version: 66.02
glider: 102
mission: 4
dive: 226
start: 1 1 108 23 4 45
data:
$ID,102
$MISSION,4
$DIVE,226
$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,-80452.219
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,225438,6313.802,-1259.238,33,2.0,33,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.42
$_SM_ANGLEo,-57.5
$GPS2,230353,6313.646,-1259.206,10,2.2,29,-12.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.193,0.079
$KALMAN_X,328279.8,-747.8,-27581.9,-537362.1,31393.8
$KALMAN_Y,-45060.1,-273.7,12258.6,219208.6,-16111.9
$MHEAD_RNG_PITCHd_Wd,304.4,13402,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.95,-146.6,0.0,0.0,0,46,0.00,0.00,-21.85,0.000,2,0.000,0.000,28,1884,1113
$GC,49,-0.95,-146.6,3.5,-0.0,1,220,11.18,0.00,-156.30,0.000,6,0.107,0.000,2288,1885,3476
$GC,523,-0.95,-146.6,25.7,-7.5,24,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1886,3475
$GC,832,-0.95,-146.6,47.9,-7.3,39,836,0.00,2.58,0.00,0.000,4,0.000,0.048,2288,3307,3476
$GC,916,-0.95,-146.6,54.0,-7.6,43,920,0.00,2.53,0.00,0.000,6,0.000,0.041,2288,1900,3476
$GC,1241,-0.95,-146.6,79.0,-7.7,59,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3476
$GC,1551,-0.95,-146.6,102.1,-7.2,74,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,1860,-0.95,-146.6,121.9,-6.2,89,1865,0.00,2.55,0.00,0.000,4,0.000,0.048,2288,3313,3475
$GC,1926,-0.95,-146.6,126.5,-7.2,92,1931,0.00,2.53,0.00,0.000,6,0.000,0.041,2288,1895,3475
$GC,2253,-0.95,-146.6,148.5,-6.9,108,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1895,3475
$GC,2563,-0.95,-146.6,169.7,-6.7,123,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1895,3475
$GC,2872,-0.95,-146.6,190.6,-6.9,138,2876,0.00,2.55,0.00,0.000,4,0.000,0.048,2288,3310,3475
$GC,2943,-0.95,-146.6,195.6,-6.9,141,2947,0.00,2.55,0.00,0.000,6,0.000,0.042,2288,1898,3475
$GC,3264,-0.95,-146.6,216.9,-6.8,157,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3475
$GC,3573,-0.95,-146.6,239.0,-7.3,172,3577,0.00,2.55,0.00,0.000,4,0.000,0.048,2288,3311,3475
$GC,3639,-0.95,-146.6,244.1,-7.6,175,3643,0.00,2.53,0.00,0.000,6,0.000,0.042,2288,1898,3475
$GC,3966,-0.95,-146.6,268.2,-7.3,191,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3475
$GC,4275,-0.95,-146.6,290.6,-7.2,206,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3476
$GC,4584,-0.95,-146.6,311.5,-6.5,221,4588,0.00,2.55,0.00,0.000,4,0.000,0.048,2288,3310,3475
$GC,4669,-0.95,-146.6,317.0,-5.9,225,4673,0.00,2.53,0.00,0.000,6,0.000,0.043,2288,1900,3475
$GC,4995,-0.95,-146.6,335.4,-5.5,241,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3476
$GC,5305,-0.95,-146.6,352.7,-6.1,256,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,5614,-0.95,-146.6,371.5,-6.4,271,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,5923,-0.95,-146.6,392.6,-6.7,286,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,6232,-0.95,-146.6,413.9,-6.7,301,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,6541,-0.95,-146.6,434.1,-6.4,316,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,6851,-0.95,-146.6,454.1,-6.4,331,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,7160,-0.95,-146.6,472.7,-6.0,346,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,7470,-0.95,-146.6,491.0,-6.1,361,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3473
$GC,7778,-0.95,-146.6,510.3,-6.0,376,7783,0.00,2.55,0.00,0.000,4,0.000,0.051,2287,3309,3474
$GC,7886,-0.95,-146.6,517.7,-7.1,381,7890,0.00,2.53,0.00,0.000,6,0.000,0.045,2287,1899,3474
$GC,8211,-0.95,-146.6,538.5,-6.6,397,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3474
$GC,8521,-0.95,-146.6,559.9,-6.9,412,8525,0.00,2.58,0.00,0.000,4,0.000,0.054,2287,3309,3474
$GC,8614,-0.95,-146.6,566.7,-7.4,416,8619,0.00,2.53,0.00,0.000,6,0.000,0.047,2287,1901,3474
$GC,8936,-0.95,-146.6,587.6,-5.9,432,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3474
$GC,9245,-0.95,-146.6,605.2,-5.7,447,9249,0.00,2.58,0.00,0.000,4,0.000,0.057,2287,3311,3473
$GC,9306,-0.95,-146.6,608.9,-5.8,450,9311,0.00,2.55,0.00,0.000,6,0.000,0.048,2287,1901,3473
$STATE,9610,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9610,begin apogee
$GC,9616,-0.36,0.0,626.6,6.1,465,9741,0.60,0.00,122.65,1.197,6,0.070,0.000,2419,2110,2878
$STATE,9742,end apogee,CONTROL_FINISHED_OK
$STATE,9742,begin climb
