version: 66.02
glider: 102
mission: 4
dive: 194
start: 12 25 107 1 49 0
data:
$ID,102
$MISSION,4
$DIVE,194
$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,-79820.281
$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,31
$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
$GPS1,014226,6250.015,-1251.655,42,1.1,42,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.72
$_SM_ANGLEo,-48.4
$GPS2,014806,6249.952,-1251.651,10,1.2,13,-11.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.201,-0.056
$KALMAN_X,270515.2,270.4,-25836.9,-475742.9,91206.3
$KALMAN_Y,67132.7,-301.6,-6579.9,82004.5,28983.1
$MHEAD_RNG_PITCHd_Wd,266.2,11288,-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,19,begin dive
$GC,21,-0.95,-146.6,0.0,0.0,0,44,0.00,0.00,-21.12,0.000,2,0.000,0.000,28,1883,1090
$GC,47,-0.95,-146.6,3.8,-0.0,1,210,11.23,0.00,-149.02,0.000,6,0.108,0.000,2288,1885,3477
$GC,520,-0.95,-146.6,32.9,-6.3,24,524,0.00,2.58,0.00,0.000,4,0.000,0.048,2287,3305,3477
$GC,574,-0.95,-146.6,37.6,-6.2,26,581,0.00,2.55,0.00,0.000,6,0.000,0.043,2287,1905,3477
$GC,891,-0.95,-146.6,59.0,-7.9,42,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3477
$GC,1200,-0.95,-146.6,79.5,-7.2,57,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3477
$GC,1509,-0.95,-146.6,100.1,-6.4,72,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3477
$GC,1818,-0.95,-146.6,121.4,-6.6,87,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3477
$GC,2127,-0.95,-146.6,143.1,-6.8,102,2132,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3301,3477
$GC,2250,-0.95,-146.6,152.5,-7.1,107,2256,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1892,3477
$GC,2566,-0.95,-146.6,175.8,-7.0,123,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1892,3477
$GC,2875,-0.95,-146.6,196.6,-6.7,138,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1892,3477
$GC,3183,-0.95,-146.6,216.6,-6.1,153,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1891,3477
$GC,3493,-0.95,-146.6,236.7,-6.7,168,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1892,3477
$GC,3802,-0.95,-146.6,258.2,-6.9,183,3807,0.00,2.55,0.00,0.000,4,0.000,0.049,2288,3302,3477
$GC,3886,-0.95,-146.6,264.0,-6.6,187,3890,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1894,3477
$GC,4211,-0.95,-146.6,283.7,-6.1,203,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3477
$GC,4521,-0.95,-146.6,302.6,-6.1,218,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3477
$GC,4830,-0.95,-146.6,321.5,-5.8,233,4835,0.00,2.55,0.00,0.000,4,0.000,0.050,2287,3304,3477
$GC,4896,-0.95,-146.6,325.9,-6.8,236,4901,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1894,3477
$GC,5223,-0.95,-146.6,346.9,-7.1,252,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3476
$GC,5532,-0.95,-146.6,369.7,-7.6,267,5536,0.00,2.55,0.00,0.000,4,0.000,0.051,2287,3302,3477
$GC,5617,-0.95,-146.6,376.4,-8.0,271,5621,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1895,3477
$GC,5942,-0.95,-146.6,404.2,-8.6,287,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1895,3477
$GC,6251,-0.95,-146.6,429.7,-8.0,302,6256,0.00,2.55,0.00,0.000,4,0.000,0.052,2287,3309,3476
$GC,6295,-0.95,-146.6,433.1,-8.0,304,6299,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1898,3476
$GC,6621,-0.95,-146.6,457.5,-7.4,320,6626,0.00,2.50,0.00,0.000,4,0.000,0.053,2287,3300,3476
$GC,6665,-0.95,-146.6,460.5,-7.2,322,6669,0.00,2.53,0.00,0.000,6,0.000,0.045,2287,1893,3476
$GC,6992,-0.95,-146.6,483.9,-7.2,338,6996,0.00,2.55,0.00,0.000,4,0.000,0.053,2287,3300,3476
$GC,7068,-0.95,-146.6,489.5,-6.6,341,7075,0.00,2.53,0.00,0.000,6,0.000,0.046,2287,1898,3476
