version: 66.02
glider: 102
mission: 4
dive: 190
start: 12 24 107 1 13 20
data:
$ID,102
$MISSION,4
$DIVE,190
$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,-79744.859
$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,23
$R_STBD_OVSHOOT,29
$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
$GPS1,005008,6254.845,-1246.161,28,1.8,28,-11.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.70
$_SM_ANGLEo,-56.2
$GPS2,011226,6254.789,-1246.107,12,1.2,12,-11.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.071,-0.196
$KALMAN_X,241568.3,-71.9,-388.7,-467005.8,9744.8
$KALMAN_Y,62860.8,-31.3,-13.3,88390.9,10421.8
$MHEAD_RNG_PITCHd_Wd,211.6,18273,-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,-146.6,0.0,0.0,0,44,0.00,0.00,-22.10,0.000,2,0.000,0.000,28,1891,1100
$GC,47,-0.95,-146.6,3.8,-0.0,1,226,11.35,2.58,-158.95,0.000,4,0.114,0.061,2285,3299,3476
$GC,349,-0.95,-146.6,14.3,-7.6,15,353,0.00,2.53,0.00,0.000,6,0.000,0.043,2285,1890,3476
$GC,678,-0.95,-146.6,37.8,-7.5,31,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1890,3476
$GC,985,-0.95,-146.6,60.8,-7.5,46,990,0.00,2.55,0.00,0.000,4,0.000,0.047,2285,3304,3476
$GC,1074,-0.95,-146.6,67.0,-6.6,50,1078,0.00,2.53,0.00,0.000,6,0.000,0.042,2285,1895,3476
$GC,1401,-0.95,-146.6,89.0,-7.0,66,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1895,3476
$GC,1710,-0.95,-146.6,111.2,-7.2,81,1714,0.00,2.55,0.00,0.000,4,0.000,0.048,2285,3308,3476
$GC,1759,-0.95,-146.6,114.8,-7.7,83,1764,0.00,2.53,0.00,0.000,6,0.000,0.042,2285,1897,3476
$GC,2081,-0.95,-146.6,138.5,-7.2,99,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3476
$GC,2390,-0.95,-146.6,159.9,-6.9,114,2394,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3304,3476
$GC,2444,-0.95,-146.6,163.9,-7.1,116,2450,0.00,2.50,0.00,0.000,6,0.000,0.042,2285,1899,3476
$GC,2760,-0.95,-146.6,185.6,-7.1,132,2764,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3304,3476
$GC,2798,-0.95,-146.6,188.5,-7.0,134,2803,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1895,3476
$GC,3124,-0.95,-146.6,213.6,-8.0,150,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1895,3476
$GC,3434,-0.95,-146.6,236.2,-7.1,165,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1895,3476
$GC,3743,-0.95,-146.6,256.9,-6.6,180,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1895,3476
$GC,4053,-0.95,-146.6,276.2,-6.4,195,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1895,3475
$GC,4362,-0.95,-146.6,295.9,-6.5,210,4366,0.00,2.55,0.00,0.000,4,0.000,0.049,2285,3305,3476
$GC,4427,-0.95,-146.6,300.4,-6.7,213,4431,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1898,3476
$GC,4754,-0.95,-146.6,321.4,-6.4,229,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3476
$GC,5063,-0.95,-146.6,341.7,-6.8,244,5067,0.00,2.55,0.00,0.000,4,0.000,0.050,2285,3304,3476
$GC,5112,-0.95,-146.6,345.2,-7.3,246,5117,0.00,2.53,0.00,0.000,6,0.000,0.045,2285,1900,3475
$GC,5433,-0.95,-146.6,367.4,-6.8,262,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,5743,-0.95,-146.6,389.4,-7.3,277,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3475
$GC,6052,-0.95,-146.6,411.8,-7.1,292,6056,0.00,2.55,0.00,0.000,4,0.000,0.051,2285,3308,3475
$GC,6113,-0.95,-146.6,416.4,-7.7,295,6117,0.00,2.53,0.00,0.000,6,0.000,0.046,2285,1902,3475
$GC,6439,-0.95,-146.6,441.4,-8.0,311,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,6748,-0.95,-146.6,461.7,-6.5,326,6752,0.00,2.55,0.00,0.000,4,0.000,0.051,2285,3310,3474
