version: 66.02
glider: 102
mission: 4
dive: 177
start: 12 20 107 12 43 54
data:
$ID,102
$MISSION,4
$DIVE,177
$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,-79491.461
$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,23
$R_STBD_OVSHOOT,32
$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
$GPS1,122902,6233.708,-1141.991,39,1.4,39,-11.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.29
$_SM_ANGLEo,-51.3
$GPS2,124302,6233.746,-1141.908,14,1.6,31,-11.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.131,0.163
$KALMAN_X,241659.4,31.5,-3117.3,-407802.7,16455.7
$KALMAN_Y,77581.2,142.4,949.5,33543.1,-9559.0
$MHEAD_RNG_PITCHd_Wd,332.3,34401,-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,22,-0.95,-146.6,0.0,0.0,0,45,0.00,0.00,-21.65,0.000,2,0.000,0.000,28,1896,1116
$GC,48,-0.95,-146.6,4.2,-0.0,1,213,11.15,2.65,-144.57,0.000,4,0.106,0.077,2287,493,3476
$GC,466,-0.95,-146.6,28.0,-7.3,20,471,0.00,2.50,0.00,0.000,6,0.000,0.039,2287,1907,3477
$GC,794,-0.95,-146.6,51.9,-9.1,36,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1910,3477
$GC,1103,-0.95,-146.6,75.3,-7.4,51,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1910,3476
$GC,1412,-0.95,-146.6,100.7,-8.5,66,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1910,3476
$GC,1721,-0.95,-146.6,124.2,-7.4,81,1726,0.00,2.50,0.00,0.000,4,0.000,0.048,2287,3301,3477
$GC,1793,-0.95,-146.6,130.0,-7.8,84,1797,0.00,2.55,0.00,0.000,6,0.000,0.044,2287,1880,3476
$GC,2114,-0.95,-146.6,155.4,-8.3,100,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1880,3477
$GC,2424,-0.95,-146.6,180.4,-8.2,115,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1880,3476
$GC,2733,-0.95,-146.6,204.6,-7.5,130,2737,0.00,2.58,0.00,0.000,4,0.000,0.048,2287,3307,3476
$GC,2816,-0.95,-146.6,210.9,-7.5,134,2820,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1900,3476
$GC,3141,-0.95,-146.6,235.4,-7.9,150,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3476
$GC,3450,-0.95,-146.6,259.1,-7.6,165,3454,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3300,3476
$GC,3516,-0.95,-146.6,264.1,-7.6,168,3520,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1894,3476
$GC,3843,-0.95,-146.6,287.8,-7.2,184,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3476
$GC,4152,-0.95,-146.6,309.9,-7.3,199,4156,0.00,2.55,0.00,0.000,4,0.000,0.050,2287,3302,3476
$GC,4229,-0.95,-146.6,316.1,-7.7,202,4235,0.00,2.53,0.00,0.000,6,0.000,0.045,2287,1897,3476
$GC,4544,-0.95,-146.6,339.2,-7.1,218,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3476
$GC,4853,-0.95,-146.6,360.8,-7.0,233,4858,0.00,2.55,0.00,0.000,4,0.000,0.051,2287,3303,3476
$GC,4919,-0.95,-146.6,365.5,-7.2,236,4924,0.00,2.55,0.00,0.000,6,0.000,0.046,2287,1887,3475
$GC,5246,-0.95,-146.6,388.2,-7.0,252,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1886,3476
$GC,5555,-0.95,-146.6,409.2,-6.8,267,5559,0.00,2.55,0.00,0.000,4,0.000,0.052,2287,3298,3475
$GC,5616,-0.95,-146.6,413.3,-6.6,270,5620,0.00,2.53,0.00,0.000,6,0.000,0.048,2287,1900,3475
$GC,5942,-0.95,-146.6,434.4,-6.5,286,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,6251,-0.95,-146.6,453.7,-5.9,301,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,6561,-0.95,-146.6,471.5,-5.8,316,6565,0.00,2.55,0.00,0.000,4,0.000,0.052,2287,3303,3475
$GC,6637,-0.95,-146.6,476.4,-6.1,319,6644,0.00,2.55,0.00,0.000,6,0.000,0.048,2287,1893,3475
