version: 66.02
glider: 102
mission: 4
dive: 185
start: 12 22 107 17 15 3
data:
$ID,102
$MISSION,4
$DIVE,185
$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,-79633.812
$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,37
$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
$GPS1,170808,6242.979,-1231.211,36,0.9,36,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.02
$_SM_ANGLEo,-55.5
$GPS2,171409,6242.948,-1231.092,11,0.9,11,-11.6
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.141,0.154
$KALMAN_X,227036.4,-93.5,988.1,-440592.8,-3424.8
$KALMAN_Y,56866.3,-238.0,1775.9,70887.2,-15813.0
$MHEAD_RNG_PITCHd_Wd,329.1,31507,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.95,-146.6,0.0,0.0,0,45,0.00,0.00,-22.20,0.000,2,0.000,0.000,33,1887,1119
$GC,48,-0.95,-146.6,4.1,-0.0,1,213,11.12,2.60,-146.62,0.000,4,0.106,0.076,2283,498,3476
$GC,327,-0.95,-146.6,15.4,-9.0,14,332,0.00,2.47,0.00,0.000,6,0.000,0.041,2283,1898,3476
$GC,654,-0.95,-146.6,43.8,-9.3,30,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1901,3475
$GC,963,-0.95,-146.6,68.3,-7.4,45,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3476
$GC,1272,-0.95,-146.6,90.9,-6.8,60,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3476
$GC,1581,-0.95,-146.6,113.5,-7.4,75,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3476
$GC,1891,-0.95,-146.6,137.4,-8.0,90,1895,0.00,2.53,0.00,0.000,4,0.000,0.048,2283,3298,3476
$GC,1975,-0.95,-146.6,143.8,-7.5,94,1979,0.00,2.50,0.00,0.000,6,0.000,0.043,2283,1905,3476
$GC,2300,-0.95,-146.6,166.6,-6.8,110,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1905,3476
$GC,2610,-0.95,-146.6,185.8,-6.0,125,2614,0.00,2.53,0.00,0.000,4,0.000,0.048,2283,3302,3476
$GC,2671,-0.95,-146.6,189.7,-6.3,128,2675,0.00,2.53,0.00,0.000,6,0.000,0.042,2283,1894,3476
$GC,2997,-0.95,-146.6,208.3,-5.9,144,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1893,3476
$GC,3308,-0.95,-146.6,225.2,-5.3,159,3313,0.00,2.55,0.00,0.000,4,0.000,0.048,2283,3304,3476
$GC,3408,-0.95,-146.6,230.8,-5.3,163,3415,0.00,2.53,0.00,0.000,6,0.000,0.044,2283,1896,3476
$GC,3724,-0.95,-146.6,247.1,-5.4,179,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1895,3476
$GC,4033,-0.95,-146.6,263.8,-5.5,194,4037,0.00,2.55,0.00,0.000,4,0.000,0.049,2283,3305,3476
$GC,4087,-0.95,-146.6,267.2,-6.1,196,4094,0.00,2.53,0.00,0.000,6,0.000,0.044,2283,1897,3476
$GC,4403,-0.95,-146.6,286.1,-6.0,212,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1897,3476
$GC,4712,-0.95,-146.6,305.5,-6.4,227,4716,0.00,2.55,0.00,0.000,4,0.000,0.049,2283,3303,3476
$GC,4800,-0.95,-146.6,311.4,-6.3,231,4804,0.00,2.53,0.00,0.000,6,0.000,0.044,2283,1894,3476
$GC,5127,-0.95,-146.6,333.7,-7.0,247,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1894,3476
$GC,5436,-0.95,-146.6,356.1,-7.3,262,5440,0.00,2.53,0.00,0.000,4,0.000,0.051,2283,3297,3476
$GC,5535,-0.95,-146.6,363.5,-7.4,266,5541,0.00,2.53,0.00,0.000,6,0.000,0.045,2283,1895,3476
$GC,5851,-0.95,-146.6,385.7,-7.0,282,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1896,3476
$GC,6160,-0.95,-146.6,407.0,-6.8,297,6164,0.00,2.55,0.00,0.000,4,0.000,0.051,2283,3301,3476
$GC,6226,-0.95,-146.6,411.8,-7.0,300,6230,0.00,2.53,0.00,0.000,6,0.000,0.046,2283,1899,3476
$GC,6553,-0.95,-146.6,433.5,-6.5,316,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1899,3476
$GC,6862,-0.95,-146.6,453.0,-6.4,331,6866,0.00,2.55,0.00,0.000,4,0.000,0.051,2283,3304,3475
