version: 66.02
glider: 102
mission: 4
dive: 195
start: 12 25 107 8 38 49
data:
$ID,102
$MISSION,4
$DIVE,195
$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,-79838.055
$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,28
$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
$GPS1,082807,6246.389,-1300.636,32,1.1,32,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.76
$_SM_ANGLEo,-54.9
$GPS2,083756,6246.432,-1300.530,10,1.2,15,-11.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.019,0.208
$KALMAN_X,241100.7,549.5,-316.0,-479942.5,-2317.0
$KALMAN_Y,52451.5,616.9,1642.5,81029.3,-11216.4
$MHEAD_RNG_PITCHd_Wd,6.6,7613,-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,21,-0.95,-146.6,0.0,0.0,0,44,0.00,0.00,-21.33,0.000,2,0.000,0.000,34,1881,1087
$GC,47,-0.95,-146.6,3.8,-0.0,1,223,11.12,2.58,-157.10,0.000,4,0.105,0.075,2288,500,3476
$GC,478,-0.95,-146.6,28.6,-7.6,21,482,0.00,2.47,0.00,0.000,6,0.000,0.041,2288,1902,3475
$GC,803,-0.95,-146.6,53.9,-8.5,37,808,0.00,2.62,0.00,0.000,4,0.000,0.066,2288,496,3476
$GC,870,-0.95,-146.6,59.7,-7.3,40,874,0.00,2.47,0.00,0.000,6,0.000,0.041,2288,1900,3476
$GC,1197,-0.95,-146.6,79.6,-5.4,56,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3476
$GC,1506,-0.95,-146.6,105.8,-8.8,71,1510,0.00,2.50,0.00,0.000,4,0.000,0.049,2288,3294,3476
$GC,1555,-0.95,-146.6,110.5,-9.5,73,1559,0.00,2.50,0.00,0.000,6,0.000,0.044,2288,1901,3476
$GC,1876,-0.95,-146.6,133.0,-7.1,89,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3476
$GC,2185,-0.95,-146.6,154.5,-6.3,104,2189,0.00,2.53,0.00,0.000,4,0.000,0.048,2288,3298,3476
$GC,2233,-0.95,-146.6,157.9,-7.1,106,2238,0.00,2.50,0.00,0.000,6,0.000,0.043,2288,1901,3476
$GC,2554,-0.95,-146.6,180.8,-7.4,122,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,2864,-0.95,-146.6,204.9,-8.1,137,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,3173,-0.95,-146.6,228.4,-7.5,152,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,3483,-0.95,-146.6,250.9,-7.5,167,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,3791,-0.95,-146.6,274.4,-7.7,182,3796,0.00,2.50,0.00,0.000,4,0.000,0.048,2288,3297,3476
$GC,3841,-0.95,-146.6,278.3,-7.9,184,3845,0.00,2.50,0.00,0.000,6,0.000,0.044,2288,1901,3476
$GC,4161,-0.95,-146.6,303.4,-7.8,200,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,4471,-0.95,-146.6,327.2,-7.5,215,4475,0.00,2.50,0.00,0.000,4,0.000,0.048,2288,3297,3475
$GC,4514,-0.95,-146.6,330.6,-8.0,217,4519,0.00,2.50,0.00,0.000,6,0.000,0.044,2288,1901,3476
$GC,4835,-0.95,-146.6,353.8,-7.3,233,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,5145,-0.95,-146.6,376.3,-7.2,248,5149,0.00,2.53,0.00,0.000,4,0.000,0.050,2288,3297,3476
$GC,5222,-0.95,-146.6,381.7,-6.8,251,5228,0.00,2.53,0.00,0.000,6,0.000,0.046,2288,1895,3476
$GC,5537,-0.95,-146.6,405.2,-7.6,267,5541,0.00,2.53,0.00,0.000,4,0.000,0.051,2288,3297,3476
$GC,5602,-0.95,-146.6,410.5,-8.0,270,5607,0.00,2.53,0.00,0.000,6,0.000,0.046,2288,1896,3476
$GC,5930,-0.95,-146.6,434.0,-6.9,286,5934,0.00,2.55,0.00,0.000,4,0.000,0.051,2288,3304,3476
$GC,6013,-0.95,-146.6,439.8,-6.7,290,6018,0.00,2.50,0.00,0.000,6,0.000,0.046,2288,1900,3476
$GC,6340,-0.95,-146.6,461.9,-6.7,306,6344,0.00,2.53,0.00,0.000,4,0.000,0.051,2288,3295,3475
$GC,6428,-0.95,-146.6,468.2,-7.0,310,6432,0.00,2.53,0.00,0.000,6,0.000,0.046,2288,1894,3475
$GC,6755,-0.95,-146.6,490.9,-7.1,326,6759,0.00,2.55,0.00,0.000,4,0.000,0.053,2288,3295,3475
