version: 66.02
glider: 102
mission: 4
dive: 184
start: 12 22 107 10 29 27
data:
$ID,102
$MISSION,4
$DIVE,184
$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,-79619.859
$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,29
$R_STBD_OVSHOOT,36
$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
$GPS1,101856,6243.049,-1229.071,39,1.1,39,-11.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.05
$_SM_ANGLEo,-53.8
$GPS2,102833,6242.915,-1229.027,12,0.9,12,-11.6
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.050,0.203
$KALMAN_X,225926.7,8.0,1883.4,-438671.2,-4568.4
$KALMAN_Y,65738.9,542.5,-1093.5,64043.6,-4117.3
$MHEAD_RNG_PITCHd_Wd,357.7,33128,-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,-21.15,0.000,2,0.000,0.000,30,1877,1096
$GC,46,-0.95,-146.6,4.0,-0.0,1,219,11.23,2.55,-155.10,0.000,4,0.109,0.077,2289,502,3476
$GC,321,-0.95,-146.6,13.4,-9.9,14,326,0.00,2.47,0.00,0.000,6,0.000,0.042,2289,1904,3476
$GC,648,-0.95,-146.6,35.9,-7.1,30,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1907,3476
$GC,957,-0.95,-146.6,59.9,-6.4,45,961,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3304,3476
$GC,1005,-0.95,-146.6,63.5,-7.6,47,1010,0.00,2.55,0.00,0.000,6,0.000,0.043,2289,1904,3476
$GC,1327,-0.95,-146.6,85.0,-6.7,63,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1904,3476
$GC,1638,-0.95,-146.6,105.8,-6.9,78,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1904,3476
$GC,1946,-0.95,-146.6,127.2,-6.9,93,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1904,3476
$GC,2255,-0.95,-146.6,147.5,-6.2,108,2259,0.00,2.53,0.00,0.000,4,0.000,0.047,2289,3304,3476
$GC,2320,-0.95,-146.6,152.4,-7.4,111,2325,0.00,2.53,0.00,0.000,6,0.000,0.043,2289,1894,3476
$GC,2647,-0.95,-146.6,176.9,-7.8,127,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3476
$GC,2957,-0.95,-146.6,199.2,-6.9,142,2961,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3301,3476
$GC,3011,-0.95,-146.6,203.2,-7.2,144,3017,0.00,2.55,0.00,0.000,6,0.000,0.044,2289,1882,3476
$GC,3327,-0.95,-146.6,225.6,-7.4,160,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1881,3476
$GC,3636,-0.95,-146.6,248.0,-7.0,175,3640,0.00,2.58,0.00,0.000,4,0.000,0.048,2289,3307,3476
$GC,3707,-0.95,-146.6,253.2,-7.3,178,3711,0.00,2.53,0.00,0.000,6,0.000,0.044,2289,1896,3476
$GC,4028,-0.95,-146.6,277.4,-8.0,194,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3476
$GC,4337,-0.95,-146.6,302.4,-8.3,209,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3476
$GC,4646,-0.95,-146.6,328.5,-8.5,224,4651,0.00,2.55,0.00,0.000,4,0.000,0.049,2289,3307,3476
$GC,4712,-0.95,-146.6,334.0,-8.3,227,4717,0.00,2.53,0.00,0.000,6,0.000,0.044,2289,1901,3476
$GC,5039,-0.95,-146.6,360.2,-8.0,243,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3476
$GC,5348,-0.95,-146.6,384.6,-7.8,258,5352,0.00,2.53,0.00,0.000,4,0.000,0.050,2289,3300,3476
$GC,5413,-0.95,-146.6,389.7,-7.7,261,5418,0.00,2.53,0.00,0.000,6,0.000,0.046,2289,1898,3476
$GC,5740,-0.95,-146.6,412.4,-7.0,277,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3476
$GC,6049,-0.95,-146.6,434.2,-7.3,292,6054,0.00,2.55,0.00,0.000,4,0.000,0.051,2289,3306,3476
$GC,6111,-0.95,-146.6,438.8,-7.3,295,6115,0.00,2.55,0.00,0.000,6,0.000,0.047,2289,1896,3476
$GC,6437,-0.95,-146.6,462.1,-7.3,311,6441,0.00,2.55,0.00,0.000,4,0.000,0.051,2289,3301,3475
$GC,6485,-0.95,-146.6,466.0,-7.4,313,6490,0.00,2.53,0.00,0.000,6,0.000,0.047,2289,1899,3476
$GC,6806,-0.95,-146.6,489.3,-7.3,329,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3475