$GC,7384,-0.95,-146.6,513.0,-7.7,357,7388,0.00,2.53,0.00,0.000,4,0.000,0.052,2287,3301,3476
$GC,7478,-0.95,-146.6,519.8,-7.5,361,7482,0.00,2.50,0.00,0.000,6,0.000,0.045,2287,1894,3476
$GC,7799,-0.95,-146.6,542.6,-7.2,377,7803,0.00,2.60,0.00,0.000,4,0.000,0.069,2287,489,3476
$GC,7882,-0.95,-146.6,548.5,-7.3,381,7886,0.00,2.50,0.00,0.000,6,0.000,0.045,2287,1906,3476
$GC,8208,-0.95,-146.6,569.2,-6.2,397,8213,0.00,2.53,0.00,0.000,4,0.000,0.057,2287,3297,3476
$GC,8339,-0.95,-146.6,577.8,-6.7,403,8343,0.00,2.53,0.00,0.000,6,0.000,0.049,2287,1901,3475
$GC,8664,-0.95,-146.6,599.5,-6.8,419,8669,0.00,2.55,0.00,0.000,4,0.000,0.056,2287,3297,3476
$GC,8775,-0.95,-146.6,607.5,-7.1,424,8779,0.00,2.53,0.00,0.000,6,0.000,0.050,2287,1900,3476
$GC,9102,-0.95,-146.6,631.3,-7.6,440,9103,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3476
$GC,9414,-0.95,-146.6,650.9,-5.9,455,9418,0.00,2.55,0.00,0.000,4,0.000,0.058,2287,3298,3475
$GC,9520,-0.95,-146.6,657.6,-6.3,460,9524,0.00,2.55,0.00,0.000,6,0.000,0.051,2287,1897,3475
$GC,9846,-0.95,-146.6,677.9,-6.1,476,9847,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3475
$GC,10155,-0.95,-146.6,698.8,-7.3,491,10159,0.00,2.58,0.00,0.000,4,0.000,0.061,2287,3297,3475
$GC,10247,-0.95,-146.6,705.7,-7.1,495,10252,0.00,2.58,0.00,0.000,6,0.000,0.054,2287,1906,3475
$GC,10572,-0.95,-146.6,726.2,-6.2,511,10573,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3474
$GC,10878,-0.95,-146.6,746.1,-6.2,526,10883,0.00,2.58,0.00,0.000,4,0.000,0.064,2287,3302,3474
$GC,10967,-0.95,-146.6,751.8,-7.0,530,10971,0.00,2.58,0.00,0.000,6,0.000,0.058,2287,1901,3474
$STATE,11106,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11106,begin apogee
$GC,11112,-0.36,0.0,761.3,7.1,537,11240,0.60,0.00,124.82,1.309,6,0.071,0.000,2418,2095,2878
$STATE,11240,end apogee,CONTROL_FINISHED_OK
$STATE,11240,begin climb
$GC,11242,0.95,146.6,765.3,0.0,543,11372,1.25,0.00,123.25,1.272,6,0.054,0.000,2699,2095,2280
$GC,11694,0.99,182.9,748.3,4.9,565,11727,0.00,0.00,31.55,1.276,6,0.000,0.000,2698,2094,2132
$GC,12022,0.99,182.9,727.9,6.4,581,12024,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2095,2131
$GC,12332,0.99,182.9,709.7,6.1,596,12333,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2095,2130
$GC,12642,0.99,182.9,690.5,6.1,611,12646,0.00,2.62,0.00,0.000,4,0.000,0.063,2699,3506,2128
$GC,12735,1.00,186.1,684.6,5.9,615,12748,0.00,2.58,3.47,1.187,6,0.000,0.054,2699,2102,2119
$GC,13056,1.00,186.1,664.4,6.5,631,13057,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2102,2118
$GC,13365,1.01,194.4,646.3,5.8,646,13375,0.00,0.00,7.95,1.283,6,0.000,0.000,2699,2102,2085
$GC,13675,1.01,199.1,628.0,5.9,661,13685,0.00,2.62,5.07,1.229,4,0.000,0.058,2699,3500,2065
$GC,13781,1.02,204.2,621.5,5.8,666,13792,0.00,2.55,5.45,1.228,6,0.000,0.051,2699,2098,2045
$GC,14107,1.02,204.2,600.8,6.8,682,14111,0.00,2.58,0.00,0.000,4,0.000,0.058,2699,3500,2045
$GC,14184,1.02,204.2,595.2,6.7,685,14191,0.00,2.55,0.00,0.000,6,0.000,0.049,2699,2106,2045
$GC,14499,1.02,204.2,574.5,6.7,701,14501,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2106,2045
$GC,14809,1.02,204.2,554.4,6.5,716,14810,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2106,2045
$GC,15118,1.02,204.2,534.4,6.5,731,15119,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2107,2045
$GC,15427,1.02,204.2,514.8,6.1,746,15428,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2106,2045
$GC,15737,1.02,204.2,495.0,6.4,761,15738,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2106,2046
$GC,16046,1.02,204.2,475.4,6.1,776,16047,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2107,2046
