version: 66.02
glider: 102
mission: 4
dive: 176
start: 12 20 107 5 53 9
data:
$ID,102
$MISSION,4
$DIVE,176
$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,-79458.078
$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,33
$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
$GPS1,054607,6231.830,-1142.792,31,1.6,31,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.29
$_SM_ANGLEo,-47.8
$GPS2,055215,6231.844,-1142.679,15,1.5,16,-11.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.036,0.206
$KALMAN_X,239029.7,-915.9,-820.3,-407237.3,11123.5
$KALMAN_Y,78926.4,503.7,1997.8,27289.6,-11352.1
$MHEAD_RNG_PITCHd_Wd,1.3,35148,-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,-146.6,0.0,0.0,0,25,0.00,0.00,-2.55,0.000,2,0.000,0.000,26,1881,668
$GC,28,-0.95,-146.6,4.3,-0.0,0,199,10.93,2.60,-152.50,0.000,4,0.095,0.075,2290,494,3475
$GC,441,-0.95,-146.6,30.6,-14.1,19,448,0.00,2.50,0.00,0.000,6,0.000,0.041,2290,1895,3475
$GC,758,-0.95,-146.6,54.1,-7.2,35,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1896,3475
$GC,1066,-0.95,-146.6,77.0,-7.4,50,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1895,3475
$GC,1375,-0.95,-146.6,100.8,-7.9,65,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1896,3475
$GC,1685,-0.95,-146.6,125.7,-8.3,80,1689,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3297,3475
$GC,1746,-0.95,-146.6,130.9,-8.5,83,1751,0.00,2.50,0.00,0.000,6,0.000,0.044,2289,1897,3475
$GC,2071,-0.95,-146.6,158.5,-8.2,99,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1897,3475
$GC,2380,-0.95,-146.6,181.2,-7.2,114,2385,0.00,2.53,0.00,0.000,4,0.000,0.047,2290,3300,3475
$GC,2435,-0.95,-146.6,185.3,-8.0,116,2442,0.00,2.53,0.00,0.000,6,0.000,0.043,2290,1891,3475
$GC,2751,-0.95,-146.6,208.6,-7.3,132,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1890,3475
$GC,3060,-0.95,-146.6,231.9,-7.4,147,3064,0.00,2.55,0.00,0.000,4,0.000,0.048,2290,3304,3475
$GC,3137,-0.95,-146.6,237.7,-7.5,150,3143,0.00,2.55,0.00,0.000,6,0.000,0.044,2289,1899,3475
$GC,3452,-0.95,-146.6,262.9,-7.9,166,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1899,3475
$GC,3762,-0.95,-146.6,287.6,-8.0,181,3766,0.00,2.53,0.00,0.000,4,0.000,0.048,2290,3299,3475
$GC,3816,-0.95,-146.6,292.1,-8.3,183,3823,0.00,2.50,0.00,0.000,6,0.000,0.044,2290,1901,3475
$GC,4131,-0.95,-146.6,315.6,-7.4,199,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1901,3475
$GC,4441,-0.95,-146.6,338.7,-7.6,214,4445,0.00,2.53,0.00,0.000,4,0.000,0.048,2290,3299,3475
$GC,4495,-0.95,-146.6,342.9,-7.7,216,4501,0.00,2.50,0.00,0.000,6,0.000,0.045,2290,1901,3475
$GC,4810,-0.95,-146.6,365.8,-7.3,232,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1901,3475
$GC,5119,-0.95,-146.6,386.3,-6.2,247,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1901,3475
$GC,5429,-0.95,-146.6,403.6,-5.2,262,5434,0.00,2.53,0.00,0.000,4,0.000,0.049,2290,3298,3475
$GC,5484,-0.95,-146.6,406.9,-6.3,264,5491,0.00,2.55,0.00,0.000,6,0.000,0.046,2289,1885,3475
$GC,5802,-0.95,-146.6,425.6,-6.2,280,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1885,3475
$GC,6109,-0.95,-146.6,447.3,-7.1,295,6113,0.00,2.58,0.00,0.000,4,0.000,0.051,2290,3300,3475
$GC,6152,-0.95,-146.6,450.5,-7.9,297,6156,0.00,2.55,0.00,0.000,6,0.000,0.048,2290,1891,3475
$GC,6480,-0.95,-146.6,475.2,-7.4,313,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1887,3474
$GC,6788,-0.95,-146.6,497.0,-7.0,328,6792,0.00,2.58,0.00,0.000,4,0.000,0.052,2290,3302,3473
$GC,6859,-0.95,-146.6,502.4,-8.0,331,6863,0.00,2.55,0.00,0.000,6,0.000,0.048,2290,1893,3474