$GC,7116,-0.95,-146.6,510.8,-6.5,344,7120,0.00,2.53,0.00,0.000,4,0.000,0.051,2289,3300,3474
$GC,7187,-0.95,-146.6,515.2,-5.9,347,7191,0.00,2.53,0.00,0.000,6,0.000,0.046,2289,1896,3475
$GC,7509,-0.95,-146.6,533.3,-5.4,363,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3475
$GC,7817,-0.95,-146.6,553.0,-6.9,378,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1896,3475
$GC,8127,-0.95,-146.6,574.2,-6.9,393,8131,0.00,2.55,0.00,0.000,4,0.000,0.054,2289,3299,3474
$GC,8169,-0.95,-146.6,577.4,-7.9,395,8173,0.00,2.53,0.00,0.000,6,0.000,0.048,2289,1899,3474
$GC,8497,-0.95,-146.6,601.4,-7.3,411,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3474
$GC,8806,-0.95,-146.6,625.2,-7.8,426,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3475
$GC,9117,-0.95,-146.6,650.6,-8.1,441,9119,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3474
$GC,9424,-0.95,-146.6,674.1,-7.0,456,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3474
$GC,9734,-0.95,-146.6,693.3,-5.7,471,9738,0.00,2.58,0.00,0.000,4,0.000,0.058,2289,3296,3474
$GC,9788,-0.95,-146.6,696.7,-6.4,473,9795,0.00,2.55,0.00,0.000,6,0.000,0.053,2289,1902,3474
$GC,10104,-0.95,-146.6,712.7,-4.9,489,10105,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3474
$GC,10413,-0.95,-146.6,725.5,-4.3,504,10414,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3473
$GC,10722,-0.95,-146.6,742.8,-5.9,519,10727,0.00,2.60,0.00,0.000,4,0.000,0.064,2289,3301,3473
$GC,10789,-0.95,-146.6,746.9,-5.9,522,10793,0.00,2.58,0.00,0.000,6,0.000,0.058,2289,1901,3473
$GC,11115,-0.95,-146.6,765.5,-6.5,538,11116,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3472
$GC,11425,-0.95,-146.6,788.8,-8.5,553,11426,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3471
$STATE,11526,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11526,begin apogee
$GC,11531,-0.36,0.0,794.9,6.2,558,11659,0.60,0.00,124.43,1.352,6,0.072,0.000,2419,2093,2878
$STATE,11659,end apogee,CONTROL_FINISHED_OK
$STATE,11659,begin climb
$GC,11661,0.95,146.6,798.2,0.0,564,11793,1.25,2.75,124.05,1.304,4,0.053,0.076,2700,693,2280
$GC,11821,0.95,146.6,793.6,7.8,572,11825,0.00,2.60,0.00,0.000,6,0.000,0.056,2700,2094,2280
$GC,12146,0.97,161.9,779.0,5.5,588,12166,0.00,0.00,13.65,1.312,6,0.000,0.000,2700,2098,2218
$GC,12475,0.98,175.9,759.3,5.6,604,12497,0.00,2.72,12.82,1.329,4,0.000,0.068,2700,3503,2161
$GC,12541,0.98,175.9,755.0,6.8,607,12546,0.00,2.60,0.00,0.000,6,0.000,0.058,2700,2098,2160
$GC,12868,0.99,183.8,734.8,5.8,623,12878,0.00,0.00,8.02,1.315,6,0.000,0.000,2700,2098,2128
$GC,13176,0.99,183.8,715.1,7.1,638,13178,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2098,2127
$GC,13486,0.99,183.8,694.3,7.2,653,13487,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2098,2127
$GC,13795,0.99,183.8,671.5,7.7,668,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2098,2126
$GC,14105,0.99,184.6,650.3,6.0,683,14106,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,2126
$GC,14413,0.99,184.6,630.8,6.4,698,14415,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2098,2125
$GC,14723,0.99,184.6,611.4,6.1,713,14724,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2098,2125
$GC,15032,1.02,202.7,593.8,5.5,728,15053,0.00,0.00,16.35,1.257,6,0.000,0.000,2700,2098,2051
$GC,15362,1.05,232.5,575.9,5.1,744,15390,0.10,0.00,25.88,1.220,6,0.057,0.000,2738,2098,1930
$GC,15691,1.05,232.5,551.0,7.8,760,15692,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2098,1930
