version: 66.02
glider: 102
mission: 4
dive: 174
start: 12 19 107 16 40 52
data:
$ID,102
$MISSION,4
$DIVE,174
$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,-79423.367
$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,17
$R_STBD_OVSHOOT,30
$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
$GPS1,163326,6231.697,-1138.000,36,1.9,36,-11.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,4.40
$_SM_ANGLEo,-52.0
$GPS2,163957,6231.687,-1137.749,11,1.7,11,-11.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.202,0.054
$KALMAN_X,222796.9,633.5,4624.4,-393642.9,-21496.0
$KALMAN_Y,89766.9,-235.4,-2295.5,21194.9,9836.2
$MHEAD_RNG_PITCHd_Wd,296.0,39089,-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,18,begin dive
$GC,20,-0.95,-146.6,0.0,0.0,0,25,0.00,0.00,-3.67,0.000,2,0.000,0.000,30,1886,698
$GC,28,-0.95,-146.6,4.5,-0.0,0,204,11.07,2.65,-153.05,0.000,4,0.103,0.075,2287,485,3476
$GC,363,-0.95,-146.6,24.7,-9.4,16,367,0.00,2.53,0.00,0.000,6,0.000,0.042,2287,1910,3476
$GC,688,-0.95,-146.6,48.2,-8.0,32,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1913,3476
$GC,997,-0.95,-146.6,72.7,-8.3,47,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1913,3476
$GC,1307,-0.95,-146.6,98.7,-8.1,62,1311,0.00,2.50,0.00,0.000,4,0.000,0.048,2287,3298,3476
$GC,1368,-0.95,-146.6,103.3,-7.2,65,1373,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1894,3477
$GC,1695,-0.95,-146.6,127.5,-7.5,81,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3476
$GC,2005,-0.95,-146.6,150.7,-7.5,96,2009,0.00,2.55,0.00,0.000,4,0.000,0.048,2287,3307,3476
$GC,2082,-0.95,-146.6,156.5,-7.4,99,2088,0.00,2.53,0.00,0.000,6,0.000,0.043,2287,1899,3476
$GC,2397,-0.95,-146.6,178.4,-7.0,115,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3476
$GC,2706,-0.95,-146.6,199.6,-7.0,130,2711,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3300,3476
$GC,2778,-0.95,-146.6,205.0,-7.5,133,2782,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1894,3475
$GC,3099,-0.95,-146.6,227.1,-7.1,149,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1893,3476
$GC,3408,-0.95,-146.6,249.4,-7.3,164,3412,0.00,2.55,0.00,0.000,4,0.000,0.048,2287,3303,3476
$GC,3485,-0.95,-146.6,255.1,-7.3,167,3491,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1893,3475
$GC,3801,-0.95,-146.6,276.3,-6.8,183,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1893,3476
$GC,4109,-0.95,-146.6,297.3,-7.1,198,4114,0.00,2.55,0.00,0.000,4,0.000,0.050,2287,3304,3476
$GC,4187,-0.95,-146.6,302.8,-6.7,201,4193,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1898,3476
$GC,4502,-0.95,-146.6,324.5,-7.2,217,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3476
$GC,4811,-0.95,-146.6,346.3,-7.1,232,4816,0.00,2.55,0.00,0.000,4,0.000,0.050,2287,3306,3476
$GC,4883,-0.95,-146.6,351.4,-7.4,235,4887,0.00,2.55,0.00,0.000,6,0.000,0.046,2287,1905,3476
$GC,5205,-0.95,-146.6,372.8,-6.8,251,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,5513,-0.95,-146.6,392.6,-6.7,266,5518,0.00,2.53,0.00,0.000,4,0.000,0.051,2287,3299,3475
$GC,5575,-0.95,-146.6,396.8,-7.4,269,5579,0.00,2.50,0.00,0.000,6,0.000,0.047,2287,1901,3475
$GC,5900,-0.95,-146.6,417.8,-6.7,285,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3476
$GC,6210,-0.95,-146.6,438.3,-6.7,300,6214,0.00,2.53,0.00,0.000,4,0.000,0.051,2287,3299,3475
$GC,6281,-0.95,-146.6,443.3,-7.0,303,6285,0.00,2.53,0.00,0.000,6,0.000,0.047,2287,1899,3475
$GC,6602,-0.95,-146.6,465.4,-7.0,319,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3475
$GC,6912,-0.95,-146.6,486.5,-6.6,334,6916,0.00,2.55,0.00,0.000,4,0.000,0.051,2287,3305,3474
$GC,6977,-0.95,-146.6,491.1,-7.0,337,6981,0.00,2.53,0.00,0.000,6,0.000,0.047,2287,1898,3474
