version: 66.02
glider: 102
mission: 4
dive: 181
start: 12 21 107 14 16 14
data:
$ID,102
$MISSION,4
$DIVE,181
$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,558.0575
$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,-79573.023
$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,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
$GPS1,135508,6241.656,-1216.057,37,1.3,37,-11.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.06
$_SM_ANGLEo,-51.1
$GPS2,141520,6241.605,-1216.135,34,1.3,34,-11.5
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.178,0.109
$KALMAN_X,226361.2,628.9,-1434.1,-425003.9,-2121.5
$KALMAN_Y,77781.6,-134.5,937.6,48212.0,-9599.2
$MHEAD_RNG_PITCHd_Wd,313.0,44147,-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,-146.6,0.0,0.0,0,44,0.00,0.00,-22.23,0.000,2,0.000,0.000,27,1885,1117
$GC,47,-0.95,-146.6,4.0,-0.0,1,213,11.05,2.65,-148.43,0.000,4,0.101,0.075,2285,488,3476
$GC,466,-0.95,-146.6,27.6,-8.5,20,470,0.00,2.50,0.00,0.000,6,0.000,0.039,2285,1896,3476
$GC,793,-0.95,-146.6,53.9,-9.3,36,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3476
$GC,1103,-0.95,-146.6,77.0,-6.2,51,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3476
$GC,1412,-0.95,-146.6,98.1,-7.7,66,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3476
$GC,1721,-0.95,-146.6,121.8,-7.2,81,1725,0.00,2.53,0.00,0.000,4,0.000,0.049,2285,3295,3476
$GC,1792,-0.95,-146.6,127.3,-7.4,84,1797,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1894,3476
$GC,2114,-0.95,-146.6,150.3,-6.8,100,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3476
$GC,2422,-0.95,-146.6,172.7,-6.9,115,2427,0.00,2.55,0.00,0.000,4,0.000,0.048,2285,3303,3476
$GC,2472,-0.95,-146.6,176.3,-6.8,117,2476,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1894,3475
$GC,2787,-0.95,-146.6,196.8,-6.4,132,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1894,3476
$GC,3096,-0.95,-146.6,217.4,-6.7,147,3100,0.00,2.55,0.00,0.000,4,0.000,0.049,2285,3304,3476
$GC,3180,-0.95,-146.6,223.3,-7.5,151,3184,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1898,3476
$GC,3505,-0.95,-146.6,249.0,-9.1,167,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3476
$GC,3814,-0.95,-146.6,276.9,-8.5,182,3819,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3297,3476
$GC,3892,-0.95,-146.6,283.4,-8.3,185,3899,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1904,3475
$GC,4207,-0.95,-146.6,309.6,-8.0,201,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1904,3476
$GC,4517,-0.95,-146.6,332.2,-6.8,216,4522,0.00,2.53,0.00,0.000,4,0.000,0.049,2285,3298,3476
$GC,4572,-0.95,-146.6,336.3,-7.5,218,4579,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1895,3476
$GC,4887,-0.95,-146.6,358.1,-7.0,234,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3476
$GC,5197,-0.95,-146.6,378.4,-6.3,249,5201,0.00,2.55,0.00,0.000,4,0.000,0.050,2285,3302,3476
$GC,5280,-0.95,-146.6,384.2,-6.9,253,5284,0.00,2.53,0.00,0.000,6,0.000,0.047,2285,1901,3476
$GC,5605,-0.95,-146.6,407.1,-7.5,269,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3476
$GC,5915,-0.95,-146.6,429.8,-7.3,284,5919,0.00,2.53,0.00,0.000,4,0.000,0.051,2285,3301,3476
$GC,5976,-0.95,-146.6,434.6,-8.0,287,5980,0.00,2.53,0.00,0.000,6,0.000,0.048,2286,1901,3475
$GC,6301,-0.95,-146.6,460.7,-7.7,303,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,6610,-0.95,-146.6,484.5,-8.1,318,6615,0.00,2.55,0.00,0.000,4,0.000,0.052,2285,3304,3475
$GC,6704,-0.95,-146.6,492.6,-8.6,322,6709,0.00,2.55,0.00,0.000,6,0.000,0.048,2285,1895,3475
