version: 66.02
glider: 102
mission: 4
dive: 179
start: 12 21 107 1 13 27
data:
$ID,102
$MISSION,4
$DIVE,179
$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,-79520.023
$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,25
$R_STBD_OVSHOOT,36
$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
$GPS1,010308,6238.854,-1155.180,37,1.3,37,-11.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,4.19
$_SM_ANGLEo,-55.0
$GPS2,011233,6238.839,-1155.395,10,1.5,10,-11.3
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.127,0.166
$KALMAN_X,239058.2,-184.5,-4806.2,-415200.0,15221.7
$KALMAN_Y,77653.6,-323.4,1124.7,43213.2,-6570.4
$MHEAD_RNG_PITCHd_Wd,333.9,21034,-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,-20.23,0.000,2,0.000,0.000,29,1890,1082
$GC,46,-0.95,-146.6,4.2,-0.0,1,218,11.12,2.62,-152.88,0.000,4,0.105,0.077,2284,495,3476
$GC,471,-0.95,-146.6,26.9,-11.4,20,478,0.00,2.50,0.00,0.000,6,0.000,0.041,2285,1898,3476
$GC,787,-0.95,-146.6,50.8,-7.0,36,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3476
$GC,1096,-0.95,-146.6,76.4,-8.4,51,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3476
$GC,1406,-0.95,-146.6,100.0,-7.7,66,1410,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3300,3476
$GC,1471,-0.95,-146.6,105.1,-7.8,69,1476,0.00,2.55,0.00,0.000,6,0.000,0.043,2285,1882,3476
$GC,1800,-0.95,-146.6,129.8,-7.5,85,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1882,3476
$GC,2109,-0.95,-146.6,151.0,-6.2,100,2113,0.00,2.58,0.00,0.000,4,0.000,0.047,2285,3305,3476
$GC,2208,-0.95,-146.6,157.4,-6.1,104,2215,0.00,2.55,0.00,0.000,6,0.000,0.043,2285,1901,3476
$GC,2525,-0.95,-146.6,175.5,-5.7,120,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,2834,-0.95,-146.6,192.6,-5.8,135,2838,0.00,2.53,0.00,0.000,4,0.000,0.047,2285,3305,3476
$GC,2905,-0.95,-146.6,197.4,-6.6,138,2909,0.00,2.53,0.00,0.000,6,0.000,0.043,2285,1898,3476
$GC,3226,-0.95,-146.6,219.8,-7.5,154,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3476
$GC,3536,-0.95,-146.6,242.8,-7.8,169,3540,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3298,3476
$GC,3613,-0.95,-146.6,249.1,-7.7,172,3619,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1890,3476
$GC,3929,-0.95,-146.6,273.3,-7.7,188,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1890,3476
$GC,4237,-0.95,-146.6,295.7,-6.9,203,4242,0.00,2.55,0.00,0.000,4,0.000,0.049,2285,3301,3476
$GC,4326,-0.95,-146.6,302.2,-7.3,207,4330,0.00,2.55,0.00,0.000,6,0.000,0.044,2285,1902,3476
$GC,4653,-0.95,-146.6,324.2,-6.6,223,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3476
$GC,4962,-0.95,-146.6,346.3,-7.0,238,4966,0.00,2.53,0.00,0.000,4,0.000,0.049,2285,3300,3476
$GC,5033,-0.95,-146.6,351.7,-7.8,241,5037,0.00,2.53,0.00,0.000,6,0.000,0.045,2285,1896,3476
$GC,5354,-0.95,-146.6,377.1,-8.4,257,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3476
$GC,5663,-0.95,-146.6,401.8,-7.7,272,5667,0.00,2.53,0.00,0.000,4,0.000,0.050,2285,3297,3476
$GC,5728,-0.95,-146.6,407.0,-8.0,275,5733,0.00,2.53,0.00,0.000,6,0.000,0.046,2285,1898,3476
$GC,6056,-0.95,-146.6,430.8,-7.5,291,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3476
$GC,6365,-0.95,-146.6,452.7,-6.7,306,6369,0.00,2.53,0.00,0.000,4,0.000,0.051,2285,3300,3476
$GC,6452,-0.95,-146.6,458.8,-6.6,310,6457,0.00,2.53,0.00,0.000,6,0.000,0.047,2285,1900,3475
$GC,6780,-0.95,-146.6,479.6,-6.6,326,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3475
