version: 66.02
glider: 102
mission: 4
dive: 187
start: 12 23 107 6 27 8
data:
$ID,102
$MISSION,4
$DIVE,187
$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,-79684.672
$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,30
$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
$GPS1,061627,6246.469,-1240.584,24,2.1,43,-11.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.66
$_SM_ANGLEo,-49.5
$GPS2,062616,6246.591,-1240.307,13,2.2,32,-11.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.139,0.156
$KALMAN_X,231050.9,-1032.7,325.0,-451107.8,296.0
$KALMAN_Y,54132.5,178.8,3460.1,78213.4,-18361.1
$MHEAD_RNG_PITCHd_Wd,329.9,21814,-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,-21.95,0.000,2,0.000,0.000,27,1882,1094
$GC,48,-0.95,-146.6,3.7,-0.0,1,206,11.35,2.60,-138.48,0.000,4,0.114,0.077,2284,505,3477
$GC,329,-0.95,-146.6,25.4,-9.5,14,334,0.00,2.50,0.00,0.000,6,0.000,0.041,2284,1904,3476
$GC,658,-0.95,-146.6,41.2,-6.3,30,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1907,3476
$GC,966,-0.95,-146.6,57.1,-5.7,45,971,0.00,2.62,0.00,0.000,4,0.000,0.066,2284,496,3476
$GC,1021,-0.95,-146.6,62.3,-9.9,47,1028,0.00,2.50,0.00,0.000,6,0.000,0.041,2284,1905,3476
$GC,1337,-0.95,-146.6,93.8,-11.2,63,1341,0.00,2.50,0.00,0.000,4,0.000,0.048,2284,3297,3476
$GC,1421,-0.95,-146.6,102.5,-8.2,67,1425,0.00,2.53,0.00,0.000,6,0.000,0.047,2284,1901,3476
$GC,1746,-0.95,-146.6,129.9,-8.8,83,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3476
$GC,2056,-0.95,-146.6,155.6,-7.5,98,2060,0.00,2.53,0.00,0.000,4,0.000,0.048,2284,3298,3476
$GC,2088,-0.95,-146.6,157.9,-6.6,99,2094,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1892,3476
$GC,2403,-0.95,-146.6,180.8,-6.5,115,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1892,3476
$GC,2713,-0.95,-146.6,201.4,-6.8,130,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1892,3476
$GC,3022,-0.95,-146.6,219.9,-5.5,145,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1892,3476
$GC,3331,-0.95,-146.6,238.7,-6.5,160,3335,0.00,2.55,0.00,0.000,4,0.000,0.048,2284,3301,3476
$GC,3385,-0.95,-146.6,242.5,-6.7,162,3392,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1896,3476
$GC,3701,-0.95,-146.6,266.3,-7.9,178,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1896,3476
$GC,4010,-0.95,-146.6,287.5,-6.0,193,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3476
$GC,4319,-0.95,-146.6,304.9,-6.2,208,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1896,3476
$GC,4628,-0.95,-146.6,324.5,-6.6,223,4633,0.00,2.53,0.00,0.000,4,0.000,0.049,2284,3295,3476
$GC,4694,-0.95,-146.6,329.1,-6.6,226,4699,0.00,2.53,0.00,0.000,6,0.000,0.045,2284,1894,3475
$GC,5024,-0.95,-146.6,351.1,-7.1,242,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1894,3476
$GC,5330,-0.95,-146.6,373.6,-7.3,257,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1894,3475
$GC,5640,-0.95,-146.6,396.1,-7.2,272,5644,0.00,2.55,0.00,0.000,4,0.000,0.051,2283,3295,3476
$GC,5705,-0.95,-146.6,400.9,-7.2,275,5709,0.00,2.53,0.00,0.000,6,0.000,0.046,2284,1897,3475
$GC,6032,-0.95,-146.6,422.4,-6.5,291,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3475
$GC,6342,-0.95,-146.6,442.8,-6.7,306,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3475
