version: 66.02
glider: 102
mission: 4
dive: 188
start: 12 23 107 12 45 12
data:
$ID,102
$MISSION,4
$DIVE,188
$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,-79715.844
$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,31
$R_STBD_OVSHOOT,35
$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
$GPS1,122308,6250.399,-1240.965,32,1.3,32,-11.8
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,3.62
$_SM_ANGLEo,-42.8
$GPS2,124420,6250.488,-1240.620,29,1.2,29,-11.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.201,0.055
$KALMAN_X,234956.0,582.6,-682.3,-455923.1,7591.8
$KALMAN_Y,58139.7,466.7,2382.0,82198.7,-8802.7
$MHEAD_RNG_PITCHd_Wd,297.1,20635,-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,19,begin dive
$GC,21,-0.95,-146.6,0.0,0.0,0,44,0.00,0.00,-21.48,0.000,2,0.000,0.000,27,1885,1079
$GC,47,-0.95,-146.6,3.7,-0.0,1,204,10.95,2.55,-139.82,0.000,4,0.096,0.075,2287,503,3477
$GC,349,-0.95,-146.6,25.6,-10.2,15,353,0.00,2.47,0.00,0.000,6,0.000,0.042,2288,1895,3477
$GC,676,-0.95,-146.6,38.5,-3.9,31,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3477
$GC,985,-0.95,-146.6,63.3,-13.2,46,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3477
$GC,1294,-0.95,-146.6,88.4,-6.3,61,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3477
$GC,1604,-0.95,-146.6,107.4,-7.0,76,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3477
$GC,1913,-0.95,-146.6,128.4,-6.8,91,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3476
$GC,2224,-0.95,-146.6,146.3,-5.0,106,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3476
$GC,2532,-0.95,-146.6,168.8,-9.0,121,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3476
$GC,2841,-0.95,-146.6,190.2,-4.9,136,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3477
$GC,3150,-0.95,-146.6,209.9,-7.6,151,3154,0.00,2.53,0.00,0.000,4,0.000,0.049,2288,3302,3476
$GC,3257,-0.95,-146.6,220.0,-10.0,156,3261,0.00,2.50,0.00,0.000,6,0.000,0.044,2288,1902,3476
$GC,3582,-0.95,-146.6,252.5,-9.1,172,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3476
$GC,3892,-0.95,-146.6,275.3,-7.1,187,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3477
$GC,4201,-0.95,-146.6,294.9,-6.3,202,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3476
$GC,4510,-0.95,-146.6,316.9,-8.0,217,4514,0.00,2.53,0.00,0.000,4,0.000,0.049,2288,3305,3476
$GC,4576,-0.95,-146.6,322.2,-7.6,220,4581,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1895,3476
$GC,4904,-0.95,-146.6,342.2,-5.6,236,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1895,3476
$GC,5213,-0.95,-146.6,359.2,-5.9,251,5217,0.00,2.53,0.00,0.000,4,0.000,0.050,2288,3298,3476
$GC,5279,-0.95,-146.6,363.3,-6.1,254,5283,0.00,2.50,0.00,0.000,6,0.000,0.047,2287,1900,3476
$GC,5605,-0.95,-146.6,383.4,-6.4,270,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3476
$GC,5915,-0.95,-146.6,404.7,-7.3,285,5919,0.00,2.53,0.00,0.000,4,0.000,0.051,2288,3307,3476
$GC,5975,-0.95,-146.6,409.5,-8.0,288,5980,0.00,2.53,0.00,0.000,6,0.000,0.046,2287,1900,3476
$GC,6301,-0.95,-146.6,434.1,-7.6,304,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3476
$GC,6611,-0.95,-146.6,454.3,-5.7,319,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3476
$GC,6920,-0.95,-146.6,470.2,-4.8,334,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3476
$GC,7229,-0.95,-146.6,488.7,-6.7,349,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,7538,-0.95,-146.6,515.1,-8.5,364,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1897,3474
$GC,7848,-0.95,-146.6,537.3,-5.8,379,7852,0.00,2.53,0.00,0.000,4,0.000,0.052,2287,3298,3474
$GC,7932,-0.95,-146.6,541.5,-4.7,383,7936,0.00,2.50,0.00,0.000,6,0.000,0.045,2287,1899,3474
$GC,8257,-0.95,-146.6,558.5,-6.7,399,8261,0.00,2.53,0.00,0.000,4,0.000,0.053,2287,3297,3474
$GC,8334,-0.95,-146.6,564.6,-8.1,402,8340,0.00,2.50,0.00,0.000,6,0.000,0.047,2287,1899,3474
$GC,8650,-0.95,-146.6,587.3,-5.9,418,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3474
$GC,8959,-0.95,-146.6,599.7,-3.8,433,8963,0.00,2.55,0.00,0.000,4,0.000,0.056,2287,3299,3474
$GC,9022,-0.95,-146.6,602.8,-5.3,436,9026,0.00,2.53,0.00,0.000,6,0.000,0.050,2288,1900,3474
$GC,9351,-0.95,-146.6,625.7,-7.4,452,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,9657,-0.95,-146.6,645.3,-5.9,467,9658,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,9966,-0.95,-146.6,661.5,-5.0,482,9970,0.00,2.58,0.00,0.000,4,0.000,0.061,2287,3295,3474
$GC,10054,-0.95,-146.6,666.7,-5.8,486,10058,0.00,2.55,0.00,0.000,6,0.000,0.053,2287,1895,3473
$GC,10381,-0.95,-146.6,688.5,-6.4,502,10382,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1895,3473
$GC,10690,-0.95,-146.6,708.0,-4.5,517,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1895,3472
$STATE,10750,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10750,begin apogee