$GC,6844,-0.95,-146.6,497.8,-7.8,330,6848,0.00,2.53,0.00,0.000,6,0.000,0.048,2287,1895,3475
$GC,7171,-0.95,-146.6,522.2,-7.6,346,7175,0.00,2.55,0.00,0.000,4,0.000,0.053,2288,3297,3474
$GC,7225,-0.95,-146.6,526.5,-8.2,348,7232,0.00,2.53,0.00,0.000,6,0.000,0.047,2288,1894,3474
$GC,7543,-0.95,-146.6,551.4,-7.3,364,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1893,3474
$GC,7850,-0.95,-146.6,573.2,-6.3,379,7854,0.00,2.58,0.00,0.000,4,0.000,0.055,2288,3303,3474
$GC,7949,-0.95,-146.6,580.2,-7.8,383,7956,0.00,2.53,0.00,0.000,6,0.000,0.048,2288,1902,3474
$GC,8267,-0.95,-146.6,600.5,-6.4,399,8271,0.00,2.53,0.00,0.000,4,0.000,0.055,2288,3295,3474
$GC,8338,-0.95,-146.6,605.2,-6.3,402,8343,0.00,2.55,0.00,0.000,6,0.000,0.048,2288,1896,3474
$GC,8659,-0.95,-146.6,624.9,-6.4,418,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1896,3474
$GC,8969,-0.95,-146.6,645.1,-6.8,433,8973,0.00,2.55,0.00,0.000,4,0.000,0.057,2288,3295,3474
$GC,9062,-0.95,-146.6,651.5,-6.9,437,9066,0.00,2.53,0.00,0.000,6,0.000,0.049,2288,1896,3474
$GC,9384,-0.95,-146.6,671.5,-6.4,453,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1896,3474
$GC,9693,-0.95,-146.6,690.1,-5.8,468,9694,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1896,3474
$GC,10002,-0.95,-146.6,708.5,-6.3,483,10006,0.00,2.62,0.00,0.000,4,0.000,0.074,2287,493,3473
$GC,10050,-0.95,-146.6,712.2,-7.3,485,10055,0.00,2.47,0.00,0.000,6,0.000,0.051,2288,1895,3473
$GC,10372,-0.95,-146.6,734.8,-7.0,501,10373,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1895,3473
$GC,10682,-0.95,-146.6,752.8,-5.8,516,10683,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1895,3473
$STATE,10968,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10968,begin apogee
$GC,10973,-0.36,0.0,770.8,6.2,530,11101,0.60,0.00,124.47,1.310,6,0.072,0.000,2418,2097,2878
$STATE,11102,end apogee,CONTROL_FINISHED_OK
$STATE,11102,begin climb
$GC,11104,0.95,146.6,774.5,0.0,536,11235,1.25,2.72,123.80,1.276,4,0.054,0.074,2699,689,2280
$GC,11296,0.95,146.6,768.9,7.9,545,11300,0.00,2.58,0.00,0.000,6,0.000,0.054,2699,2093,2280
$GC,11623,0.95,151.4,750.1,5.9,561,11633,0.00,2.67,5.03,1.224,4,0.000,0.067,2699,3506,2260
$GC,11684,0.95,151.4,746.1,6.4,564,11688,0.00,2.60,0.00,0.000,6,0.000,0.058,2699,2102,2260
$GC,12009,0.99,184.1,727.9,5.0,580,12040,0.00,0.00,28.27,1.305,6,0.000,0.000,2699,2102,2127
$GC,12339,1.00,187.9,710.2,5.9,596,12345,0.00,0.00,4.25,1.232,6,0.000,0.000,2699,2102,2112
$GC,12648,1.00,187.9,690.3,6.7,611,12653,0.00,2.67,0.00,0.000,4,0.000,0.077,2698,684,2112
$GC,12720,1.00,187.9,685.2,6.8,614,12724,0.00,2.58,0.00,0.000,6,0.000,0.051,2699,2110,2112
$GC,13041,1.00,187.9,664.5,6.4,630,13042,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2111,2111
$GC,13351,1.00,189.4,645.8,6.0,645,13352,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2111,2111
$GC,13659,1.00,189.4,626.6,6.5,660,13661,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2113,2110
$GC,13969,1.00,189.4,606.5,6.7,675,13970,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2113,2110
$GC,14278,1.00,189.4,586.3,6.4,690,14279,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2113,2110
$GC,14587,1.01,197.0,567.7,5.8,705,14598,0.00,0.00,8.55,1.230,6,0.000,0.000,2699,2114,2075
$GC,14897,1.05,229.3,551.2,5.0,720,14927,0.12,0.00,27.62,1.194,6,0.048,0.000,2742,2115,1943
$GC,15227,1.05,229.3,528.2,7.1,736,15231,0.00,2.67,0.00,0.000,4,0.000,0.066,2743,684,1943
$GC,15281,1.05,229.3,523.9,7.7,738,15287,0.00,2.53,0.00,0.000,6,0.000,0.044,2743,2105,1943
