version: 66.02
glider: 102
mission: 4
dive: 196
start: 12 25 107 15 7 20
data:
$ID,102
$MISSION,4
$DIVE,196
$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,-79855.539
$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,25
$R_STBD_OVSHOOT,31
$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
$GPS1,145638,6247.353,-1259.014,33,1.3,33,-11.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.64
$_SM_ANGLEo,-51.1
$GPS2,150626,6247.273,-1259.108,15,1.3,15,-11.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.077,0.194
$KALMAN_X,243292.8,-643.9,647.4,-480663.7,2089.7
$KALMAN_Y,49765.3,-214.9,-19.9,87760.7,-5985.0
$MHEAD_RNG_PITCHd_Wd,350.4,7094,-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,21,-0.95,-146.6,0.0,0.0,0,44,0.00,0.00,-21.70,0.000,2,0.000,0.000,27,1885,1086
$GC,47,-0.95,-146.6,3.6,-0.0,1,213,11.20,2.62,-148.10,0.000,4,0.107,0.076,2286,499,3476
$GC,449,-0.95,-146.6,20.0,-7.4,19,454,0.00,2.47,0.00,0.000,6,0.000,0.042,2286,1904,3475
$GC,772,-0.95,-146.6,45.3,-6.6,35,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,1080,-0.95,-146.6,67.4,-6.2,50,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,1390,-0.95,-146.6,88.0,-5.7,65,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,1699,-0.95,-146.6,108.8,-8.1,80,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,2008,-0.95,-146.6,133.0,-7.0,95,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,2317,-0.95,-146.6,156.2,-7.7,110,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,2626,-0.95,-146.6,179.8,-7.9,125,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,2935,-0.95,-146.6,203.1,-7.6,140,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,3245,-0.95,-146.6,226.4,-7.4,155,3249,0.00,2.53,0.00,0.000,4,0.000,0.050,2286,3302,3476
$GC,3316,-0.95,-146.6,231.7,-7.0,158,3320,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1904,3476
$GC,3637,-0.95,-146.6,254.8,-7.1,174,3641,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3301,3476
$GC,3698,-0.95,-146.6,259.3,-7.3,177,3702,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1896,3476
$GC,4023,-0.95,-146.6,281.4,-6.6,193,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,4333,-0.95,-146.6,300.7,-6.2,208,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,4642,-0.95,-146.6,321.5,-6.9,223,4646,0.00,2.53,0.00,0.000,4,0.000,0.050,2286,3298,3476
$GC,4730,-0.95,-146.6,328.1,-6.7,227,4734,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1894,3476
$GC,5057,-0.95,-146.6,350.6,-7.0,243,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3475
$GC,5366,-0.95,-146.6,372.9,-7.1,258,5370,0.00,2.55,0.00,0.000,4,0.000,0.051,2286,3302,3475
$GC,5450,-0.95,-146.6,379.6,-8.0,262,5454,0.00,2.53,0.00,0.000,6,0.000,0.046,2286,1900,3475
$GC,5776,-0.95,-146.6,402.7,-6.9,278,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3475
$GC,6085,-0.95,-146.6,423.5,-6.7,293,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3475
$GC,6394,-0.95,-146.6,443.5,-6.8,308,6398,0.00,2.55,0.00,0.000,4,0.000,0.051,2286,3304,3475
$GC,6477,-0.95,-146.6,449.0,-7.0,312,6481,0.00,2.53,0.00,0.000,6,0.000,0.046,2286,1901,3475
$GC,6803,-0.95,-146.6,472.0,-7.6,328,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3475
$GC,7112,-0.95,-146.6,494.8,-7.2,343,7116,0.00,2.53,0.00,0.000,4,0.000,0.052,2286,3299,3475
$GC,7189,-0.95,-146.6,500.5,-7.3,346,7195,0.00,2.50,0.00,0.000,6,0.000,0.045,2286,1900,3474
