version: 66.02
glider: 102
mission: 4
dive: 243
start: 1 6 108 4 1 33
data:
$ID,102
$MISSION,4
$DIVE,243
$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,-80849.82
$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,26
$R_STBD_OVSHOOT,29
$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
$GPS1,034738,6333.724,-1308.845,34,0.8,34,-12.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-60.3
$GPS2,040039,6333.699,-1308.919,12,1.2,12,-12.3
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.174,0.115
$KALMAN_X,314514.0,630.3,-468.7,-560721.6,3868.8
$KALMAN_Y,-31988.0,826.2,-557.5,255006.2,-2946.0
$MHEAD_RNG_PITCHd_Wd,315.7,5559,-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,-21.73,0.000,2,0.000,0.000,27,1886,1096
$GC,49,-0.95,-146.6,3.1,-0.0,1,239,11.40,2.62,-170.07,0.000,4,0.116,0.061,2288,3317,3475
$GC,347,-0.95,-146.6,10.1,-7.1,15,351,0.00,2.55,0.00,0.000,6,0.000,0.044,2288,1898,3476
$GC,672,-0.95,-146.6,33.4,-7.2,31,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3475
$GC,982,-0.95,-146.6,56.4,-8.2,46,986,0.00,2.55,0.00,0.000,4,0.000,0.048,2288,3304,3475
$GC,1047,-0.95,-146.6,61.2,-7.6,49,1052,0.00,2.53,0.00,0.000,6,0.000,0.042,2288,1895,3475
$GC,1369,-0.95,-146.6,80.6,-6.2,65,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3475
$GC,1678,-0.95,-146.6,99.3,-6.3,80,1682,0.00,2.55,0.00,0.000,4,0.000,0.048,2288,3305,3475
$GC,1739,-0.95,-146.6,103.4,-6.7,83,1744,0.00,2.53,0.00,0.000,6,0.000,0.043,2288,1899,3475
$GC,2068,-0.95,-146.6,125.5,-7.0,99,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3475
$GC,2375,-0.95,-146.6,147.3,-7.2,114,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3475
$GC,2684,-0.95,-146.6,170.9,-8.1,129,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,2993,-0.95,-146.6,197.1,-8.5,144,2997,0.00,2.55,0.00,0.000,4,0.000,0.048,2288,3307,3475
$GC,3064,-0.95,-146.6,203.7,-9.2,147,3068,0.00,2.53,0.00,0.000,6,0.000,0.043,2288,1900,3475
$GC,3386,-0.95,-146.6,229.6,-7.6,163,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,3695,-0.95,-146.6,252.2,-7.3,178,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,4004,-0.95,-146.6,274.0,-7.0,193,4008,0.00,2.55,0.00,0.000,4,0.000,0.049,2288,3306,3475
$GC,4075,-0.95,-146.6,279.2,-6.9,196,4079,0.00,2.53,0.00,0.000,6,0.000,0.044,2288,1901,3475
$GC,4391,-0.95,-146.6,300.4,-6.7,211,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,4700,-0.95,-146.6,324.4,-8.6,226,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,5010,-0.95,-146.6,349.3,-7.8,241,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,5318,-0.95,-146.6,371.1,-6.7,256,5323,0.00,2.55,0.00,0.000,4,0.000,0.050,2289,3310,3475
$GC,5380,-0.95,-146.6,375.5,-7.9,259,5384,0.00,2.53,0.00,0.000,6,0.000,0.044,2288,1901,3475
$GC,5706,-0.95,-146.6,395.2,-5.9,275,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3475
$GC,6015,-0.95,-146.6,415.9,-7.2,290,6019,0.00,2.55,0.00,0.000,4,0.000,0.051,2288,3307,3475
$GC,6080,-0.95,-146.6,421.6,-9.1,293,6085,0.00,2.55,0.00,0.000,6,0.000,0.045,2288,1904,3475
$GC,6408,-0.95,-146.6,450.8,-8.7,309,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3475
$GC,6716,-0.95,-146.6,477.0,-8.0,324,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3474
$GC,7026,-0.95,-146.6,499.8,-7.4,339,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3474
$GC,7335,-0.95,-146.6,523.2,-7.9,354,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3474
$GC,7644,-0.95,-146.6,547.5,-7.7,369,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3474
$GC,7953,-0.95,-146.6,570.4,-7.3,384,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3474
$GC,8263,-0.95,-146.6,592.7,-7.3,399,8267,0.00,2.55,0.00,0.000,4,0.000,0.055,2288,3302,3474
$GC,8340,-0.95,-146.6,598.7,-7.7,402,8346,0.00,2.53,0.00,0.000,6,0.000,0.048,2288,1903,3474
$GC,8655,-0.95,-146.6,623.5,-6.8,418,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1903,3474
$GC,8965,-0.95,-146.6,644.0,-6.5,433,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1903,3474
$GC,9274,-0.95,-146.6,664.5,-6.5,448,9278,0.00,2.58,0.00,0.000,4,0.000,0.059,2288,3304,3474