$GC,7304,-0.95,-146.6,512.1,-6.1,353,7308,0.00,2.55,0.00,0.000,4,0.000,0.052,2287,3302,3474
$GC,7369,-0.95,-146.6,516.5,-6.7,356,7374,0.00,2.55,0.00,0.000,6,0.000,0.048,2287,1901,3474
$GC,7696,-0.95,-146.6,537.6,-6.3,372,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3474
$GC,8005,-0.95,-146.6,558.0,-6.8,387,8009,0.00,2.53,0.00,0.000,4,0.000,0.053,2287,3300,3474
$GC,8089,-0.95,-146.6,563.7,-7.0,391,8093,0.00,2.53,0.00,0.000,6,0.000,0.048,2287,1900,3474
$GC,8414,-0.95,-146.6,585.6,-7.0,407,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,8723,-0.95,-146.6,607.0,-6.7,422,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,9033,-0.95,-146.6,627.9,-6.5,437,9037,0.00,2.58,0.00,0.000,4,0.000,0.057,2287,3304,3474
$GC,9098,-0.95,-146.6,632.4,-7.4,440,9103,0.00,2.55,0.00,0.000,6,0.000,0.050,2287,1900,3474
$GC,9425,-0.95,-146.6,653.3,-6.4,456,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,9735,-0.95,-146.6,673.4,-7.0,471,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3474
$GC,10044,-0.95,-146.6,693.7,-6.2,486,10048,0.00,2.58,0.00,0.000,4,0.000,0.061,2287,3297,3474
$GC,10098,-0.95,-146.6,697.2,-6.4,488,10105,0.00,2.55,0.00,0.000,6,0.000,0.053,2287,1900,3474
$GC,10414,-0.95,-146.6,715.7,-6.0,504,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,10723,-0.95,-146.6,734.4,-5.9,519,10728,0.00,2.60,0.00,0.000,4,0.000,0.066,2287,3295,3473
$GC,10795,-0.95,-146.6,739.1,-7.0,522,10799,0.00,2.58,0.00,0.000,6,0.000,0.058,2287,1897,3473
$GC,11116,-0.95,-146.6,759.5,-6.3,538,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3472
$STATE,11156,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11156,begin apogee
$GC,11161,-0.36,0.0,762.1,6.5,540,11288,0.60,0.00,123.90,1.328,6,0.075,0.000,2416,2100,2878
$STATE,11288,end apogee,CONTROL_FINISHED_OK
$STATE,11288,begin climb
$GC,11291,0.95,146.6,766.0,0.0,546,11423,1.30,2.80,123.82,1.284,4,0.055,0.080,2702,694,2280
$GC,11480,0.96,156.8,761.4,5.7,555,11494,0.00,2.60,9.73,1.247,6,0.000,0.058,2702,2094,2238
$GC,11816,0.96,156.8,737.2,6.1,572,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2094,2236
$GC,12125,0.99,184.6,720.2,5.2,587,12154,0.00,2.72,23.77,1.306,4,0.000,0.070,2702,3510,2125
$GC,12272,0.99,184.6,710.3,6.5,593,12279,0.00,2.62,0.00,0.000,6,0.000,0.059,2702,2098,2125
$GC,12587,0.99,184.6,688.6,6.6,609,12588,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,2124
$GC,12896,0.99,184.6,670.6,6.7,624,12901,0.00,2.65,0.00,0.000,4,0.000,0.067,2702,3505,2123
$GC,13048,0.99,184.6,659.5,6.1,631,13053,0.00,2.60,0.00,0.000,6,0.000,0.060,2702,2102,2123
$GC,13374,1.03,210.5,642.9,5.2,647,13397,0.00,0.00,22.10,1.311,6,0.000,0.000,2702,2102,2020
$GC,13703,1.03,210.5,619.1,7.6,663,13704,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2102,2019
$GC,14012,1.03,210.5,598.7,6.5,678,14017,0.00,2.65,0.00,0.000,4,0.000,0.075,2702,687,2019
$GC,14074,1.03,210.5,594.8,6.7,681,14078,0.00,2.55,0.00,0.000,6,0.000,0.050,2702,2105,2019
$GC,14399,1.03,215.7,576.8,5.8,697,14407,0.00,0.00,5.57,1.227,6,0.000,0.000,2702,2106,1998
$GC,14708,1.03,215.7,555.8,7.2,712,14709,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2106,1998
$GC,15017,1.03,215.7,533.7,6.9,727,15018,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2107,1998
$GC,15327,1.03,215.7,514.0,6.2,742,15328,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2107,1999
$GC,15636,1.03,215.7,494.7,6.4,757,15637,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2108,1999
$GC,15945,1.03,215.7,474.9,6.5,772,15946,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2109,2000
$GC,16254,1.03,215.7,455.4,6.3,787,16255,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2109,2000