$GC,7180,-0.95,-146.6,523.1,-6.5,347,7184,0.00,2.55,0.00,0.000,4,0.000,0.053,2289,3297,3474
$GC,7229,-0.95,-146.6,526.4,-6.5,349,7233,0.00,2.55,0.00,0.000,6,0.000,0.048,2289,1904,3474
$GC,7550,-0.95,-146.6,546.2,-6.1,365,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1904,3474
$GC,7859,-0.95,-146.6,564.2,-5.4,380,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1905,3474
$GC,8168,-0.95,-146.6,582.6,-6.4,395,8172,0.00,2.55,0.00,0.000,4,0.000,0.056,2289,3299,3474
$GC,8261,-0.95,-146.6,588.6,-6.3,399,8266,0.00,2.55,0.00,0.000,6,0.000,0.049,2290,1905,3474
$GC,8583,-0.95,-146.6,609.6,-6.9,415,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1905,3473
$GC,8892,-0.95,-146.6,628.9,-5.7,430,8893,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1905,3474
$GC,9201,-0.95,-146.6,646.3,-5.9,445,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1905,3474
$GC,9511,-0.95,-146.6,664.7,-6.2,460,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1905,3474
$GC,9820,-0.95,-146.6,683.8,-6.2,475,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1904,3473
$GC,10129,-0.95,-146.6,704.8,-6.8,490,10133,0.00,2.60,0.00,0.000,4,0.000,0.064,2290,3300,3473
$GC,10172,-0.95,-146.6,707.9,-7.2,492,10176,0.00,2.55,0.00,0.000,6,0.000,0.058,2290,1903,3472
$GC,10499,-0.95,-146.6,727.7,-5.5,508,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1903,3471
$GC,10808,-0.95,-146.6,746.9,-5.7,523,10812,0.00,2.60,0.00,0.000,4,0.000,0.068,2289,3293,3469
$STATE,10833,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10833,begin apogee
$GC,10840,-0.36,0.0,748.6,6.3,524,10972,0.57,0.00,124.10,1.321,6,0.076,0.000,2415,2101,2878
$STATE,10972,end apogee,CONTROL_FINISHED_OK
$STATE,10972,begin climb
$GC,10974,0.95,146.6,752.7,0.0,531,11106,1.30,2.72,123.12,1.282,4,0.051,0.071,2706,3483,2280
$GC,11224,0.95,146.6,744.5,6.4,543,11229,0.00,2.60,0.00,0.000,6,0.000,0.061,2705,2095,2279
$GC,11549,0.95,146.6,726.3,6.7,559,11550,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2095,2278
$GC,11859,0.97,161.8,708.6,5.5,574,11880,0.00,2.72,13.25,1.315,4,0.000,0.068,2705,3494,2218
$GC,11953,0.97,161.8,702.7,6.2,578,11957,0.00,2.58,0.00,0.000,6,0.000,0.058,2705,2100,2218
$GC,12279,0.97,161.8,681.0,6.7,594,12280,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2099,2216
$GC,12589,0.98,171.6,662.5,5.7,609,12600,0.00,0.00,9.10,1.332,6,0.000,0.000,2705,2100,2178
$GC,12898,0.98,171.6,643.4,6.4,624,12899,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2099,2178
$GC,13207,1.00,190.9,625.0,5.4,639,13228,0.00,0.00,17.27,1.304,6,0.000,0.000,2706,2100,2099
$GC,13537,1.00,193.3,606.9,5.9,655,13542,0.00,0.00,3.25,1.195,6,0.000,0.000,2705,2099,2090
$GC,13846,1.00,193.3,586.3,7.1,670,13850,0.00,2.67,0.00,0.000,4,0.000,0.075,2706,685,2090
$GC,13900,1.00,193.3,581.9,8.2,672,13906,0.00,2.53,0.00,0.000,6,0.000,0.049,2705,2095,2090
$GC,14215,1.00,193.3,559.8,6.9,688,14217,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2095,2090
$GC,14524,1.00,193.3,537.5,7.3,703,14526,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2096,2089
$GC,14834,1.00,193.3,516.6,6.4,718,14835,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2098,2090
$GC,15143,1.00,193.3,497.5,6.0,733,15144,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2098,2089
$GC,15452,1.03,216.7,479.9,5.3,748,15475,0.00,0.00,20.55,1.164,6,0.000,0.000,2705,2099,1994
$GC,15781,1.03,216.7,459.9,6.3,764,15783,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2099,1995
$GC,16091,1.05,226.5,441.7,5.7,779,16106,0.00,2.67,9.35,1.132,4,0.000,0.065,2705,687,1954
