version: 66.02
glider: 102
mission: 4
dive: 257
start: 1 9 108 13 36 12
data:
$ID,102
$MISSION,4
$DIVE,257
$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,-81151.875
$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
$GPS1,132107,6353.549,-1329.741,41,1.2,52,-12.7
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-57.1
$GPS2,133520,6353.648,-1329.249,11,1.2,29,-12.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.092,0.186
$KALMAN_X,337486.4,-48.6,-186.1,-601229.2,2514.1
$KALMAN_Y,-30029.5,-638.8,-655.4,291554.5,3501.4
$MHEAD_RNG_PITCHd_Wd,346.4,11779,-10.8,-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,22,-0.95,-144.4,0.0,0.0,0,126,0.00,0.00,-101.68,0.000,2,0.000,0.000,32,1883,2567
$GC,129,-0.96,-146.6,3.6,-1.2,5,192,11.85,2.60,-42.03,0.000,4,0.137,0.061,2285,3293,3477
$GC,277,-0.96,-146.6,13.4,-8.1,11,284,0.00,2.50,0.00,0.000,6,0.000,0.044,2285,1908,3476
$GC,592,-0.96,-146.6,38.0,-7.7,27,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1908,3477
$GC,902,-0.96,-146.6,61.8,-8.0,42,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1908,3476
$GC,1211,-0.96,-146.6,89.0,-8.8,57,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1908,3476
$GC,1522,-0.96,-146.6,116.7,-8.8,72,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1908,3476
$GC,1830,-0.96,-146.6,138.2,-6.6,87,1834,0.00,2.62,0.00,0.000,4,0.000,0.067,2285,495,3477
$GC,1907,-0.96,-146.6,143.7,-7.3,90,1914,0.00,2.50,0.00,0.000,6,0.000,0.041,2285,1900,3477
$GC,2223,-0.96,-146.6,169.4,-10.9,106,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,2532,-0.96,-146.6,196.4,-8.9,121,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,2842,-0.96,-146.6,218.6,-7.9,136,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3477
$GC,3150,-0.96,-146.6,244.5,-8.8,151,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,3460,-0.96,-146.6,272.4,-9.0,166,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3476
$GC,3769,-0.96,-146.6,298.8,-8.5,181,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3477
$GC,4078,-0.96,-146.6,324.3,-7.7,196,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,4388,-0.96,-146.6,346.6,-7.2,211,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,4697,-0.96,-146.6,370.0,-8.0,226,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,5006,-0.96,-146.6,395.5,-8.7,241,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,5316,-0.96,-146.6,422.6,-8.4,256,5320,0.00,2.55,0.00,0.000,4,0.000,0.053,2285,3298,3476
$GC,5377,-0.96,-146.6,428.0,-8.5,259,5381,0.00,2.53,0.00,0.000,6,0.000,0.047,2285,1901,3476
$GC,5702,-0.96,-146.6,456.5,-8.4,275,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,6012,-0.96,-146.6,481.4,-8.5,290,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,6321,-0.96,-146.6,510.5,-9.5,305,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,6630,-0.96,-146.6,538.4,-9.1,320,6634,0.00,2.55,0.00,0.000,4,0.000,0.053,2285,3294,3476
$GC,6696,-0.96,-146.6,544.4,-8.9,323,6700,0.00,2.53,0.00,0.000,6,0.000,0.048,2285,1899,3475
