version: 66.02
glider: 102
mission: 4
dive: 258
start: 1 9 108 19 21 9
data:
$ID,102
$MISSION,4
$DIVE,258
$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,-81170.273
$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,34
$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
$GPS1,190456,6356.361,-1331.130,38,1.8,38,-12.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-53.9
$GPS2,192015,6356.446,-1331.484,14,1.5,14,-12.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.101,0.183
$KALMAN_X,337020.4,760.2,413.3,-604114.8,-2172.0
$KALMAN_Y,-32780.9,-287.8,315.0,298176.6,-168.2
$MHEAD_RNG_PITCHd_Wd,41.7,6692,-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,22,-0.95,-146.4,0.0,0.0,0,126,0.00,0.00,-102.03,0.000,2,0.000,0.000,27,1875,2572
$GC,129,-0.95,-146.6,3.8,-1.2,5,187,11.82,2.58,-39.50,0.000,4,0.136,0.075,2282,499,3476
$GC,316,-0.95,-146.6,17.9,-9.6,12,323,0.00,2.47,0.00,0.000,6,0.000,0.041,2282,1904,3476
$GC,632,-0.95,-146.6,44.6,-8.0,28,636,0.00,2.53,0.00,0.000,4,0.000,0.049,2282,3294,3476
$GC,680,-0.95,-146.6,49.2,-9.1,30,685,0.00,2.53,0.00,0.000,6,0.000,0.044,2282,1897,3476
$GC,1002,-0.95,-146.6,76.3,-8.7,46,1006,0.00,2.53,0.00,0.000,4,0.000,0.048,2282,3294,3476
$GC,1034,-0.95,-146.6,79.0,-8.4,47,1041,0.00,2.55,0.00,0.000,6,0.000,0.044,2282,1898,3476
$GC,1351,-0.95,-146.6,106.4,-8.6,63,1356,0.00,2.53,0.00,0.000,4,0.000,0.048,2282,3294,3476
$GC,1384,-0.95,-146.6,109.4,-9.1,64,1390,0.00,2.53,0.00,0.000,6,0.000,0.044,2282,1893,3476
$GC,1700,-0.95,-146.6,136.4,-8.6,80,1704,0.00,2.55,0.00,0.000,4,0.000,0.048,2282,3298,3476
$GC,1726,-0.95,-146.6,139.0,-9.2,81,1731,0.00,2.53,0.00,0.000,6,0.000,0.044,2282,1896,3476
$GC,2047,-0.95,-146.6,167.0,-8.6,97,2052,0.00,2.55,0.00,0.000,4,0.000,0.048,2282,3301,3476
$GC,2075,-0.95,-146.6,169.4,-8.7,98,2079,0.00,2.53,0.00,0.000,6,0.000,0.044,2282,1896,3476
$GC,2395,-0.95,-146.6,196.8,-8.4,114,2400,0.00,2.55,0.00,0.000,4,0.000,0.049,2282,3302,3476
$GC,2428,-0.95,-146.6,199.5,-7.6,115,2435,0.00,2.55,0.00,0.000,6,0.000,0.044,2282,1901,3476
$GC,2744,-0.95,-146.6,222.7,-7.1,131,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1901,3476
$GC,3053,-0.95,-146.6,243.4,-6.5,146,3058,0.00,2.53,0.00,0.000,4,0.000,0.048,2282,3294,3476
$GC,3108,-0.95,-146.6,247.2,-6.6,148,3115,0.00,2.53,0.00,0.000,6,0.000,0.044,2282,1894,3476
$GC,3424,-0.95,-146.6,268.6,-6.8,164,3428,0.00,2.55,0.00,0.000,4,0.000,0.050,2282,3297,3476
$GC,3467,-0.95,-146.6,271.6,-6.5,166,3472,0.00,2.53,0.00,0.000,6,0.000,0.045,2282,1898,3476
$GC,3789,-0.95,-146.6,290.1,-5.7,182,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1898,3475
$GC,4098,-0.95,-146.6,309.3,-5.5,197,4103,0.00,2.55,0.00,0.000,4,0.000,0.050,2282,3298,3476