$GC,9368,-0.95,-146.6,671.1,-7.7,452,9372,0.00,2.55,0.00,0.000,6,0.000,0.051,2288,1901,3474
$STATE,9640,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9640,begin apogee
$GC,9645,-0.36,0.0,691.8,8.8,465,9772,0.60,0.00,123.95,1.238,6,0.067,0.000,2421,2103,2878
$STATE,9773,end apogee,CONTROL_FINISHED_OK
$STATE,9773,begin climb
$GC,9775,0.95,146.6,697.1,0.0,471,9908,1.25,2.78,122.80,1.201,4,0.055,0.074,2700,696,2280
$GC,10160,1.20,356.0,700.9,-0.2,489,10343,0.25,2.53,172.70,1.203,6,0.037,0.048,2768,2101,1425
$GC,10664,1.20,356.0,644.0,13.9,514,10668,0.00,2.67,0.00,0.000,4,0.000,0.073,2769,693,1426
$GC,10718,1.20,356.0,638.1,10.4,516,10725,0.00,2.53,0.00,0.000,6,0.000,0.048,2768,2099,1425
$GC,11034,1.20,356.0,600.2,12.4,532,11035,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2103,1425
$GC,11343,1.20,356.0,564.8,10.8,547,11347,0.00,2.65,0.00,0.000,4,0.000,0.070,2769,692,1424
$GC,11392,1.20,356.0,559.3,10.7,549,11396,0.00,2.53,0.00,0.000,6,0.000,0.045,2769,2109,1424
$GC,11707,1.20,356.0,523.8,11.5,564,11708,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2113,1424
$GC,12016,1.20,356.0,487.3,12.5,579,12021,0.00,2.65,0.00,0.000,4,0.000,0.067,2769,692,1424
$GC,12083,1.20,356.0,478.9,13.1,582,12087,0.00,2.50,0.00,0.000,6,0.000,0.043,2769,2106,1423
$GC,12409,1.20,356.0,439.4,12.2,598,12413,0.00,2.65,0.00,0.000,4,0.000,0.067,2769,691,1424
$GC,12452,1.20,356.0,433.9,12.0,600,12456,0.00,2.50,0.00,0.000,6,0.000,0.042,2769,2100,1424
$GC,12780,1.20,356.0,399.8,9.7,616,12781,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2104,1424
$GC,13089,1.20,356.0,369.2,10.1,631,13093,0.00,2.65,0.00,0.000,4,0.000,0.066,2769,690,1424
$GC,13137,1.20,356.0,363.8,10.8,633,13141,0.00,2.50,0.00,0.000,6,0.000,0.042,2769,2106,1424
$GC,13459,1.20,356.0,330.5,10.4,649,13460,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2111,1424
$GC,13768,1.20,356.0,299.8,9.7,664,13772,0.00,2.62,0.00,0.000,4,0.000,0.066,2769,691,1424
$GC,13833,1.20,356.0,292.7,10.4,667,13838,0.00,2.53,0.00,0.000,6,0.000,0.041,2769,2096,1424
$GC,14160,1.20,356.0,258.4,10.7,683,14161,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2100,1425
$GC,14469,1.20,356.0,224.7,11.1,698,14474,0.00,2.62,0.00,0.000,4,0.000,0.064,2769,688,1425
$GC,14541,1.20,356.0,216.4,11.3,701,14546,0.00,2.50,0.00,0.000,6,0.000,0.041,2769,2111,1425
$GC,14857,1.20,356.0,183.5,10.1,716,14858,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2116,1425
$GC,15166,1.20,356.0,151.5,10.7,731,15170,0.00,2.65,0.00,0.000,4,0.000,0.063,2769,685,1425
$GC,15237,1.20,356.0,143.6,10.7,734,15242,0.00,2.47,0.00,0.000,6,0.000,0.041,2769,2105,1425
$GC,15559,1.20,356.0,110.5,10.4,750,15561,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2109,1425
$GC,15868,1.20,356.0,78.0,10.3,765,15872,0.00,2.62,0.00,0.000,4,0.000,0.063,2769,691,1425
$GC,15934,1.20,356.0,70.5,11.1,768,15938,0.00,2.47,0.00,0.000,6,0.000,0.040,2769,2098,1425
$GC,16263,1.20,356.0,37.1,10.5,784,16264,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2103,1425
$GC,16570,1.20,356.0,5.2,10.5,799,16575,0.00,2.62,0.00,0.000,4,0.000,0.064,2769,687,1426
$GC,16610,1.27,409.6,2.4,4.4,801,16653,0.00,2.50,33.05,0.808,6,0.000,0.042,2769,2103,1207
$STATE,16939,end climb,NO_VERTICAL_VELOCITY
$STATE,16939,begin surface
$SM_CCo,16942,75.50,0.769,0,0,603,558.06
$SM_GC,2.93,11.80,0.00,0.00,0.029,0.000,0.000,34,1891,602,-11.25,-0.25,558.30
$IRIDIUM_FIX,6308.26,-1304.75,060108,070704
$TT8_MAMPS,0.026078
$HUMID,2049
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,626.2,74.8
$24V_AH,23.3,52.759
$10V_AH,10.1,25.743
$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,25.300,103.325,452.500,75.500,0.000,113.476,200.548,228.115,6.750,0.000,0.000,13.520,1461.278,13516.351,672.700,1818.907,752.721,33.375,1611.077,0.000,1786.021,0.000,39.203
$DEVICE_MAMPS,115.817,74.399,1237.938,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,603.941,550.433,555.393,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41147,817
$CFSIZE,260165632,243281920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,060108,085326,6336.701,-1310.450,39,1.1,39,-12.4