$GC,6953,-0.95,-146.6,494.8,-5.8,335,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1889,3474
$GC,7262,-0.95,-146.6,512.8,-5.8,350,7267,0.00,2.55,0.00,0.000,4,0.000,0.054,2287,3299,3474
$GC,7385,-0.95,-146.6,520.2,-6.0,355,7392,0.00,2.55,0.00,0.000,6,0.000,0.048,2287,1903,3474
$GC,7701,-0.95,-146.6,539.1,-6.2,371,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1903,3474
$GC,8010,-0.95,-146.6,558.7,-6.5,386,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1903,3474
$GC,8319,-0.95,-146.6,578.3,-6.2,401,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1903,3474
$GC,8628,-0.95,-146.6,599.8,-6.8,416,8636,0.00,2.58,0.00,0.000,4,0.000,0.058,2287,3301,3474
$GC,8720,-0.95,-146.6,606.0,-6.6,420,8725,0.00,2.55,0.00,0.000,6,0.000,0.051,2287,1900,3474
$GC,9047,-0.95,-146.6,623.2,-4.6,436,9049,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3473
$GC,9356,-0.95,-146.6,638.6,-5.7,451,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3473
$GC,9665,-0.95,-146.6,656.8,-5.3,466,9670,0.00,2.58,0.00,0.000,4,0.000,0.061,2287,3302,3474
$GC,9720,-0.95,-146.6,660.0,-6.1,468,9727,0.00,2.58,0.00,0.000,6,0.000,0.054,2287,1894,3473
$GC,10036,-0.95,-146.6,676.8,-5.3,484,10037,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3473
$GC,10345,-0.95,-146.6,696.4,-6.5,499,10349,0.00,2.60,0.00,0.000,4,0.000,0.064,2287,3297,3472
$GC,10403,-0.95,-146.6,700.2,-6.6,501,10409,0.00,2.55,0.00,0.000,6,0.000,0.058,2287,1901,3472
$GC,10718,-0.95,-146.6,719.2,-6.0,517,10719,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3471
$STATE,10840,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10840,begin apogee
$GC,10845,-0.36,0.0,726.3,5.4,523,10972,0.60,0.00,123.55,1.305,6,0.072,0.000,2418,2095,2878
$STATE,10972,end apogee,CONTROL_FINISHED_OK
$STATE,10972,begin climb
$GC,10974,0.95,146.6,729.3,0.0,529,11103,1.30,0.00,123.57,1.262,6,0.054,0.000,2704,2094,2280
$GC,11412,0.99,177.5,708.7,5.1,551,11440,0.00,0.00,26.73,1.273,6,0.000,0.000,2704,2094,2154
$GC,11740,0.99,177.5,687.2,8.4,567,11741,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2094,2153
$GC,12050,0.99,177.5,665.7,6.9,582,12051,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2094,2152
$GC,12359,0.99,177.5,643.3,7.0,597,12360,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2094,2151
$GC,12668,0.99,177.5,623.9,6.0,612,12672,0.00,2.60,0.00,0.000,4,0.000,0.063,2703,3500,2151
$GC,12768,0.99,177.5,617.4,6.4,616,12774,0.00,2.58,0.00,0.000,6,0.000,0.055,2704,2095,2151
$GC,13083,0.99,182.5,598.6,5.9,632,13089,0.00,0.00,4.53,1.255,6,0.000,0.000,2704,2095,2134
$GC,13392,0.99,182.5,577.3,7.3,647,13393,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2095,2134
$GC,13701,0.99,182.5,556.8,6.0,662,13703,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2095,2134
$GC,14011,1.03,214.7,541.1,5.0,677,14040,0.00,0.00,27.80,1.236,6,0.000,0.000,2704,2095,2002
$GC,14340,1.03,214.7,520.1,6.7,693,14341,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2095,2002
$GC,14649,1.03,214.7,499.5,6.6,708,14650,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2096,2002
$GC,14958,1.03,214.7,477.5,7.6,723,14959,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2095,2003
$GC,15267,1.03,214.7,453.8,7.5,738,15269,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2095,2003
