version: 66.02
glider: 102
mission: 4
dive: 161
start: 12 16 107 3 38 24
data:
$ID,102
$MISSION,4
$DIVE,161
$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,-79191.57
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,032727,6228.259,-1142.223,35,2.3,54,-11.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.50
$_SM_ANGLEo,-55.9
$GPS2,033731,6228.211,-1142.230,14,1.3,25,-11.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.017,0.208
$KALMAN_X,187663.1,603.4,2243.9,-360076.9,-3956.7
$KALMAN_Y,110304.9,-244.9,597.7,-8695.7,-4633.5
$MHEAD_RNG_PITCHd_Wd,15.7,38837,-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,-20.95,0.000,2,0.000,0.000,28,1870,1106
$GC,47,-0.95,-146.6,4.4,-0.0,1,207,11.15,2.55,-141.12,0.000,4,0.105,0.074,2288,505,3475
$GC,459,-0.95,-146.6,26.1,-9.1,19,464,0.00,2.47,0.00,0.000,6,0.000,0.040,2289,1909,3475
$GC,786,-0.95,-146.6,50.7,-6.9,35,791,0.00,2.62,0.00,0.000,4,0.000,0.064,2289,505,3475
$GC,870,-0.95,-146.6,57.6,-7.8,39,875,0.00,2.47,0.00,0.000,6,0.000,0.041,2289,1910,3475
$GC,1197,-0.95,-146.6,81.5,-7.5,55,1201,0.00,2.50,0.00,0.000,4,0.000,0.047,2288,3302,3475
$GC,1229,-0.95,-146.6,84.1,-8.4,56,1236,0.00,2.50,0.00,0.000,6,0.000,0.042,2289,1909,3475
$GC,1546,-0.95,-146.6,107.8,-7.9,72,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1910,3475
$GC,1854,-0.95,-146.6,131.9,-8.0,87,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1909,3475
$GC,2163,-0.95,-146.6,157.8,-8.7,102,2167,0.00,2.50,0.00,0.000,4,0.000,0.048,2289,3298,3475
$GC,2205,-0.95,-146.6,161.6,-8.6,104,2210,0.00,2.53,0.00,0.000,6,0.000,0.044,2289,1904,3475
$GC,2533,-0.95,-146.6,184.6,-5.7,120,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1905,3475
$GC,2841,-0.95,-146.6,208.7,-8.1,135,2846,0.00,2.50,0.00,0.000,4,0.000,0.047,2289,3301,3475
$GC,2885,-0.95,-146.6,212.3,-8.3,137,2889,0.00,2.50,0.00,0.000,6,0.000,0.044,2289,1900,3476
$GC,3212,-0.95,-146.6,239.7,-8.8,153,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3475
$GC,3521,-0.95,-146.6,264.4,-7.2,168,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3475
$GC,3830,-0.95,-146.6,287.2,-7.4,183,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3475
$GC,4139,-0.95,-146.6,313.5,-9.3,198,4144,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3301,3475
$GC,4223,-0.95,-146.6,319.8,-7.9,202,4227,0.00,2.53,0.00,0.000,6,0.000,0.044,2288,1897,3475
$GC,4548,-0.95,-146.6,346.4,-8.4,218,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3475
$GC,4858,-0.95,-146.6,369.9,-7.8,233,4862,0.00,2.53,0.00,0.000,4,0.000,0.049,2289,3298,3476
$GC,4945,-0.95,-146.6,377.0,-7.8,237,4950,0.00,2.53,0.00,0.000,6,0.000,0.044,2289,1907,3475
$GC,5272,-0.95,-146.6,402.7,-8.5,253,5277,0.00,2.53,0.00,0.000,4,0.000,0.050,2289,3303,3475
$GC,5311,-0.95,-146.6,406.1,-8.9,255,5315,0.00,2.53,0.00,0.000,6,0.000,0.047,2289,1902,3475
$GC,5637,-0.95,-146.6,434.8,-8.6,271,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3474
$GC,5946,-0.95,-146.6,458.2,-7.4,286,5947,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3475
$GC,6255,-0.95,-146.6,482.4,-8.2,301,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3474
$GC,6564,-0.95,-146.6,509.1,-8.8,316,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3474
$GC,6874,-0.95,-146.6,535.4,-8.5,331,6878,0.00,2.55,0.00,0.000,4,0.000,0.051,2289,3304,3474
$GC,6922,-0.95,-146.6,539.6,-7.9,333,6927,0.00,2.55,0.00,0.000,6,0.000,0.047,2289,1904,3474
$GC,7243,-0.95,-146.6,564.9,-7.9,349,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3474
$GC,7553,-0.95,-146.6,589.3,-7.4,364,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1904,3474
$GC,7862,-0.95,-146.6,611.2,-7.0,379,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1904,3474