$GC,10755,-0.36,0.0,712.8,6.9,520,10882,0.60,0.00,123.62,1.291,6,0.071,0.000,2418,2094,2878
$STATE,10883,end apogee,CONTROL_FINISHED_OK
$STATE,10883,begin climb
$GC,10885,0.95,146.6,717.6,0.0,526,11017,1.30,2.75,123.22,1.250,4,0.056,0.074,2702,693,2280
$GC,11105,0.95,146.6,708.6,8.6,537,11110,0.00,2.55,0.00,0.000,6,0.000,0.053,2702,2098,2280
$GC,11433,1.00,190.3,689.2,4.7,553,11473,0.00,0.00,37.35,1.256,6,0.000,0.000,2702,2098,2102
$GC,11782,1.00,190.3,666.0,6.2,570,11783,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2099,2101
$GC,12091,1.02,209.8,648.4,5.4,585,12114,0.00,2.72,16.98,1.273,4,0.000,0.064,2702,3506,2022
$GC,12197,1.02,209.8,641.5,6.8,589,12204,0.00,2.60,0.00,0.000,6,0.000,0.055,2702,2098,2021
$GC,12512,1.02,209.8,620.5,7.0,605,12513,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,2021
$GC,12822,1.02,209.8,599.2,7.0,620,12823,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,2020
$GC,13131,1.02,209.8,579.0,6.2,635,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,2019
$GC,13440,1.06,236.8,561.8,5.2,650,13466,0.10,0.00,22.95,1.240,6,0.059,0.000,2738,2098,1912
$GC,13770,1.06,236.8,535.3,9.4,666,13774,0.00,2.60,0.00,0.000,4,0.000,0.057,2738,3503,1912
$GC,13869,1.06,236.8,524.5,10.8,670,13876,0.00,2.58,0.00,0.000,6,0.000,0.050,2738,2100,1912
$GC,14185,1.06,236.8,496.5,7.5,686,14186,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2099,1912
$GC,14494,1.06,236.8,476.3,6.3,701,14498,0.00,2.58,0.00,0.000,4,0.000,0.054,2738,3507,1912
$GC,14616,1.06,236.8,466.3,8.7,706,14622,0.00,2.53,0.00,0.000,6,0.000,0.046,2738,2098,1912
$GC,14931,1.06,236.8,439.7,8.6,722,14932,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1912
$GC,15240,1.06,236.8,413.5,8.3,737,15242,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1913
$GC,15549,1.06,236.8,389.7,7.5,752,15551,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1913
$GC,15859,1.06,236.8,367.6,7.2,767,15860,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1914
$GC,16168,1.06,236.8,346.2,7.2,782,16169,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1915
$GC,16478,1.06,236.8,324.0,7.2,797,16479,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1915
$GC,16787,1.06,236.8,301.2,7.4,812,16788,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1915
$GC,17096,1.06,236.8,277.3,7.5,827,17097,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1915
$GC,17405,1.06,236.8,257.2,6.3,842,17406,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1916
$GC,17714,1.06,236.8,235.0,7.9,857,17715,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1916
$GC,18024,1.06,236.8,213.0,6.6,872,18025,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1917
$GC,18333,1.06,236.8,191.7,7.1,887,18337,0.00,2.55,0.00,0.000,4,0.000,0.051,2738,3509,1916
$GC,18404,1.06,236.8,186.3,7.3,890,18409,0.00,2.50,0.00,0.000,6,0.000,0.041,2738,2094,1917
$GC,18726,1.06,236.8,164.0,6.9,906,18727,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2094,1917
$GC,19035,1.06,236.8,143.2,6.8,921,19036,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2094,1917
$GC,19344,1.06,236.8,123.2,6.5,936,19345,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2094,1917
$GC,19653,1.06,236.8,101.7,7.3,951,19655,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2094,1918
$GC,19964,1.06,236.8,79.6,6.3,966,19969,0.00,2.55,0.00,0.000,4,0.000,0.049,2738,3502,1918
$GC,20031,1.06,236.8,74.6,6.2,969,20035,0.00,2.47,0.00,0.000,6,0.000,0.041,2738,2098,1918
$GC,20357,1.06,236.8,49.7,8.8,985,20359,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2099,1918
$GC,20669,1.06,236.8,25.0,7.3,1000,20673,0.00,2.55,0.00,0.000,4,0.000,0.048,2738,3510,1917
$GC,20752,1.06,236.8,18.0,7.4,1004,20757,0.00,2.50,0.00,0.000,6,0.000,0.041,2738,2093,1918
$GC,21079,1.32,451.0,3.5,-0.4,1020,21194,0.15,0.00,111.18,0.770,6,0.046,0.000,2792,2085,1039
$STATE,21325,end climb,NO_VERTICAL_VELOCITY
$STATE,21325,begin surface
$SM_CCo,21328,55.12,0.751,0,0,602,558.06
$SM_GC,3.84,11.90,0.00,0.00,0.028,0.000,0.000,28,1898,603,-11.26,-0.06,558.06
$IRIDIUM_FIX,6221.17,-1121.36,231207,161659
$TT8_MAMPS,0.026845
$HUMID,2040
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,675.8,45.7
$24V_AH,23.3,42.996
$10V_AH,10.1,20.555
$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,25.000,82.125,435.300,55.125,0.000,189.649,247.271,446.256,7.000,0.000,0.000,30.536,1795.899,17425.838,657.130,2093.162,1103.627,33.358,1662.535,0.000,2039.810,0.000,45.257
$DEVICE_MAMPS,95.875,75.166,1290.861,750.893,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,761.269,696.994,661.907,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50598,1032
$CFSIZE,260165632,246788096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,231207,184938,6251.765,-1247.182,26,1.5,26,-11.8