version: 66.02
glider: 102
mission: 4
dive: 182
start: 12 21 107 20 49 58
data:
$ID,102
$MISSION,4
$DIVE,182
$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,-79589.531
$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,33
$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
$GPS1,204231,6242.799,-1222.052,36,2.0,41,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.17
$_SM_ANGLEo,-54.8
$GPS2,204903,6242.720,-1222.024,14,1.9,14,-11.5
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.142,0.153
$KALMAN_X,221795.5,14.2,4498.0,-430958.2,-20072.2
$KALMAN_Y,78463.8,-117.6,-1063.8,51575.5,3756.3
$MHEAD_RNG_PITCHd_Wd,328.7,38760,-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,-21.30,0.000,2,0.000,0.000,27,1889,1105
$GC,46,-0.95,-146.6,4.2,-0.0,1,219,11.30,2.58,-155.02,0.000,4,0.112,0.076,2286,499,3475
$GC,404,-0.95,-146.6,16.0,-8.0,17,412,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1904,3476
$GC,722,-0.95,-146.6,39.2,-7.4,33,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,1030,-0.95,-146.6,61.8,-6.1,48,1034,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3293,3476
$GC,1101,-0.95,-146.6,66.3,-6.5,51,1105,0.00,2.50,0.00,0.000,6,0.000,0.042,2286,1911,3475
$GC,1423,-0.95,-146.6,88.1,-6.6,67,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1911,3476
$GC,1733,-0.95,-146.6,107.5,-6.7,82,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1911,3475
$GC,2041,-0.95,-146.6,128.6,-6.7,97,2045,0.00,2.50,0.00,0.000,4,0.000,0.048,2285,3297,3476
$GC,2135,-0.95,-146.6,135.5,-7.7,101,2139,0.00,2.50,0.00,0.000,6,0.000,0.043,2285,1900,3476
$GC,2456,-0.95,-146.6,158.1,-7.1,117,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,2765,-0.95,-146.6,180.0,-7.0,132,2769,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3302,3476
$GC,2826,-0.95,-146.6,184.4,-6.9,135,2830,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1895,3476
$GC,3152,-0.95,-146.6,206.9,-7.0,151,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1895,3476
$GC,3461,-0.95,-146.6,228.9,-7.2,166,3465,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3295,3475
$GC,3522,-0.95,-146.6,233.5,-7.6,169,3526,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1894,3476
$GC,3847,-0.95,-146.6,256.8,-7.0,185,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3475
$GC,4156,-0.95,-146.6,277.3,-6.7,200,4161,0.00,2.53,0.00,0.000,4,0.000,0.049,2285,3300,3476
$GC,4228,-0.95,-146.6,282.4,-7.3,203,4232,0.00,2.50,0.00,0.000,6,0.000,0.044,2285,1901,3476
$GC,4549,-0.95,-146.6,301.7,-5.9,219,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,4858,-0.95,-146.6,320.0,-6.0,234,4863,0.00,2.53,0.00,0.000,4,0.000,0.049,2285,3298,3475
$GC,4913,-0.95,-146.6,323.6,-6.4,236,4920,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1890,3475
$GC,5229,-0.95,-146.6,344.7,-6.8,252,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1890,3475
$GC,5538,-0.95,-146.6,365.4,-6.7,267,5542,0.00,2.55,0.00,0.000,4,0.000,0.051,2286,3295,3475
$GC,5637,-0.95,-146.6,372.3,-6.7,271,5644,0.00,2.50,0.00,0.000,6,0.000,0.046,2285,1902,3475
$GC,5953,-0.95,-146.6,392.5,-6.5,287,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,6262,-0.95,-146.6,412.7,-6.6,302,6266,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3294,3475
$GC,6323,-0.95,-146.6,416.8,-7.0,305,6327,0.00,2.53,0.00,0.000,6,0.000,0.046,2285,1894,3475
$GC,6648,-0.95,-146.6,439.5,-7.2,321,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1894,3475