$GC,16161,1.05,226.5,437.1,6.3,781,16166,0.00,2.53,0.00,0.000,6,0.000,0.043,2705,2105,1954
$GC,16482,1.05,226.5,418.5,6.1,797,16483,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2109,1954
$GC,16791,1.05,226.5,399.0,6.1,812,16796,0.00,2.65,0.00,0.000,4,0.000,0.064,2705,689,1955
$GC,16853,1.05,228.7,395.0,5.9,815,16862,0.00,2.50,3.47,1.042,6,0.000,0.043,2705,2100,1945
$GC,17184,1.05,228.7,374.6,6.0,831,17185,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2104,1945
$GC,17493,1.05,228.7,356.2,6.1,846,17497,0.00,2.62,0.00,0.000,4,0.000,0.064,2706,689,1945
$GC,17547,1.05,228.7,352.4,6.5,848,17554,0.00,2.53,0.00,0.000,6,0.000,0.042,2705,2103,1945
$GC,17863,1.05,228.7,332.1,6.5,864,17864,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2106,1945
$GC,18172,1.05,228.9,312.8,6.0,879,18176,0.00,2.62,0.00,0.000,4,0.000,0.064,2706,689,1945
$GC,18243,1.05,228.9,308.1,6.9,882,18247,0.00,2.50,0.00,0.000,6,0.000,0.042,2706,2099,1945
$GC,18564,1.06,237.0,289.0,5.8,898,18574,0.00,0.00,8.10,1.029,6,0.000,0.000,2706,2104,1911
$GC,18873,1.08,251.2,271.6,5.6,913,18888,0.10,0.00,12.02,1.012,6,0.052,0.000,2749,2104,1854
$GC,19182,1.08,251.2,248.9,7.7,928,19186,0.00,2.62,0.00,0.000,4,0.000,0.064,2749,687,1854
$GC,19231,1.08,251.2,244.7,8.1,930,19235,0.00,2.53,0.00,0.000,6,0.000,0.041,2749,2107,1854
$GC,19552,1.08,251.2,218.9,8.0,946,19553,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2111,1854
$GC,19861,1.08,251.2,194.1,7.7,961,19862,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2111,1855
$GC,20170,1.08,251.2,171.5,6.7,976,20172,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2111,1854
$GC,20480,1.08,251.2,151.2,6.7,991,20481,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2111,1855
$GC,20789,1.08,251.2,130.9,7.0,1006,20793,0.00,2.65,0.00,0.000,4,0.000,0.063,2749,684,1855
$GC,20860,1.08,251.2,125.2,8.5,1009,20864,0.00,2.47,0.00,0.000,6,0.000,0.040,2749,2103,1855
$GC,21181,1.08,251.2,98.5,8.7,1025,21182,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2105,1855
$GC,21491,1.08,251.2,73.7,7.4,1040,21492,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2105,1855
$GC,21800,1.08,251.2,52.5,6.1,1055,21801,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2106,1856
$GC,22109,1.08,251.2,26.8,9.8,1070,22110,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2106,1856
$GC,22418,1.08,251.2,3.6,6.0,1085,22420,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2107,1856
$GC,22728,1.33,457.7,3.7,-0.2,1100,22845,0.15,2.60,109.25,0.767,4,0.060,0.048,2795,3496,1011
$GC,23100,1.58,662.6,3.6,-0.1,1117,23158,0.20,2.53,51.38,0.756,6,0.054,0.045,2846,2087,603
$STATE,23259,end climb,NO_VERTICAL_VELOCITY
$STATE,23259,begin surface
$SM_CCo,23680,0.00,0.000,0,0,604,557.81
$SM_GC,4.43,12.07,0.00,0.00,0.026,0.000,0.000,30,1898,604,-11.26,-0.06,557.81
$IRIDIUM_FIX,6230.49,-440.69,201207,030332
$TT8_MAMPS,0.026845
$HUMID,2040
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.70
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,700.6,57.8
$24V_AH,23.3,40.789
$10V_AH,10.1,19.344
$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,25.325,118.000,504.225,0.000,0.000,36.936,44.151,176.718,8.500,0.000,0.000,17.906,1962.098,18610.898,651.680,2358.278,465.819,33.361,1830.939,0.000,2316.256,0.000,41.063
$DEVICE_MAMPS,95.108,75.166,1332.279,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,830.351,758.983,697.753,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56819,1124
$CFSIZE,260165632,247590912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,201207,122902,6233.708,-1141.991,39,1.4,39,-11.1