version: 66.02
glider: 102
mission: 4
dive: 234
start: 1 3 108 19 59 29
data:
$ID,102
$MISSION,4
$DIVE,234
$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,-80654.656
$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,37
$R_STBD_OVSHOOT,22
$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
$GPS1,194758,6317.658,-1308.017,34,2.4,53,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.27
$_SM_ANGLEo,-49.7
$GPS2,195835,6317.686,-1307.995,12,2.7,31,-12.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,0.012
$KALMAN_X,308402.1,-1971.5,13724.5,-565329.4,11504.2
$KALMAN_Y,-40637.8,1707.7,-9213.5,241702.2,-5954.8
$MHEAD_RNG_PITCHd_Wd,285.6,7670,-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,-146.6,0.0,0.0,0,27,0.00,0.00,-4.10,0.000,2,0.000,0.000,32,1877,705
$GC,30,-0.95,-146.6,3.4,-0.0,0,181,10.90,2.55,-132.30,0.000,4,0.095,0.071,2290,504,3475
$GC,317,-0.95,-146.6,23.7,-8.2,14,321,0.00,2.50,0.00,0.000,6,0.000,0.041,2290,1915,3476
$GC,643,-0.95,-146.6,54.2,-7.5,30,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1916,3476
$GC,954,-0.95,-146.6,73.8,-7.3,45,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1916,3475
$GC,1262,-0.95,-146.6,101.5,-7.6,60,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1917,3476
$GC,1571,-0.95,-146.6,121.4,-5.5,75,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1917,3476
$GC,1880,-0.95,-146.6,140.6,-6.8,90,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1917,3475
$GC,2189,-0.95,-146.6,160.1,-6.6,105,2193,0.00,2.50,0.00,0.000,4,0.000,0.049,2290,3298,3475
$GC,2250,-0.95,-146.6,165.7,-8.2,108,2254,0.00,2.47,0.00,0.000,6,0.000,0.043,2290,1912,3475
$GC,2576,-0.95,-146.6,189.7,-7.2,124,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1912,3475
$GC,2885,-0.95,-146.6,216.8,-9.3,139,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1912,3476
$GC,3194,-0.95,-146.6,235.8,-5.8,154,3198,0.00,2.50,0.00,0.000,4,0.000,0.048,2290,3297,3475
$GC,3278,-0.95,-146.6,241.1,-6.6,158,3283,0.00,2.50,0.00,0.000,6,0.000,0.043,2290,1902,3475
$GC,3605,-0.95,-146.6,260.7,-5.9,174,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1902,3476
$GC,3914,-0.95,-146.6,280.2,-6.8,189,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1902,3475
$GC,4224,-0.95,-146.6,301.3,-6.9,204,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1902,3475
$GC,4532,-0.95,-146.6,321.3,-6.4,219,4536,0.00,2.53,0.00,0.000,4,0.000,0.049,2290,3297,3475
$GC,4603,-0.95,-146.6,326.5,-7.3,222,4607,0.00,2.50,0.00,0.000,6,0.000,0.044,2290,1901,3475
$GC,4924,-0.95,-146.6,346.3,-5.5,238,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1901,3475
$GC,5233,-0.95,-146.6,362.1,-5.3,253,5238,0.00,2.53,0.00,0.000,4,0.000,0.049,2290,3298,3475
$GC,5305,-0.95,-146.6,366.5,-6.0,256,5310,0.00,2.50,0.00,0.000,6,0.000,0.044,2290,1896,3475
$GC,5627,-0.95,-146.6,386.9,-6.7,272,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1896,3475
$GC,5935,-0.95,-146.6,406.6,-6.2,287,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1896,3475
$GC,6247,-0.95,-146.6,425.7,-6.2,302,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1897,3475
$GC,6554,-0.95,-146.6,446.1,-7.0,317,6559,0.00,2.55,0.00,0.000,4,0.000,0.051,2290,3304,3475
