version: 66.02
glider: 102
mission: 4
dive: 168
start: 12 18 107 2 52 26
data:
$ID,102
$MISSION,4
$DIVE,168
$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,-79336.828
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,024531,6233.881,-1130.586,36,1.3,42,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.39
$_SM_ANGLEo,-48.8
$GPS2,025132,6233.916,-1130.360,11,1.3,15,-11.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.101,0.183
$KALMAN_X,229418.2,-586.5,-3169.0,-384700.4,25644.5
$KALMAN_Y,86798.5,14.2,2039.3,23703.1,-11774.1
$MHEAD_RNG_PITCHd_Wd,342.2,43691,-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,-146.6,0.0,0.0,0,43,0.00,0.00,-20.40,0.000,2,0.000,0.000,27,1892,1096
$GC,46,-0.95,-146.6,4.4,-0.0,1,211,11.10,2.62,-142.62,0.000,4,0.103,0.069,2289,499,3476
$GC,464,-0.95,-146.6,25.5,-6.3,20,468,0.00,2.50,0.00,0.000,6,0.000,0.040,2289,1907,3476
$GC,791,-0.95,-146.6,52.5,-7.8,36,795,0.00,2.62,0.00,0.000,4,0.000,0.065,2289,499,3476
$GC,852,-0.95,-146.6,57.0,-6.5,39,856,0.00,2.47,0.00,0.000,6,0.000,0.041,2289,1905,3476
$GC,1178,-0.95,-146.6,78.7,-6.6,55,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1908,3476
$GC,1487,-0.95,-146.6,105.9,-9.3,70,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1908,3476
$GC,1796,-0.95,-146.6,130.7,-7.4,85,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1908,3476
$GC,2105,-0.95,-146.6,153.5,-7.4,100,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1908,3476
$GC,2414,-0.95,-146.6,178.5,-8.0,115,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1907,3476
$GC,2723,-0.95,-146.6,202.2,-7.5,130,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1908,3476
$GC,3033,-0.95,-146.6,224.6,-7.2,145,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1907,3476
$GC,3342,-0.95,-146.6,246.6,-7.3,160,3346,0.00,2.53,0.00,0.000,4,0.000,0.051,2289,3301,3477
$GC,3403,-0.95,-146.6,251.2,-7.5,163,3407,0.00,2.53,0.00,0.000,6,0.000,0.046,2289,1902,3476
$GC,3728,-0.95,-146.6,274.0,-6.8,179,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,4037,-0.95,-146.6,295.6,-7.2,194,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,4346,-0.95,-146.6,318.3,-7.2,209,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,4656,-0.95,-146.6,340.8,-7.1,224,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1902,3476
$GC,4965,-0.95,-146.6,362.3,-7.3,239,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,5274,-0.95,-146.6,383.7,-6.6,254,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,5583,-0.95,-146.6,403.4,-6.2,269,5588,0.00,2.53,0.00,0.000,4,0.000,0.050,2289,3298,3475
$GC,5633,-0.95,-146.6,406.6,-6.1,271,5637,0.00,2.55,0.00,0.000,6,0.000,0.046,2289,1902,3476
$GC,5954,-0.95,-146.6,426.3,-6.2,287,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3475
$GC,6263,-0.95,-146.6,445.3,-6.3,302,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3475
$GC,6572,-0.95,-146.6,468.1,-7.4,317,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3475
$GC,6881,-0.95,-146.6,490.6,-7.0,332,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3474
$GC,7191,-0.95,-146.6,510.0,-6.2,347,7195,0.00,2.55,0.00,0.000,4,0.000,0.051,2289,3303,3474
$GC,7252,-0.95,-146.6,514.2,-6.5,350,7256,0.00,2.53,0.00,0.000,6,0.000,0.047,2289,1898,3474
$GC,7577,-0.95,-146.6,534.9,-6.5,366,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3474
$GC,7886,-0.95,-146.6,554.1,-6.2,381,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3473
$GC,8196,-0.95,-146.6,571.9,-5.7,396,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3474
$GC,8506,-0.95,-146.6,588.8,-5.8,411,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3474
$GC,8815,-0.95,-146.6,605.6,-5.6,426,8819,0.00,2.55,0.00,0.000,4,0.000,0.057,2289,3297,3474
$GC,8891,-0.95,-146.6,610.7,-7.2,429,8898,0.00,2.53,0.00,0.000,6,0.000,0.049,2289,1901,3474
$GC,9207,-0.95,-146.6,630.7,-6.6,445,9211,0.00,2.62,0.00,0.000,4,0.000,0.072,2289,490,3473
$GC,9267,-0.95,-146.6,634.8,-7.1,448,9272,0.00,2.50,0.00,0.000,6,0.000,0.050,2289,1900,3473
$GC,9593,-0.95,-146.6,656.1,-6.5,464,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3473
$GC,9902,-0.95,-146.6,675.8,-6.5,479,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3473
$STATE,10210,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10210,begin apogee
$GC,10215,-0.36,0.0,695.5,6.0,494,10342,0.60,0.00,123.05,1.282,6,0.070,0.000,2420,2101,2878
$STATE,10342,end apogee,CONTROL_FINISHED_OK
$STATE,10342,begin climb
$GC,10344,0.95,146.6,699.7,0.0,500,10476,1.27,2.72,122.40,1.232,4,0.055,0.067,2703,3500,2279
