version: 66.02
glider: 102
mission: 4
dive: 240
start: 1 5 108 11 42 57
data:
$ID,102
$MISSION,4
$DIVE,240
$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,-80805.695
$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,22
$R_STBD_OVSHOOT,35
$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
$GPS1,113138,6329.658,-1313.620,38,1.5,38,-12.3
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-54.3
$GPS2,114203,6329.642,-1313.782,15,2.0,15,-12.3
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.103,-0.012
$KALMAN_X,308160.4,-685.0,970.9,-558765.1,-3442.1
$KALMAN_Y,-24238.8,258.8,-1839.0,241654.5,10135.6
$MHEAD_RNG_PITCHd_Wd,109.2,9973,-26.9,-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,21,-1.96,-29.1,0.0,0.0,0,26,0.00,0.00,-3.47,0.000,2,0.000,0.000,31,1885,684
$GC,29,-2.01,-71.9,3.1,-0.0,0,205,9.98,2.58,-158.07,0.000,4,0.102,0.061,2060,3297,3171
$GC,308,-2.01,-71.9,19.4,-19.0,14,312,0.00,2.55,0.00,0.000,6,0.000,0.046,2060,1894,3171
$GC,634,-2.01,-71.9,79.9,-17.8,30,638,0.00,2.55,0.00,0.000,4,0.000,0.048,2060,3298,3171
$GC,853,-2.01,-71.9,116.1,-19.1,40,857,0.00,2.53,0.00,0.000,6,0.000,0.046,2060,1901,3170
$GC,1179,-2.01,-71.9,172.4,-14.8,56,1183,0.00,2.53,0.00,0.000,4,0.000,0.048,2060,3295,3170
$GC,1367,-2.01,-71.9,202.8,-16.9,64,1374,0.00,2.50,0.00,0.000,6,0.000,0.044,2060,1901,3170
$GC,1684,-2.01,-71.9,252.7,-14.3,80,1688,0.00,2.53,0.00,0.000,4,0.000,0.049,2060,3294,3170
$GC,1873,-2.01,-71.9,279.5,-14.8,88,1879,0.00,2.53,0.00,0.000,6,0.000,0.045,2060,1895,3170
$GC,2188,-2.01,-71.9,324.6,-14.8,104,2196,0.00,2.55,0.00,0.000,4,0.000,0.050,2060,3299,3170
$GC,2313,-2.01,-71.9,343.5,-15.5,109,2317,0.00,2.53,0.00,0.000,6,0.000,0.046,2060,1899,3170
$GC,2635,-2.01,-71.9,391.3,-15.8,125,2639,0.00,2.55,0.00,0.000,4,0.000,0.051,2060,3299,3170
$GC,2751,-2.01,-71.9,409.9,-15.2,130,2755,0.00,2.55,0.00,0.000,6,0.000,0.047,2060,1903,3170
$GC,3072,-2.01,-71.9,463.7,-17.1,146,3077,0.00,2.55,0.00,0.000,4,0.000,0.051,2059,3299,3169
$GC,3156,-2.01,-71.9,479.1,-17.9,150,3161,0.00,2.53,0.00,0.000,6,0.000,0.048,2060,1894,3169
$GC,3483,-2.01,-71.9,532.0,-14.7,166,3487,0.00,2.58,0.00,0.000,4,0.000,0.054,2060,3300,3169
$GC,3658,-2.01,-71.9,557.3,-14.7,174,3662,0.00,2.55,0.00,0.000,6,0.000,0.048,2060,1898,3169
$GC,3983,-2.01,-71.9,606.7,-15.1,190,3988,0.00,2.58,0.00,0.000,4,0.000,0.055,2060,3298,3169
$GC,4083,-2.01,-71.9,621.9,-14.6,194,4090,0.00,2.55,0.00,0.000,6,0.000,0.050,2060,1895,3169
$GC,4399,-2.01,-71.9,667.5,-14.9,210,4403,0.00,2.62,0.00,0.000,4,0.000,0.073,2060,495,3169
$GC,4470,-2.01,-71.9,678.0,-14.0,213,4474,0.00,2.50,0.00,0.000,6,0.000,0.048,2060,1886,3169
$STATE,4645,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4645,begin apogee
$GC,4651,-0.36,0.0,704.5,14.6,222,4716,1.73,0.00,61.08,1.249,6,0.093,0.000,2417,2104,2878
$STATE,4717,end apogee,CONTROL_FINISHED_OK
$STATE,4717,begin climb
$GC,4719,2.01,71.9,709.8,0.0,225,4789,2.25,2.67,60.67,1.228,4,0.049,0.064,2934,3496,2584
$GC,4923,2.01,71.9,706.5,11.0,234,4928,0.00,2.53,0.00,0.000,6,0.000,0.048,2934,2102,2584
$GC,5244,2.01,71.9,675.0,7.4,250,5249,0.00,2.65,0.00,0.000,4,0.000,0.070,2934,686,2583
$GC,5502,2.03,90.6,661.2,3.4,261,5523,0.00,2.53,16.25,1.233,6,0.000,0.046,2934,2098,2508
$GC,5832,2.06,111.9,646.0,3.0,277,5856,0.00,2.72,18.38,1.242,4,0.000,0.067,2934,691,2421
