version: 66.02
glider: 102
mission: 4
dive: 165
start: 12 17 107 7 16 15
data:
$ID,102
$MISSION,4
$DIVE,165
$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,-79266.922
$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,19
$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
$GPS1,070855,6232.013,-1139.980,40,1.7,40,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.41
$_SM_ANGLEo,-49.7
$GPS2,071523,6232.021,-1139.922,10,2.4,29,-11.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.143,0.152
$KALMAN_X,205948.8,738.8,-993.6,-373214.4,9773.4
$KALMAN_Y,95237.8,518.2,750.2,12474.4,-7127.7
$MHEAD_RNG_PITCHd_Wd,327.7,37147,-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,-146.6,0.0,0.0,0,30,0.00,0.00,-7.00,0.000,2,0.000,0.000,34,1893,778
$GC,33,-0.95,-146.6,4.6,-0.0,1,204,10.95,2.60,-151.38,0.000,4,0.097,0.071,2287,490,3475
$GC,411,-0.95,-146.6,20.9,-5.1,18,418,0.00,2.50,0.00,0.000,6,0.000,0.039,2287,1899,3475
$GC,726,-0.95,-146.6,46.6,-10.1,34,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,1035,-0.95,-146.6,67.2,-7.3,49,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,1345,-0.95,-146.6,93.8,-7.6,64,1349,0.00,2.50,0.00,0.000,4,0.000,0.047,2287,3292,3475
$GC,1399,-0.95,-146.6,98.0,-8.2,66,1406,0.00,2.53,0.00,0.000,6,0.000,0.043,2287,1898,3475
$GC,1715,-0.95,-146.6,120.4,-6.5,82,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3475
$GC,2025,-0.95,-146.6,141.2,-6.8,97,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3475
$GC,2333,-0.95,-146.6,164.5,-7.4,112,2337,0.00,2.53,0.00,0.000,4,0.000,0.045,2287,3302,3475
$GC,2417,-0.95,-146.6,170.7,-8.0,116,2421,0.00,2.53,0.00,0.000,6,0.000,0.042,2288,1893,3475
$GC,2742,-0.95,-146.6,193.7,-7.0,132,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1893,3475
$GC,3051,-0.95,-146.6,216.0,-7.2,147,3056,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3295,3475
$GC,3136,-0.95,-146.6,222.1,-7.5,151,3140,0.00,2.50,0.00,0.000,6,0.000,0.043,2287,1899,3475
$GC,3461,-0.95,-146.6,246.1,-7.1,167,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3475
$GC,3771,-0.95,-146.6,269.1,-7.6,182,3775,0.00,2.53,0.00,0.000,4,0.000,0.047,2287,3300,3475
$GC,3847,-0.95,-146.6,275.6,-8.6,185,3854,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1905,3475
$GC,4163,-0.95,-146.6,299.6,-7.5,201,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,4473,-0.95,-146.6,321.8,-7.2,216,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,4782,-0.95,-146.6,342.3,-6.9,231,4786,0.00,2.50,0.00,0.000,4,0.000,0.048,2287,3294,3475
$GC,4858,-0.95,-146.6,348.4,-7.9,234,4865,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1902,3475
$GC,5174,-0.95,-146.6,370.5,-6.6,250,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3474
$GC,5483,-0.95,-146.6,393.0,-7.5,265,5487,0.00,2.53,0.00,0.000,4,0.000,0.049,2287,3300,3474
$GC,5560,-0.95,-146.6,399.1,-7.6,268,5566,0.00,2.53,0.00,0.000,6,0.000,0.045,2287,1907,3474
$GC,5875,-0.95,-146.6,422.6,-7.3,284,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3475
$GC,6184,-0.95,-146.6,445.1,-7.3,299,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3474
$GC,6494,-0.95,-146.6,465.8,-6.4,314,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3474
$GC,6803,-0.95,-146.6,487.0,-7.0,329,6807,0.00,2.53,0.00,0.000,4,0.000,0.051,2287,3297,3474
$GC,6879,-0.95,-146.6,492.5,-7.3,332,6886,0.00,2.55,0.00,0.000,6,0.000,0.047,2287,1902,3474
$GC,7195,-0.95,-146.6,514.3,-7.0,348,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3474
$GC,7504,-0.95,-146.6,536.5,-7.0,363,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3474
