version: 66.02
glider: 102
mission: 4
dive: 159
start: 12 15 107 13 18 9
data:
$ID,102
$MISSION,4
$DIVE,159
$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,300
$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,-79145.828
$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,30
$R_STBD_OVSHOOT,36
$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
$GPS1,130608,6224.065,-1144.117,35,1.4,35,-11.1
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,4.37
$_SM_ANGLEo,-51.5
$GPS2,131715,6224.089,-1144.107,14,1.5,14,-11.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.086,0.190
$KALMAN_X,190239.3,-703.1,-4863.7,-355824.9,14093.3
$KALMAN_Y,111892.8,-5.2,2925.7,-20457.5,-12337.6
$MHEAD_RNG_PITCHd_Wd,346.8,11497,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.95,-146.6,0.0,0.0,0,25,0.00,0.00,-3.83,0.000,2,0.000,0.000,28,1876,699
$GC,28,-0.95,-146.6,4.5,-0.0,0,221,10.95,2.60,-168.48,0.000,4,0.097,0.074,2292,499,3476
$GC,411,-0.95,-146.6,18.8,-5.5,18,415,0.00,2.47,0.00,0.000,6,0.000,0.040,2292,1906,3476
$GC,733,-0.95,-146.6,42.7,-7.0,34,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1909,3476
$GC,1042,-0.95,-146.6,63.8,-6.9,49,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1910,3476
$GC,1350,-0.95,-146.6,86.2,-7.4,64,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1909,3476
$GC,1660,-0.95,-146.6,109.4,-7.7,79,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1909,3476
$GC,1969,-0.95,-146.6,133.8,-7.9,94,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1910,3476
$GC,2278,-0.95,-146.6,158.4,-7.6,109,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1909,3476
$GC,2587,-0.95,-146.6,180.8,-7.2,124,2591,0.00,2.50,0.00,0.000,4,0.000,0.048,2292,3300,3476
$GC,2635,-0.95,-146.6,184.3,-7.1,126,2640,0.00,2.50,0.00,0.000,6,0.000,0.043,2292,1900,3476
$GC,2956,-0.95,-146.6,204.9,-6.4,142,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1900,3476
$GC,3267,-0.95,-146.6,226.1,-7.3,157,3271,0.00,2.53,0.00,0.000,4,0.000,0.046,2292,3306,3476
$GC,3355,-0.95,-146.6,233.2,-8.4,161,3359,0.00,2.53,0.00,0.000,6,0.000,0.043,2292,1893,3476
$GC,3681,-0.95,-146.6,259.5,-8.1,177,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1894,3476
$GC,3991,-0.95,-146.6,284.9,-8.1,192,3995,0.00,2.53,0.00,0.000,4,0.000,0.048,2292,3300,3476
$GC,4090,-0.95,-146.6,293.3,-8.8,196,4096,0.00,2.50,0.00,0.000,6,0.000,0.044,2292,1900,3475
$GC,4405,-0.95,-146.6,318.3,-8.1,212,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1899,3476
$GC,4715,-0.95,-146.6,343.5,-8.1,227,4719,0.00,2.53,0.00,0.000,4,0.000,0.048,2292,3302,3475
$GC,4769,-0.95,-146.6,347.9,-8.1,229,4775,0.00,2.53,0.00,0.000,6,0.000,0.044,2292,1906,3476
$GC,5084,-0.95,-146.6,373.3,-8.0,245,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1906,3476
$GC,5394,-0.95,-146.6,396.4,-7.4,260,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1906,3475
$GC,5703,-0.95,-146.6,418.1,-6.5,275,5707,0.00,2.53,0.00,0.000,4,0.000,0.049,2292,3300,3475
$GC,5768,-0.95,-146.6,422.6,-6.6,278,5773,0.00,2.55,0.00,0.000,6,0.000,0.045,2291,1901,3475
$GC,6095,-0.95,-146.6,443.8,-6.4,294,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1901,3475
$GC,6404,-0.95,-146.6,463.7,-6.5,309,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1901,3475
$GC,6713,-0.95,-146.6,483.3,-6.2,324,6717,0.00,2.53,0.00,0.000,4,0.000,0.051,2292,3304,3475
$GC,6775,-0.95,-146.6,487.3,-6.6,327,6779,0.00,2.53,0.00,0.000,6,0.000,0.046,2292,1900,3475
$GC,7100,-0.95,-146.6,507.4,-6.3,343,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1897,3474