$GC,8171,-0.95,-146.6,632.8,-6.6,394,8175,0.00,2.55,0.00,0.000,4,0.000,0.056,2289,3295,3473
$GC,8220,-0.95,-146.6,636.2,-7.0,396,8224,0.00,2.53,0.00,0.000,6,0.000,0.048,2288,1895,3473
$GC,8541,-0.95,-146.6,655.8,-5.7,412,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3473
$GC,8850,-0.95,-146.6,673.3,-5.4,427,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1895,3473
$GC,9159,-0.95,-146.6,690.6,-6.0,442,9164,0.00,2.58,0.00,0.000,4,0.000,0.058,2289,3300,3473
$GC,9208,-0.95,-146.6,693.9,-6.4,444,9213,0.00,2.58,0.00,0.000,6,0.000,0.051,2289,1899,3473
$GC,9530,-0.95,-146.6,712.9,-5.5,460,9531,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3473
$GC,9839,-0.95,-146.6,728.8,-5.3,475,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3473
$GC,10148,-0.95,-146.6,746.6,-6.2,490,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3473
$GC,10457,-0.95,-146.6,766.9,-6.7,505,10458,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3473
$GC,10767,-0.95,-146.6,787.0,-6.2,520,10768,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3472
$GC,11076,-0.95,-146.6,805.7,-6.4,535,11080,0.00,2.60,0.00,0.000,4,0.000,0.064,2289,3295,3472
$GC,11130,-0.95,-146.6,810.0,-8.1,537,11137,0.00,2.58,0.00,0.000,6,0.000,0.059,2289,1889,3471
$STATE,11155,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11155,begin apogee
$GC,11160,-0.36,0.0,812.0,7.9,539,11288,0.60,0.00,124.05,1.338,6,0.071,0.000,2419,2094,2878
$STATE,11288,end apogee,CONTROL_FINISHED_OK
$STATE,11288,begin climb
$GC,11290,0.95,146.6,816.7,0.0,545,11421,1.25,2.72,123.47,1.302,4,0.050,0.073,2703,692,2280
$GC,11530,0.95,146.6,808.5,6.3,556,11534,0.00,2.60,0.00,0.000,6,0.000,0.054,2703,2102,2280
$GC,11849,0.97,164.2,788.7,5.5,572,11871,0.00,2.70,15.60,1.330,4,0.000,0.068,2703,3504,2207
$GC,12073,0.97,164.2,772.2,7.4,582,12078,0.00,2.62,0.00,0.000,6,0.000,0.059,2703,2097,2206
$GC,12399,0.99,185.2,752.3,5.4,598,12423,0.00,2.80,18.60,1.348,4,0.000,0.081,2703,691,2122
$GC,12508,1.00,189.4,745.8,5.9,603,12518,0.00,2.58,4.62,1.259,6,0.000,0.054,2703,2103,2105
$GC,12833,1.01,194.7,727.6,5.8,619,12844,0.00,2.65,5.62,1.298,4,0.000,0.065,2703,3503,2083
$GC,12894,1.01,194.7,723.6,6.6,622,12899,0.00,2.60,0.00,0.000,6,0.000,0.057,2703,2099,2083
$GC,13220,1.01,198.2,704.1,5.9,638,13229,0.00,2.70,3.80,1.233,4,0.000,0.077,2703,691,2071
$GC,13287,1.01,198.2,699.6,7.1,641,13291,0.00,2.55,0.00,0.000,6,0.000,0.050,2703,2106,2071
$GC,13612,1.03,211.4,681.1,5.6,657,13626,0.00,0.00,12.18,1.322,6,0.000,0.000,2703,2106,2016
$GC,13920,1.03,211.4,663.4,6.0,672,13922,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2107,2016
$GC,14230,1.03,211.4,643.5,6.5,687,14231,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2108,2016
$GC,14539,1.03,211.4,622.4,6.9,702,14544,0.00,2.65,0.00,0.000,4,0.000,0.067,2703,685,2016
$GC,14601,1.03,211.4,618.1,7.2,705,14605,0.00,2.55,0.00,0.000,6,0.000,0.045,2702,2109,2016
$GC,14926,1.03,211.4,595.9,6.8,721,14927,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2109,2016
$GC,15236,1.03,211.4,575.8,6.4,736,15237,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2110,2017
$GC,15545,1.04,220.3,557.0,5.7,751,15559,0.00,2.70,8.98,1.204,4,0.000,0.066,2703,684,1979
$GC,15626,1.04,220.3,552.0,6.3,754,15632,0.00,2.55,0.00,0.000,6,0.000,0.044,2703,2103,1979
$GC,15942,1.08,253.5,535.7,5.0,770,15973,0.12,0.00,28.30,1.177,6,0.046,0.000,2754,2104,1844
$GC,16271,1.08,253.5,512.3,7.0,786,16273,0.12,0.00,0.00,0.000,6,0.084,0.000,2728,2105,1844
$GC,16580,1.08,253.5,493.1,6.1,801,16585,0.00,2.65,0.00,0.000,4,0.000,0.065,2728,688,1844
