version: 66.02
glider: 102
mission: 4
dive: 223
start: 1 1 108 5 45 46
data:
$ID,102
$MISSION,4
$DIVE,223
$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,-80369.07
$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,29
$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
$GPS1,052238,6316.151,-1302.269,40,1.6,40,-12.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.44
$_SM_ANGLEo,-47.9
$GPS2,054452,6316.097,-1301.943,15,2.2,34,-12.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.205,0.038
$KALMAN_X,282871.2,-786.4,-644.1,-521279.4,12503.0
$KALMAN_Y,-20814.7,-145.4,133.4,211483.7,-6443.8
$MHEAD_RNG_PITCHd_Wd,292.5,11072,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.95,-146.6,0.0,0.0,0,26,0.00,0.00,-3.65,0.000,2,0.000,0.000,28,1893,692
$GC,29,-0.95,-146.6,3.5,-0.0,0,222,10.93,2.60,-171.32,0.000,4,0.096,0.074,2285,507,3477
$GC,407,-0.95,-146.6,14.0,-5.0,18,412,0.00,2.45,0.00,0.000,6,0.000,0.040,2285,1904,3476
$GC,728,-0.95,-146.6,32.9,-6.5,34,732,0.00,2.53,0.00,0.000,4,0.000,0.049,2285,3299,3477
$GC,800,-0.95,-146.6,39.6,-11.9,37,804,0.00,2.50,0.00,0.000,6,0.000,0.043,2285,1906,3476
$GC,1121,-0.95,-146.6,66.7,-6.6,53,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3476
$GC,1431,-0.95,-146.6,89.7,-6.9,68,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3476
$GC,1741,-0.95,-146.6,109.8,-2.9,83,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3477
$GC,2049,-0.95,-146.6,126.7,-9.1,98,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3477
$GC,2358,-0.95,-146.6,154.2,-10.8,113,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3476
$GC,2670,-0.95,-146.6,175.6,-6.0,128,2674,0.00,2.50,0.00,0.000,4,0.000,0.048,2285,3295,3476
$GC,2719,-0.95,-146.6,178.7,-5.5,130,2723,0.00,2.50,0.00,0.000,6,0.000,0.044,2285,1899,3476
$GC,3034,-0.95,-146.6,198.5,-6.7,145,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,3344,-0.95,-146.6,220.1,-6.7,160,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,3653,-0.95,-146.6,243.9,-7.7,175,3657,0.00,2.50,0.00,0.000,4,0.000,0.048,2285,3297,3476
$GC,3724,-0.95,-146.6,249.5,-7.8,178,3729,0.00,2.50,0.00,0.000,6,0.000,0.043,2286,1901,3476
$GC,4051,-0.95,-146.6,274.8,-7.9,194,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3476
$GC,4360,-0.95,-146.6,298.0,-7.3,209,4365,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3301,3476
$GC,4415,-0.95,-146.6,301.7,-6.9,211,4422,0.00,2.50,0.00,0.000,6,0.000,0.044,2285,1901,3476
$GC,4731,-0.95,-146.6,324.5,-7.5,227,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3475
$GC,5040,-0.95,-146.6,349.4,-8.5,242,5044,0.00,2.53,0.00,0.000,4,0.000,0.049,2285,3297,3476
$GC,5105,-0.95,-146.6,355.0,-8.5,245,5109,0.00,2.50,0.00,0.000,6,0.000,0.044,2285,1901,3476
$GC,5432,-0.95,-146.6,381.8,-8.3,261,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3476
$GC,5742,-0.95,-146.6,406.6,-7.7,276,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3476
$GC,6051,-0.95,-146.6,430.4,-7.8,291,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3476
$GC,6360,-0.95,-146.6,454.4,-7.5,306,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3476
$GC,6670,-0.95,-146.6,476.1,-6.8,321,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,6978,-0.95,-146.6,496.6,-6.5,336,6983,0.00,2.50,0.00,0.000,4,0.000,0.051,2285,3295,3475
$GC,7078,-0.95,-146.6,503.9,-7.3,340,7085,0.00,2.50,0.00,0.000,6,0.000,0.045,2285,1901,3475
$GC,7394,-0.95,-146.6,527.4,-7.1,356,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,7703,-0.95,-146.6,547.9,-6.6,371,7708,0.00,2.53,0.00,0.000,4,0.000,0.052,2285,3294,3475
$GC,7810,-0.95,-146.6,554.5,-6.0,376,7814,0.00,2.50,0.00,0.000,6,0.000,0.046,2285,1902,3475
$GC,8136,-0.95,-146.6,573.9,-5.8,392,8140,0.00,2.53,0.00,0.000,4,0.000,0.054,2285,3300,3475
$GC,8220,-0.95,-146.6,578.5,-5.7,396,8225,0.00,2.53,0.00,0.000,6,0.000,0.048,2286,1900,3475
$GC,8547,-0.95,-146.6,595.8,-5.8,412,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3474
$GC,8856,-0.95,-146.6,613.4,-5.8,427,8860,0.00,2.55,0.00,0.000,4,0.000,0.057,2285,3294,3475
$GC,9000,-0.95,-146.6,622.9,-7.1,433,9007,0.00,2.53,0.00,0.000,6,0.000,0.049,2285,1899,3475
$GC,9315,-0.95,-146.6,643.8,-7.2,449,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3474
$STATE,9437,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9438,begin apogee
$GC,9443,-0.36,0.0,651.7,6.3,455,9569,0.62,0.00,122.95,1.221,6,0.075,0.000,2421,2096,2878
$STATE,9570,end apogee,CONTROL_FINISHED_OK
$STATE,9570,begin climb