$GC,6643,-0.95,-146.6,452.4,-6.3,321,6647,0.00,2.53,0.00,0.000,6,0.000,0.045,2290,1902,3475
$GC,6972,-0.95,-146.6,476.2,-6.6,337,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1902,3475
$GC,7279,-0.95,-146.6,498.0,-7.2,352,7283,0.00,2.53,0.00,0.000,4,0.000,0.051,2290,3297,3474
$GC,7328,-0.95,-146.6,502.2,-8.0,354,7332,0.00,2.50,0.00,0.000,6,0.000,0.044,2290,1899,3474
$GC,7649,-0.95,-146.6,527.0,-7.9,370,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1899,3474
$GC,7958,-0.95,-146.6,552.5,-8.1,385,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1899,3474
$GC,8267,-0.95,-146.6,578.3,-8.6,400,8271,0.00,2.55,0.00,0.000,4,0.000,0.054,2290,3298,3474
$GC,8412,-0.95,-146.6,590.4,-8.0,406,8419,0.00,2.53,0.00,0.000,6,0.000,0.047,2290,1896,3474
$GC,8727,-0.95,-146.6,611.8,-7.1,422,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1895,3474
$GC,9037,-0.95,-146.6,632.8,-6.5,437,9041,0.00,2.55,0.00,0.000,4,0.000,0.057,2290,3295,3474
$GC,9182,-0.95,-146.6,641.5,-5.6,443,9188,0.00,2.53,0.00,0.000,6,0.000,0.048,2290,1897,3474
$GC,9496,-0.95,-146.6,659.9,-6.4,459,9501,0.00,2.55,0.00,0.000,4,0.000,0.058,2290,3297,3474
$GC,9581,-0.95,-146.6,665.4,-6.5,463,9585,0.00,2.55,0.00,0.000,6,0.000,0.051,2290,1894,3474
$GC,9907,-0.95,-146.6,685.5,-5.5,479,9911,0.00,2.58,0.00,0.000,4,0.000,0.059,2290,3299,3474
$GC,9995,-0.95,-146.6,691.1,-6.1,483,9999,0.00,2.55,0.00,0.000,6,0.000,0.052,2290,1896,3474
$GC,10322,-0.95,-146.6,712.5,-5.9,499,10323,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1897,3473
$STATE,10361,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10361,begin apogee
$GC,10367,-0.36,0.0,715.4,6.2,501,10494,0.60,0.00,123.60,1.262,6,0.074,0.000,2421,2093,2877
$STATE,10494,end apogee,CONTROL_FINISHED_OK
$STATE,10495,begin climb
$GC,10497,0.95,146.6,720.4,0.0,507,10624,1.27,0.00,122.85,1.224,6,0.058,0.000,2702,2093,2280
$GC,10930,0.98,171.7,704.3,5.3,528,10954,0.00,0.00,21.73,1.233,6,0.000,0.000,2702,2094,2178
$GC,11257,1.00,187.7,686.4,5.5,544,11276,0.00,0.00,14.77,1.238,6,0.000,0.000,2702,2093,2112
$GC,11586,1.02,203.2,666.6,5.5,560,11608,0.00,2.70,13.57,1.255,4,0.000,0.061,2702,3497,2049
$GC,11721,1.02,203.2,657.7,6.5,566,11726,0.00,2.55,0.00,0.000,6,0.000,0.051,2702,2103,2049
$GC,12047,1.02,203.2,637.0,6.1,582,12048,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2103,2048
$GC,12356,1.02,203.2,615.8,7.5,597,12360,0.00,2.58,0.00,0.000,4,0.000,0.057,2702,3503,2047
$GC,12427,1.02,203.2,610.2,7.8,600,12432,0.00,2.53,0.00,0.000,6,0.000,0.048,2702,2099,2047
$GC,12749,1.05,227.0,592.4,5.3,616,12771,0.00,0.00,20.27,1.226,6,0.000,0.000,2702,2099,1952
$GC,13078,1.05,227.0,571.1,6.8,632,13079,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2099,1952
$GC,13387,1.05,230.5,551.9,5.9,647,13393,0.00,0.00,4.28,1.134,6,0.000,0.000,2702,2099,1938
$GC,13697,1.05,230.5,534.2,6.0,662,13698,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2099,1938
$GC,14005,1.05,230.5,513.1,7.2,677,14010,0.00,2.60,0.00,0.000,4,0.000,0.067,2702,691,1938
$GC,14055,1.05,230.5,509.2,7.6,679,14059,0.00,2.50,0.00,0.000,6,0.000,0.042,2702,2106,1938
$GC,14370,1.05,230.5,485.0,7.8,694,14372,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2106,1938
$GC,14679,1.05,230.5,462.6,6.7,709,14681,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2106,1939