$GC,7026,-0.95,-146.6,517.7,-7.4,338,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3475
$GC,7335,-0.95,-146.6,540.2,-7.1,353,7339,0.00,2.55,0.00,0.000,4,0.000,0.054,2285,3302,3474
$GC,7402,-0.95,-146.6,545.1,-7.6,356,7406,0.00,2.53,0.00,0.000,6,0.000,0.048,2285,1901,3474
$GC,7722,-0.95,-146.6,568.1,-7.1,372,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3474
$GC,8031,-0.95,-146.6,590.2,-6.8,387,8035,0.00,2.53,0.00,0.000,4,0.000,0.055,2285,3303,3474
$GC,8081,-0.95,-146.6,593.5,-6.2,389,8086,0.00,2.53,0.00,0.000,6,0.000,0.049,2286,1902,3474
$GC,8396,-0.95,-146.6,612.1,-6.0,404,8401,0.00,2.55,0.00,0.000,4,0.000,0.056,2285,3295,3474
$GC,8458,-0.95,-146.6,616.1,-6.6,407,8462,0.00,2.53,0.00,0.000,6,0.000,0.049,2285,1899,3474
$GC,8783,-0.95,-146.6,636.4,-6.2,423,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3474
$GC,9092,-0.95,-146.6,656.1,-6.4,438,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3473
$GC,9402,-0.95,-146.6,673.4,-4.9,453,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3473
$GC,9711,-0.95,-146.6,691.3,-5.5,468,9712,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3473
$GC,10021,-0.95,-146.6,707.9,-5.5,483,10022,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3473
$GC,10330,-0.95,-146.6,725.1,-5.5,498,10331,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3473
$GC,10638,-0.95,-146.6,744.6,-6.5,513,10640,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3471
$STATE,10864,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10864,begin apogee
$GC,10869,-0.36,0.0,761.1,8.1,524,10996,0.60,0.00,123.72,1.325,6,0.071,0.000,2416,2094,2878
$STATE,10997,end apogee,CONTROL_FINISHED_OK
$STATE,10997,begin climb
$GC,10999,0.95,146.6,764.4,0.0,530,11127,1.33,0.00,123.93,1.282,6,0.060,0.000,2703,2094,2280
$GC,11435,0.95,146.6,747.4,6.2,552,11437,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2094,2279
$GC,11745,0.97,168.5,729.1,5.3,567,11769,0.00,2.70,18.92,1.309,4,0.000,0.066,2703,3503,2191
$GC,11842,1.03,217.5,724.7,4.5,571,11893,0.00,2.60,41.85,1.289,6,0.000,0.057,2703,2104,1991
$GC,12204,1.03,217.5,701.3,6.9,589,12205,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2103,1990
$GC,12511,1.03,217.5,679.6,6.5,604,12515,0.00,2.67,0.00,0.000,4,0.000,0.079,2703,691,1990
$GC,12565,1.03,217.5,675.7,7.2,606,12571,0.00,2.55,0.00,0.000,6,0.000,0.054,2703,2101,1989
$GC,12880,1.03,217.5,654.9,6.6,622,12882,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2102,1988
$GC,13189,1.03,217.5,635.2,6.3,637,13191,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2102,1988
$GC,13499,1.03,217.5,613.0,7.6,652,13500,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2103,1987
$GC,13808,1.03,217.5,590.2,7.5,667,13809,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2103,1987
$GC,14117,1.03,217.5,566.2,7.8,682,14118,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2104,1987
$GC,14427,1.06,235.2,547.2,5.5,697,14447,0.00,0.00,14.90,1.229,6,0.000,0.000,2703,2104,1919
$GC,14756,1.06,235.2,525.3,7.3,713,14760,0.00,2.65,0.00,0.000,4,0.000,0.067,2703,681,1919
$GC,14844,1.06,235.2,518.1,8.2,717,14849,0.00,2.58,0.00,0.000,6,0.000,0.044,2702,2105,1918
$GC,15171,1.06,235.2,491.7,7.8,733,15172,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,1919
$GC,15480,1.06,235.2,469.3,6.9,748,15484,0.00,2.65,0.00,0.000,4,0.000,0.065,2703,688,1920
$GC,15541,1.06,235.2,464.9,7.0,751,15545,0.00,2.50,0.00,0.000,6,0.000,0.043,2703,2104,1920