$GC,7409,-0.95,-146.6,526.9,-6.3,358,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1897,3474
$GC,7719,-0.95,-146.6,547.1,-6.7,373,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1897,3474
$GC,8028,-0.95,-146.6,567.6,-6.5,388,8029,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1897,3474
$GC,8337,-0.95,-146.6,587.7,-6.5,403,8341,0.00,2.53,0.00,0.000,4,0.000,0.052,2292,3299,3474
$GC,8398,-0.95,-146.6,591.9,-7.5,406,8403,0.00,2.53,0.00,0.000,6,0.000,0.047,2292,1897,3474
$GC,8724,-0.95,-146.6,616.7,-8.4,422,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1897,3474
$GC,9033,-0.95,-146.6,644.4,-9.2,437,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1897,3474
$GC,9343,-0.95,-146.6,670.9,-7.7,452,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1897,3474
$GC,9652,-0.95,-146.6,693.9,-7.1,467,9656,0.00,2.55,0.00,0.000,4,0.000,0.056,2292,3297,3474
$GC,9767,-0.95,-146.6,703.5,-7.9,472,9772,0.00,2.55,0.00,0.000,6,0.000,0.050,2291,1903,3474
$GC,10089,-0.95,-146.6,726.3,-6.0,488,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1903,3474
$GC,10398,-0.95,-146.6,745.2,-7.0,503,10399,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1903,3473
$GC,10707,-0.95,-146.6,767.4,-6.7,518,10712,0.00,2.58,0.00,0.000,4,0.000,0.059,2292,3299,3473
$GC,10751,-0.95,-146.6,770.3,-6.8,520,10755,0.00,2.55,0.00,0.000,6,0.000,0.052,2291,1904,3474
$GC,11078,-0.95,-146.6,787.7,-5.2,536,11079,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1904,3474
$GC,11389,-0.95,-146.6,801.4,-4.1,551,11394,0.00,2.65,0.00,0.000,4,0.000,0.078,2292,494,3474
$GC,11451,-0.95,-146.6,804.9,-6.4,554,11455,0.00,2.53,0.00,0.000,6,0.000,0.054,2292,1900,3473
$GC,11776,-0.95,-146.6,821.1,-6.4,570,11780,0.00,2.60,0.00,0.000,4,0.000,0.068,2292,3301,3473
$GC,11830,-0.95,-146.6,825.1,-7.0,572,11837,0.00,2.58,0.00,0.000,6,0.000,0.061,2292,1898,3472
$STATE,12103,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12103,begin apogee
$GC,12108,-0.36,0.0,840.9,5.9,586,12236,0.57,0.00,124.85,1.368,6,0.074,0.000,2416,2100,2878
$STATE,12236,end apogee,CONTROL_FINISHED_OK
$STATE,12237,begin climb
$GC,12238,0.95,146.6,844.5,0.0,592,12370,1.27,2.72,123.68,1.324,4,0.054,0.072,2700,3506,2280
$GC,12572,0.95,146.6,830.6,7.5,608,12577,0.00,2.62,0.00,0.000,6,0.000,0.061,2700,2104,2279
$GC,12900,0.99,178.5,813.0,5.0,624,12934,0.00,2.72,27.42,1.348,4,0.000,0.068,2700,3497,2150
$GC,13013,1.00,186.0,804.8,5.8,629,13030,0.00,2.62,7.55,1.303,6,0.000,0.059,2700,2090,2119
$GC,13339,1.04,218.0,785.6,5.0,645,13373,0.00,2.78,27.88,1.347,4,0.000,0.084,2700,696,1988
$GC,13458,1.04,218.0,778.4,6.4,650,13462,0.00,2.58,0.00,0.000,6,0.000,0.056,2700,2101,1988
$GC,13780,1.04,221.0,759.6,5.9,666,13785,0.00,0.00,3.62,1.239,6,0.000,0.000,2700,2101,1976
$GC,14089,1.04,221.0,739.8,6.3,681,14090,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2102,1975
$GC,14398,1.08,251.6,722.8,5.1,696,14426,0.12,0.00,25.92,1.331,6,0.049,0.000,2746,2103,1852
$GC,14727,1.08,251.6,698.2,8.3,712,14728,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2103,1852
$GC,15036,1.08,251.6,670.2,9.1,727,15040,0.00,2.58,0.00,0.000,4,0.000,0.057,2746,3504,1852
$GC,15101,1.08,251.6,664.1,9.5,730,15106,0.00,2.58,0.00,0.000,6,0.000,0.051,2746,2087,1852
$GC,15428,1.08,251.6,637.8,7.1,746,15430,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1852
$GC,15737,1.08,251.6,616.6,7.0,761,15738,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2087,1853
$GC,16047,1.08,251.6,594.3,7.6,776,16048,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1854