$GC,7022,-0.96,-146.6,569.6,-6.9,339,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3475
$GC,7332,-0.96,-146.6,588.1,-5.7,354,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3476
$GC,7641,-0.96,-146.6,606.3,-5.9,369,7646,0.00,2.58,0.00,0.000,4,0.000,0.056,2285,3299,3475
$GC,7730,-0.96,-146.6,611.7,-6.4,373,7734,0.00,2.55,0.00,0.000,6,0.000,0.050,2285,1899,3475
$GC,8057,-0.96,-146.6,633.5,-6.8,389,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3475
$GC,8366,-0.96,-146.6,656.4,-7.6,404,8370,0.00,2.62,0.00,0.000,4,0.000,0.071,2285,496,3474
$GC,8431,-0.96,-146.6,661.7,-7.4,407,8436,0.00,2.47,0.00,0.000,6,0.000,0.048,2285,1894,3474
$GC,8759,-0.96,-146.6,680.4,-6.0,423,8763,0.00,2.62,0.00,0.000,4,0.000,0.074,2285,496,3474
$GC,8858,-0.96,-146.6,687.5,-7.5,427,8865,0.00,2.50,0.00,0.000,6,0.000,0.050,2285,1902,3474
$GC,9174,-0.96,-146.6,714.1,-9.7,443,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1904,3473
$GC,9483,-0.96,-146.6,744.7,-11.0,458,9484,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1904,3473
$GC,9792,-0.96,-146.6,781.0,-9.8,473,9797,0.00,2.62,0.00,0.000,4,0.000,0.066,2285,3304,3473
$GC,9813,-0.96,-146.6,783.2,-10.3,474,9818,0.00,2.58,0.00,0.000,6,0.000,0.059,2285,1904,3473
$GC,10141,-0.96,-146.6,804.5,-8.2,490,10145,0.00,2.58,0.00,0.000,4,0.000,0.063,2285,3301,3472
$GC,10383,-0.96,-146.6,810.7,0.3,501,10387,0.00,2.60,0.00,0.000,6,0.000,0.060,2285,1892,3472
$STATE,10541,end dive,NO_VERTICAL_VELOCITY
$STATE,10541,begin apogee
$GC,10547,-0.36,0.0,810.8,0.0,509,10676,0.60,0.00,125.62,1.361,6,0.058,0.000,2423,2097,2878
$STATE,10676,end apogee,CONTROL_FINISHED_OK
$STATE,10677,begin climb
$GC,10679,0.96,146.6,810.4,0.0,515,10811,1.25,2.72,124.80,1.318,4,0.053,0.068,2703,3500,2280
$GC,11067,1.18,325.9,800.0,0.6,533,11226,0.20,2.60,150.32,1.309,6,0.041,0.057,2759,2099,1549
$GC,11533,1.18,325.9,731.6,16.8,555,11538,0.00,2.65,0.00,0.000,4,0.000,0.063,2759,3501,1549
$GC,11663,1.18,325.9,709.5,16.0,561,11668,0.00,2.60,0.00,0.000,6,0.000,0.057,2759,2103,1549
$GC,11989,1.18,325.9,681.8,16.0,577,11990,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2102,1549
$GC,12298,1.18,325.9,647.1,8.5,592,12299,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2102,1548
$GC,12607,1.18,325.9,611.9,11.5,607,12608,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2102,1548
$GC,12916,1.18,325.9,579.8,10.9,622,12918,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2102,1548
$GC,13226,1.18,325.9,547.9,9.4,637,13230,0.00,2.67,0.00,0.000,4,0.000,0.075,2760,689,1548
$GC,13310,1.18,325.9,540.1,9.5,641,13315,0.00,2.53,0.00,0.000,6,0.000,0.048,2759,2103,1548
$GC,13636,1.18,325.9,511.7,9.2,657,13637,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2107,1548
$GC,13946,1.18,325.9,487.1,7.2,672,13950,0.00,2.67,0.00,0.000,4,0.000,0.071,2760,685,1548
$GC,14007,1.18,325.9,482.4,7.7,675,14011,0.00,2.53,0.00,0.000,6,0.000,0.046,2760,2105,1548
$GC,14333,1.18,325.9,457.0,8.7,691,14334,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2108,1548
$GC,14642,1.18,325.9,428.9,9.2,706,14646,0.00,2.67,0.00,0.000,4,0.000,0.069,2760,685,1548