$GC,6032,2.06,111.9,633.5,8.1,286,6037,0.00,2.53,0.00,0.000,6,0.000,0.046,2934,2102,2421
$GC,6358,2.06,111.9,603.4,9.4,302,6362,0.00,2.55,0.00,0.000,4,0.000,0.059,2934,3499,2420
$GC,6616,2.06,111.9,576.5,11.5,313,6622,0.00,2.55,0.00,0.000,6,0.000,0.048,2934,2095,2420
$GC,6931,2.06,111.9,544.8,10.1,329,6935,0.00,2.60,0.00,0.000,4,0.000,0.055,2933,3503,2420
$GC,7187,2.06,111.9,518.1,9.8,340,7194,0.00,2.55,0.00,0.000,6,0.000,0.045,2934,2098,2420
$GC,7503,2.06,111.9,487.0,9.7,356,7507,0.00,2.58,0.00,0.000,4,0.000,0.066,2934,692,2419
$GC,7748,2.06,111.9,460.2,12.1,367,7753,0.00,2.47,0.00,0.000,6,0.000,0.041,2934,2104,2420
$GC,8075,2.06,111.9,426.7,9.7,383,8079,0.00,2.55,0.00,0.000,4,0.000,0.054,2934,3504,2420
$GC,8332,2.06,111.9,402.8,8.8,394,8338,0.00,2.50,0.00,0.000,6,0.000,0.044,2934,2096,2420
$GC,8647,2.06,111.9,378.4,7.5,410,8651,0.00,2.58,0.00,0.000,4,0.000,0.053,2934,3500,2420
$GC,8904,2.06,111.9,357.2,7.9,421,8910,0.00,2.50,0.00,0.000,6,0.000,0.042,2934,2091,2420
$GC,9219,2.06,111.9,332.8,7.6,437,9223,0.00,2.55,0.00,0.000,4,0.000,0.052,2934,3498,2420
$GC,9476,2.06,111.9,311.0,8.8,448,9482,0.00,2.47,0.00,0.000,6,0.000,0.041,2934,2098,2420
$GC,9791,2.06,111.9,285.8,7.8,464,9795,0.00,2.55,0.00,0.000,4,0.000,0.051,2934,3499,2420
$GC,10048,2.06,111.9,264.6,7.9,475,10054,0.00,2.50,0.00,0.000,6,0.000,0.041,2934,2099,2420
$GC,10364,2.06,111.9,239.9,7.7,491,10368,0.00,2.55,0.00,0.000,4,0.000,0.061,2934,694,2420
$GC,10620,2.06,111.9,216.4,8.7,502,10627,0.00,2.45,0.00,0.000,6,0.000,0.040,2934,2102,2420
$GC,10936,2.06,111.9,194.5,7.5,518,10940,0.00,2.53,0.00,0.000,4,0.000,0.052,2934,3497,2420
$GC,11192,2.06,111.9,171.3,9.9,529,11199,0.00,2.47,0.00,0.000,6,0.000,0.040,2934,2091,2420
$GC,11509,2.06,111.9,144.0,9.0,545,11513,0.00,2.58,0.00,0.000,4,0.000,0.051,2934,3501,2421
$GC,11765,2.06,111.9,122.1,8.4,556,11772,0.00,2.50,0.00,0.000,6,0.000,0.040,2934,2101,2421
$GC,12082,2.06,111.9,98.3,7.7,572,12086,0.00,2.53,0.00,0.000,4,0.000,0.051,2934,3498,2421
$GC,12339,2.06,111.9,75.3,8.9,583,12346,0.00,2.47,0.00,0.000,6,0.000,0.039,2934,2102,2421
$GC,12655,2.06,111.9,47.6,9.3,599,12659,0.00,2.53,0.00,0.000,4,0.000,0.050,2934,3504,2421
$GC,12911,2.06,111.9,22.6,10.6,610,12918,0.00,2.50,0.00,0.000,6,0.000,0.039,2934,2098,2421
$GC,13229,2.11,154.5,2.4,0.0,626,13259,0.00,2.58,24.20,0.821,4,0.000,0.047,2934,3500,2246
$GC,13287,2.17,198.6,2.4,-0.2,628,13318,0.15,2.53,23.40,0.798,6,0.050,0.046,2978,2108,2067
$STATE,13540,end climb,NO_VERTICAL_VELOCITY
$STATE,13540,begin surface
$SM_CCo,13543,180.80,0.739,0,0,603,558.06
$SM_GC,3.06,12.73,0.00,0.00,0.029,0.000,0.000,28,1885,602,-11.27,-0.42,558.06
$IRIDIUM_FIX,6308.26,-1424.44,050108,151549
$TT8_MAMPS,0.026078
$HUMID,2040
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,625.5,87.9
$24V_AH,23.3,52.230
$10V_AH,10.2,25.469
$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,26.825,132.975,203.975,180.800,0.000,77.339,79.266,278.737,6.750,0.000,0.000,16.820,1343.983,9990.016,588.945,2192.670,653.855,33.368,1651.336,0.000,2138.222,0.000,36.634
$DEVICE_MAMPS,102.011,72.865,1248.676,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.304,432.161,423.390,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31703,641
$CFSIZE,260165632,243478528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,050108,154001,6328.831,-1313.598,37,1.2,42,-12.3