$GC,15596,1.05,229.3,499.9,7.5,754,15597,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2105,1943
$GC,15906,1.05,229.3,475.6,8.0,769,15907,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2106,1944
$GC,16215,1.05,229.3,450.6,8.2,784,16216,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2106,1944
$GC,16524,1.05,229.3,424.5,8.4,799,16528,0.00,2.55,0.00,0.000,4,0.000,0.054,2743,3504,1944
$GC,16612,1.05,229.3,416.7,8.0,803,16616,0.00,2.53,0.00,0.000,6,0.000,0.045,2743,2095,1944
$GC,16938,1.05,229.3,389.7,8.2,819,16940,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2095,1945
$GC,17248,1.05,229.3,363.8,8.5,834,17252,0.00,2.58,0.00,0.000,4,0.000,0.052,2743,3500,1945
$GC,17309,1.05,229.3,358.3,8.4,837,17313,0.00,2.50,0.00,0.000,6,0.000,0.044,2743,2100,1945
$GC,17634,1.05,229.3,331.3,8.1,853,17638,0.00,2.60,0.00,0.000,4,0.000,0.066,2743,691,1945
$GC,17683,1.05,229.3,327.1,8.7,855,17687,0.00,2.50,0.00,0.000,6,0.000,0.041,2743,2105,1945
$GC,18004,1.05,229.3,300.0,8.8,871,18008,0.00,2.50,0.00,0.000,4,0.000,0.052,2744,3497,1946
$GC,18071,1.05,229.3,293.7,9.9,874,18076,0.00,2.50,0.00,0.000,6,0.000,0.044,2743,2094,1945
$GC,18397,1.05,229.3,265.1,9.0,890,18398,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2094,1946
$GC,18706,1.05,229.3,237.1,8.9,905,18707,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2094,1946
$GC,19015,1.05,229.3,210.9,8.1,920,19016,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2094,1946
$GC,19324,1.05,229.3,183.4,8.9,935,19326,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2094,1946
$GC,19634,1.05,229.3,156.1,8.7,950,19635,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2094,1946
$GC,19943,1.05,229.3,128.8,8.8,965,19945,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2094,1946
$GC,20253,1.05,229.3,100.5,9.8,980,20254,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2094,1946
$GC,20562,1.05,229.3,73.6,7.0,995,20567,0.00,2.55,0.00,0.000,4,0.000,0.050,2743,3499,1948
$GC,20651,1.05,229.3,67.3,6.2,999,20655,0.00,2.47,0.00,0.000,6,0.000,0.040,2743,2093,1947
$GC,20979,1.05,229.3,38.0,9.2,1015,20980,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2093,1947
$GC,21288,1.09,259.2,11.6,5.1,1030,21315,0.00,0.00,24.83,0.838,6,0.000,0.000,2743,2092,1820
$GC,21620,1.33,461.4,3.1,-0.0,1046,21732,0.17,2.62,104.82,0.763,4,0.057,0.048,2790,3496,996
$GC,21984,1.57,652.9,3.0,0.3,1062,22041,0.15,2.53,49.30,0.756,6,0.054,0.045,2837,2111,601
$STATE,22238,end climb,NO_VERTICAL_VELOCITY
$STATE,22238,begin surface
$SM_CCo,22599,0.12,1.822,0,0,603,558.06
$SM_GC,3.64,0.00,0.00,0.12,0.000,0.000,1.822,28,1890,603,-11.35,-0.31,558.06
$IRIDIUM_FIX,6221.17,-1258.27,251207,121214
$TT8_MAMPS,0.026078
$HUMID,2048
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.70
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,726.1,53.9
$24V_AH,23.3,44.264
$10V_AH,10.1,21.246
$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,25.550,133.050,500.950,0.125,0.000,69.916,83.791,254.070,8.250,0.000,0.000,17.150,1915.285,17604.330,665.050,2360.266,642.356,33.352,1842.870,0.000,2320.079,0.000,42.669
$DEVICE_MAMPS,105.079,76.700,1310.036,1822.392,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,789.790,726.882,672.013,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53639,1075
$CFSIZE,260165632,246304768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,251207,145638,6247.353,-1259.014,33,1.3,33,-11.9