$GC,4142,-0.95,-146.6,312.0,-5.9,199,4147,0.00,2.53,0.00,0.000,6,0.000,0.045,2282,1896,3476
$GC,4463,-0.95,-146.6,330.8,-5.9,215,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1896,3476
$GC,4773,-0.95,-146.6,347.9,-5.5,230,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1896,3476
$GC,5082,-0.95,-146.6,365.4,-5.7,245,5086,0.00,2.55,0.00,0.000,4,0.000,0.051,2282,3295,3476
$GC,5108,-0.95,-146.6,367.2,-6.2,246,5112,0.00,2.53,0.00,0.000,6,0.000,0.045,2282,1896,3475
$GC,5430,-0.95,-146.6,386.2,-5.3,262,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1896,3476
$GC,5739,-0.95,-146.6,402.9,-5.1,277,5743,0.00,2.55,0.00,0.000,4,0.000,0.051,2282,3294,3476
$GC,5823,-0.95,-146.6,408.0,-6.4,281,5827,0.00,2.53,0.00,0.000,6,0.000,0.047,2282,1901,3475
$GC,6149,-0.95,-146.6,429.9,-7.6,297,6153,0.00,2.53,0.00,0.000,4,0.000,0.052,2282,3295,3476
$GC,6220,-0.95,-146.6,435.8,-7.9,300,6224,0.00,2.53,0.00,0.000,6,0.000,0.047,2282,1898,3476
$GC,6542,-0.95,-146.6,460.5,-7.7,316,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1896,3475
$GC,6851,-0.95,-146.6,482.2,-5.8,331,6855,0.00,2.55,0.00,0.000,4,0.000,0.053,2282,3300,3475
$GC,6923,-0.95,-146.6,486.6,-6.0,334,6927,0.00,2.53,0.00,0.000,6,0.000,0.048,2282,1899,3475
$GC,7239,-0.95,-146.6,509.6,-6.0,349,7243,0.00,2.55,0.00,0.000,4,0.000,0.054,2281,3295,3475
$GC,7338,-0.95,-146.6,516.2,-6.7,353,7345,0.00,2.53,0.00,0.000,6,0.000,0.048,2282,1896,3475
$GC,7654,-0.95,-146.6,538.2,-7.2,369,7658,0.00,2.55,0.00,0.000,4,0.000,0.056,2282,3295,3475
$GC,7715,-0.95,-146.6,542.7,-7.8,372,7720,0.00,2.53,0.00,0.000,6,0.000,0.048,2282,1900,3475
$GC,8041,-0.95,-146.6,567.6,-7.4,388,8046,0.00,2.55,0.00,0.000,4,0.000,0.057,2282,3293,3474
$GC,8125,-0.95,-146.6,573.9,-6.8,392,8130,0.00,2.53,0.00,0.000,6,0.000,0.051,2282,1902,3474
$GC,8452,-0.95,-146.6,595.0,-7.0,408,8456,0.00,2.55,0.00,0.000,4,0.000,0.060,2282,3291,3474
$GC,8484,-0.95,-146.6,597.5,-7.2,409,8490,0.00,2.53,0.00,0.000,6,0.000,0.051,2282,1899,3474
$GC,8800,-0.95,-146.6,626.5,-9.8,425,8805,0.00,2.58,0.00,0.000,4,0.000,0.061,2282,3290,3473
$GC,8833,-0.95,-146.6,630.3,-10.8,426,8839,0.00,2.55,0.00,0.000,6,0.000,0.053,2282,1897,3473
$GC,9148,-0.95,-146.6,662.7,-9.9,442,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1897,3473
$GC,9458,-0.95,-146.6,687.7,-10.7,457,9462,0.00,2.65,0.00,0.000,4,0.000,0.080,2282,493,3473
$GC,9501,-0.95,-146.6,691.4,-7.8,459,9505,0.00,2.50,0.00,0.000,6,0.000,0.054,2282,1888,3472
$GC,9828,-0.95,-146.6,719.0,-7.4,475,9829,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1889,3471
$GC,10137,-0.95,-146.6,744.3,-6.5,490,10142,0.00,2.62,0.00,0.000,4,0.000,0.069,2282,3299,3470
$GC,10181,-0.95,-146.6,747.1,-5.9,492,10186,0.00,2.58,0.00,0.000,6,0.000,0.060,2282,1899,3470
$GC,10502,-0.95,-146.6,769.5,-8.0,508,10506,0.00,2.70,0.00,0.000,4,0.000,0.087,2282,493,3469