$GC,6939,-0.95,-146.6,458.0,-6.0,334,6945,0.00,2.53,0.00,0.000,6,0.000,0.046,2283,1899,3475
$GC,7254,-0.95,-146.6,477.0,-5.9,350,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3475
$GC,7564,-0.95,-146.6,495.1,-5.6,365,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3475
$GC,7873,-0.95,-146.6,512.2,-5.3,380,7877,0.00,2.53,0.00,0.000,4,0.000,0.051,2283,3300,3474
$GC,7927,-0.95,-146.6,515.4,-6.1,382,7934,0.00,2.53,0.00,0.000,6,0.000,0.045,2283,1893,3474
$GC,8242,-0.95,-146.6,534.5,-6.4,398,8247,0.00,2.55,0.00,0.000,4,0.000,0.053,2283,3304,3474
$GC,8305,-0.95,-146.6,538.8,-7.7,401,8309,0.00,2.53,0.00,0.000,6,0.000,0.047,2283,1900,3474
$GC,8630,-0.95,-146.6,562.0,-7.3,417,8634,0.00,2.55,0.00,0.000,4,0.000,0.054,2284,3298,3474
$GC,8691,-0.95,-146.6,566.7,-7.8,420,8695,0.00,2.53,0.00,0.000,6,0.000,0.048,2283,1900,3474
$GC,9017,-0.95,-146.6,591.7,-8.0,436,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3474
$GC,9326,-0.95,-146.6,616.4,-7.4,451,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3474
$GC,9635,-0.95,-146.6,639.7,-7.6,466,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3474
$GC,9945,-0.95,-146.6,661.0,-6.3,481,9946,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3474
$GC,10254,-0.95,-146.6,680.3,-6.4,496,10255,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3474
$GC,10563,-0.95,-146.6,699.4,-6.2,511,10564,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3473
$GC,10873,-0.95,-146.6,718.5,-6.0,526,10877,0.00,2.55,0.00,0.000,4,0.000,0.061,2283,3294,3473
$GC,10934,-0.95,-146.6,722.4,-6.7,529,10938,0.00,2.55,0.00,0.000,6,0.000,0.054,2283,1901,3473
$GC,11259,-0.95,-146.6,741.9,-6.0,545,11261,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1901,3473
$GC,11568,-0.95,-146.6,761.2,-6.6,560,11569,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1901,3472
$STATE,11794,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11794,begin apogee
$GC,11800,-0.36,0.0,774.2,6.2,571,11927,0.62,0.00,124.28,1.331,6,0.074,0.000,2417,2093,2878
$STATE,11928,end apogee,CONTROL_FINISHED_OK
$STATE,11928,begin climb
$GC,11930,0.95,146.6,776.8,0.0,577,12062,1.25,2.72,123.65,1.284,4,0.051,0.071,2701,3501,2280
$GC,12317,0.97,164.3,768.6,5.5,595,12340,0.00,2.60,15.88,1.298,6,0.000,0.058,2701,2102,2208
$GC,12648,0.98,171.8,750.4,5.8,611,12662,0.00,2.70,7.38,1.275,4,0.000,0.066,2701,3497,2177
$GC,12720,0.98,171.8,745.6,6.4,614,12724,0.00,2.60,0.00,0.000,6,0.000,0.056,2701,2099,2176
$GC,13039,0.98,171.8,725.7,6.6,630,13044,0.00,2.70,0.00,0.000,4,0.000,0.081,2701,687,2176
$GC,13128,0.98,175.5,719.8,5.9,634,13138,0.00,2.55,4.30,1.232,6,0.000,0.054,2701,2096,2162
$GC,13454,0.98,175.5,694.5,8.3,650,13458,0.00,2.65,0.00,0.000,4,0.000,0.066,2702,3509,2161
$GC,13525,0.98,175.5,688.1,9.0,653,13529,0.00,2.60,0.00,0.000,6,0.000,0.056,2701,2096,2160
$GC,13846,0.98,175.5,661.5,8.3,669,13850,0.00,2.67,0.00,0.000,4,0.000,0.079,2701,691,2160
$GC,13952,0.98,175.5,652.5,7.9,674,13956,0.00,2.55,0.00,0.000,6,0.000,0.051,2701,2104,2159
$GC,14277,0.98,175.5,628.9,6.8,690,14278,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2105,2159
$GC,14587,1.00,189.0,609.3,5.6,705,14601,0.00,0.00,11.90,1.282,6,0.000,0.000,2701,2106,2107
$GC,14895,1.08,251.3,595.4,4.1,720,14950,0.12,0.00,52.47,1.235,6,0.048,0.000,2748,2106,1853
$GC,15245,1.08,251.3,569.4,8.3,737,15246,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2107,1853