$GC,16634,1.08,253.5,489.6,6.0,803,16641,0.00,2.55,0.00,0.000,6,0.000,0.042,2728,2104,1844
$GC,16950,1.08,253.5,470.2,6.4,819,16951,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2104,1844
$GC,17259,1.08,253.5,450.2,6.3,834,17261,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2105,1844
$GC,17568,1.08,253.5,429.8,7.0,849,17573,0.00,2.65,0.00,0.000,4,0.000,0.065,2728,687,1845
$GC,17617,1.08,253.5,426.0,7.7,851,17622,0.00,2.53,0.00,0.000,6,0.000,0.041,2728,2096,1845
$GC,17939,1.08,253.5,402.9,7.1,867,17940,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2101,1845
$GC,18248,1.08,253.5,383.0,6.2,882,18252,0.00,2.62,0.00,0.000,4,0.000,0.064,2728,687,1845
$GC,18296,1.08,253.5,380.0,6.6,884,18301,0.00,2.53,0.00,0.000,6,0.000,0.041,2728,2097,1845
$GC,18617,1.08,253.5,359.0,7.4,900,18618,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2101,1845
$GC,18926,1.08,253.5,333.6,8.4,915,18927,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2102,1846
$GC,19236,1.08,253.5,306.5,9.0,930,19240,0.00,2.60,0.00,0.000,4,0.000,0.064,2728,685,1846
$GC,19296,1.08,253.5,300.6,9.4,933,19301,0.00,2.50,0.00,0.000,6,0.000,0.041,2728,2103,1846
$GC,19622,1.08,253.5,271.6,8.3,949,19623,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2106,1846
$GC,19931,1.08,253.5,249.9,7.0,964,19935,0.00,2.62,0.00,0.000,4,0.000,0.063,2728,687,1846
$GC,19985,1.08,253.5,245.7,8.2,966,19992,0.00,2.50,0.00,0.000,6,0.000,0.041,2728,2106,1846
$GC,20301,1.08,253.5,220.6,8.3,982,20302,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2110,1847
$GC,20610,1.08,253.5,193.9,8.7,997,20614,0.00,2.62,0.00,0.000,4,0.000,0.061,2728,689,1847
$GC,20658,1.08,253.5,189.1,10.7,999,20663,0.00,2.50,0.00,0.000,6,0.000,0.040,2727,2094,1847
$GC,20979,1.08,253.5,160.3,9.2,1015,20981,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2098,1847
$GC,21289,1.08,253.5,131.9,9.0,1030,21290,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2098,1847
$GC,21598,1.08,253.5,107.1,7.3,1045,21600,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2098,1847
$GC,21909,1.08,253.5,85.3,7.5,1060,21913,0.00,2.60,0.00,0.000,4,0.000,0.061,2728,685,1848
$GC,21974,1.08,253.5,80.0,8.7,1063,21979,0.00,2.47,0.00,0.000,6,0.000,0.039,2728,2111,1847
$GC,22302,1.08,253.5,57.5,7.3,1079,22303,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2115,1848
$GC,22612,1.08,253.5,34.8,6.7,1094,22613,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2115,1848
$GC,22920,1.08,253.5,12.3,6.6,1109,22921,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2115,1848
$GC,23230,1.32,448.7,3.7,0.2,1124,23342,0.20,2.72,102.97,0.760,4,0.056,0.062,2783,687,1048
$GC,23359,1.59,668.4,3.7,-0.6,1130,23421,0.25,2.50,55.62,0.729,6,0.051,0.037,2839,2104,603
$STATE,23597,end climb,NO_VERTICAL_VELOCITY
$STATE,23597,begin surface
$SM_CCo,24019,0.00,0.000,0,0,603,558.06
$SM_GC,4.38,12.10,0.00,0.00,0.028,0.000,0.000,26,1882,603,-11.27,-0.54,558.06
$IRIDIUM_FIX,6202.67,-1136.81,161207,070727
$TT8_MAMPS,0.026078
$HUMID,2043
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,15.40
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,750.6,70.9
$24V_AH,23.3,38.105
$10V_AH,10.1,17.835
$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,25.800,139.700,503.825,0.000,0.000,76.062,71.924,260.906,8.750,0.000,0.000,26.996,2024.264,18860.252,646.427,2451.458,636.036,33.366,1879.673,0.000,2395.721,0.000,44.332
$DEVICE_MAMPS,105.079,81.302,1347.619,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,838.385,772.306,692.713,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56917,1142
$CFSIZE,260165632,248610816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,161207,101956,6227.692,-1140.028,40,1.5,40,-11.0