$GC,10541,-0.95,-146.6,770.8,-1.8,510,10546,0.00,2.55,0.00,0.000,6,0.000,0.058,2282,1897,3468
$GC,10868,-0.95,-146.6,773.3,0.0,526,10869,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1897,3468
$STATE,10968,end dive,NO_VERTICAL_VELOCITY
$STATE,10969,begin apogee
$GC,10974,-0.36,0.0,773.3,0.0,531,11102,0.62,0.00,124.38,1.358,6,0.074,0.000,2418,2108,2878
$STATE,11102,end apogee,CONTROL_FINISHED_OK
$STATE,11103,begin climb
$GC,11105,0.95,146.6,772.9,0.0,537,11238,1.27,2.72,124.53,1.309,4,0.058,0.072,2700,3500,2279
$GC,11492,1.07,249.5,754.8,2.9,555,11587,0.12,2.62,86.68,1.302,6,0.054,0.059,2738,2095,1860
$GC,11903,1.07,249.5,719.1,8.7,575,11907,0.00,2.65,0.00,0.000,4,0.000,0.064,2739,3500,1860
$GC,12088,1.07,249.5,698.1,13.1,583,12092,0.00,2.62,0.00,0.000,6,0.000,0.058,2738,2098,1859
$GC,12402,1.07,249.5,667.3,10.0,598,12404,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2098,1859
$GC,12712,1.07,249.5,646.7,7.4,613,12713,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1860
$GC,13021,1.22,365.9,632.9,2.5,628,13126,0.00,2.75,96.88,1.282,4,0.000,0.065,2738,3498,1386
$GC,13166,1.22,365.9,621.5,7.1,635,13170,0.00,2.62,0.00,0.000,6,0.000,0.057,2738,2097,1386
$GC,13492,1.22,365.9,599.3,6.5,651,13496,0.00,2.65,0.00,0.000,4,0.000,0.064,2739,3500,1386
$GC,13749,1.22,365.9,574.7,8.4,662,13755,0.00,2.58,0.00,0.000,6,0.000,0.056,2738,2102,1385
$GC,14064,1.22,365.9,552.6,7.5,678,14065,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2102,1385
$GC,14373,1.22,365.9,534.1,7.1,693,14378,0.00,2.67,0.00,0.000,4,0.000,0.075,2739,686,1385
$GC,14413,1.22,365.9,531.0,7.2,695,14417,0.00,2.55,0.00,0.000,6,0.000,0.051,2739,2103,1385
$GC,14739,1.22,365.9,504.0,8.7,711,14744,0.00,2.67,0.00,0.000,4,0.000,0.074,2739,690,1384
$GC,14801,1.22,365.9,498.4,7.9,714,14805,0.00,2.53,0.00,0.000,6,0.000,0.049,2739,2106,1385
$GC,15127,1.22,365.9,467.5,8.2,730,15131,0.00,2.58,0.00,0.000,4,0.000,0.058,2739,3506,1385
$GC,15175,1.22,365.9,462.3,10.8,732,15180,0.00,2.55,0.00,0.000,6,0.000,0.051,2739,2096,1385
$GC,15497,1.22,365.9,424.3,12.5,748,15501,0.00,2.65,0.00,0.000,4,0.000,0.073,2739,687,1385
$GC,15540,1.22,365.9,419.2,11.6,750,15545,0.00,2.53,0.00,0.000,6,0.000,0.046,2738,2104,1385
$GC,15861,1.22,365.9,391.6,7.4,766,15866,0.00,2.67,0.00,0.000,4,0.000,0.069,2739,687,1386
$GC,15906,1.22,365.9,387.3,9.9,768,15911,0.00,2.53,0.00,0.000,6,0.000,0.045,2739,2098,1386
$GC,16227,1.22,365.9,360.5,7.5,784,16231,0.00,2.65,0.00,0.000,4,0.000,0.067,2739,688,1386
$GC,16266,1.22,365.9,357.4,7.5,786,16270,0.00,2.53,0.00,0.000,6,0.000,0.044,2739,2108,1387
$GC,16591,1.22,365.9,331.6,8.3,802,16596,0.00,2.67,0.00,0.000,4,0.000,0.068,2739,692,1387