$GC,7090,-0.95,-146.6,500.2,-7.0,341,7094,0.00,2.55,0.00,0.000,4,0.000,0.051,2285,3305,3475
$GC,7144,-0.95,-146.6,504.3,-7.6,343,7151,0.00,2.55,0.00,0.000,6,0.000,0.046,2285,1892,3475
$GC,7460,-0.95,-146.6,529.8,-8.6,359,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1892,3475
$GC,7769,-0.95,-146.6,556.2,-8.5,374,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1892,3475
$GC,8078,-0.95,-146.6,581.1,-7.5,389,8083,0.00,2.58,0.00,0.000,4,0.000,0.055,2284,3297,3475
$GC,8162,-0.95,-146.6,587.6,-8.1,393,8166,0.00,2.53,0.00,0.000,6,0.000,0.048,2285,1901,3475
$GC,8488,-0.95,-146.6,607.4,-5.5,409,8489,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3475
$GC,8797,-0.95,-146.6,626.5,-6.7,424,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3475
$GC,9107,-0.95,-146.6,643.7,-5.1,439,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3474
$GC,9415,-0.95,-146.6,658.7,-5.0,454,9420,0.00,2.58,0.00,0.000,4,0.000,0.060,2285,3294,3474
$GC,9477,-0.95,-146.6,662.0,-5.4,457,9482,0.00,2.55,0.00,0.000,6,0.000,0.054,2284,1900,3474
$GC,9803,-0.95,-146.6,681.2,-6.0,473,9805,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3474
$GC,10113,-0.95,-146.6,697.8,-5.6,488,10114,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3473
$GC,10422,-0.95,-146.6,714.5,-5.1,503,10423,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3471
$GC,10731,-0.95,-146.6,735.1,-5.9,518,10736,0.00,2.58,0.00,0.000,4,0.000,0.064,2285,3294,3470
$STATE,10751,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10751,begin apogee
$GC,10758,-0.36,0.0,736.6,7.4,519,10884,0.57,0.00,123.35,1.334,6,0.072,0.000,2413,2095,2878
$STATE,10885,end apogee,CONTROL_FINISHED_OK
$STATE,10885,begin climb
$GC,10887,0.95,146.6,740.7,0.0,525,11018,1.30,2.75,122.80,1.297,4,0.055,0.076,2702,695,2280
$GC,11099,0.98,173.2,733.1,5.2,535,11128,0.00,2.55,23.23,1.280,6,0.000,0.054,2701,2085,2171
$GC,11449,0.98,173.2,709.0,6.3,552,11454,0.00,2.67,0.00,0.000,4,0.000,0.067,2702,3507,2170
$GC,11549,0.98,173.2,702.5,6.3,556,11556,0.00,2.60,0.00,0.000,6,0.000,0.057,2702,2104,2170
$GC,11865,1.02,202.1,687.2,5.1,572,11892,0.00,0.00,25.10,1.310,6,0.000,0.000,2701,2104,2053
$GC,12194,1.02,202.1,664.6,7.3,588,12198,0.00,2.62,0.00,0.000,4,0.000,0.064,2702,3505,2052
$GC,12248,1.02,202.1,660.6,7.4,590,12255,0.00,2.62,0.00,0.000,6,0.000,0.056,2702,2099,2051
$GC,12564,1.02,208.2,639.9,5.8,606,12571,0.00,0.00,5.70,1.277,6,0.000,0.000,2702,2099,2029
$GC,12873,1.02,208.2,623.3,6.8,621,12877,0.00,2.67,0.00,0.000,4,0.000,0.079,2702,687,2029
$GC,12944,1.02,208.2,617.7,8.1,624,12948,0.00,2.55,0.00,0.000,6,0.000,0.051,2702,2105,2029
$GC,13265,1.02,208.2,591.4,8.2,640,13266,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2105,2028
$GC,13574,1.02,208.2,569.6,6.3,655,13575,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2106,2028
$GC,13884,1.02,208.2,549.8,6.6,670,13888,0.00,2.65,0.00,0.000,4,0.000,0.070,2702,689,2028
$GC,13944,1.02,208.2,545.3,7.1,673,13949,0.00,2.53,0.00,0.000,6,0.000,0.048,2702,2104,2028
$GC,14270,1.02,208.2,520.4,8.6,689,14271,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2104,2028
$GC,14580,1.02,208.2,493.3,8.3,704,14581,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2104,2028
$GC,14889,1.02,208.2,470.9,6.7,719,14890,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2105,2027
$GC,15198,1.02,208.2,450.9,6.5,734,15199,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2106,2029
