version: 66.02
glider: 102
mission: 4
dive: 191
start: 12 24 107 7 23 39
data:
$ID,102
$MISSION,4
$DIVE,191
$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,-79758.672
$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,23
$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
$GPS1,071338,6252.075,-1246.966,30,0.9,30,-11.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.75
$_SM_ANGLEo,-51.0
$GPS2,072245,6252.072,-1246.743,11,1.3,11,-11.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,0.015
$KALMAN_X,246474.2,-199.0,-3553.4,-469176.3,7651.7
$KALMAN_Y,61869.9,-193.8,2413.7,82094.3,-297.2
$MHEAD_RNG_PITCHd_Wd,285.8,15907,-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,-146.6,0.0,0.0,0,26,0.00,0.00,-4.28,0.000,2,0.000,0.000,28,1912,705
$GC,29,-0.95,-146.6,3.7,-0.0,0,226,11.15,0.00,-181.70,0.000,6,0.105,0.000,2288,1914,3475
$GC,534,-0.95,-146.6,26.8,-7.0,25,539,0.00,2.50,0.00,0.000,4,0.000,0.048,2288,3300,3476
$GC,584,-0.95,-146.6,31.1,-7.2,27,588,0.00,2.53,0.00,0.000,6,0.000,0.045,2288,1897,3476
$GC,905,-0.95,-146.6,54.8,-7.8,43,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1897,3476
$GC,1215,-0.95,-146.6,80.0,-8.3,58,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3476
$GC,1524,-0.95,-146.6,105.2,-6.2,73,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1897,3476
$GC,1833,-0.95,-146.6,131.7,-8.1,88,1837,0.00,2.53,0.00,0.000,4,0.000,0.047,2288,3302,3476
$GC,1927,-0.95,-146.6,139.8,-8.7,92,1931,0.00,2.50,0.00,0.000,6,0.000,0.044,2288,1898,3475
$GC,2248,-0.95,-146.6,162.3,-5.6,108,2252,0.00,2.53,0.00,0.000,4,0.000,0.048,2288,3304,3476
$GC,2320,-0.95,-146.6,167.6,-8.0,111,2324,0.00,2.50,0.00,0.000,6,0.000,0.043,2287,1901,3476
$GC,2641,-0.95,-146.6,194.1,-8.3,127,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,2950,-0.95,-146.6,216.1,-6.0,142,2955,0.00,2.53,0.00,0.000,4,0.000,0.048,2288,3304,3476
$GC,3016,-0.95,-146.6,220.1,-6.2,145,3021,0.00,2.50,0.00,0.000,6,0.000,0.043,2288,1901,3475
$GC,3343,-0.95,-146.6,238.3,-6.0,161,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,3653,-0.95,-146.6,256.6,-5.7,176,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,3964,-0.95,-146.6,276.3,-6.7,191,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,4272,-0.95,-146.6,299.1,-7.8,206,4276,0.00,2.53,0.00,0.000,4,0.000,0.048,2288,3302,3476
$GC,4355,-0.95,-146.6,306.0,-8.4,210,4359,0.00,2.50,0.00,0.000,6,0.000,0.044,2288,1900,3476
$GC,4681,-0.95,-146.6,330.9,-7.4,226,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3476
$GC,4991,-0.95,-146.6,352.7,-7.3,241,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3476
$GC,5303,-0.95,-146.6,375.4,-7.1,256,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3476
$GC,5610,-0.95,-146.6,395.0,-6.1,271,5614,0.00,2.53,0.00,0.000,4,0.000,0.050,2288,3295,3476
$GC,5664,-0.95,-146.6,398.6,-7.0,273,5670,0.00,2.50,0.00,0.000,6,0.000,0.045,2288,1902,3475
$GC,5979,-0.95,-146.6,419.8,-7.2,289,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3475
$GC,6288,-0.95,-146.6,441.2,-6.7,304,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3475
$GC,6598,-0.95,-146.6,460.8,-6.4,319,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3475
$GC,6908,-0.95,-146.6,479.7,-5.8,334,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3475
$GC,7216,-0.95,-146.6,499.9,-6.7,349,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3474
$GC,7526,-0.95,-146.6,519.9,-6.1,364,7530,0.00,2.53,0.00,0.000,4,0.000,0.052,2288,3295,3473
$GC,7598,-0.95,-146.6,524.2,-5.7,367,7602,0.00,2.47,0.00,0.000,6,0.000,0.046,2287,1900,3473
$GC,7918,-0.95,-146.6,542.9,-6.0,383,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3473
$GC,8228,-0.95,-146.6,564.5,-7.5,398,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3473
$GC,8537,-0.95,-146.6,583.2,-4.8,413,8541,0.00,2.55,0.00,0.000,4,0.000,0.057,2287,3301,3473
$GC,8614,-0.95,-146.6,587.1,-4.9,416,8621,0.00,2.53,0.00,0.000,6,0.000,0.049,2287,1901,3473
$GC,8930,-0.95,-146.6,603.4,-5.8,432,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3473
$GC,9238,-0.95,-146.6,622.0,-6.4,447,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3473
$GC,9548,-0.95,-146.6,643.0,-7.3,462,9552,0.00,2.55,0.00,0.000,4,0.000,0.061,2288,3294,3473
$GC,9596,-0.95,-146.6,646.8,-7.9,464,9601,0.00,2.53,0.00,0.000,6,0.000,0.051,2287,1897,3473
$GC,9918,-0.95,-146.6,666.4,-5.5,480,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3472
$GC,10227,-0.95,-146.6,685.3,-6.8,495,10228,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3472