$GC,6958,-0.95,-146.6,462.1,-7.4,336,6962,0.00,2.55,0.00,0.000,4,0.000,0.051,2285,3298,3475
$GC,7019,-0.95,-146.6,466.7,-7.2,339,7023,0.00,2.53,0.00,0.000,6,0.000,0.048,2285,1901,3475
$GC,7344,-0.95,-146.6,489.6,-6.8,355,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3474
$GC,7653,-0.95,-146.6,510.9,-7.1,370,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3474
$GC,7962,-0.95,-146.6,529.9,-6.4,385,7967,0.00,2.55,0.00,0.000,4,0.000,0.052,2285,3297,3474
$GC,8040,-0.95,-146.6,535.1,-6.2,388,8046,0.00,2.53,0.00,0.000,6,0.000,0.047,2285,1895,3474
$GC,8355,-0.95,-146.6,555.3,-6.5,404,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1895,3474
$GC,8665,-0.95,-146.6,573.5,-5.6,419,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1895,3474
$GC,8974,-0.95,-146.6,591.5,-5.7,434,8978,0.00,2.55,0.00,0.000,4,0.000,0.055,2285,3299,3474
$GC,9035,-0.95,-146.6,595.4,-5.9,437,9040,0.00,2.53,0.00,0.000,6,0.000,0.049,2285,1900,3474
$GC,9361,-0.95,-146.6,617.8,-6.6,453,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3474
$GC,9671,-0.95,-146.6,636.8,-5.7,468,9672,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3474
$GC,9980,-0.95,-146.6,653.8,-5.9,483,9981,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3474
$GC,10290,-0.95,-146.6,675.1,-7.4,498,10291,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3474
$GC,10599,-0.95,-146.6,698.9,-7.2,513,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3474
$GC,10908,-0.95,-146.6,717.6,-5.8,528,10909,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3474
$GC,11217,-0.95,-146.6,738.6,-7.2,543,11221,0.00,2.58,0.00,0.000,4,0.000,0.062,2285,3294,3473
$GC,11278,-0.95,-146.6,743.0,-7.6,546,11283,0.00,2.55,0.00,0.000,6,0.000,0.058,2285,1903,3473
$GC,11605,-0.95,-146.6,764.6,-5.2,562,11606,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1903,3472
$STATE,11912,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11912,begin apogee
$GC,11918,-0.36,0.0,787.0,7.2,577,12045,0.60,0.00,124.15,1.342,6,0.074,0.000,2415,2095,2878
$STATE,12045,end apogee,CONTROL_FINISHED_OK
$STATE,12046,begin climb
$GC,12047,0.95,146.6,793.2,0.0,583,12176,1.27,0.00,124.40,1.299,6,0.055,0.000,2701,2094,2280
$GC,12479,1.02,207.0,780.9,4.2,604,12535,0.00,2.72,51.20,1.308,4,0.000,0.071,2700,3497,2033
$GC,12648,1.06,234.7,770.6,5.2,611,12678,0.10,2.60,24.08,1.294,6,0.061,0.058,2732,2102,1921
$GC,13000,1.06,234.7,741.4,8.4,628,13001,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2102,1920
$GC,13308,1.06,234.7,715.6,8.7,643,13309,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2102,1919
$GC,13617,1.06,234.7,687.6,9.4,658,13622,0.00,2.70,0.00,0.000,4,0.000,0.080,2732,688,1919
$GC,13701,1.06,234.7,678.9,10.0,662,13706,0.00,2.58,0.00,0.000,6,0.000,0.054,2732,2104,1918
$GC,14027,1.06,234.7,654.4,6.1,678,14028,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2105,1917
$GC,14336,1.06,234.7,633.4,7.9,693,14340,0.00,2.60,0.00,0.000,4,0.000,0.062,2733,3506,1917
$GC,14385,1.06,234.7,628.9,9.1,695,14389,0.00,2.58,0.00,0.000,6,0.000,0.054,2732,2098,1917
$GC,14706,1.06,234.7,601.2,8.5,711,14707,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2098,1916
$GC,15015,1.06,234.7,575.9,8.2,726,15017,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2098,1916
$GC,15325,1.06,234.7,550.3,8.1,741,15326,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2098,1916
$GC,15634,1.06,234.7,528.1,7.4,756,15638,0.00,2.62,0.00,0.000,4,0.000,0.070,2733,690,1917