$GC,15507,1.02,208.2,430.5,6.7,749,15509,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2106,2029
$GC,15816,1.02,208.2,409.7,6.6,764,15817,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2106,2030
$GC,16126,1.02,208.2,387.3,7.7,779,16130,0.00,2.65,0.00,0.000,4,0.000,0.064,2702,685,2030
$GC,16187,1.02,208.2,382.3,8.2,782,16191,0.00,2.50,0.00,0.000,6,0.000,0.042,2702,2101,2030
$GC,16512,1.02,208.2,356.2,8.0,798,16513,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2105,2031
$GC,16821,1.02,208.2,331.8,7.8,813,16822,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2105,2031
$GC,17131,1.02,208.2,308.7,7.3,828,17132,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2105,2032
$GC,17440,1.02,208.2,288.4,6.4,843,17444,0.00,2.62,0.00,0.000,4,0.000,0.063,2702,679,2032
$GC,17510,1.02,208.2,283.4,7.2,846,17515,0.00,2.53,0.00,0.000,6,0.000,0.041,2702,2105,2032
$GC,17832,1.03,211.4,263.4,5.9,862,17838,0.00,0.00,4.57,0.992,6,0.000,0.000,2702,2110,2016
$GC,18141,1.03,211.4,244.3,6.2,877,18142,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2110,2016
$GC,18450,1.03,211.4,224.3,6.6,892,18454,0.00,2.62,0.00,0.000,4,0.000,0.061,2701,680,2017
$GC,18516,1.03,211.4,219.5,6.7,895,18520,0.00,2.50,0.00,0.000,6,0.000,0.041,2701,2099,2017
$GC,18843,1.03,211.4,197.9,6.5,911,18844,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2103,2017
$GC,19152,1.03,211.4,177.5,6.7,926,19153,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2103,2017
$GC,19462,1.03,211.4,157.1,6.5,941,19466,0.00,2.60,0.00,0.000,4,0.000,0.061,2702,688,2017
$GC,19516,1.03,211.4,153.2,6.7,943,19522,0.00,2.53,0.00,0.000,6,0.000,0.040,2702,2120,2018
$GC,19832,1.10,268.9,136.9,4.3,959,19881,0.15,0.00,46.17,0.894,6,0.041,0.000,2760,2125,1781
$GC,20183,1.10,268.9,110.0,8.2,976,20185,0.12,0.00,0.00,0.000,6,0.084,0.000,2734,2125,1781
$GC,20490,1.10,268.9,87.3,7.2,991,20494,0.00,2.67,0.00,0.000,4,0.000,0.061,2734,684,1781
$GC,20544,1.10,268.9,82.7,9.1,993,20551,0.00,2.50,0.00,0.000,6,0.000,0.040,2734,2093,1781
$GC,20860,1.10,268.9,60.3,7.2,1009,20861,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2097,1780
$GC,21169,1.10,268.9,37.6,7.8,1024,21170,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2097,1781
$GC,21479,1.10,268.9,10.4,7.9,1039,21480,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2097,1781
$GC,21790,1.34,468.8,3.6,0.0,1054,21901,0.20,2.65,105.22,0.767,4,0.044,0.060,2794,688,966
$GC,22081,1.58,665.0,3.5,0.2,1067,22117,0.20,2.50,30.38,0.769,2,0.064,0.040,2840,2114,727
$STATE,22118,end climb,NO_VERTICAL_VELOCITY
$STATE,22118,begin surface
$SM_CCo,22121,17.00,0.742,0,0,603,558.06
$SM_GC,4.25,12.07,0.00,0.00,0.026,0.000,0.000,28,1867,604,-11.27,-0.93,557.81
$IRIDIUM_FIX,6216.53,-1151.63,211207,050500
$TT8_MAMPS,0.026078
$HUMID,2022
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,18.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,650.7,95.7
$24V_AH,23.3,41.314
$10V_AH,10.1,19.637
$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,25.750,123.325,486.525,17.000,0.000,73.800,73.548,251.450,6.750,0.000,0.000,11.651,1889.571,17662.611,663.333,2298.374,611.920,33.362,1819.112,0.000,2264.484,0.000,37.926
$DEVICE_MAMPS,105.079,79.001,1333.813,741.689,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,788.727,721.734,672.034,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53626,1069
$CFSIZE,260165632,247382016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,211207,073038,6242.615,-1203.161,37,1.0,37,-11.4