$STATE,10514,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10514,begin apogee
$GC,10519,-0.36,0.0,703.3,6.5,509,10646,0.60,0.00,123.82,1.287,6,0.068,0.000,2419,2091,2878
$STATE,10647,end apogee,CONTROL_FINISHED_OK
$STATE,10647,begin climb
$GC,10649,0.95,146.6,707.4,0.0,515,10777,1.30,0.00,123.60,1.247,6,0.053,0.000,2706,2091,2280
$GC,11086,0.95,148.4,686.8,5.9,537,11087,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2091,2279
$GC,11394,0.97,163.9,668.9,5.5,552,11415,0.00,0.00,15.40,1.272,6,0.000,0.000,2706,2091,2208
$GC,11724,0.97,165.7,649.1,5.9,568,11728,0.00,2.62,0.00,0.000,4,0.000,0.066,2706,3499,2208
$GC,11913,1.01,193.6,637.8,5.2,576,11944,0.00,2.58,25.48,1.285,6,0.000,0.056,2706,2098,2088
$GC,12264,1.01,193.6,616.2,6.5,594,12269,0.00,2.62,0.00,0.000,4,0.000,0.063,2706,3501,2087
$GC,12330,1.01,193.6,611.2,7.2,597,12335,0.00,2.58,0.00,0.000,6,0.000,0.054,2706,2097,2086
$GC,12657,1.01,193.6,587.6,8.1,613,12658,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2097,2086
$GC,12966,1.01,193.6,562.6,8.0,628,12970,0.00,2.60,0.00,0.000,4,0.000,0.061,2706,3505,2085
$GC,13122,1.01,193.6,550.6,7.4,635,13126,0.00,2.55,0.00,0.000,6,0.000,0.051,2706,2099,2085
$GC,13449,1.02,203.7,532.4,5.7,651,13462,0.00,0.00,8.98,1.233,6,0.000,0.000,2706,2099,2047
$GC,13779,1.02,203.7,505.8,8.3,667,13780,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2099,2047
$GC,14088,1.02,203.7,480.9,7.0,682,14089,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2099,2047
$GC,14397,1.09,260.5,464.7,4.3,697,14448,0.12,0.00,47.83,1.144,6,0.048,0.000,2750,2099,1815
$GC,14747,1.09,260.5,437.5,8.9,714,14748,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2099,1815
$GC,15056,1.09,260.5,409.3,9.1,729,15057,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2099,1815
$GC,15365,1.09,260.5,381.8,8.5,744,15369,0.00,2.55,0.00,0.000,4,0.000,0.051,2750,3507,1816
$GC,15426,1.09,260.5,376.6,8.7,747,15431,0.00,2.53,0.00,0.000,6,0.000,0.044,2750,2097,1816
$GC,15751,1.09,260.5,350.0,8.5,763,15752,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2097,1816
$GC,16061,1.09,260.5,322.9,8.9,778,16062,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2097,1817
$GC,16370,1.09,260.5,295.8,8.6,793,16371,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2097,1818
$GC,16679,1.09,260.5,269.1,8.5,808,16680,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2097,1818
$GC,16989,1.09,260.5,244.0,7.6,823,16990,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2096,1818
$GC,17297,1.09,260.5,221.7,6.3,838,17299,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2097,1819
$GC,17607,1.09,260.5,202.1,6.6,853,17608,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2097,1818
$GC,17916,1.09,260.5,178.0,9.4,868,17917,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2097,1819
$GC,18226,1.11,281.0,152.6,5.4,883,18246,0.00,0.00,17.85,0.930,6,0.000,0.000,2750,2097,1732
$GC,18555,1.11,281.0,121.2,9.2,899,18556,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2097,1732
$GC,18866,1.11,281.0,86.5,10.6,914,18871,0.00,2.55,0.00,0.000,4,0.000,0.048,2750,3503,1732
$GC,18938,1.11,281.0,78.4,11.6,917,18943,0.00,2.50,0.00,0.000,6,0.000,0.040,2750,2086,1732
$GC,19260,1.16,319.1,54.5,4.9,933,19292,0.00,0.00,30.85,0.849,6,0.000,0.000,2750,2087,1576
$GC,19591,1.16,319.1,20.1,9.8,949,19595,0.00,2.58,0.00,0.000,4,0.000,0.049,2750,3503,1576
$GC,19633,1.16,319.1,14.8,10.5,951,19638,0.00,2.47,0.00,0.000,6,0.000,0.039,2750,2103,1576
$GC,19961,1.40,516.8,3.2,0.1,967,20070,0.20,0.00,105.20,0.769,6,0.067,0.000,2798,2098,770
$STATE,20145,end climb,NO_VERTICAL_VELOCITY
$STATE,20145,begin surface
$SM_CCo,20148,22.15,0.771,0,0,603,558.06
$SM_CCo,20532,0.17,1.534,0,0,603,558.06
$SM_GC,4.14,0.00,0.00,0.17,0.000,0.000,1.534,27,1882,603,-11.35,-0.48,558.06
$IRIDIUM_FIX,6225.82,-1244.50,241207,111138
$TT8_MAMPS,0.026845
$HUMID,2060
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.50
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,601.0,112.2
$24V_AH,23.3,43.567
$10V_AH,10.1,20.844
$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,25.325,76.750,499.000,22.325,0.000,77.945,69.803,224.743,6.000,0.000,0.000,13.179,1697.116,16175.893,686.368,1940.195,581.135,33.369,1652.392,0.000,1918.963,0.000,34.747
$DEVICE_MAMPS,105.079,65.962,1287.026,1534.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,725.862,658.821,596.805,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50645,976
$CFSIZE,260165632,246603776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,241207,130707,6251.882,-1251.473,39,0.9,39,-11.9