$GC,10588,0.96,152.9,693.7,5.8,511,10600,0.00,2.58,6.40,1.187,6,0.000,0.055,2703,2104,2254
$GC,10908,0.96,158.4,676.1,5.8,527,10915,0.00,0.00,5.55,1.203,6,0.000,0.000,2703,2104,2232
$GC,11217,1.00,192.0,659.2,5.0,542,11252,0.00,2.70,28.88,1.259,4,0.000,0.064,2703,3495,2095
$GC,11336,1.00,192.0,651.8,6.6,547,11340,0.00,2.58,0.00,0.000,6,0.000,0.054,2703,2100,2094
$GC,11657,1.00,192.0,630.3,7.1,563,11658,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,2094
$GC,11966,1.00,192.0,609.9,6.0,578,11971,0.00,2.67,0.00,0.000,4,0.000,0.077,2703,691,2093
$GC,12050,1.04,222.5,605.1,5.1,582,12081,0.00,2.55,25.92,1.261,6,0.000,0.051,2703,2104,1970
$GC,12396,1.04,222.5,583.0,6.9,599,12397,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2104,1969
$GC,12706,1.04,222.5,559.9,7.9,614,12707,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,1968
$GC,13015,1.04,222.5,538.5,6.6,629,13016,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,1968
$GC,13324,1.04,222.5,517.0,6.9,644,13325,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2106,1968
$GC,13634,1.04,222.5,496.2,6.3,659,13635,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2106,1968
$GC,13943,1.04,222.5,476.5,6.3,674,13944,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2106,1968
$GC,14252,1.05,229.7,458.0,5.8,689,14261,0.00,0.00,6.85,1.157,6,0.000,0.000,2703,2106,1941
$GC,14561,1.05,229.7,439.6,6.1,704,14563,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2107,1941
$GC,14870,1.05,229.7,419.9,6.4,719,14875,0.00,2.62,0.00,0.000,4,0.000,0.065,2702,688,1941
$GC,14932,1.05,229.7,415.8,6.7,722,14936,0.00,2.53,0.00,0.000,6,0.000,0.043,2703,2109,1941
$GC,15257,1.05,232.0,396.3,5.9,738,15262,0.00,0.00,3.45,1.047,6,0.000,0.000,2703,2110,1932
$GC,15566,1.06,235.6,377.8,5.9,753,15572,0.00,0.00,4.12,1.059,6,0.000,0.000,2703,2112,1917
$GC,15876,1.06,241.8,360.2,5.8,768,15884,0.10,0.00,6.28,1.074,6,0.056,0.000,2742,2113,1892
$GC,16184,1.06,241.8,337.4,7.4,783,16189,0.00,2.65,0.00,0.000,4,0.000,0.064,2742,684,1893
$GC,16233,1.06,241.8,333.5,7.6,785,16238,0.00,2.50,0.00,0.000,6,0.000,0.041,2742,2106,1892
$GC,16555,1.06,241.8,308.8,7.9,801,16556,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2110,1892
$GC,16864,1.06,241.8,282.7,8.8,816,16865,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2110,1893
$GC,17173,1.06,241.8,256.0,8.5,831,17174,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2109,1893
$GC,17482,1.06,241.8,231.2,7.8,846,17484,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2110,1893
$GC,17791,1.06,241.8,207.5,7.5,861,17793,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2110,1893
$GC,18101,1.06,241.8,184.5,7.3,876,18102,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2110,1893
$GC,18410,1.06,241.8,161.6,7.5,891,18411,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2110,1894
$GC,18719,1.06,241.8,138.7,7.4,906,18720,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2110,1894
$GC,19029,1.06,241.8,115.4,7.8,921,19030,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2110,1894
$GC,19340,1.06,241.8,89.1,7.3,936,19341,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2109,1894
$GC,19647,1.06,241.8,63.9,7.6,951,19648,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2110,1894
$GC,19957,1.06,241.8,37.5,9.1,966,19961,0.00,2.50,0.00,0.000,4,0.000,0.048,2742,3501,1894
$GC,20006,1.06,241.8,32.1,10.2,968,20010,0.00,2.47,0.00,0.000,6,0.000,0.039,2742,2091,1894
$GC,20327,1.06,241.8,12.9,8.6,984,20329,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2091,1894
$GC,20637,1.31,443.6,3.7,-0.0,999,20748,0.15,0.00,107.35,0.769,6,0.052,0.000,2789,2085,1068
$STATE,20883,end climb,NO_VERTICAL_VELOCITY
$STATE,20883,begin surface
$SM_CCo,20886,59.12,0.749,0,0,603,558.06
$SM_GC,4.50,11.93,0.00,0.00,0.030,0.000,0.000,32,1878,603,-11.26,-0.62,557.81
$IRIDIUM_FIX,6211.90,-1131.42,181207,000032
$TT8_MAMPS,0.026845
$HUMID,2044
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.50
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,601.0,103.2
$24V_AH,23.3,39.358
$10V_AH,10.1,18.543
$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,25.150,67.400,440.250,59.125,0.000,37.991,36.863,181.190,7.500,0.000,0.000,17.127,1741.130,16912.719,625.058,2004.042,444.406,33.360,1612.380,0.000,1978.851,0.000,34.723
$DEVICE_MAMPS,102.778,77.467,1281.657,748.592,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,742.548,682.956,634.474,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50587,1011
$CFSIZE,260165632,248160256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,181207,084938,6236.348,-1127.607,31,1.2,31,-11.0