$GC,7504,-0.95,-146.6,523.2,-7.1,362,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3474
$GC,7813,-0.95,-146.6,545.7,-7.5,377,7817,0.00,2.55,0.00,0.000,4,0.000,0.054,2286,3304,3474
$GC,7862,-0.95,-146.6,549.3,-7.6,379,7866,0.00,2.53,0.00,0.000,6,0.000,0.047,2286,1901,3474
$GC,8183,-0.95,-146.6,571.6,-6.7,395,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3474
$GC,8492,-0.95,-146.6,592.8,-6.7,410,8496,0.00,2.55,0.00,0.000,4,0.000,0.055,2286,3302,3474
$GC,8558,-0.95,-146.6,597.4,-6.9,413,8562,0.00,2.53,0.00,0.000,6,0.000,0.048,2286,1899,3474
$GC,8884,-0.95,-146.6,618.8,-6.5,429,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3474
$GC,9193,-0.95,-146.6,639.5,-6.7,444,9194,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3474
$GC,9503,-0.95,-146.6,659.3,-6.0,459,9504,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3474
$GC,9812,-0.95,-146.6,678.0,-5.4,474,9813,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3474
$GC,10121,-0.95,-146.6,695.9,-6.0,489,10126,0.00,2.55,0.00,0.000,4,0.000,0.057,2286,3295,3474
$GC,10171,-0.95,-146.6,699.1,-6.8,491,10175,0.00,2.53,0.00,0.000,6,0.000,0.050,2286,1900,3474
$GC,10492,-0.95,-146.6,718.1,-5.9,507,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,10801,-0.95,-146.6,738.2,-6.7,522,10805,0.00,2.62,0.00,0.000,4,0.000,0.074,2286,495,3473
$GC,10844,-0.95,-146.6,741.3,-7.3,524,10848,0.00,2.47,0.00,0.000,6,0.000,0.052,2286,1895,3474
$GC,11171,-0.95,-146.6,760.5,-5.9,540,11175,0.00,2.60,0.00,0.000,4,0.000,0.064,2286,3301,3473
$GC,11270,-0.95,-146.6,767.4,-7.1,544,11277,0.00,2.55,0.00,0.000,6,0.000,0.059,2286,1904,3473
$STATE,11522,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11522,begin apogee
$GC,11527,-0.36,0.0,782.7,6.3,557,11655,0.60,0.00,124.28,1.334,6,0.073,0.000,2417,2096,2878
$STATE,11656,end apogee,CONTROL_FINISHED_OK
$STATE,11656,begin climb
$GC,11658,0.95,146.6,786.4,0.0,563,11789,1.27,2.75,123.03,1.301,4,0.057,0.076,2700,691,2280
$GC,11851,0.95,146.6,781.4,7.6,572,11856,0.00,2.58,0.00,0.000,6,0.000,0.055,2700,2094,2280
$GC,12178,1.02,203.1,765.8,4.3,588,12232,0.00,2.72,47.90,1.307,4,0.000,0.068,2700,3498,2049
$GC,12312,1.02,203.1,756.7,6.3,594,12316,0.00,2.60,0.00,0.000,6,0.000,0.057,2700,2098,2049
$GC,12632,1.02,203.1,734.8,7.2,610,12634,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2098,2048
$GC,12942,1.02,206.7,716.1,5.9,625,12951,0.00,2.72,4.12,1.254,4,0.000,0.079,2700,691,2034
$GC,13009,1.02,206.7,711.7,6.4,628,13013,0.00,2.58,0.00,0.000,6,0.000,0.054,2700,2103,2034
$GC,13334,1.02,206.7,690.6,6.4,644,13335,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2103,2033
$GC,13643,1.02,206.7,670.5,6.6,659,13645,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2104,2032
$GC,13953,1.02,206.7,650.0,6.6,674,13954,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2104,2032
$GC,14262,1.02,206.7,629.3,7.1,689,14263,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2105,2032
$GC,14571,1.02,206.7,607.1,7.0,704,14576,0.00,2.65,0.00,0.000,4,0.000,0.069,2700,685,2032
$GC,14700,1.02,206.7,597.2,9.4,710,14705,0.00,2.53,0.00,0.000,6,0.000,0.047,2700,2103,2033
$GC,15026,1.02,206.7,574.3,6.5,726,15027,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2104,2032
$GC,15335,1.02,206.7,554.1,6.7,741,15336,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2104,2032
$GC,15644,1.02,206.7,534.1,6.2,756,15645,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2105,2033
