015,6242.722,-1203.228,13,1.8,14,-11.4
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.209,0.001
$KALMAN_X,232090.0,-236.5,-1475.2,-418410.6,9681.7
$KALMAN_Y,78829.1,272.3,1508.6,48240.1,-5151.8
$MHEAD_RNG_PITCHd_Wd,281.7,15127,-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,-4.03,0.000,2,0.000,0.000,27,1864,703
$GC,29,-0.95,-146.6,4.1,-0.0,0,213,10.85,2.55,-165.65,0.000,4,0.092,0.077,2290,509,3477
$GC,280,-0.95,-146.6,11.0,-5.3,12,287,0.00,2.45,0.00,0.000,6,0.000,0.041,2290,1891,3477
$GC,596,-0.95,-146.6,33.4,-6.8,28,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1891,3476
$GC,905,-0.95,-146.6,54.9,-7.2,43,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1891,3477
$GC,1215,-0.95,-146.6,75.1,-6.2,58,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1891,3477
$GC,1524,-0.95,-146.6,97.3,-8.5,73,1528,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3297,3476
$GC,1595,-0.95,-146.6,103.8,-8.8,76,1599,0.00,2.53,0.00,0.000,6,0.000,0.043,2289,1890,3477
$GC,1916,-0.95,-146.6,128.3,-7.6,92,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1890,3477
$GC,2226,-0.95,-146.6,151.1,-7.5,107,2230,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3295,3477
$GC,2311,-0.95,-146.6,157.3,-7.8,111,2315,0.00,2.50,0.00,0.000,6,0.000,0.044,2289,1900,3477
$GC,2637,-0.95,-146.6,179.7,-6.5,127,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3477
$GC,2946,-0.95,-146.6,200.7,-6.9,142,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3477
$GC,3255,-0.95,-146.6,221.9,-6.2,157,3259,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3297,3476
$GC,3354,-0.95,-146.6,228.3,-6.7,161,3361,0.00,2.50,0.00,0.000,6,0.000,0.044,2289,1902,3477
$GC,3669,-0.95,-146.6,249.5,-7.2,177,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3477
$GC,3979,-0.95,-146.6,271.3,-6.9,192,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,4288,-0.95,-146.6,290.5,-6.4,207,4292,0.00,2.53,0.00,0.000,4,0.000,0.049,2289,3299,3477
$GC,4343,-0.95,-146.6,294.4,-7.2,209,4349,0.00,2.53,0.00,0.000,6,0.000,0.044,2290,1892,3476
$GC,4658,-0.95,-146.6,315.6,-6.8,225,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1892,3476
$GC,4968,-0.95,-146.6,335.7,-6.1,240,4972,0.00,2.53,0.00,0.000,4,0.000,0.050,2289,3294,3476
$GC,5051,-0.95,-146.6,341.0,-6.1,244,5056,0.00,2.50,0.00,0.000,6,0.000,0.045,2289,1900,3476
$GC,5377,-0.95,-146.6,361.7,-6.8,260,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3476
$GC,5686,-0.95,-146.6,383.7,-7.2,275,5691,0.00,2.53,0.00,0.000,4,0.000,0.050,2290,3297,3476
$GC,5758,-0.95,-146.6,389.1,-7.4,278,5762,0.00,2.53,0.00,0.000,6,0.000,0.046,2289,1898,3476
$GC,6079,-0.95,-146.6,410.3,-6.4,294,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3476
$GC,6388,-0.95,-146.6,430.2,-7.2,309,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3476
$GC,6699,-0.95,-146.6,450.8,-6.0,324,6703,0.00,2.53,0.00,0.000,4,0.000,0.052,2289,3299,3476
$GC,6782,-0.95,-146.6,456.1,-6.1,328,6787,0.00,2.53,0.00,0.000,6,0.000,0.047,2289,1902,3476
$GC,7109,-0.95,-146.6,475.7,-5.2,344,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1902,3476
$GC,7418,-0.95,-146.6,493.5,-6.0,359,7422,0.00,2.53,0.00,0.000,4,0.000,0.051,2290,3293,3475