$GC,15577,1.03,214.7,432.3,6.6,753,15578,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2095,2003
$GC,15886,1.03,214.7,411.7,6.6,768,15887,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2095,2004
$GC,16195,1.03,214.7,390.7,6.6,783,16196,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2095,2004
$GC,16505,1.03,214.7,370.3,6.4,798,16506,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2095,2005
$GC,16814,1.03,214.7,350.6,6.2,813,16815,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2096,2005
$GC,17123,1.04,224.4,332.2,5.7,828,17135,0.00,0.00,9.70,1.061,6,0.000,0.000,2704,2095,1963
$GC,17433,1.06,234.6,314.8,5.7,843,17444,0.00,0.00,9.50,1.041,6,0.000,0.000,2704,2095,1921
$GC,17742,1.07,243.3,296.8,5.7,858,17752,0.10,0.00,7.97,1.030,6,0.054,0.000,2744,2095,1886
$GC,18051,1.07,243.3,274.8,6.9,873,18052,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2095,1886
$GC,18360,1.07,243.3,252.6,7.1,888,18361,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2095,1886
$GC,18669,1.07,243.3,230.3,7.3,903,18674,0.00,2.58,0.00,0.000,4,0.000,0.064,2744,690,1886
$GC,18719,1.07,243.3,226.3,8.1,905,18723,0.00,2.50,0.00,0.000,6,0.000,0.041,2744,2106,1886
$GC,19034,1.07,243.3,202.6,7.5,920,19035,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2110,1886
$GC,19343,1.07,243.3,179.3,7.4,935,19344,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2110,1887
$GC,19653,1.07,243.3,157.2,7.2,950,19654,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2110,1887
$GC,19962,1.07,243.3,134.4,7.6,965,19967,0.00,2.62,0.00,0.000,4,0.000,0.062,2744,690,1887
$GC,20028,1.07,243.3,128.8,9.1,968,20033,0.00,2.50,0.00,0.000,6,0.000,0.040,2744,2109,1887
$GC,20356,1.07,243.3,103.6,7.5,984,20357,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2112,1887
$GC,20666,1.07,243.3,81.7,6.8,999,20667,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2113,1887
$GC,20974,1.07,243.3,57.6,7.5,1014,20975,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2113,1887
$GC,21283,1.07,243.3,33.4,7.9,1029,21288,0.00,2.62,0.00,0.000,4,0.000,0.061,2744,689,1888
$GC,21338,1.07,243.3,28.5,8.4,1031,21345,0.00,2.50,0.00,0.000,6,0.000,0.040,2744,2099,1888
$GC,21654,1.07,243.3,4.6,7.5,1047,21655,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2099,1888
$GC,21964,1.31,444.5,3.8,0.0,1062,22040,0.15,0.00,72.75,0.778,2,0.058,0.000,2787,2102,1340
$STATE,22040,end climb,NO_VERTICAL_VELOCITY
$STATE,22040,begin surface
$SM_CCo,22043,92.85,0.737,0,0,603,558.06
$SM_GC,4.33,11.85,0.00,0.00,0.028,0.000,0.000,30,1880,604,-11.25,-0.59,557.81
$IRIDIUM_FIX,6202.67,-723.68,201207,161611
$TT8_MAMPS,0.026845
$HUMID,2026
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,18.50
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,700.2,35.4
$24V_AH,23.3,40.972
$10V_AH,10.1,19.444
$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,25.150,82.450,406.100,92.850,0.000,112.699,130.902,321.741,8.250,0.000,0.000,32.747,1853.160,17935.090,693.177,2112.093,800.454,33.364,1709.951,0.000,2069.866,0.000,43.972
$DEVICE_MAMPS,105.846,77.467,1305.434,737.087,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,795.962,719.351,648.025,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53639,1065
$CFSIZE,260165632,247521280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,201207,190102,6237.518,-1145.418,36,1.3,36,-11.2