$GC,15954,1.02,206.7,513.9,6.9,771,15955,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2105,2033
$GC,16263,1.02,206.7,492.6,7.0,786,16267,0.00,2.62,0.00,0.000,4,0.000,0.065,2700,690,2033
$GC,16312,1.02,206.7,489.2,6.8,788,16316,0.00,2.50,0.00,0.000,6,0.000,0.044,2700,2105,2033
$GC,16633,1.02,209.8,469.4,5.9,804,16638,0.00,0.00,3.70,1.083,6,0.000,0.000,2700,2105,2021
$GC,16942,1.03,216.4,451.0,5.8,819,16950,0.00,0.00,6.78,1.120,6,0.000,0.000,2700,2105,1995
$GC,17251,1.05,230.0,433.1,5.6,834,17266,0.10,0.00,12.00,1.115,6,0.057,0.000,2744,2108,1940
$GC,17560,1.05,230.0,410.4,7.7,849,17561,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2108,1940
$GC,17869,1.05,230.0,385.5,8.3,864,17870,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2108,1940
$GC,18178,1.05,230.0,359.7,8.5,879,18179,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2108,1940
$GC,18488,1.05,230.0,334.4,8.1,894,18489,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2108,1940
$GC,18797,1.05,230.0,309.5,8.0,909,18798,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2108,1941
$GC,19106,1.05,230.0,285.1,8.0,924,19107,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2108,1941
$GC,19416,1.05,230.0,259.0,8.6,939,19417,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2108,1941
$GC,19725,1.05,230.0,232.1,8.4,954,19726,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2108,1941
$GC,20034,1.05,230.0,207.0,7.8,969,20035,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2108,1941
$GC,20343,1.05,230.0,183.4,7.4,984,20345,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2108,1942
$GC,20652,1.05,230.0,159.6,7.9,999,20654,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2109,1942
$GC,20962,1.05,230.0,132.6,7.9,1014,20964,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2108,1942
$GC,21272,1.12,284.5,113.6,4.4,1029,21318,0.00,0.00,43.97,0.877,6,0.000,0.000,2743,2108,1718
$GC,21622,1.12,284.5,83.5,8.1,1046,21623,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2108,1718
$GC,21930,1.12,284.5,56.1,9.3,1061,21931,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2108,1718
$GC,22240,1.12,284.5,30.7,9.1,1076,22241,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2108,1718
$GC,22548,1.12,284.5,5.7,9.6,1091,22553,0.00,2.62,0.00,0.000,4,0.000,0.059,2743,684,1718
$GC,22592,1.12,284.5,3.2,6.4,1093,22596,0.00,2.50,0.00,0.000,6,0.000,0.042,2743,2102,1718
$GC,22920,1.36,480.7,3.0,0.1,1109,22929,0.17,0.00,6.80,0.851,2,0.058,0.000,2794,2110,1688
$STATE,22930,end climb,NO_VERTICAL_VELOCITY
$STATE,22930,begin surface
$SM_CCo,22933,140.18,0.759,2,0,602,558.06
$SM_GC,3.77,11.90,0.00,0.00,0.028,0.000,0.000,28,1890,603,-11.27,-0.28,558.30
$IRIDIUM_FIX,6221.17,-1252.63,251207,181836
$TT8_MAMPS,0.026845
$HUMID,2027
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.70
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,701.0,91.1
$24V_AH,23.2,44.446
$10V_AH,10.1,21.347
$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,25.250,92.975,372.575,140.175,0.000,77.976,70.035,262.647,8.000,0.000,0.000,16.848,1930.399,18612.508,686.835,2227.162,635.510,33.376,1775.047,0.000,2195.984,0.000,41.156
$DEVICE_MAMPS,107.380,79.001,1333.813,758.563,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,822.857,751.600,668.691,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56927,1109
$CFSIZE,260165632,246239232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,2,0
$GPS,251207,214007,6248.557,-1301.327,27,1.7,27,-11.9