version: 66.02
glider: 102
mission: 4
dive: 162
start: 12 16 107 10 26 57
data:
$ID,102
$MISSION,4
$DIVE,162
$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,-79205.891
$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
$GPS1,101956,6227.692,-1140.028,40,1.5,40,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.32
$_SM_ANGLEo,-48.9
$GPS2,102603,6227.682,-1139.952,12,1.7,12,-11.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.137,0.157
$KALMAN_X,193302.1,-331.0,-645.6,-359897.5,6077.2
$KALMAN_Y,103650.1,-931.5,-75.7,-1608.7,-6183.8
$MHEAD_RNG_PITCHd_Wd,329.8,40991,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.95,-146.6,0.0,0.0,0,45,0.00,0.00,-22.05,0.000,2,0.000,0.000,26,1877,1125
$GC,48,-0.95,-146.6,4.4,-0.0,1,208,11.02,2.55,-141.55,0.000,4,0.100,0.070,2289,497,3475
$GC,460,-0.95,-146.6,29.8,-10.8,19,465,0.00,2.50,0.00,0.000,6,0.000,0.040,2289,1898,3476
$GC,788,-0.95,-146.6,57.4,-12.0,35,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3475
$GC,1097,-0.95,-146.6,79.9,-6.5,50,1101,0.00,2.60,0.00,0.000,4,0.000,0.065,2289,503,3476
$GC,1145,-0.95,-146.6,83.4,-7.4,52,1149,0.00,2.47,0.00,0.000,6,0.000,0.040,2289,1896,3476
$GC,1467,-0.95,-146.6,107.3,-8.2,68,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1896,3476
$GC,1777,-0.95,-146.6,130.3,-6.9,83,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3476
$GC,2086,-0.95,-146.6,151.3,-6.9,98,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3476
$GC,2394,-0.95,-146.6,173.3,-7.3,113,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3476
$GC,2703,-0.95,-146.6,195.2,-6.7,128,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3476
$GC,3012,-0.95,-146.6,215.9,-6.7,143,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1896,3476
$GC,3322,-0.95,-146.6,237.9,-7.1,158,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3476
$GC,3631,-0.95,-146.6,261.1,-7.8,173,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3476
$GC,3940,-0.95,-146.6,285.5,-7.9,188,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3476
$GC,4250,-0.95,-146.6,307.4,-6.3,203,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3476
$GC,4560,-0.95,-146.6,325.9,-5.8,218,4564,0.00,2.50,0.00,0.000,4,0.000,0.049,2289,3294,3475
$GC,4620,-0.95,-146.6,329.6,-6.1,220,4627,0.00,2.53,0.00,0.000,6,0.000,0.045,2289,1908,3476
$GC,4936,-0.95,-146.6,347.1,-5.6,236,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1908,3476
$GC,5246,-0.95,-146.6,364.4,-5.8,251,5250,0.00,2.53,0.00,0.000,4,0.000,0.051,2289,3303,3476
$GC,5300,-0.95,-146.6,367.8,-6.2,253,5307,0.00,2.55,0.00,0.000,6,0.000,0.046,2289,1902,3476
$GC,5616,-0.95,-146.6,386.8,-6.0,269,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,5925,-0.95,-146.6,405.8,-5.9,284,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1903,3475
$GC,6234,-0.95,-146.6,423.2,-5.9,299,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,6544,-0.95,-146.6,442.0,-6.1,314,6548,0.00,2.53,0.00,0.000,4,0.000,0.050,2289,3296,3475
$GC,6605,-0.95,-146.6,445.8,-6.3,317,6609,0.00,2.53,0.00,0.000,6,0.000,0.046,2289,1892,3476
$GC,6930,-0.95,-146.6,465.6,-6.2,333,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1892,3476
$GC,7240,-0.95,-146.6,484.4,-5.6,348,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1892,3475
$GC,7548,-0.95,-146.6,503.2,-6.1,363,7552,0.00,2.55,0.00,0.000,4,0.000,0.051,2289,3295,3474
$GC,7636,-0.95,-146.6,508.9,-6.4,367,7641,0.00,2.55,0.00,0.000,6,0.000,0.048,2289,1902,3474
$GC,7964,-0.95,-146.6,528.7,-5.9,383,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3474
$GC,8273,-0.95,-146.6,547.0,-5.9,398,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3474