$GC,14989,1.05,230.5,442.7,6.2,724,14990,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2106,1938
$GC,15298,1.05,230.5,422.3,6.6,739,15303,0.00,2.62,0.00,0.000,4,0.000,0.063,2702,690,1939
$GC,15360,1.05,230.5,418.1,6.7,742,15364,0.00,2.47,0.00,0.000,6,0.000,0.042,2702,2099,1939
$GC,15685,1.05,230.5,397.6,6.2,758,15686,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2103,1939
$GC,15995,1.05,230.5,377.7,6.3,773,15996,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2103,1939
$GC,16304,1.07,243.5,359.7,5.6,788,16326,0.10,2.70,11.85,1.059,4,0.056,0.062,2743,690,1885
$GC,16394,1.07,243.5,353.2,7.7,792,16398,0.00,2.50,0.00,0.000,6,0.000,0.041,2743,2099,1885
$GC,16720,1.07,243.5,328.4,7.8,808,16721,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2103,1885
$GC,17029,1.07,243.5,303.9,7.8,823,17030,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2102,1885
$GC,17338,1.07,243.5,278.8,8.2,838,17340,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2103,1885
$GC,17647,1.07,243.5,254.4,8.0,853,17648,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2103,1885
$GC,17957,1.07,243.5,231.5,7.0,868,17958,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2103,1885
$GC,18266,1.07,243.5,209.5,8.1,883,18267,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2103,1885
$GC,18575,1.07,243.5,178.4,9.6,898,18576,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2103,1885
$GC,18884,1.07,243.5,149.6,7.8,913,18886,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2103,1885
$GC,19196,1.07,243.5,123.7,8.1,928,19197,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2103,1885
$GC,19504,1.07,243.5,97.3,8.8,943,19505,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2103,1885
$GC,19813,1.12,290.8,78.3,4.6,958,19856,0.00,2.72,37.88,0.854,4,0.000,0.061,2743,684,1692
$GC,19906,1.12,290.8,71.5,7.3,962,19910,0.00,2.50,0.00,0.000,6,0.000,0.039,2743,2103,1691
$GC,20227,1.12,290.8,39.3,10.9,978,20228,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2106,1691
$GC,20538,1.12,290.8,11.2,9.1,993,20542,0.00,2.60,0.00,0.000,4,0.000,0.058,2743,690,1691
$GC,20637,1.12,290.8,3.1,9.1,997,20644,0.00,2.53,0.00,0.000,6,0.000,0.041,2743,2104,1691
$GC,20953,1.37,486.3,2.6,0.2,1013,21004,0.20,0.00,47.40,0.779,2,0.067,0.000,2793,2105,1352
$STATE,21004,end climb,NO_VERTICAL_VELOCITY
$STATE,21004,begin surface
$SM_CCo,21007,93.35,0.738,0,0,603,558.06
$SM_CCo,21464,0.00,0.000,0,0,603,558.06
$SM_GC,3.54,0.00,0.00,0.00,0.000,0.000,0.000,32,1878,603,-11.33,-0.59,558.06
$IRIDIUM_FIX,6249.28,-1311.15,030108,232358
$TT8_MAMPS,0.026845
$HUMID,2029
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,651.0,73.7
$24V_AH,23.3,51.133
$10V_AH,10.1,24.858
$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,25.000,92.375,418.200,93.350,0.000,78.596,96.442,258.959,7.000,0.000,0.000,34.041,1788.714,16886.561,656.170,2099.048,674.476,33.360,1681.123,0.000,2050.114,0.000,37.868
$DEVICE_MAMPS,95.108,71.331,1262.482,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,755.017,686.219,622.359,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50668,1015
$CFSIZE,260165632,243879936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,040108,015831,6317.718,-1316.128,36,1.9,41,-12.3