$GC,7813,-0.95,-146.6,557.1,-6.8,378,7818,0.00,2.53,0.00,0.000,4,0.000,0.051,2287,3293,3474
$GC,7881,-0.95,-146.6,561.4,-6.6,381,7885,0.00,2.50,0.00,0.000,6,0.000,0.045,2287,1898,3474
$GC,8200,-0.95,-146.6,582.0,-7.0,397,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3474
$GC,8510,-0.95,-146.6,604.8,-7.6,412,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3474
$GC,8819,-0.95,-146.6,627.1,-7.2,427,8824,0.00,2.55,0.00,0.000,4,0.000,0.056,2287,3293,3474
$GC,8930,-0.95,-146.6,635.7,-8.5,432,8935,0.00,2.53,0.00,0.000,6,0.000,0.047,2287,1907,3474
$GC,9257,-0.95,-146.6,658.0,-6.7,448,9258,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3474
$GC,9566,-0.95,-146.6,678.0,-6.3,463,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3474
$GC,9875,-0.95,-146.6,696.8,-6.1,478,9880,0.00,2.62,0.00,0.000,4,0.000,0.073,2287,496,3474
$GC,9907,-0.95,-146.6,698.8,-6.5,479,9914,0.00,2.50,0.00,0.000,6,0.000,0.049,2287,1889,3473
$GC,10223,-0.95,-146.6,715.7,-5.1,495,10228,0.00,2.60,0.00,0.000,4,0.000,0.063,2287,3300,3473
$GC,10290,-0.95,-146.6,719.8,-5.9,498,10294,0.00,2.55,0.00,0.000,6,0.000,0.056,2287,1897,3473
$GC,10616,-0.95,-146.6,738.9,-6.1,514,10617,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3472
$STATE,10821,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10821,begin apogee
$GC,10826,-0.36,0.0,751.2,5.8,524,10952,0.60,0.00,123.68,1.325,6,0.074,0.000,2417,2102,2878
$STATE,10953,end apogee,CONTROL_FINISHED_OK
$STATE,10953,begin climb
$GC,10955,0.95,146.6,755.0,0.0,530,11084,1.30,0.00,123.35,1.286,6,0.056,0.000,2702,2102,2280
$GC,11393,0.99,180.2,737.4,5.0,552,11423,0.00,0.00,28.95,1.292,6,0.000,0.000,2702,2103,2143
$GC,11721,0.99,180.2,716.2,6.5,568,11726,0.00,2.60,0.00,0.000,4,0.000,0.067,2702,3497,2142
$GC,11799,0.99,180.2,711.0,6.3,571,11805,0.00,2.58,0.00,0.000,6,0.000,0.057,2702,2102,2142
$GC,12114,1.00,188.2,692.1,5.8,587,12124,0.00,0.00,7.78,1.294,6,0.000,0.000,2702,2102,2110
$GC,12423,1.00,188.2,672.5,6.4,602,12424,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2102,2109
$GC,12733,1.01,196.4,653.6,5.8,617,12747,0.00,2.72,7.43,1.297,4,0.000,0.075,2702,695,2077
$GC,12791,1.01,196.4,649.7,6.3,619,12798,0.00,2.55,0.00,0.000,6,0.000,0.049,2702,2107,2077
$GC,13107,1.01,196.4,629.6,6.3,635,13108,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2108,2076
$GC,13416,1.01,196.4,609.7,6.6,650,13417,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2109,2076
$GC,13725,1.02,204.1,590.5,5.8,665,13740,0.00,2.60,7.47,1.260,4,0.000,0.057,2702,3498,2045
$GC,13824,1.02,204.1,584.2,6.7,669,13828,0.00,2.53,0.00,0.000,6,0.000,0.047,2702,2095,2045
$GC,14145,1.02,204.1,564.9,6.3,685,14146,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2095,2045
$GC,14454,1.02,204.1,545.9,6.2,700,14455,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2095,2045
$GC,14763,1.02,204.1,527.4,6.0,715,14765,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2095,2046
$GC,15073,1.02,204.1,508.9,6.1,730,15074,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2095,2047
$GC,15382,1.03,211.9,490.3,5.8,745,15392,0.00,0.00,7.85,1.170,6,0.000,0.000,2702,2095,2014
$GC,15691,1.03,211.9,471.7,6.0,760,15695,0.00,2.62,0.00,0.000,4,0.000,0.069,2702,690,2014
$GC,15757,1.03,211.9,467.5,6.2,763,15761,0.00,2.50,0.00,0.000,6,0.000,0.041,2702,2113,2014
$GC,16083,1.03,211.9,447.4,6.1,779,16084,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2113,2014
$GC,16393,1.03,211.9,428.7,6.3,794,16394,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2114,2015