$GC,16356,1.08,251.6,568.7,8.4,791,16357,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1854
$GC,16665,1.08,251.6,541.6,8.7,806,16666,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1855
$GC,16974,1.08,251.6,514.3,8.6,821,16976,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1855
$GC,17284,1.08,251.6,487.6,8.4,836,17285,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1856
$GC,17593,1.08,251.6,461.6,8.2,851,17594,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1856
$GC,17902,1.08,251.6,437.0,7.9,866,17903,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1856
$GC,18212,1.08,251.6,413.2,7.5,881,18213,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1857
$GC,18521,1.08,251.6,390.5,7.2,896,18522,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2087,1857
$GC,18830,1.08,251.6,368.3,7.0,911,18831,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1857
$GC,19139,1.08,251.6,345.2,7.5,926,19140,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1858
$GC,19448,1.08,251.6,320.8,8.0,941,19450,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1858
$GC,19758,1.08,251.6,296.9,7.6,956,19759,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1858
$GC,20067,1.08,251.6,273.3,7.3,971,20068,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1858
$GC,20377,1.08,251.6,250.0,7.6,986,20378,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2087,1859
$GC,20686,1.08,251.6,227.3,7.4,1001,20687,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1859
$GC,20995,1.08,251.6,204.1,7.6,1016,20996,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1859
$GC,21304,1.08,251.6,179.4,8.3,1031,21305,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1859
$GC,21613,1.08,251.6,158.5,7.1,1046,21614,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2087,1859
$GC,21923,1.08,251.6,135.4,7.5,1061,21924,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1859
$GC,22232,1.08,251.6,111.0,7.8,1076,22233,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2087,1859
$GC,22541,1.08,251.6,88.9,6.7,1091,22542,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2086,1860
$GC,22851,1.08,251.6,67.5,6.9,1106,22852,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2086,1859
$GC,23160,1.08,251.6,44.6,7.7,1121,23161,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2086,1860
$GC,23469,1.08,251.6,20.2,8.3,1136,23470,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2086,1860
$GC,23778,1.33,455.9,3.8,-0.1,1151,23895,0.15,2.67,107.82,0.755,4,0.052,0.060,2794,685,1019
$GC,23912,1.61,688.9,3.9,-0.9,1157,23970,0.25,2.55,51.92,0.728,6,0.058,0.039,2848,2119,603
$STATE,24062,end climb,NO_VERTICAL_VELOCITY
$STATE,24062,begin surface
$SM_CCo,24484,0.00,0.000,0,0,603,558.06
$SM_GC,4.44,12.18,0.00,0.00,0.031,0.000,0.000,30,1884,603,-11.27,-0.45,558.06
$IRIDIUM_FIX,6158.08,-1150.45,151207,171728
$TT8_MAMPS,0.026845
$HUMID,2036
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,800.6,49.3
$24V_AH,23.3,37.745
$10V_AH,10.1,17.618
$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,25.500,88.150,500.675,0.000,0.000,76.994,95.813,319.132,8.250,0.000,0.000,16.203,2003.537,19473.252,625.537,2337.541,708.341,33.359,1796.594,0.000,2308.482,0.000,47.507
$DEVICE_MAMPS,96.642,83.603,1367.561,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,869.454,786.696,697.725,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56843,1165
$CFSIZE,260165632,248770560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,151207,200726,6226.047,-1146.327,40,1.5,40,-11.1