$GC,6651,-0.95,-146.6,464.3,-7.1,321,6655,0.00,2.53,0.00,0.000,4,0.000,0.052,2284,3293,3475
$GC,6734,-0.95,-146.6,470.5,-7.4,325,6738,0.00,2.53,0.00,0.000,6,0.000,0.048,2284,1895,3475
$GC,7060,-0.95,-146.6,493.7,-6.7,341,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1895,3475
$GC,7369,-0.95,-146.6,513.3,-6.1,356,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1893,3475
$GC,7678,-0.95,-146.6,531.7,-6.1,371,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1892,3474
$GC,7989,-0.95,-146.6,550.7,-6.3,386,7993,0.00,2.55,0.00,0.000,4,0.000,0.054,2284,3295,3474
$GC,8076,-0.95,-146.6,556.5,-6.4,390,8081,0.00,2.53,0.00,0.000,6,0.000,0.048,2284,1896,3474
$GC,8404,-0.95,-146.6,577.1,-6.5,406,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1895,3474
$GC,8714,-0.95,-146.6,594.6,-5.1,421,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1896,3474
$GC,9023,-0.95,-146.6,608.3,-4.4,436,9024,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1895,3474
$GC,9331,-0.95,-146.6,629.1,-7.8,451,9336,0.00,2.58,0.00,0.000,4,0.000,0.060,2284,3295,3475
$GC,9386,-0.95,-146.6,633.7,-8.3,453,9393,0.00,2.53,0.00,0.000,6,0.000,0.051,2284,1902,3474
$GC,9702,-0.95,-146.6,658.8,-7.8,469,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3474
$GC,10011,-0.95,-146.6,676.5,-5.4,484,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3474
$GC,10320,-0.95,-146.6,694.5,-6.8,499,10325,0.00,2.62,0.00,0.000,4,0.000,0.075,2284,495,3474
$GC,10375,-0.95,-146.6,698.1,-6.4,501,10382,0.00,2.50,0.00,0.000,6,0.000,0.053,2284,1896,3473
$STATE,10669,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10669,begin apogee
$GC,10674,-0.36,0.0,717.6,7.1,516,10801,0.62,0.00,123.53,1.289,6,0.077,0.000,2417,2102,2878
$STATE,10801,end apogee,CONTROL_FINISHED_OK
$STATE,10801,begin climb
$GC,10803,0.95,146.6,721.6,0.0,522,10935,1.27,2.72,122.88,1.246,4,0.044,0.068,2709,3497,2280
$GC,11142,0.95,146.6,706.3,7.7,538,11147,0.00,2.58,0.00,0.000,6,0.000,0.056,2709,2098,2280
$GC,11463,0.95,146.6,687.0,6.4,554,11464,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2098,2279
$GC,11773,0.95,152.0,668.8,5.8,569,11783,0.00,2.70,5.38,1.220,4,0.000,0.077,2709,692,2257
$GC,11879,0.96,154.3,662.2,5.9,574,11888,0.00,2.55,3.30,1.144,6,0.000,0.053,2709,2101,2248
$GC,12210,0.99,182.3,643.5,5.2,590,12240,0.00,2.70,24.08,1.274,4,0.000,0.066,2709,3500,2134
$GC,12348,0.99,182.3,635.0,6.8,596,12352,0.00,2.60,0.00,0.000,6,0.000,0.055,2709,2098,2133
$GC,12667,0.99,182.3,610.4,8.6,612,12669,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2098,2133
$GC,12977,0.99,182.3,586.7,7.6,627,12978,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2098,2133
$GC,13286,1.00,185.8,566.7,5.9,642,13295,0.00,2.67,3.85,1.172,4,0.000,0.072,2709,690,2120
$GC,13376,1.00,185.8,561.1,6.4,646,13380,0.00,2.53,0.00,0.000,6,0.000,0.048,2709,2103,2120
$GC,13701,1.04,221.8,544.2,4.9,662,13734,0.00,0.00,30.75,1.210,6,0.000,0.000,2709,2104,1973
$GC,14030,1.04,221.8,523.8,6.9,678,14031,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2105,1973
$GC,14340,1.04,221.8,499.8,7.8,693,14341,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2106,1973
$GC,14649,1.04,221.8,476.2,7.3,708,14653,0.00,2.65,0.00,0.000,4,0.000,0.067,2709,686,1973