$GC,7479,-0.95,-146.6,497.5,-7.2,362,7483,0.00,2.50,0.00,0.000,6,0.000,0.046,2289,1899,3475
$GC,7804,-0.95,-146.6,519.4,-7.2,378,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3475
$GC,8113,-0.95,-146.6,538.8,-5.4,393,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3475
$GC,8423,-0.95,-146.6,555.9,-6.4,408,8427,0.00,2.55,0.00,0.000,4,0.000,0.054,2289,3295,3475
$GC,8533,-0.95,-146.6,563.0,-7.0,413,8537,0.00,2.53,0.00,0.000,6,0.000,0.048,2289,1895,3475
$GC,8860,-0.95,-146.6,583.9,-6.9,429,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3475
$GC,9169,-0.95,-146.6,603.6,-5.4,444,9174,0.00,2.58,0.00,0.000,4,0.000,0.058,2289,3293,3475
$GC,9298,-0.95,-146.6,610.9,-5.1,450,9303,0.00,2.53,0.00,0.000,6,0.000,0.051,2289,1902,3475
$GC,9625,-0.95,-146.6,628.9,-6.3,466,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3474
$GC,9934,-0.95,-146.6,647.9,-5.7,481,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3474
$GC,10243,-0.95,-146.6,667.0,-6.7,496,10248,0.00,2.55,0.00,0.000,4,0.000,0.061,2289,3291,3473
$GC,10389,-0.95,-146.6,677.3,-6.8,502,10395,0.00,2.55,0.00,0.000,6,0.000,0.055,2289,1894,3473
$GC,10704,-0.95,-146.6,696.0,-4.7,518,10705,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3473
$GC,11013,-0.95,-146.6,714.8,-6.5,533,11014,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3472
$STATE,11196,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11197,begin apogee
$GC,11202,-0.36,0.0,726.5,7.1,542,11328,0.60,0.00,123.47,1.307,6,0.071,0.000,2420,2086,2877
$STATE,11329,end apogee,CONTROL_FINISHED_OK
$STATE,11329,begin climb
$GC,11331,0.95,146.6,730.3,0.0,548,11458,1.25,0.00,122.75,1.269,6,0.053,0.000,2700,2086,2279
$GC,11762,0.96,154.1,710.4,5.8,569,11776,0.00,2.70,7.43,1.243,4,0.000,0.066,2701,3496,2249
$GC,12023,0.96,154.1,696.2,8.0,580,12030,0.00,2.60,0.00,0.000,6,0.000,0.058,2700,2108,2248
$GC,12339,0.98,171.6,678.0,5.5,596,12359,0.00,0.00,15.48,1.292,6,0.000,0.000,2700,2107,2178
$GC,12668,0.99,181.4,660.4,5.7,612,12682,0.00,2.67,9.23,1.283,4,0.000,0.065,2700,3506,2138
$GC,12794,0.99,181.4,651.6,6.8,617,12801,0.00,2.60,0.00,0.000,6,0.000,0.056,2701,2095,2138
$GC,13110,0.99,181.4,629.0,7.1,633,13111,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2095,2136
$GC,13419,1.02,205.6,610.3,5.3,648,13442,0.00,0.00,20.95,1.278,6,0.000,0.000,2700,2095,2039
$GC,13748,1.02,205.6,590.4,6.6,664,13752,0.00,2.60,0.00,0.000,4,0.000,0.061,2700,3500,2038
$GC,13887,1.02,205.6,580.3,7.2,670,13891,0.00,2.55,0.00,0.000,6,0.000,0.051,2700,2098,2038
$GC,14208,1.03,210.0,558.8,5.9,686,14215,0.00,0.00,4.80,1.206,6,0.000,0.000,2700,2098,2020
$GC,14518,1.03,215.5,540.3,5.8,701,14528,0.00,2.65,5.82,1.203,4,0.000,0.058,2700,3506,1999
$GC,14595,1.03,215.5,535.2,6.9,704,14601,0.00,2.55,0.00,0.000,6,0.000,0.048,2700,2101,1999
$GC,14910,1.04,220.8,515.6,5.8,720,14918,0.00,0.00,5.60,1.175,6,0.000,0.000,2700,2101,1977
$GC,15220,1.07,242.9,498.1,5.3,735,15241,0.12,0.00,19.15,1.173,6,0.051,0.000,2743,2101,1887
$GC,15549,1.07,242.9,472.3,7.8,751,15550,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2101,1887
$GC,15858,1.07,242.9,447.2,8.5,766,15860,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2101,1888
