version: 66.02
glider: 102
mission: 4
dive: 186
start: 12 23 107 0 2 20
data:
$ID,102
$MISSION,4
$DIVE,186
$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,-79649.109
$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,26
$R_STBD_OVSHOOT,22
$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
$GPS1,234408,6245.089,-1232.230,34,0.9,34,-11.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.05
$_SM_ANGLEo,-50.1
$GPS2,000126,6245.078,-1232.276,13,1.6,13,-11.6
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.171,0.120
$KALMAN_X,231118.8,705.3,170.7,-445714.8,2180.0
$KALMAN_Y,55373.9,1345.5,1460.4,74994.3,-12732.3
$MHEAD_RNG_PITCHd_Wd,316.8,29134,-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,-21.20,0.000,2,0.000,0.000,30,1881,1094
$GC,46,-0.95,-146.6,4.1,-0.0,1,211,11.20,2.55,-145.52,0.000,4,0.108,0.074,2286,499,3476
$GC,464,-0.95,-146.6,26.5,-6.5,20,469,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1919,3476
$GC,791,-0.95,-146.6,56.2,-11.8,36,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1924,3476
$GC,1101,-0.95,-146.6,83.4,-9.1,51,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1924,3476
$GC,1410,-0.95,-146.6,104.8,-6.4,66,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1924,3476
$GC,1719,-0.95,-146.6,128.1,-8.4,81,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1924,3476
$GC,2028,-0.95,-146.6,154.6,-8.1,96,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1924,3476
$GC,2339,-0.95,-146.6,176.2,-7.0,111,2343,0.00,2.47,0.00,0.000,4,0.000,0.049,2286,3295,3476
$GC,2389,-0.95,-146.6,179.7,-7.2,113,2394,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1898,3476
$GC,2710,-0.95,-146.6,201.0,-6.5,129,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3476
$GC,3019,-0.95,-146.6,223.4,-7.6,144,3023,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3298,3476
$GC,3096,-0.95,-146.6,229.5,-7.3,147,3102,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1901,3476
$GC,3411,-0.95,-146.6,253.5,-7.9,163,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,3722,-0.95,-146.6,275.9,-7.0,178,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,4030,-0.95,-146.6,297.1,-6.8,193,4034,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3299,3476
$GC,4117,-0.95,-146.6,303.3,-6.7,197,4122,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1901,3476
$GC,4445,-0.95,-146.6,325.6,-6.7,213,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,4753,-0.95,-146.6,346.9,-6.9,228,4758,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3298,3476
$GC,4825,-0.95,-146.6,352.1,-7.7,231,4830,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1902,3476
$GC,5147,-0.95,-146.6,375.7,-7.6,247,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,5455,-0.95,-146.6,399.2,-7.8,262,5460,0.00,2.53,0.00,0.000,4,0.000,0.050,2286,3302,3476
$GC,5540,-0.95,-146.6,405.6,-7.7,266,5544,0.00,2.50,0.00,0.000,6,0.000,0.046,2286,1902,3476
$GC,5865,-0.95,-146.6,431.0,-7.9,282,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3475
$GC,6174,-0.95,-146.6,455.5,-7.9,297,6179,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3297,3475
$GC,6276,-0.95,-146.6,463.7,-8.3,301,6282,0.00,2.53,0.00,0.000,6,0.000,0.046,2286,1891,3475
$GC,6590,-0.95,-146.6,487.5,-7.2,317,6595,0.00,2.55,0.00,0.000,4,0.000,0.051,2286,3296,3475