$GC,8582,-0.95,-146.6,565.8,-6.1,413,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3474
$GC,8891,-0.95,-146.6,585.0,-6.2,428,8895,0.00,2.53,0.00,0.000,4,0.000,0.054,2289,3295,3474
$GC,8945,-0.95,-146.6,588.5,-6.7,430,8953,0.00,2.55,0.00,0.000,6,0.000,0.048,2289,1895,3474
$GC,9261,-0.95,-146.6,607.5,-6.2,446,9262,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1896,3474
$GC,9571,-0.95,-146.6,624.8,-5.3,461,9572,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3474
$GC,9880,-0.95,-146.6,642.0,-5.4,476,9884,0.00,2.55,0.00,0.000,4,0.000,0.057,2289,3297,3473
$GC,9964,-0.95,-146.6,646.8,-5.7,480,9968,0.00,2.53,0.00,0.000,6,0.000,0.050,2289,1901,3474
$GC,10289,-0.95,-146.6,666.2,-6.1,496,10290,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3473
$GC,10598,-0.95,-146.6,686.1,-6.8,511,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3473
$GC,10908,-0.95,-146.6,707.8,-6.8,526,10909,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3473
$GC,11218,-0.95,-146.6,725.4,-5.3,541,11220,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3473
$GC,11527,-0.95,-146.6,742.6,-5.3,556,11531,0.00,2.55,0.00,0.000,4,0.000,0.059,2289,3292,3473
$GC,11610,-0.95,-146.6,747.5,-6.1,560,11615,0.00,2.55,0.00,0.000,6,0.000,0.053,2289,1897,3473
$GC,11937,-0.95,-146.6,766.7,-6.0,576,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3473
$GC,12246,-0.95,-146.6,783.7,-5.5,591,12251,0.00,2.62,0.00,0.000,4,0.000,0.077,2289,493,3472
$GC,12286,-0.95,-146.6,786.1,-5.5,593,12290,0.00,2.53,0.00,0.000,6,0.000,0.056,2289,1897,3472
$GC,12611,-0.95,-146.6,804.0,-5.6,609,12612,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3471
$STATE,12692,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12692,begin apogee
$GC,12697,-0.36,0.0,809.6,6.9,613,12824,0.60,0.00,124.40,1.343,6,0.068,0.000,2421,2108,2878
$STATE,12825,end apogee,CONTROL_FINISHED_OK
$STATE,12825,begin climb
$GC,12827,0.95,146.6,812.5,0.0,619,12956,1.27,0.00,124.25,1.309,6,0.054,0.000,2702,2108,2280
$GC,13264,0.96,158.2,794.4,5.7,641,13277,0.00,0.00,10.80,1.313,6,0.000,0.000,2702,2108,2232
$GC,13573,0.96,158.2,773.9,7.1,656,13577,0.00,2.70,0.00,0.000,4,0.000,0.077,2702,692,2230
$GC,13644,0.96,158.2,769.2,6.2,659,13648,0.00,2.58,0.00,0.000,6,0.000,0.056,2702,2102,2231
$GC,13965,1.00,186.2,751.6,5.2,675,13991,0.00,0.00,24.27,1.342,6,0.000,0.000,2702,2102,2118
$GC,14294,1.00,186.2,731.8,6.2,691,14295,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2103,2117
$GC,14604,1.02,204.9,713.7,5.4,706,14624,0.00,0.00,16.42,1.339,6,0.000,0.000,2702,2103,2042
$GC,14933,1.02,204.9,693.9,6.5,722,14934,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2104,2041
$GC,15242,1.02,204.9,671.3,7.6,737,15246,0.00,2.65,0.00,0.000,4,0.000,0.071,2702,687,2041
$GC,15307,1.02,204.9,665.8,8.9,740,15312,0.00,2.55,0.00,0.000,6,0.000,0.048,2702,2097,2041
$GC,15635,1.02,204.9,639.7,7.8,756,15636,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,2040
$GC,15944,1.02,204.9,617.4,7.0,771,15948,0.00,2.65,0.00,0.000,4,0.000,0.068,2702,685,2041
$GC,16027,1.02,204.9,610.1,9.1,775,16031,0.00,2.50,0.00,0.000,6,0.000,0.047,2702,2103,2041
$GC,16353,1.02,204.9,587.7,6.5,791,16354,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2103,2041
$GC,16662,1.04,224.3,569.2,5.4,806,16682,0.00,0.00,17.05,1.216,6,0.000,0.000,2702,2104,1963
$GC,16991,1.04,225.9,550.2,6.0,822,16992,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2104,1963
$GC,17300,1.05,229.0,531.7,5.9,837,17310,0.00,2.67,5.28,1.151,4,0.000,0.065,2702,690,1943
$GC,17361,1.05,229.0,527.9,7.3,840,17365,0.00,2.50,0.00,0.000,6,0.000,0.043,2702,2105,1943
