version: 66.02
glider: 102
mission: 4
dive: 189
start: 12 23 107 19 3 51
data:
$ID,102
$MISSION,4
$DIVE,189
$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,558.0575
$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,-79730.156
$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,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
$GPS1,184938,6251.765,-1247.182,26,1.5,26,-11.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.65
$_SM_ANGLEo,-50.9
$GPS2,190257,6251.787,-1246.829,11,1.3,11,-11.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.138,0.156
$KALMAN_X,236012.4,-37.4,-206.6,-462290.8,-2405.5
$KALMAN_Y,59629.5,-420.9,2821.0,83609.5,-18702.5
$MHEAD_RNG_PITCHd_Wd,330.3,15717,-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,20,-0.95,-146.6,0.0,0.0,0,44,0.00,0.00,-22.25,0.000,2,0.000,0.000,27,1891,1102
$GC,47,-0.95,-146.6,3.7,-0.0,1,233,11.23,2.60,-167.85,0.000,4,0.108,0.075,2288,498,3476
$GC,324,-0.95,-146.6,9.0,-7.4,14,328,0.00,2.50,0.00,0.000,6,0.000,0.041,2288,1915,3476
$GC,649,-0.95,-146.6,33.8,-7.2,30,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1918,3475
$GC,960,-0.95,-146.6,57.0,-6.8,45,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1918,3476
$GC,1269,-0.95,-146.6,80.9,-9.3,60,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1918,3475
$GC,1577,-0.95,-146.6,101.8,-8.3,75,1581,0.00,2.47,0.00,0.000,4,0.000,0.048,2288,3296,3476
$GC,1625,-0.95,-146.6,106.1,-8.2,77,1630,0.00,2.50,0.00,0.000,6,0.000,0.044,2288,1902,3475
$GC,1947,-0.95,-146.6,127.7,-7.9,93,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3475
$GC,2256,-0.95,-146.6,154.8,-8.6,108,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3476
$GC,2566,-0.95,-146.6,178.5,-7.3,123,2570,0.00,2.53,0.00,0.000,4,0.000,0.047,2288,3307,3476
$GC,2637,-0.95,-146.6,184.1,-7.1,126,2641,0.00,2.53,0.00,0.000,6,0.000,0.042,2288,1892,3475
$GC,2958,-0.95,-146.6,206.1,-6.5,142,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1893,3475
$GC,3267,-0.95,-146.6,226.5,-6.6,157,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1893,3476
$GC,3577,-0.95,-146.6,246.6,-6.4,172,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1893,3475
$GC,3885,-0.95,-146.6,267.5,-6.7,187,3890,0.00,2.55,0.00,0.000,4,0.000,0.048,2288,3304,3476
$GC,3940,-0.95,-146.6,271.6,-8.0,189,3947,0.00,2.55,0.00,0.000,6,0.000,0.044,2288,1900,3475
$GC,4256,-0.95,-146.6,293.9,-7.1,205,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,4565,-0.95,-146.6,315.6,-6.9,220,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,4874,-0.95,-146.6,336.4,-6.6,235,4878,0.00,2.53,0.00,0.000,4,0.000,0.049,2288,3303,3475
$GC,4924,-0.95,-146.6,339.8,-6.9,237,4928,0.00,2.53,0.00,0.000,6,0.000,0.046,2288,1899,3475
$GC,5244,-0.95,-146.6,360.6,-6.2,253,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3475
$GC,5554,-0.95,-146.6,380.3,-6.2,268,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,5864,-0.95,-146.6,399.2,-5.9,283,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3475
$GC,6173,-0.95,-146.6,415.6,-4.9,298,6177,0.00,2.53,0.00,0.000,4,0.000,0.051,2288,3297,3475
$GC,6250,-0.95,-146.6,419.9,-5.9,301,6256,0.00,2.53,0.00,0.000,6,0.000,0.046,2288,1895,3475
$GC,6565,-0.95,-146.6,437.9,-6.5,317,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1895,3474
$GC,6874,-0.95,-146.6,461.0,-7.8,332,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1895,3474
$GC,7184,-0.95,-146.6,484.3,-7.4,347,7188,0.00,2.53,0.00,0.000,4,0.000,0.052,2288,3297,3474
$GC,7238,-0.95,-146.6,488.5,-8.0,349,7245,0.00,2.53,0.00,0.000,6,0.000,0.047,2288,1896,3475
$GC,7553,-0.95,-146.6,510.5,-7.3,365,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1893,3473
$GC,7863,-0.95,-146.6,532.1,-6.8,380,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1893,3474
$GC,8173,-0.95,-146.6,550.4,-5.5,395,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1893,3474
$GC,8481,-0.95,-146.6,569.6,-6.4,410,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1893,3474
$GC,8791,-0.95,-146.6,587.1,-5.3,425,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1893,3473
$GC,9100,-0.95,-146.6,604.9,-5.9,440,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1893,3473
$GC,9409,-0.95,-146.6,625.4,-6.3,455,9413,0.00,2.62,0.00,0.000,4,0.000,0.076,2288,498,3473
$GC,9470,-0.95,-146.6,629.5,-6.3,458,9474,0.00,2.50,0.00,0.000,6,0.000,0.051,2288,1904,3473
$GC,9796,-0.95,-146.6,647.7,-5.4,474,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1906,3473
$GC,10105,-0.95,-146.6,665.7,-5.8,489,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1906,3471
$STATE,10412,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10412,begin apogee