$GC,6645,-0.95,-146.6,491.9,-8.1,319,6652,0.00,2.55,0.00,0.000,6,0.000,0.047,2286,1901,3475
$GC,6961,-0.95,-146.6,514.9,-7.2,335,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3474
$GC,7270,-0.95,-146.6,537.3,-7.3,350,7274,0.00,2.55,0.00,0.000,4,0.000,0.053,2286,3303,3474
$GC,7346,-0.95,-146.6,543.1,-7.7,353,7353,0.00,2.55,0.00,0.000,6,0.000,0.048,2286,1893,3474
$GC,7662,-0.95,-146.6,563.7,-6.3,369,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1893,3474
$GC,7972,-0.95,-146.6,581.8,-5.7,384,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1893,3474
$GC,8281,-0.95,-146.6,601.3,-6.5,399,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1893,3474
$GC,8590,-0.95,-146.6,621.1,-6.1,414,8594,0.00,2.58,0.00,0.000,4,0.000,0.057,2286,3295,3474
$GC,8689,-0.95,-146.6,628.0,-7.1,418,8696,0.00,2.53,0.00,0.000,6,0.000,0.049,2286,1901,3474
$GC,9006,-0.95,-146.6,646.8,-5.5,434,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3474
$GC,9314,-0.95,-146.6,663.1,-5.5,449,9318,0.00,2.58,0.00,0.000,4,0.000,0.058,2287,3301,3474
$GC,9385,-0.95,-146.6,667.8,-6.5,452,9389,0.00,2.55,0.00,0.000,6,0.000,0.051,2286,1900,3473
$GC,9706,-0.95,-146.6,688.9,-6.8,468,9708,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3473
$GC,10016,-0.95,-146.6,707.3,-5.4,483,10017,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3473
$GC,10325,-0.95,-146.6,724.6,-6.0,498,10326,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3473
$GC,10635,-0.95,-146.6,742.3,-5.5,513,10639,0.00,2.60,0.00,0.000,4,0.000,0.064,2286,3299,3472
$GC,10696,-0.95,-146.6,746.6,-7.5,516,10700,0.00,2.58,0.00,0.000,6,0.000,0.057,2286,1899,3472
$STATE,10896,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10896,begin apogee
$GC,10902,-0.36,0.0,760.3,6.6,526,11029,0.60,0.00,124.15,1.317,6,0.076,0.000,2415,2092,2878
$STATE,11030,end apogee,CONTROL_FINISHED_OK
$STATE,11030,begin climb
$GC,11032,0.95,146.6,764.7,0.0,532,11160,1.27,0.00,123.03,1.293,6,0.054,0.000,2700,2092,2280
$GC,11469,0.98,171.1,748.3,5.3,554,11497,0.00,2.75,21.40,1.305,4,0.000,0.067,2699,3500,2179
$GC,11578,0.98,171.1,741.9,6.1,559,11582,0.00,2.60,0.00,0.000,6,0.000,0.057,2700,2101,2179
$GC,11903,0.99,180.4,722.7,5.7,575,11913,0.00,0.00,8.62,1.306,6,0.000,0.000,2699,2101,2142
$GC,12213,1.00,193.4,705.6,5.6,590,12234,0.00,2.72,11.95,1.328,4,0.000,0.064,2700,3500,2089
$GC,12340,1.00,193.4,697.1,6.4,595,12347,0.00,2.60,0.00,0.000,6,0.000,0.057,2700,2108,2088
$GC,12656,1.00,193.4,676.9,6.0,611,12661,0.00,2.70,0.00,0.000,4,0.000,0.078,2700,691,2088
$GC,12735,1.02,202.7,672.1,5.7,614,12749,0.00,2.55,8.65,1.325,6,0.000,0.052,2699,2099,2051
$GC,13072,1.02,202.7,650.9,6.7,631,13076,0.00,2.60,0.00,0.000,4,0.000,0.063,2699,3502,2050
$GC,13133,1.02,202.7,646.2,8.5,634,13137,0.00,2.58,0.00,0.000,6,0.000,0.055,2700,2099,2050
$GC,13458,1.05,233.4,626.0,5.1,650,13487,0.12,0.00,26.17,1.298,6,0.050,0.000,2740,2099,1926
$GC,13788,1.05,233.4,603.0,8.2,666,13789,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2099,1926
$GC,14097,1.05,233.4,573.3,9.4,681,14098,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2099,1926
$GC,14406,1.05,233.4,548.9,7.2,696,14407,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2100,1926
$GC,14716,1.05,233.4,523.0,8.8,711,14717,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2099,1927