$GC,15554,1.08,251.3,540.7,9.2,752,15555,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2108,1853
$GC,15863,1.08,251.3,512.7,9.0,767,15864,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2108,1854
$GC,16172,1.08,251.3,486.5,8.3,782,16174,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2109,1855
$GC,16482,1.08,251.3,461.6,7.9,797,16483,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2109,1855
$GC,16791,1.08,251.3,438.1,7.4,812,16792,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2109,1855
$GC,17100,1.08,251.3,415.7,7.1,827,17101,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2109,1856
$GC,17410,1.08,251.3,393.5,7.1,842,17411,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2109,1857
$GC,17719,1.08,251.3,371.5,7.1,857,17720,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2109,1857
$GC,18028,1.08,251.3,348.9,7.3,872,18029,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2109,1858
$GC,18338,1.08,251.3,325.6,8.1,887,18339,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2109,1858
$GC,18647,1.08,251.3,301.0,8.0,902,18648,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2109,1858
$GC,18956,1.08,251.3,275.9,8.2,917,18957,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2109,1858
$GC,19265,1.08,251.3,250.1,8.4,932,19266,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2109,1859
$GC,19574,1.08,251.3,226.0,7.5,947,19575,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2109,1859
$GC,19884,1.08,251.3,202.5,7.7,962,19885,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2109,1859
$GC,20193,1.08,251.3,178.7,7.4,977,20194,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2109,1859
$GC,20502,1.08,251.3,154.8,8.4,992,20503,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2109,1859
$GC,20812,1.08,251.3,130.4,8.0,1007,20813,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2108,1859
$GC,21121,1.08,251.3,107.1,7.8,1022,21122,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2108,1860
$GC,21431,1.08,251.3,79.0,10.8,1037,21432,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2109,1860
$GC,21740,1.08,251.3,55.1,6.5,1052,21741,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2108,1860
$GC,22051,1.09,259.8,34.1,5.7,1067,22062,0.00,0.00,9.27,0.869,6,0.000,0.000,2748,2108,1819
$GC,22360,1.09,259.8,8.2,6.6,1082,22361,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2108,1819
$GC,22668,1.34,466.1,3.4,-0.2,1097,22779,0.17,0.00,108.05,0.765,6,0.051,0.000,2794,2111,977
$STATE,22804,end climb,NO_VERTICAL_VELOCITY
$STATE,22804,begin surface
$SM_CCo,22807,48.28,0.744,0,0,602,558.06
$SM_GC,4.20,11.98,0.00,0.00,0.031,0.000,0.000,32,1883,601,-11.27,-0.48,558.30
$IRIDIUM_FIX,6216.53,-1226.64,221207,141423
$TT8_MAMPS,0.026845
$HUMID,2054
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.60
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,675.1,108.3
$24V_AH,23.3,42.402
$10V_AH,10.1,20.253
$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,25.275,92.975,457.175,48.275,0.000,39.685,39.107,174.059,7.250,0.000,0.000,13.321,1925.377,18344.525,670.359,2231.799,464.429,33.355,1766.900,0.000,2203.863,0.000,39.592
$DEVICE_MAMPS,105.846,80.535,1330.745,743.990,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,817.192,746.039,663.508,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56769,1104
$CFSIZE,260165632,246976512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,221207,234408,6245.089,-1232.230,34,0.9,34,-11.6