$GC,16652,1.22,365.9,326.5,7.8,805,16657,0.00,2.53,0.00,0.000,6,0.000,0.044,2739,2109,1387
$GC,16978,1.22,365.9,301.5,7.2,821,16983,0.00,2.65,0.00,0.000,4,0.000,0.067,2739,692,1388
$GC,17050,1.22,365.9,295.7,8.7,824,17055,0.00,2.50,0.00,0.000,6,0.000,0.043,2739,2093,1387
$GC,17372,1.22,365.9,271.3,7.5,840,17376,0.00,2.62,0.00,0.000,4,0.000,0.066,2739,690,1388
$GC,17426,1.22,365.9,266.8,7.9,842,17432,0.00,2.50,0.00,0.000,6,0.000,0.043,2739,2100,1388
$GC,17741,1.22,365.9,244.6,7.2,858,17746,0.00,2.62,0.00,0.000,4,0.000,0.067,2739,689,1388
$GC,17797,1.22,365.9,240.2,7.7,860,17803,0.00,2.50,0.00,0.000,6,0.000,0.044,2739,2099,1388
$GC,18112,1.22,365.9,213.6,9.9,876,18117,0.00,2.65,0.00,0.000,4,0.000,0.066,2739,685,1389
$GC,18162,1.22,365.9,208.5,10.1,878,18166,0.00,2.50,0.00,0.000,6,0.000,0.043,2739,2099,1389
$GC,18483,1.22,365.9,177.0,9.6,894,18487,0.00,2.62,0.00,0.000,4,0.000,0.066,2739,692,1389
$GC,18549,1.22,365.9,170.6,8.9,897,18553,0.00,2.47,0.00,0.000,6,0.000,0.042,2739,2101,1389
$GC,18876,1.22,365.9,138.6,9.1,913,18880,0.00,2.65,0.00,0.000,4,0.000,0.066,2739,685,1389
$GC,18930,1.22,365.9,133.1,10.7,915,18937,0.00,2.50,0.00,0.000,6,0.000,0.044,2739,2106,1389
$GC,19246,1.22,365.9,104.8,9.0,931,19250,0.00,2.62,0.00,0.000,4,0.000,0.065,2739,691,1389
$GC,19295,1.22,365.9,99.7,9.7,933,19299,0.00,2.50,0.00,0.000,6,0.000,0.043,2739,2102,1390
$GC,19617,1.22,365.9,69.7,9.1,949,19618,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2103,1389
$GC,19927,1.22,365.9,40.5,9.4,964,19931,0.00,2.62,0.00,0.000,4,0.000,0.066,2739,691,1390
$GC,20034,1.22,365.9,29.3,8.6,969,20038,0.00,2.50,0.00,0.000,6,0.000,0.042,2739,2102,1390
$GC,20360,1.22,365.9,2.2,7.7,985,20364,0.00,2.12,0.00,0.000,3,0.000,0.065,2739,957,1389
$STATE,20365,end climb,SURFACE_DEPTH_REACHED
$STATE,20365,begin surface coast
$FINISH,1.9,1.015409
$STATE,20402,end surface coast,CONTROL_FINISHED_OK
$STATE,20402,begin surface
$SM_CCo,20424,122.05,0.791,7,0,602,558.06
$SM_GC,2.39,0.00,0.00,122.05,0.000,0.000,0.791,34,1905,602,-11.32,0.11,558.06
$IRIDIUM_FIX,6327.46,-1333.73,090108,171752
$TT8_MAMPS,0.027612
$HUMID,2028
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,16.20
$XPDR_PINGS,5
$24V_AH,23.2,55.520
$10V_AH,10.1,27.175
$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,25.425,214.725,432.450,122.050,0.000,189.126,375.829,0.000,7.500,0.000,0.000,17.762,1836.861,15708.825,798.367,2327.635,832.081,33.368,1991.052,0.000,2275.615,0.000,41.336
$DEVICE_MAMPS,135.759,86.671,1357.590,790.777,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,728.957,666.555,568.591,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50539,987
$CFSIZE,260165632,242249728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,7,0
$GPS,100108,010527,6357.461,-1329.378,38,1.8,39,-12.7