$GC,17686,1.05,229.0,507.5,6.5,856,17688,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2106,1944
$GC,17995,1.05,229.0,486.4,6.9,871,17997,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2106,1944
$GC,18305,1.05,229.0,465.0,7.2,886,18306,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2106,1944
$GC,18614,1.05,229.0,443.1,7.1,901,18615,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2107,1945
$GC,18923,1.05,229.0,420.1,7.8,916,18924,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2108,1945
$GC,19233,1.05,229.0,396.5,7.6,931,19237,0.00,2.62,0.00,0.000,4,0.000,0.064,2703,687,1945
$GC,19293,1.05,229.0,391.4,9.0,934,19298,0.00,2.50,0.00,0.000,6,0.000,0.041,2702,2106,1945
$GC,19619,1.05,229.0,366.2,7.6,950,19620,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2106,1946
$GC,19928,1.05,229.0,344.2,6.9,965,19929,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2107,1946
$GC,20238,1.07,244.5,325.7,5.5,980,20259,0.12,0.00,14.23,1.044,6,0.045,0.000,2753,2110,1880
$GC,20567,1.07,244.5,302.5,7.0,996,20569,0.12,0.00,0.00,0.000,6,0.084,0.000,2727,2110,1880
$GC,20876,1.08,254.1,284.1,5.7,1011,20890,0.00,2.67,8.70,1.012,4,0.000,0.063,2727,689,1841
$GC,20965,1.08,254.1,278.5,6.0,1015,20969,0.00,2.50,0.00,0.000,6,0.000,0.040,2727,2099,1841
$GC,21290,1.08,254.1,257.8,7.0,1031,21291,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2103,1842
$GC,21600,1.08,254.1,238.3,6.1,1046,21601,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2103,1841
$GC,21909,1.08,254.1,211.3,8.7,1061,21910,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2103,1841
$GC,22218,1.08,254.1,184.8,8.1,1076,22219,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2103,1841
$GC,22528,1.08,254.1,159.0,7.9,1091,22529,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2103,1842
$GC,22837,1.08,254.1,135.9,7.4,1106,22841,0.00,2.60,0.00,0.000,4,0.000,0.061,2727,689,1843
$GC,22891,1.08,254.1,131.5,7.1,1108,22898,0.00,2.47,0.00,0.000,6,0.000,0.039,2727,2097,1842
$GC,23207,1.08,254.1,107.7,8.0,1124,23208,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2098,1843
$GC,23516,1.08,254.1,79.4,9.8,1139,23517,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2098,1843
$GC,23825,1.08,254.1,52.6,8.0,1154,23827,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2098,1843
$GC,24135,1.08,254.1,27.7,9.8,1169,24136,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2098,1843
$GC,24444,1.08,254.1,3.7,7.7,1184,24445,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2099,1843
$GC,24753,1.33,459.9,3.8,-0.1,1199,24866,0.22,0.00,108.70,0.757,6,0.041,0.000,2794,2098,1002
$STATE,25103,end climb,NO_VERTICAL_VELOCITY
$STATE,25103,begin surface
$SM_CCo,25106,50.38,0.745,0,0,602,558.06
$SM_GC,4.43,11.90,0.00,0.00,0.029,0.000,0.000,34,1884,603,-11.26,-0.45,558.06
$IRIDIUM_FIX,6202.67,-1146.86,161207,070706
$TT8_MAMPS,0.026078
$HUMID,2033
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.70
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,776.0,42.4
$24V_AH,23.3,38.280
$10V_AH,10.1,17.940
$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,25.275,87.700,454.100,50.375,0.000,35.001,36.417,187.014,10.000,0.000,0.000,13.693,2095.203,20346.486,683.674,2338.106,479.123,33.367,1822.062,0.000,2316.693,0.000,45.877
$DEVICE_MAMPS,99.710,77.467,1343.017,744.757,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,904.426,822.218,715.001,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60076,1216
$CFSIZE,260165632,248537088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,161207,173437,6229.000,-1140.506,48,1.4,48,-11.1