$GC,15025,1.05,233.4,495.2,8.9,726,15026,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2099,1927
$GC,15334,1.05,233.4,468.4,8.4,741,15335,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2099,1928
$GC,15643,1.05,233.4,443.4,8.1,756,15647,0.00,2.55,0.00,0.000,4,0.000,0.052,2741,3507,1929
$GC,15720,1.05,233.4,436.9,8.0,759,15727,0.00,2.53,0.00,0.000,6,0.000,0.044,2741,2095,1929
$GC,16035,1.05,233.4,409.4,9.2,775,16036,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2095,1929
$GC,16345,1.05,233.4,380.2,9.3,790,16346,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2095,1930
$GC,16654,1.05,233.4,353.2,8.2,805,16655,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2095,1930
$GC,16963,1.05,233.4,329.3,7.2,820,16964,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2095,1930
$GC,17272,1.05,233.4,307.9,6.6,835,17273,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2095,1930
$GC,17582,1.05,233.4,285.5,7.2,850,17583,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2095,1931
$GC,17891,1.05,233.4,262.6,7.6,865,17892,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2095,1931
$GC,18200,1.05,233.4,236.3,8.7,880,18201,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2095,1931
$GC,18510,1.05,233.4,211.7,7.8,895,18511,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2094,1931
$GC,18819,1.05,233.4,188.3,7.5,910,18820,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2094,1931
$GC,19128,1.05,233.4,167.5,6.1,925,19129,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2094,1932
$GC,19438,1.05,233.4,148.3,6.5,940,19439,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2094,1932
$GC,19749,1.14,300.3,130.8,4.0,955,19808,0.00,0.00,54.40,0.892,6,0.000,0.000,2741,2094,1652
$GC,20118,1.25,393.5,108.6,3.2,973,20197,0.12,0.00,72.50,0.847,6,0.048,0.000,2783,2094,1272
$GC,20507,1.25,393.5,71.3,12.2,992,20512,0.00,2.58,0.00,0.000,4,0.000,0.063,2783,692,1272
$GC,20592,1.25,393.5,61.6,9.6,996,20596,0.00,2.53,0.00,0.000,6,0.000,0.039,2783,2116,1272
$GC,20918,1.25,393.5,27.9,11.6,1012,20922,0.00,2.65,0.00,0.000,4,0.000,0.061,2783,692,1272
$GC,20988,1.25,393.5,20.8,8.1,1015,20993,0.00,2.47,0.00,0.000,6,0.000,0.039,2783,2107,1272
$GC,21312,1.50,593.4,3.2,0.0,1031,21408,0.15,2.70,89.45,0.763,4,0.061,0.061,2822,698,602
$GC,21662,1.71,763.3,3.1,0.9,1047,21669,0.22,2.47,1.02,0.867,6,0.106,0.040,2863,2101,603
$STATE,21947,end climb,NO_VERTICAL_VELOCITY
$STATE,21947,begin surface
$SM_CCo,22369,0.00,0.000,0,0,602,558.30
$SM_GC,3.68,12.23,0.00,0.00,0.031,0.000,0.000,27,1883,602,-11.27,-0.48,558.30
$IRIDIUM_FIX,6216.53,-1323.55,231207,030336
$TT8_MAMPS,0.026078
$HUMID,2029
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.60
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,725.8,44.4
$24V_AH,23.3,42.606
$10V_AH,10.1,20.357
$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,25.925,103.075,541.350,0.000,0.000,148.273,424.634,176.251,8.750,0.000,0.000,14.661,1863.070,17620.746,709.524,2251.881,961.550,33.356,1821.294,0.000,2214.656,0.000,45.573
$DEVICE_MAMPS,108.147,78.234,1327.677,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,779.955,716.297,660.451,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53750,1061
$CFSIZE,260165632,246910976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,231207,061627,6246.469,-1240.584,24,2.1,43,-11.7