$GC,15866,1.06,235.2,444.3,6.3,767,15868,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,1920
$GC,16175,1.06,235.2,423.8,6.5,782,16180,0.00,2.65,0.00,0.000,4,0.000,0.065,2703,685,1921
$GC,16252,1.06,235.2,418.6,6.5,785,16260,0.00,2.53,0.00,0.000,6,0.000,0.042,2703,2103,1921
$GC,16569,1.06,235.2,398.8,6.5,801,16570,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2104,1921
$GC,16878,1.06,235.2,379.3,6.5,816,16879,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2106,1921
$GC,17187,1.06,235.2,358.4,6.8,831,17191,0.00,2.62,0.00,0.000,4,0.000,0.064,2703,688,1922
$GC,17258,1.06,235.2,353.0,7.4,834,17262,0.00,2.50,0.00,0.000,6,0.000,0.042,2703,2103,1922
$GC,17579,1.06,235.2,329.7,7.4,850,17580,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2106,1922
$GC,17888,1.06,235.2,307.4,7.1,865,17893,0.00,2.62,0.00,0.000,4,0.000,0.064,2703,680,1923
$GC,17950,1.06,235.2,302.8,7.7,868,17955,0.10,2.50,0.00,0.000,6,0.053,0.041,2747,2103,1923
$GC,18275,1.06,235.2,276.1,8.0,884,18277,0.12,0.00,0.00,0.000,6,0.087,0.000,2722,2106,1923
$GC,18585,1.06,235.2,253.0,7.6,899,18586,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2106,1923
$GC,18895,1.06,235.2,228.4,7.6,914,18896,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2106,1923
$GC,19203,1.06,235.2,206.3,7.2,929,19204,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2106,1924
$GC,19512,1.06,235.2,185.2,6.7,944,19514,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2106,1924
$GC,19822,1.06,235.2,165.1,6.4,959,19823,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2106,1924
$GC,20132,1.06,235.2,143.7,7.1,974,20133,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2106,1925
$GC,20441,1.06,235.2,123.3,6.6,989,20442,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2106,1924
$GC,20750,1.06,235.2,104.5,6.0,1004,20751,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2106,1925
$GC,21059,1.06,235.2,85.3,6.4,1019,21060,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2106,1925
$GC,21368,1.06,235.2,62.7,6.6,1034,21370,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2106,1926
$GC,21680,1.06,235.2,40.7,7.1,1049,21684,0.00,2.62,0.00,0.000,4,0.000,0.062,2722,687,1926
$GC,21728,1.06,241.1,37.6,5.8,1051,21741,0.00,2.50,7.07,0.888,6,0.000,0.040,2721,2109,1894
$GC,22051,1.06,241.1,14.9,6.5,1067,22052,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2109,1895
$GC,22359,1.31,443.1,3.6,-0.0,1082,22471,0.22,2.55,104.97,0.765,4,0.049,0.048,2784,3496,1071
$GC,22582,1.54,627.9,3.4,0.5,1092,22649,0.20,2.55,58.25,0.750,6,0.048,0.044,2838,2087,603
$STATE,22735,end climb,NO_VERTICAL_VELOCITY
$STATE,22735,begin surface
$SM_CCo,23098,0.47,1.039,0,0,603,558.06
$SM_GC,4.32,0.00,0.00,0.47,0.000,0.000,1.039,27,1894,603,-11.35,-0.20,558.06
$IRIDIUM_FIX,6216.53,-1221.06,211207,181813
$TT8_MAMPS,0.026845
$HUMID,2016
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.90
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,675.5,94.2
$24V_AH,23.3,41.686
$10V_AH,10.1,19.844
$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,25.725,108.100,493.625,0.475,0.000,186.681,272.719,358.958,7.500,0.000,0.000,35.637,1921.510,18385.020,658.534,2282.603,1065.048,33.369,1784.300,0.000,2236.202,0.000,39.539
$DEVICE_MAMPS,101.244,79.001,1325.376,1038.518,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,820.287,742.727,692.651,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56789,1100
$CFSIZE,260165632,247238656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,211207,204231,6242.799,-1222.052,36,2.0,41,-11.5