$GC,6791,-0.95,-146.6,464.7,-6.4,328,6795,0.00,2.53,0.00,0.000,6,0.000,0.046,2285,1901,3475
$GC,7117,-0.95,-146.6,484.8,-6.4,344,7121,0.00,2.60,0.00,0.000,4,0.000,0.068,2285,495,3475
$GC,7149,-0.95,-146.6,486.7,-6.4,345,7156,0.00,2.50,0.00,0.000,6,0.000,0.044,2285,1897,3474
$GC,7466,-0.95,-146.6,504.7,-5.5,361,7470,0.00,2.53,0.00,0.000,4,0.000,0.053,2285,3300,3474
$GC,7527,-0.95,-146.6,508.4,-6.2,364,7531,0.00,2.53,0.00,0.000,6,0.000,0.049,2285,1901,3474
$GC,7852,-0.95,-146.6,529.3,-6.7,380,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3474
$GC,8162,-0.95,-146.6,552.6,-7.7,395,8166,0.00,2.55,0.00,0.000,4,0.000,0.054,2285,3301,3474
$GC,8268,-0.95,-146.6,561.2,-8.9,400,8272,0.00,2.55,0.00,0.000,6,0.000,0.049,2285,1895,3474
$GC,8593,-0.95,-146.6,584.8,-6.8,416,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1895,3474
$GC,8903,-0.95,-146.6,603.7,-6.1,431,8904,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1895,3474
$GC,9212,-0.95,-146.6,621.6,-6.4,446,9216,0.00,2.60,0.00,0.000,4,0.000,0.061,2285,3301,3473
$GC,9346,-0.95,-146.6,631.0,-6.7,452,9350,0.00,2.55,0.00,0.000,6,0.000,0.053,2285,1901,3473
$GC,9672,-0.95,-146.6,650.1,-5.1,468,9677,0.00,2.65,0.00,0.000,4,0.000,0.076,2285,491,3473
$GC,9757,-0.95,-146.6,654.3,-5.1,472,9761,0.00,2.50,0.00,0.000,6,0.000,0.052,2285,1896,3473
$GC,10083,-0.95,-146.6,669.1,-4.9,488,10087,0.00,2.60,0.00,0.000,4,0.000,0.063,2285,3304,3472
$GC,10148,-0.95,-146.6,673.1,-6.6,491,10152,0.00,2.58,0.00,0.000,6,0.000,0.059,2285,1904,3472
$GC,10475,-0.95,-146.6,693.8,-6.7,507,10476,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1904,3471
$STATE,10576,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10576,begin apogee
$GC,10581,-0.36,0.0,700.8,6.8,512,10708,0.62,0.00,123.68,1.285,6,0.074,0.000,2421,2098,2878
$STATE,10709,end apogee,CONTROL_FINISHED_OK
$STATE,10709,begin climb
$GC,10711,0.95,146.6,705.2,0.0,518,10842,1.25,2.78,122.82,1.246,4,0.054,0.076,2699,694,2280
$GC,11097,0.97,162.3,690.1,5.5,535,11117,0.00,2.58,14.10,1.243,6,0.000,0.053,2699,2103,2215
$GC,11433,0.97,162.3,668.9,6.5,552,11437,0.00,2.70,0.00,0.000,4,0.000,0.077,2699,690,2214
$GC,11543,0.99,179.5,662.6,5.5,557,11563,0.00,2.55,15.05,1.268,6,0.000,0.054,2699,2101,2147
$GC,11890,0.99,183.3,642.5,5.9,574,11897,0.00,0.00,4.62,1.208,6,0.000,0.000,2699,2101,2130
$GC,12199,0.99,183.3,624.3,6.3,589,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2101,2129
$GC,12509,0.99,183.3,601.3,7.8,604,12513,0.00,2.60,0.00,0.000,4,0.000,0.065,2699,3502,2128
$GC,12574,0.99,183.3,595.6,9.2,607,12578,0.00,2.58,0.00,0.000,6,0.000,0.056,2699,2098,2128
$GC,12900,0.99,183.3,568.9,8.4,623,12905,0.00,2.62,0.00,0.000,4,0.000,0.061,2699,3505,2127
$GC,12955,0.99,183.3,564.2,8.0,625,12962,0.00,2.60,0.00,0.000,6,0.000,0.053,2699,2098,2127
$GC,13271,0.99,183.3,541.4,6.8,641,13275,0.00,2.60,0.00,0.000,4,0.000,0.061,2699,3509,2127
$GC,13302,0.99,183.3,539.1,6.4,642,13309,0.00,2.55,0.00,0.000,6,0.000,0.051,2699,2099,2127
$GC,13618,1.02,207.4,520.5,5.3,658,13644,0.00,2.67,20.30,1.216,4,0.000,0.058,2699,3507,2031
$GC,13682,1.05,232.3,516.9,5.3,661,13711,0.12,2.58,21.67,1.187,6,0.053,0.049,2738,2098,1931
$GC,14028,1.05,232.3,494.6,6.2,678,14032,0.00,2.60,0.00,0.000,4,0.000,0.056,2738,3510,1931
$GC,14048,1.05,232.3,493.0,7.4,679,14052,0.00,2.58,0.00,0.000,6,0.000,0.048,2738,2092,1931
$GC,14375,1.05,232.3,470.6,7.0,695,14379,0.00,2.60,0.00,0.000,4,0.000,0.071,2738,690,1931