$GC,16702,1.03,211.9,409.4,6.3,809,16706,0.00,2.62,0.00,0.000,4,0.000,0.063,2702,690,2015
$GC,16772,1.03,211.9,404.7,6.4,812,16777,0.00,2.50,0.00,0.000,6,0.000,0.041,2702,2101,2015
$GC,17094,1.03,211.9,384.9,6.3,828,17095,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2102,2015
$GC,17403,1.03,211.9,364.4,6.7,843,17404,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2105,2016
$GC,17712,1.03,211.9,344.1,6.5,858,17716,0.00,2.60,0.00,0.000,4,0.000,0.063,2702,691,2016
$GC,17789,1.03,211.9,338.9,6.7,861,17795,0.00,2.50,0.00,0.000,6,0.000,0.040,2702,2106,2016
$GC,18104,1.03,211.9,319.3,6.3,877,18105,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2111,2016
$GC,18413,1.03,211.9,299.1,7.0,892,18418,0.00,2.60,0.00,0.000,4,0.000,0.061,2702,691,2016
$GC,18475,1.03,211.9,294.6,7.2,895,18479,0.00,2.47,0.00,0.000,6,0.000,0.041,2702,2100,2016
$GC,18800,1.03,211.9,272.3,6.6,911,18802,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2103,2017
$GC,19110,1.03,211.9,252.6,6.4,926,19111,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2104,2017
$GC,19419,1.03,211.9,232.4,6.6,941,19424,0.00,2.58,0.00,0.000,4,0.000,0.061,2702,690,2017
$GC,19485,1.03,211.9,227.7,7.6,944,19490,0.00,2.50,0.00,0.000,6,0.000,0.039,2702,2100,2017
$GC,19812,1.03,211.9,206.2,6.6,960,19813,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2103,2017
$GC,20121,1.03,211.9,187.3,6.4,975,20126,0.00,2.58,0.00,0.000,4,0.000,0.060,2702,690,2017
$GC,20176,1.03,211.9,183.4,6.8,977,20183,0.00,2.50,0.00,0.000,6,0.000,0.039,2702,2100,2017
$GC,20491,1.03,211.9,162.1,6.8,993,20492,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2104,2017
$GC,20801,1.03,211.9,141.2,6.6,1008,20802,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2104,2017
$GC,21112,1.03,211.9,120.3,7.1,1023,21116,0.00,2.60,0.00,0.000,4,0.000,0.060,2702,688,2017
$GC,21183,1.03,211.9,114.9,6.9,1026,21187,0.00,2.50,0.00,0.000,6,0.000,0.039,2702,2098,2017
$GC,21505,1.04,223.8,95.4,5.6,1042,21518,0.00,0.00,11.40,0.923,6,0.000,0.000,2702,2103,1965
$GC,21815,1.04,223.8,76.4,7.2,1057,21819,0.00,2.60,0.00,0.000,4,0.000,0.059,2702,691,1964
$GC,21886,1.04,223.8,70.1,9.3,1060,21890,0.00,2.47,0.00,0.000,6,0.000,0.038,2702,2094,1964
$GC,22208,1.04,223.8,50.6,6.5,1076,22209,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2097,1964
$GC,22518,1.04,223.8,28.6,8.1,1091,22519,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2097,1964
$GC,22827,1.11,279.3,4.6,4.3,1106,22868,0.15,0.00,38.30,0.825,6,0.048,0.000,2758,2099,1739
$GC,23177,1.36,483.1,3.9,-0.1,1123,23228,0.15,0.00,47.92,0.821,2,0.058,0.000,2802,2100,1354
$STATE,23229,end climb,NO_VERTICAL_VELOCITY
$STATE,23229,begin surface
$SM_CCo,23232,94.85,0.751,0,0,603,558.06
$SM_GC,4.50,11.98,0.00,0.00,0.030,0.000,0.000,30,1883,604,-11.27,-0.48,557.81
$IRIDIUM_FIX,6202.67,-1235.26,171207,040419
$TT8_MAMPS,0.026845
$HUMID,2039
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,700.3,59.7
$24V_AH,23.3,38.840
$10V_AH,10.1,18.253
$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,25.125,117.850,404.125,94.850,0.000,36.568,40.169,182.715,7.250,0.000,0.000,31.658,1972.451,18672.086,709.513,2298.725,478.420,33.366,1829.127,0.000,2256.951,0.000,43.991
$DEVICE_MAMPS,97.409,75.166,1325.376,750.893,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,844.174,760.073,696.151,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56849,1125
$CFSIZE,260165632,248332288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,171207,135308,6234.076,-1138.411,31,1.1,31,-11.1