$GC,9572,0.95,146.6,655.6,0.0,461,9703,1.25,2.72,121.28,1.187,4,0.052,0.061,2703,3496,2280
$GC,9812,0.99,177.3,648.6,5.1,472,9844,0.00,2.55,26.12,1.177,6,0.000,0.048,2703,2102,2155
$GC,10152,0.99,177.3,626.4,6.9,488,10157,0.00,2.58,0.00,0.000,4,0.000,0.059,2703,3496,2155
$GC,10291,0.99,177.3,617.6,7.1,494,10295,0.00,2.55,0.00,0.000,6,0.000,0.049,2703,2094,2154
$GC,10612,0.99,177.3,595.8,7.1,510,10613,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2094,2153
$GC,10921,0.99,177.3,571.1,8.0,525,10925,0.00,2.60,0.00,0.000,4,0.000,0.060,2703,3499,2153
$GC,11166,0.99,177.3,552.8,7.3,536,11170,0.00,2.53,0.00,0.000,6,0.000,0.047,2703,2094,2152
$GC,11493,0.99,177.5,532.0,6.0,552,11497,0.00,2.60,0.00,0.000,4,0.000,0.058,2703,3502,2151
$GC,11592,0.99,177.5,525.5,7.0,556,11599,0.00,2.53,0.00,0.000,6,0.000,0.048,2703,2098,2151
$GC,11908,0.99,179.9,506.7,5.9,572,11909,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,2151
$GC,12217,1.00,186.5,488.5,5.8,587,12231,0.00,2.62,7.97,1.165,4,0.000,0.054,2703,3496,2117
$GC,12299,1.00,186.5,483.0,6.7,590,12306,0.00,2.53,0.00,0.000,6,0.000,0.044,2703,2105,2117
$GC,12615,1.00,186.5,463.6,6.3,606,12616,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2106,2117
$GC,12924,1.00,186.5,443.4,6.3,621,12926,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,2117
$GC,13233,1.00,186.5,424.1,6.5,636,13235,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,2118
$GC,13543,1.00,186.5,404.2,6.2,651,13544,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,2118
$GC,13853,1.03,216.7,387.4,5.1,666,13880,0.00,0.00,25.75,1.080,6,0.000,0.000,2703,2106,1994
$GC,14181,1.06,235.5,369.8,5.4,682,14201,0.00,0.00,16.30,1.057,6,0.000,0.000,2703,2106,1917
$GC,14510,1.06,235.5,348.6,7.0,698,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2106,1917
$GC,14820,1.06,235.5,326.7,6.8,713,14821,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2106,1917
$GC,15129,1.06,235.5,306.1,6.7,728,15130,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2106,1917
$GC,15438,1.06,235.5,283.4,6.9,743,15443,0.10,2.60,0.00,0.000,4,0.055,0.061,2743,687,1917
$GC,15487,1.06,235.5,278.9,8.6,745,15492,0.00,2.47,0.00,0.000,6,0.000,0.040,2743,2103,1918
$GC,15802,1.06,235.5,252.0,8.9,760,15803,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2106,1917
$GC,16112,1.06,235.5,224.9,9.3,775,16116,0.00,2.53,0.00,0.000,4,0.000,0.050,2743,3498,1918
$GC,16178,1.06,235.5,218.8,9.1,778,16182,0.00,2.47,0.00,0.000,6,0.000,0.041,2743,2097,1918
$GC,16504,1.06,235.5,191.1,8.9,794,16505,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2097,1918
$GC,16814,1.06,235.5,164.2,8.7,809,16815,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2097,1918
$GC,17124,1.06,235.5,139.6,7.9,824,17125,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2097,1918
$GC,17434,1.06,235.5,116.6,6.8,839,17438,0.00,2.55,0.00,0.000,4,0.000,0.050,2743,3500,1918
$GC,17495,1.06,235.5,111.5,7.8,842,17500,0.00,2.47,0.00,0.000,6,0.000,0.041,2743,2092,1918
$GC,17822,1.06,235.5,87.5,6.9,858,17823,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2092,1918
$GC,18131,1.06,235.5,59.6,8.7,873,18132,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2092,1918
$GC,18442,1.06,235.5,38.4,7.1,888,18446,0.00,2.55,0.00,0.000,4,0.000,0.048,2743,3499,1919
$GC,18564,1.06,235.5,26.6,9.4,893,18570,0.00,2.47,0.00,0.000,6,0.000,0.040,2743,2098,1919
$GC,18881,1.08,252.9,2.9,5.5,909,18901,0.00,2.67,14.70,0.844,4,0.000,0.064,2743,693,1847
$GC,19007,1.34,466.3,2.8,-0.4,914,19121,0.20,2.47,107.03,0.760,6,0.064,0.039,2792,2107,976
$STATE,19420,end climb,NO_VERTICAL_VELOCITY
$STATE,19420,begin surface
$SM_CCo,19423,47.40,0.760,0,0,602,558.06
$SM_GC,3.54,11.82,0.00,0.00,0.025,0.000,0.000,29,1891,604,-11.27,-0.25,558.06
$IRIDIUM_FIX,6249.28,-1305.41,010108,090929
$TT8_MAMPS,0.026845
$HUMID,2046
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,15.50
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,550.1,111.2
$24V_AH,23.3,49.276
$10V_AH,10.1,23.859
$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,24.925,102.075,442.100,47.400,0.000,185.308,197.232,540.963,5.750,0.000,0.000,36.500,1676.581,15628.882,632.315,2114.683,1174.888,33.367,1685.735,0.000,2061.155,0.000,31.506
$DEVICE_MAMPS,95.875,74.399,1221.064,760.097,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,693.896,631.319,632.885,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47397,935
$CFSIZE,260165632,244559872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,010108,111902,6314.858,-1305.297,69,1.4,69,-12.2