$GC,14406,1.05,232.3,468.3,6.6,696,14413,0.00,2.50,0.00,0.000,6,0.000,0.044,2738,2106,1931
$GC,14722,1.05,232.3,445.6,7.5,712,14723,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2106,1931
$GC,15031,1.05,232.3,421.0,8.1,727,15035,0.00,2.55,0.00,0.000,4,0.000,0.054,2738,3504,1932
$GC,15063,1.05,232.3,418.2,8.7,728,15070,0.00,2.53,0.00,0.000,6,0.000,0.047,2738,2098,1932
$GC,15378,1.05,232.3,391.8,8.3,744,15379,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1933
$GC,15688,1.05,232.3,366.1,8.2,759,15689,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1932
$GC,15997,1.05,232.3,341.3,8.0,774,16001,0.00,2.55,0.00,0.000,4,0.000,0.053,2738,3504,1933
$GC,16028,1.05,232.3,338.7,7.7,775,16036,0.00,2.53,0.00,0.000,6,0.000,0.044,2738,2105,1933
$GC,16344,1.05,232.3,315.9,6.8,791,16346,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2105,1933
$GC,16653,1.05,232.3,294.8,6.9,806,16655,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2105,1934
$GC,16963,1.05,232.3,272.7,7.4,821,16964,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2105,1934
$GC,17272,1.05,232.3,249.3,7.6,836,17273,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2105,1934
$GC,17581,1.05,232.3,224.8,7.9,851,17582,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2105,1935
$GC,17891,1.05,232.3,201.3,7.4,866,17892,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2105,1935
$GC,18200,1.05,232.3,178.7,7.0,881,18201,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2106,1935
$GC,18509,1.07,246.5,160.5,5.6,896,18528,0.00,0.00,13.05,0.940,6,0.000,0.000,2738,2105,1873
$GC,18839,1.07,246.5,139.0,6.7,912,18843,0.00,2.55,0.00,0.000,4,0.000,0.049,2738,3503,1873
$GC,18871,1.07,246.5,136.3,7.8,913,18878,0.00,2.50,0.00,0.000,6,0.000,0.042,2738,2098,1873
$GC,19187,1.07,246.5,110.5,8.9,929,19188,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1873
$GC,19496,1.07,246.5,85.3,8.7,944,19500,0.00,2.55,0.00,0.000,4,0.000,0.048,2738,3503,1873
$GC,19522,1.07,246.5,82.9,10.4,945,19526,0.00,2.50,0.00,0.000,6,0.000,0.041,2738,2094,1873
$GC,19844,1.09,265.8,64.5,5.4,961,19864,0.00,0.00,16.58,0.871,6,0.000,0.000,2738,2094,1794
$GC,20174,1.09,265.8,44.1,6.1,977,20175,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2094,1794
$GC,20483,1.09,265.8,19.6,8.7,992,20487,0.00,2.58,0.00,0.000,4,0.000,0.049,2738,3507,1794
$GC,20522,1.09,265.8,16.4,7.5,994,20526,0.00,2.50,0.00,0.000,6,0.000,0.042,2738,2100,1793
$GC,20848,1.35,470.3,3.2,-0.1,1010,20962,0.20,2.65,107.07,0.764,4,0.058,0.061,2791,694,959
$STATE,21082,end climb,NO_VERTICAL_VELOCITY
$STATE,21082,begin surface
$SM_CCo,21085,45.42,0.755,0,0,603,558.06
$SM_GC,3.91,11.90,0.00,0.00,0.028,0.000,0.000,29,1913,603,-11.26,0.34,558.06
$IRIDIUM_FIX,6230.49,-1251.19,241207,050552
$TT8_MAMPS,0.026845
$HUMID,2037
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,18.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,625.0,85.6
$24V_AH,23.3,43.386
$10V_AH,10.1,20.754
$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,25.450,148.500,458.950,45.425,0.000,188.040,179.792,598.439,5.750,0.000,0.000,14.068,1836.478,16918.709,688.321,2243.558,1206.382,33.368,1834.741,0.000,2206.164,0.000,36.284
$DEVICE_MAMPS,114.283,77.467,1285.492,754.728,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,756.646,689.411,658.259,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50470,1021
$CFSIZE,260165632,246640640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,241207,071338,6252.075,-1246.966,30,0.9,30,-11.8