$GC,9744,0.95,146.6,630.7,0.0,471,9873,1.27,0.00,121.72,1.165,6,0.051,0.000,2702,2111,2280
$GC,10184,0.96,160.2,611.1,5.6,493,10202,0.00,0.00,12.15,1.168,6,0.000,0.000,2702,2111,2224
$GC,10511,0.99,180.2,593.2,5.4,509,10536,0.00,2.67,17.38,1.180,4,0.000,0.061,2702,3496,2144
$GC,10626,1.02,208.4,587.1,5.2,514,10656,0.00,2.55,24.23,1.167,6,0.000,0.049,2702,2101,2028
$GC,10972,1.02,208.4,566.5,6.3,531,10973,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2101,2027
$GC,11281,1.02,208.4,546.7,6.1,546,11286,0.00,2.58,0.00,0.000,4,0.000,0.057,2702,3500,2026
$GC,11410,1.02,208.4,538.1,6.9,552,11415,0.00,2.53,0.00,0.000,6,0.000,0.046,2702,2097,2026
$GC,11736,1.02,208.4,516.6,6.8,568,11737,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2097,2025
$GC,12045,1.03,216.7,497.7,5.8,583,12055,0.00,0.00,7.75,1.157,6,0.000,0.000,2702,2097,1994
$GC,12354,1.05,232.5,480.4,5.5,598,12375,0.10,0.00,14.00,1.141,6,0.056,0.000,2740,2097,1929
$GC,12684,1.05,232.5,455.9,7.5,614,12685,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2096,1929
$GC,12992,1.05,232.5,431.1,8.3,629,12994,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2097,1929
$GC,13302,1.05,232.5,407.1,7.5,644,13303,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2097,1929
$GC,13611,1.05,232.5,384.8,7.0,659,13612,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2097,1929
$GC,13920,1.05,232.5,365.2,6.3,674,13921,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2097,1930
$GC,14230,1.05,232.5,345.4,6.3,689,14234,0.00,2.58,0.00,0.000,4,0.000,0.051,2741,3503,1931
$GC,14291,1.05,232.5,341.3,6.9,692,14295,0.00,2.50,0.00,0.000,6,0.000,0.042,2740,2097,1930
$GC,14616,1.05,232.5,318.1,7.5,708,14617,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2097,1930
$GC,14926,1.05,232.5,295.6,6.8,723,14927,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2097,1930
$GC,15235,1.05,232.5,274.1,6.5,738,15239,0.00,2.55,0.00,0.000,4,0.000,0.051,2741,3500,1931
$GC,15410,1.05,232.5,261.0,6.6,746,15414,0.00,2.50,0.00,0.000,6,0.000,0.042,2741,2094,1931
$GC,15736,1.05,232.5,238.8,7.3,762,15737,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2094,1931
$GC,16045,1.05,232.5,217.8,6.8,777,16046,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2094,1931
$GC,16354,1.05,232.5,194.6,7.7,792,16355,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2094,1930
$GC,16664,1.05,232.5,169.6,7.9,807,16665,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2094,1931
$GC,16973,1.05,232.5,145.7,7.5,822,16974,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2094,1931
$GC,17282,1.05,232.5,122.5,7.5,837,17283,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2094,1931
$GC,17592,1.05,232.5,98.8,7.9,852,17593,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2094,1932
$GC,17902,1.05,232.5,75.7,7.8,867,17903,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2093,1932
$GC,18210,1.05,232.5,51.5,7.7,882,18211,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2094,1932
$GC,18520,1.05,232.5,28.2,7.5,897,18524,0.00,2.55,0.00,0.000,4,0.000,0.048,2740,3502,1932
$GC,18574,1.05,232.5,23.8,8.1,899,18581,0.00,2.50,0.00,0.000,6,0.000,0.040,2740,2101,1932
$GC,18890,1.13,291.5,2.8,4.2,915,18932,0.00,2.60,35.33,0.790,4,0.000,0.047,2740,3503,1687
$GC,19184,1.38,501.9,2.7,-0.3,928,19203,0.25,2.50,12.90,0.807,2,0.044,0.042,2803,2091,1593
$STATE,19204,end climb,NO_VERTICAL_VELOCITY
$STATE,19204,begin surface
$SM_CCo,19207,122.40,0.735,0,0,603,558.06
$SM_CCo,19693,0.52,0.996,0,0,603,558.06
$SM_GC,3.60,0.00,0.00,0.52,0.000,0.000,0.996,28,1899,603,-11.35,-0.03,558.06
$IRIDIUM_FIX,6249.28,-1310.06,020108,020238
$TT8_MAMPS,0.026845
$HUMID,2051
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,525.3,110.9
$24V_AH,23.3,49.776
$10V_AH,10.1,24.133
$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,25.350,72.025,368.100,122.925,0.000,79.411,143.307,145.896,5.000,0.000,0.000,32.153,1629.087,15449.591,659.594,1942.009,570.039,33.378,1601.352,0.000,1895.839,0.000,29.894
$DEVICE_MAMPS,106.613,60.593,1196.520,995.566,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,683.634,628.270,617.094,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47452,929
$CFSIZE,260165632,244396032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,020108,043425,6313.193,-1301.408,50,1.3,50,-12.1