$GC,15682,1.06,234.7,524.3,7.8,758,15687,0.00,2.50,0.00,0.000,6,0.000,0.044,2733,2106,1917
$GC,16004,1.06,234.7,501.0,6.9,774,16005,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2106,1918
$GC,16313,1.06,234.7,479.0,7.6,789,16314,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2106,1918
$GC,16622,1.06,234.7,454.5,7.9,804,16623,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2107,1919
$GC,16932,1.06,234.7,430.0,8.0,819,16936,0.00,2.65,0.00,0.000,4,0.000,0.065,2733,685,1919
$GC,16974,1.06,234.7,426.2,7.8,821,16979,0.00,2.50,0.00,0.000,6,0.000,0.043,2733,2105,1919
$GC,17301,1.06,234.7,398.1,8.9,837,17302,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2108,1920
$GC,17611,1.06,234.7,372.1,8.3,852,17612,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2108,1920
$GC,17920,1.06,234.7,347.9,7.7,867,17921,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2108,1920
$GC,18229,1.06,234.7,322.5,8.1,882,18230,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2109,1921
$GC,18538,1.06,234.7,297.0,8.1,897,18540,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2108,1922
$GC,18847,1.06,234.7,271.8,8.2,912,18852,0.00,2.62,0.00,0.000,4,0.000,0.062,2732,689,1922
$GC,18909,1.06,234.7,266.7,8.2,915,18913,0.00,2.50,0.00,0.000,6,0.000,0.041,2733,2102,1922
$GC,19235,1.06,234.7,241.8,7.6,931,19236,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2105,1922
$GC,19544,1.06,234.7,217.5,8.1,946,19545,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2105,1922
$GC,19853,1.06,234.7,192.7,7.8,961,19854,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2105,1923
$GC,20162,1.06,234.7,169.7,7.4,976,20167,0.00,2.60,0.00,0.000,4,0.000,0.062,2733,689,1923
$GC,20224,1.06,234.7,164.9,7.1,979,20228,0.00,2.50,0.00,0.000,6,0.000,0.041,2733,2105,1923
$GC,20549,1.06,234.7,142.1,6.9,995,20550,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2107,1923
$GC,20859,1.06,234.7,120.3,7.4,1010,20860,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2107,1923
$GC,21168,1.06,234.7,96.9,7.7,1025,21169,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2107,1924
$GC,21479,1.06,234.7,73.5,7.2,1040,21483,0.00,2.62,0.00,0.000,4,0.000,0.061,2732,687,1924
$GC,21533,1.06,234.7,69.0,7.6,1042,21540,0.00,2.53,0.00,0.000,6,0.000,0.040,2733,2103,1924
$GC,21850,1.06,234.7,45.2,7.5,1058,21851,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2106,1924
$GC,22158,1.06,234.7,22.6,7.3,1073,22159,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2106,1924
$GC,22468,1.19,340.6,3.5,2.8,1088,22530,0.00,0.00,58.72,0.795,6,0.000,0.000,2732,2108,1488
$STATE,22795,end climb,NO_VERTICAL_VELOCITY
$STATE,22795,begin surface
$SM_CCo,22798,109.57,0.750,0,0,603,558.06
$SM_GC,4.19,11.68,0.00,0.00,0.029,0.000,0.000,28,1893,603,-11.27,-0.20,558.06
$IRIDIUM_FIX,6216.53,-1211.90,211207,181851
$TT8_MAMPS,0.026078
$HUMID,2032
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,700.3,95.7
$24V_AH,23.3,41.859
$10V_AH,10.1,19.944
$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,24.950,107.825,382.550,109.575,0.000,37.268,34.432,211.470,6.750,0.000,0.000,15.883,1928.464,18379.096,679.902,2237.508,494.834,33.363,1776.397,0.000,2201.874,0.000,41.163
$DEVICE_MAMPS,111.982,79.768,1342.250,750.126,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,817.829,746.771,687.460,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53647,1104
$CFSIZE,260165632,247181312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,221207,032002,6242.167,-1229.403,41,1.5,41,-11.6