$GC,16168,1.07,242.9,422.3,7.3,781,16169,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2101,1889
$GC,16477,1.07,242.9,401.0,6.9,796,16478,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2101,1889
$GC,16786,1.07,242.9,378.5,7.6,811,16790,0.00,2.55,0.00,0.000,4,0.000,0.051,2742,3504,1890
$GC,16841,1.07,242.9,374.1,8.6,813,16848,0.00,2.53,0.00,0.000,6,0.000,0.044,2743,2090,1890
$GC,17156,1.07,242.9,350.8,7.4,829,17157,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2089,1890
$GC,17466,1.07,242.9,328.3,7.4,844,17467,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2090,1891
$GC,17775,1.07,242.9,303.3,8.1,859,17776,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2090,1890
$GC,18084,1.07,242.9,278.7,8.0,874,18085,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2090,1891
$GC,18393,1.07,242.9,255.2,7.7,889,18395,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2090,1892
$GC,18703,1.07,242.9,231.8,7.4,904,18704,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2089,1892
$GC,19012,1.07,242.9,209.6,7.1,919,19013,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2090,1892
$GC,19321,1.07,242.9,185.4,8.1,934,19322,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2089,1892
$GC,19631,1.07,242.9,160.1,8.6,949,19635,0.00,2.58,0.00,0.000,4,0.000,0.050,2742,3503,1893
$GC,19702,1.07,242.9,153.3,8.5,952,19706,0.00,2.47,0.00,0.000,6,0.000,0.041,2743,2098,1893
$GC,20023,1.07,242.9,123.8,9.1,968,20024,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2098,1893
$GC,20333,1.07,242.9,96.5,8.2,983,20337,0.00,2.58,0.00,0.000,4,0.000,0.061,2743,694,1893
$GC,20375,1.07,242.9,92.7,9.6,985,20380,0.00,2.50,0.00,0.000,6,0.000,0.038,2742,2122,1893
$GC,20703,1.07,242.9,69.5,6.7,1001,20704,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2125,1893
$GC,21012,1.07,242.9,48.0,6.6,1016,21013,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2126,1894
$GC,21321,1.07,242.9,21.5,8.9,1031,21325,0.00,2.47,0.00,0.000,4,0.000,0.049,2742,3499,1894
$GC,21370,1.07,242.9,16.1,10.4,1033,21374,0.00,2.50,0.00,0.000,6,0.000,0.040,2742,2081,1894
$GC,21692,1.31,441.8,3.5,0.1,1049,21805,0.17,2.62,105.47,0.765,4,0.069,0.046,2782,3498,1075
$GC,21811,1.56,641.0,3.3,0.1,1055,21877,0.22,2.55,59.17,0.736,6,0.051,0.045,2837,2098,602
$STATE,21914,end climb,NO_VERTICAL_VELOCITY
$STATE,21914,begin surface
$SM_CCo,22367,0.00,0.000,0,0,605,557.57
$SM_GC,4.29,12.15,0.00,0.00,0.031,0.000,0.000,28,1893,605,-11.27,-0.20,557.57
$IRIDIUM_FIX,6216.53,-1207.32,211207,111135
$TT8_MAMPS,0.026845
$HUMID,2041
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.60
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,675.4,60.0
$24V_AH,23.3,41.491
$10V_AH,10.1,19.736
$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,25.375,107.550,499.325,0.000,0.000,75.278,73.399,254.268,7.250,0.000,0.000,16.109,1865.090,17550.018,662.284,2251.877,614.253,33.355,1779.087,0.000,2211.307,0.000,43.546
$DEVICE_MAMPS,92.040,76.700,1306.968,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,780.773,715.633,653.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53629,1060
$CFSIZE,260165632,247320576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,211207,135508,6241.656,-1216.057,37,1.3,37,-11.5