$GC,16564,1.03,217.7,436.9,5.9,802,16569,0.00,0.00,3.58,1.062,6,0.000,0.000,2702,2109,1990
$GC,16873,1.03,217.7,418.6,6.3,817,16874,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2109,1990
$GC,17182,1.03,217.7,398.5,6.5,832,17183,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2109,1991
$GC,17492,1.03,217.7,378.2,6.6,847,17493,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2109,1991
$GC,17801,1.03,217.7,357.3,6.9,862,17805,0.00,2.62,0.00,0.000,4,0.000,0.064,2702,689,1991
$GC,17861,1.03,217.7,352.9,6.8,865,17866,0.00,2.53,0.00,0.000,6,0.000,0.042,2702,2111,1991
$GC,18188,1.03,217.7,330.4,6.9,881,18189,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2116,1992
$GC,18497,1.03,217.7,309.7,6.8,896,18498,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2116,1992
$GC,18806,1.03,217.7,287.3,7.5,911,18807,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2115,1993
$GC,19115,1.03,217.7,264.9,7.1,926,19117,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2116,1993
$GC,19425,1.03,217.7,243.8,6.7,941,19429,0.00,2.65,0.00,0.000,4,0.000,0.061,2702,679,1993
$GC,19485,1.03,217.7,239.5,8.1,944,19490,0.00,2.53,0.00,0.000,6,0.000,0.041,2702,2109,1993
$GC,19811,1.03,217.7,216.7,7.2,960,19812,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2113,1993
$GC,20120,1.03,217.7,195.7,6.5,975,20125,0.00,2.62,0.00,0.000,4,0.000,0.061,2702,689,1993
$GC,20176,1.03,217.7,191.7,7.1,977,20182,0.00,2.47,0.00,0.000,6,0.000,0.040,2702,2103,1994
$GC,20491,1.03,217.7,172.0,6.3,993,20492,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2106,1994
$GC,20800,1.03,217.7,153.6,6.1,1008,20801,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2106,1994
$GC,21111,1.05,227.1,135.2,5.7,1023,21121,0.00,0.00,9.07,0.930,6,0.000,0.000,2702,2106,1952
$GC,21421,1.05,227.1,113.9,7.3,1038,21425,0.00,2.62,0.00,0.000,4,0.000,0.061,2702,687,1952
$GC,21475,1.05,227.1,109.2,8.4,1040,21482,0.00,2.50,0.00,0.000,6,0.000,0.040,2702,2097,1952
$GC,21791,1.05,227.1,82.4,7.7,1056,21792,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2097,1952
$GC,22100,1.05,227.1,63.6,6.4,1071,22104,0.00,2.60,0.00,0.000,4,0.000,0.061,2702,687,1952
$GC,22165,1.07,249.0,59.8,5.3,1074,22191,0.12,2.45,17.80,0.861,6,0.048,0.039,2749,2103,1863
$GC,22513,1.07,249.0,34.0,8.5,1091,22514,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2103,1863
$GC,22821,1.07,249.0,6.8,11.1,1106,22822,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2103,1863
$GC,23130,1.32,451.5,3.8,-0.0,1121,23244,0.15,2.55,107.38,0.756,4,0.061,0.043,2791,3496,1035
$GC,23340,1.58,662.2,3.7,-0.3,1131,23404,0.22,2.55,54.60,0.739,6,0.061,0.042,2842,2084,602
$STATE,23526,end climb,NO_VERTICAL_VELOCITY
$STATE,23526,begin surface
$SM_CCo,23948,0.00,0.000,0,0,604,557.81
$SM_GC,4.35,12.15,0.00,0.00,0.030,0.000,0.000,28,1881,604,-11.27,-0.54,557.81
$IRIDIUM_FIX,6207.28,-1134.13,191207,131334
$TT8_MAMPS,0.026845
$HUMID,2035
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.50
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,725.9,45.4
$24V_AH,23.3,40.424
$10V_AH,10.1,19.144
$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,25.625,128.900,501.325,0.000,0.000,39.266,36.656,209.876,7.500,0.000,0.000,12.861,2006.812,18765.896,653.480,2401.663,510.070,33.365,1859.959,0.000,2370.064,0.000,42.651
$DEVICE_MAMPS,102.778,79.768,1327.677,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,848.153,769.971,699.343,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56882,1140
$CFSIZE,260165632,247717888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,191207,232107,6229.976,-1140.288,34,1.0,34,-11.1