$GC,14697,1.18,325.9,423.4,9.9,708,14703,0.00,2.50,0.00,0.000,6,0.000,0.044,2759,2099,1548
$GC,15012,1.18,325.9,398.3,7.4,724,15017,0.00,2.65,0.00,0.000,4,0.000,0.067,2759,687,1548
$GC,15067,1.18,325.9,394.3,7.2,726,15074,0.00,2.50,0.00,0.000,6,0.000,0.043,2760,2102,1548
$GC,15383,1.18,325.9,372.9,7.1,742,15384,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2105,1549
$GC,15692,1.18,325.9,348.9,7.9,757,15697,0.00,2.65,0.00,0.000,4,0.000,0.069,2759,684,1550
$GC,15763,1.18,325.9,342.8,8.2,760,15768,0.00,2.50,0.00,0.000,6,0.000,0.043,2759,2101,1550
$GC,16086,1.18,325.9,315.2,8.9,776,16087,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2104,1550
$GC,16394,1.18,325.9,285.3,9.3,791,16399,0.00,2.65,0.00,0.000,4,0.000,0.067,2760,686,1550
$GC,16434,1.18,325.9,281.4,11.1,793,16438,0.00,2.50,0.00,0.000,6,0.000,0.043,2760,2102,1550
$GC,16759,1.18,325.9,250.6,9.2,809,16764,0.00,2.65,0.00,0.000,4,0.000,0.066,2759,687,1551
$GC,16809,1.18,325.9,245.7,8.4,811,16813,0.00,2.50,0.00,0.000,6,0.000,0.043,2760,2092,1551
$GC,17130,1.18,325.9,215.6,9.3,827,17131,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2096,1551
$GC,17439,1.18,325.9,187.2,9.2,842,17443,0.00,2.62,0.00,0.000,4,0.000,0.064,2760,685,1552
$GC,17516,1.18,325.9,179.7,9.3,845,17523,0.00,2.53,0.00,0.000,6,0.000,0.041,2759,2105,1552
$GC,17832,1.18,325.9,150.5,9.4,861,17833,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2109,1552
$GC,18141,1.18,325.9,121.2,9.5,876,18145,0.00,2.65,0.00,0.000,4,0.000,0.064,2759,685,1552
$GC,18195,1.18,325.9,115.6,9.7,878,18202,0.00,2.53,0.00,0.000,6,0.000,0.041,2760,2100,1552
$GC,18512,1.18,325.9,87.6,8.6,894,18513,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2101,1552
$GC,18822,1.18,325.9,60.5,7.6,909,18826,0.00,2.62,0.00,0.000,4,0.000,0.064,2759,687,1552
$GC,18885,1.18,325.9,54.4,10.8,912,18889,0.00,2.50,0.00,0.000,6,0.000,0.042,2760,2102,1552
$GC,19211,1.18,325.9,22.9,9.6,928,19212,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2103,1553
$STATE,19436,end climb,SURFACE_DEPTH_REACHED
$STATE,19436,begin surface coast
$FINISH,2.1,1.027462
$STATE,19459,end surface coast,CONTROL_FINISHED_OK
$STATE,19459,begin surface
$SM_CCo,19480,138.73,0.776,6,0,603,558.06
$SM_GC,2.51,0.00,0.00,138.73,0.000,0.000,0.776,28,1876,603,-11.35,-0.68,558.06
$IRIDIUM_FIX,6327.46,-1327.85,090108,171704
$TT8_MAMPS,0.026845
$HUMID,2026
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.40
$XPDR_PINGS,3
$24V_AH,23.2,55.308
$10V_AH,10.1,27.075
$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,25.575,109.075,400.750,138.725,0.000,113.556,294.184,188.487,7.500,0.000,0.000,30.974,1670.762,15232.313,718.512,2049.829,827.514,33.381,1724.566,0.000,1996.563,0.000,44.561
$DEVICE_MAMPS,137.293,75.166,1361.425,776.204,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,685.434,634.689,561.404,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47414,940
$CFSIZE,260165632,242372608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,6,0
$GPS,090108,190456,6356.361,-1331.130,38,1.8,38,-12.7