$GC,16000,1.05,232.5,526.1,8.0,775,16001,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1930
$GC,16309,1.05,232.5,501.5,8.2,790,16310,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1931
$GC,16619,1.05,232.5,476.0,8.3,805,16620,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1932
$GC,16928,1.05,232.5,451.9,7.7,820,16929,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2097,1932
$GC,17237,1.05,232.5,427.3,7.9,835,17238,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1933
$GC,17546,1.05,232.5,402.3,8.2,850,17551,0.00,2.58,0.00,0.000,4,0.000,0.052,2738,3506,1934
$GC,17608,1.05,232.5,396.7,9.0,853,17613,0.00,2.53,0.00,0.000,6,0.000,0.044,2738,2096,1934
$GC,17933,1.05,232.5,369.9,8.0,869,17934,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2097,1934
$GC,18243,1.05,232.5,345.7,7.6,884,18244,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2097,1934
$GC,18552,1.05,232.5,322.1,7.8,899,18553,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2097,1934
$GC,18862,1.05,232.5,298.5,7.5,914,18863,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2097,1935
$GC,19171,1.05,232.5,275.5,7.5,929,19172,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2097,1934
$GC,19480,1.05,232.5,251.7,7.4,944,19481,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2097,1935
$GC,19789,1.05,232.5,228.9,7.4,959,19790,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2097,1935
$GC,20098,1.05,232.5,205.0,8.4,974,20099,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2097,1935
$GC,20407,1.05,232.5,178.7,8.1,989,20408,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2097,1935
$GC,20717,1.05,232.5,157.1,6.5,1004,20718,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2096,1936
$GC,21027,1.05,232.5,136.7,6.7,1019,21031,0.00,2.58,0.00,0.000,4,0.000,0.049,2738,3511,1936
$GC,21081,1.05,232.5,132.6,8.0,1021,21088,0.00,2.53,0.00,0.000,6,0.000,0.041,2738,2101,1936
$GC,21397,1.05,232.5,111.5,6.5,1037,21398,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2101,1936
$GC,21706,1.05,232.5,87.5,8.2,1052,21707,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2101,1936
$GC,22015,1.05,232.5,65.1,7.2,1067,22016,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2101,1937
$GC,22325,1.05,232.5,41.9,9.0,1082,22326,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2100,1937
$GC,22635,1.05,232.5,13.0,8.9,1097,22637,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1937
$GC,22944,1.30,435.1,3.5,-0.0,1112,23059,0.17,2.70,106.30,0.769,4,0.051,0.065,2786,693,1103
$GC,23170,1.56,645.8,3.5,-0.3,1122,23239,0.17,2.53,62.55,0.746,6,0.048,0.039,2837,2119,603
$STATE,23486,end climb,NO_VERTICAL_VELOCITY
$STATE,23486,begin surface
$SM_CCo,23848,0.65,0.967,0,0,604,558.06
$SM_GC,4.39,0.00,0.00,0.65,0.000,0.000,0.967,34,1891,604,-11.32,-0.20,558.06
$IRIDIUM_FIX,6221.17,-1232.24,221207,141459
$TT8_MAMPS,0.026845
$HUMID,2036
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,700.8,104.0
$24V_AH,23.3,42.229
$10V_AH,10.1,20.154
$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,25.550,92.875,494.050,0.650,0.000,77.239,67.962,253.868,7.750,0.000,0.000,14.132,1949.988,18974.080,651.377,2227.953,621.694,33.361,1758.802,0.000,2199.367,0.000,41.186
$DEVICE_MAMPS,108.914,76.700,1352.221,967.187,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,847.553,769.164,716.533,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56860,1138
$CFSIZE,260165632,247042048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,221207,170808,6242.979,-1231.211,36,0.9,36,-11.6