$GC,16355,1.03,213.0,457.4,5.7,791,16366,0.00,0.00,8.80,1.134,6,0.000,0.000,2699,2106,2009
$GC,16665,1.03,213.0,438.1,6.7,806,16669,0.00,2.62,0.00,0.000,4,0.000,0.067,2699,686,2009
$GC,16719,1.03,213.0,434.0,6.2,808,16725,0.00,2.50,0.00,0.000,6,0.000,0.042,2699,2106,2009
$GC,17034,1.03,213.0,412.2,6.7,824,17035,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2110,2009
$GC,17344,1.03,213.0,392.3,6.5,839,17345,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2110,2009
$GC,17653,1.03,213.0,372.1,6.7,854,17657,0.00,2.65,0.00,0.000,4,0.000,0.064,2699,685,2009
$GC,17724,1.03,213.0,366.9,7.1,857,17728,0.00,2.47,0.00,0.000,6,0.000,0.041,2699,2099,2010
$GC,18045,1.03,213.0,345.6,6.4,873,18046,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2103,2010
$GC,18354,1.03,213.0,326.2,6.1,888,18355,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2103,2010
$GC,18664,1.06,237.5,308.7,5.3,903,18692,0.12,2.70,21.15,1.020,4,0.046,0.063,2749,685,1908
$GC,18737,1.06,237.5,303.6,7.0,906,18742,0.12,2.53,0.00,0.000,6,0.087,0.041,2724,2106,1908
$GC,19057,1.06,237.5,283.1,6.7,922,19059,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2110,1908
$GC,19367,1.06,237.5,260.8,7.6,937,19368,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2110,1908
$GC,19676,1.06,237.5,237.5,7.3,952,19677,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2111,1908
$GC,19985,1.06,237.5,216.3,6.7,967,19986,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2111,1908
$GC,20294,1.06,237.5,193.4,7.8,982,20299,0.00,2.62,0.00,0.000,4,0.000,0.062,2724,690,1909
$GC,20366,1.06,237.5,188.1,6.7,985,20370,0.00,2.47,0.00,0.000,6,0.000,0.040,2724,2104,1909
$GC,20687,1.06,237.5,165.1,6.5,1001,20688,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2107,1909
$GC,20998,1.06,237.5,141.5,9.5,1016,20999,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2107,1909
$GC,21306,1.06,237.5,115.3,8.4,1031,21307,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2107,1909
$GC,21615,1.06,237.5,91.8,8.1,1046,21616,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2107,1909
$GC,21924,1.06,237.5,68.6,8.5,1061,21925,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2107,1910
$GC,22234,1.06,237.5,48.3,6.9,1076,22235,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2107,1910
$GC,22543,1.06,237.5,24.2,8.5,1091,22547,0.00,2.62,0.00,0.000,4,0.000,0.061,2724,685,1910
$GC,22591,1.06,237.5,19.6,9.3,1093,22595,0.00,2.47,0.00,0.000,6,0.000,0.039,2724,2108,1910
$GC,22913,1.29,429.1,3.2,0.3,1109,23019,0.22,2.58,99.53,0.769,4,0.043,0.053,2784,3498,1127
$GC,23149,1.51,605.0,3.1,0.8,1120,23221,0.17,2.53,65.05,0.749,6,0.056,0.044,2827,2095,604
$STATE,23515,end climb,NO_VERTICAL_VELOCITY
$STATE,23515,begin surface
$SM_CCo,23877,0.90,0.923,0,0,603,558.06
$SM_GC,4.09,0.00,0.00,0.90,0.000,0.000,0.923,34,1884,603,-11.32,-0.45,558.06
$IRIDIUM_FIX,6225.82,-1243.46,241207,232338
$TT8_MAMPS,0.026845
$HUMID,2042
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.60
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,726.2,44.7
$24V_AH,23.3,44.086
$10V_AH,10.1,21.144
$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,25.725,123.200,496.100,0.900,0.000,37.003,34.771,160.283,7.750,0.000,0.000,14.961,2007.335,18678.586,669.769,2403.365,462.000,33.372,1857.529,0.000,2365.792,0.000,45.555
$DEVICE_MAMPS,108.147,69.030,1309.269,923.468,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,840.261,770.368,709.700,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56884,1138
$CFSIZE,260165632,246370304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,251207,082807,6246.389,-1300.636,32,1.1,32,-11.9