$GC,14714,1.04,221.8,471.1,7.4,711,14718,0.00,2.50,0.00,0.000,6,0.000,0.044,2709,2103,1973
$GC,15041,1.04,221.8,449.2,6.6,727,15042,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2104,1974
$GC,15350,1.05,230.5,431.3,5.7,742,15360,0.00,0.00,8.52,1.118,6,0.000,0.000,2709,2105,1938
$GC,15659,1.06,239.5,413.8,5.7,757,15670,0.00,0.00,8.75,1.100,6,0.000,0.000,2709,2106,1901
$GC,15969,1.06,239.5,392.8,7.1,772,15973,0.00,2.65,0.00,0.000,4,0.000,0.064,2709,685,1901
$GC,16023,1.06,239.5,388.9,7.4,774,16029,0.00,2.50,0.00,0.000,6,0.000,0.042,2709,2103,1901
$GC,16339,1.06,239.5,365.8,7.4,790,16340,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2107,1901
$GC,16648,1.06,239.5,344.8,6.2,805,16649,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2107,1902
$GC,16957,1.06,239.5,325.6,6.4,820,16961,0.00,2.65,0.00,0.000,4,0.000,0.064,2709,685,1902
$GC,17022,1.11,275.6,321.3,4.9,823,17060,0.12,2.50,29.92,1.023,6,0.048,0.041,2755,2115,1754
$GC,17371,1.11,275.6,294.8,7.4,840,17372,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2114,1754
$GC,17677,1.11,275.6,264.6,10.6,855,17678,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2115,1754
$GC,17987,1.11,275.6,237.8,8.2,870,17988,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2114,1754
$GC,18295,1.11,275.6,211.3,9.4,885,18300,0.00,2.65,0.00,0.000,4,0.000,0.062,2755,685,1754
$GC,18344,1.11,275.6,206.6,9.9,887,18348,0.00,2.50,0.00,0.000,6,0.000,0.040,2756,2102,1754
$GC,18665,1.11,275.6,181.1,7.6,903,18666,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2106,1755
$GC,18974,1.11,275.6,153.3,9.4,918,18975,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2106,1755
$GC,19284,1.11,275.6,133.8,6.9,933,19289,0.00,2.53,0.00,0.000,4,0.000,0.050,2755,3502,1755
$GC,19392,1.34,469.4,128.4,0.2,938,19551,0.15,2.50,150.02,0.850,6,0.048,0.041,2799,2092,963
$GC,19866,1.34,469.4,63.9,16.2,961,19871,0.00,2.60,0.00,0.000,4,0.000,0.066,2799,697,963
$GC,19938,1.34,469.4,52.1,16.3,964,19942,0.00,2.47,0.00,0.000,6,0.000,0.041,2799,2105,963
$GC,20261,1.34,469.4,12.5,11.4,980,20265,0.00,2.65,0.00,0.000,4,0.000,0.065,2799,692,963
$GC,20517,1.56,641.3,3.1,0.9,991,20577,0.12,2.50,53.03,0.774,6,0.086,0.039,2827,2103,602
$STATE,20871,end climb,NO_VERTICAL_VELOCITY
$STATE,20871,begin surface
$SM_CCo,21294,0.00,0.000,0,0,603,558.06
$SM_GC,3.87,12.05,0.00,0.00,0.029,0.000,0.000,28,1893,603,-11.27,-0.20,558.06
$IRIDIUM_FIX,6221.17,-1224.08,231207,101030
$TT8_MAMPS,0.026845
$HUMID,2051
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.70
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,701.1,26.0
$24V_AH,22.9,42.801
$10V_AH,10.1,20.453
$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,25.700,113.475,564.000,0.000,0.000,75.947,75.537,244.300,8.000,0.000,0.000,34.931,1794.620,16572.723,687.372,2221.181,604.491,33.359,1805.042,0.000,2156.560,0.000,43.790
$DEVICE_MAMPS,114.283,77.467,1289.327,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,744.108,681.499,598.651,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50557,1009
$CFSIZE,260165632,246849536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,231207,122308,6250.399,-1240.965,32,1.3,32,-11.8