$GC,10418,-0.36,0.0,686.4,7.0,504,10544,0.60,0.00,123.12,1.282,6,0.074,0.000,2418,2103,2878
$STATE,10545,end apogee,CONTROL_FINISHED_OK
$STATE,10545,begin climb
$GC,10547,0.95,146.6,691.2,0.0,510,10676,1.30,0.00,123.00,1.239,6,0.054,0.000,2704,2103,2280
$GC,10986,0.99,183.1,672.3,4.9,532,11019,0.00,0.00,31.40,1.241,6,0.000,0.000,2704,2103,2131
$GC,11313,0.99,183.1,650.9,7.0,548,11314,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2103,2131
$GC,11623,0.99,183.1,630.1,6.5,563,11624,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2104,2130
$GC,11932,0.99,183.1,610.9,6.1,578,11933,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2103,2129
$GC,12241,1.00,192.2,592.1,5.7,593,12255,0.00,2.75,8.30,1.265,4,0.000,0.075,2704,697,2094
$GC,12352,1.00,192.2,585.1,6.1,598,12357,0.00,2.53,0.00,0.000,6,0.000,0.051,2704,2095,2094
$GC,12679,1.01,197.5,566.1,5.8,614,12686,0.00,0.00,5.30,1.232,6,0.000,0.000,2704,2095,2073
$GC,12988,1.03,212.7,547.9,5.5,629,13007,0.00,0.00,13.77,1.249,6,0.000,0.000,2705,2096,2011
$GC,13316,1.03,212.7,527.3,7.0,645,13321,0.00,2.62,0.00,0.000,4,0.000,0.070,2704,694,2010
$GC,13377,1.03,212.7,522.7,8.1,648,13382,0.00,2.53,0.00,0.000,6,0.000,0.048,2704,2104,2011
$GC,13702,1.03,212.7,501.2,6.5,664,13703,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2105,2010
$GC,14012,1.09,259.2,482.7,4.6,679,14054,0.12,0.00,39.47,1.174,6,0.049,0.000,2747,2106,1821
$GC,14361,1.09,259.2,457.3,7.4,696,14366,0.00,2.62,0.00,0.000,4,0.000,0.067,2747,694,1821
$GC,14450,1.09,259.2,450.3,7.3,700,14454,0.00,2.50,0.00,0.000,6,0.000,0.044,2747,2106,1821
$GC,14777,1.09,259.2,423.6,8.8,716,14778,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2106,1821
$GC,15087,1.09,259.2,394.1,9.7,731,15088,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2106,1822
$GC,15395,1.09,259.2,367.6,7.9,746,15396,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2107,1822
$GC,15705,1.09,259.2,346.2,6.8,761,15706,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2107,1823
$GC,16014,1.09,259.2,324.6,7.1,776,16015,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2108,1824
$GC,16324,1.09,259.2,299.9,8.6,791,16325,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2110,1824
$GC,16633,1.09,259.2,270.3,9.9,806,16637,0.00,2.62,0.00,0.000,4,0.000,0.064,2748,694,1824
$GC,16698,1.09,259.2,263.1,10.8,809,16702,0.00,2.47,0.00,0.000,6,0.000,0.041,2747,2109,1824
$GC,17025,1.09,259.2,231.1,9.4,825,17026,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2114,1824
$GC,17334,1.09,259.2,205.7,7.7,840,17339,0.00,2.50,0.00,0.000,4,0.000,0.051,2747,3499,1825
$GC,17396,1.09,259.2,200.5,8.4,843,17400,0.00,2.47,0.00,0.000,6,0.000,0.042,2747,2099,1825
$GC,17721,1.09,259.2,179.9,6.2,859,17722,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2099,1825
$GC,18030,1.09,259.2,158.3,7.5,874,18031,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2099,1825
$GC,18340,1.09,259.2,134.9,7.7,889,18344,0.00,2.55,0.00,0.000,4,0.000,0.049,2747,3505,1825
$GC,18401,1.09,259.2,129.6,8.8,892,18406,0.00,2.47,0.00,0.000,6,0.000,0.041,2747,2095,1825
$GC,18728,1.09,259.2,100.1,9.0,908,18729,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2095,1826
$GC,19037,1.09,259.2,73.7,8.0,923,19038,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2095,1826
$GC,19347,1.09,259.2,49.5,7.3,938,19349,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2095,1826
$GC,19656,1.09,259.2,24.9,7.6,953,19657,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2095,1827
$GC,19965,1.13,298.0,3.2,4.8,968,19995,0.00,2.60,25.48,0.815,4,0.000,0.045,2747,3501,1661
$GC,20002,1.36,484.0,3.1,0.5,970,20106,0.20,2.53,93.20,0.758,6,0.049,0.041,2797,2096,903
$STATE,20309,end climb,NO_VERTICAL_VELOCITY
$STATE,20309,begin surface
$SM_CCo,20311,38.45,0.761,0,0,603,558.06
$SM_CCo,20712,0.20,1.428,0,0,602,558.06
$SM_GC,3.98,0.00,0.00,0.20,0.000,0.000,1.428,29,1894,602,-11.34,-0.20,558.06
$IRIDIUM_FIX,6225.82,-1250.14,231207,222249
$TT8_MAMPS,0.026845
$HUMID,2039
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,601.3,94.3
$24V_AH,23.3,43.181
$10V_AH,10.1,20.648
$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,25.375,76.975,463.050,38.650,0.000,113.446,104.190,342.104,5.750,0.000,0.000,13.688,1699.258,16452.234,684.969,1903.989,773.684,33.355,1632.649,0.000,1882.921,0.000,34.690
$DEVICE_MAMPS,108.147,75.933,1281.657,1428.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,734.401,664.877,625.828,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50507,985
$CFSIZE,260165632,246734848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,241207,005008,6254.845,-1246.161,28,1.8,28,-11.8