version: 66.02
glider: 102
mission: 4
dive: 224
start: 1 1 108 11 37 24
data:
$ID,102
$MISSION,4
$DIVE,224
$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,-80406.297
$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,33
$R_STBD_OVSHOOT,37
$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
$GPS1,111902,6314.858,-1305.297,69,1.4,69,-12.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.39
$_SM_ANGLEo,-45.3
$GPS2,113632,6314.927,-1305.183,34,1.6,35,-12.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.111,0.176
$KALMAN_X,290256.2,-305.3,-5193.5,-527450.3,11071.4
$KALMAN_Y,-25025.3,510.8,493.9,212518.4,-5948.8
$MHEAD_RNG_PITCHd_Wd,339.9,8185,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.95,-146.6,0.0,0.0,0,47,0.00,0.00,-22.02,0.000,2,0.000,0.000,28,1884,1113
$GC,50,-0.95,-146.6,3.4,-0.0,1,198,11.07,2.58,-130.15,0.000,4,0.102,0.077,2288,500,3476
$GC,450,-0.95,-146.6,29.6,-5.9,19,455,0.00,2.47,0.00,0.000,6,0.000,0.041,2287,1906,3476
$GC,767,-0.95,-146.6,55.5,-7.0,34,771,0.00,2.62,0.00,0.000,4,0.000,0.065,2288,500,3476
$GC,806,-0.95,-146.6,58.0,-6.0,36,810,0.00,2.47,0.00,0.000,6,0.000,0.041,2288,1907,3476
$GC,1132,-0.95,-146.6,81.0,-7.9,52,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1910,3476
$GC,1441,-0.95,-146.6,100.8,-6.6,67,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1910,3476
$GC,1750,-0.95,-146.6,123.5,-9.5,82,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1910,3476
$GC,2060,-0.95,-146.6,148.6,-7.8,97,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1910,3476
$GC,2369,-0.95,-146.6,172.6,-5.2,112,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1910,3476
$GC,2678,-0.95,-146.6,192.4,-6.9,127,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1910,3476
$GC,2987,-0.95,-146.6,213.5,-6.8,142,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1910,3476
$GC,3296,-0.95,-146.6,233.2,-6.4,157,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1910,3476
$GC,3605,-0.95,-146.6,252.8,-6.7,172,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1910,3476
$GC,3915,-0.95,-146.6,274.2,-7.2,187,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1909,3476
$GC,4224,-0.95,-146.6,297.1,-7.4,202,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1910,3476
$GC,4533,-0.95,-146.6,320.2,-7.1,217,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1910,3476
$GC,4843,-0.95,-146.6,341.5,-6.8,232,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1909,3476
$GC,5152,-0.95,-146.6,362.1,-6.7,247,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1909,3476
$GC,5461,-0.95,-146.6,383.6,-7.2,262,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1910,3476
$GC,5771,-0.95,-146.6,406.8,-7.5,277,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1910,3476
$GC,6080,-0.95,-146.6,429.4,-7.2,292,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1909,3476
$GC,6390,-0.95,-146.6,451.4,-7.0,307,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1910,3476
$GC,6699,-0.95,-146.6,472.5,-7.1,322,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1909,3476
$GC,7007,-0.95,-146.6,493.2,-6.4,337,7012,0.00,2.60,0.00,0.000,4,0.000,0.067,2288,507,3475
$GC,7057,-0.95,-146.6,496.3,-5.7,339,7061,0.00,2.45,0.00,0.000,6,0.000,0.043,2288,1909,3475
$GC,7372,-0.95,-146.6,516.3,-6.4,354,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1912,3475
$GC,7681,-0.95,-146.6,537.5,-7.1,369,7686,0.00,2.60,0.00,0.000,4,0.000,0.066,2288,507,3475
$GC,7736,-0.95,-146.6,541.8,-8.0,371,7743,0.00,2.42,0.00,0.000,6,0.000,0.044,2287,1902,3475
$GC,8052,-0.95,-146.6,565.0,-6.9,387,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3475
$GC,8361,-0.95,-146.6,584.9,-6.2,402,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3475
$GC,8671,-0.95,-146.6,603.3,-6.0,417,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3475
$GC,8980,-0.95,-146.6,620.1,-5.1,432,8984,0.00,2.55,0.00,0.000,4,0.000,0.059,2288,3291,3475
$GC,9052,-0.95,-146.6,624.1,-5.6,435,9056,0.00,2.50,0.00,0.000,6,0.000,0.051,2287,1914,3474
$GC,9367,-0.95,-146.6,641.8,-5.8,450,9369,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1914,3474
$STATE,9592,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9592,begin apogee
$GC,9598,-0.36,0.0,656.5,6.9,461,9724,0.60,0.00,122.90,1.222,6,0.074,0.000,2418,2095,2878
$STATE,9725,end apogee,CONTROL_FINISHED_OK
$STATE,9725,begin climb
$GC,9727,0.95,146.6,659.9,0.0,467,9853,1.25,0.00,122.62,1.183,6,0.050,0.000,2699,2094,2280
$GC,10159,0.95,146.9,642.1,6.0,488,10160,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2094,2279
$GC,10466,0.95,146.9,623.3,6.1,503,10467,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2094,2278
$GC,10776,0.99,177.8,606.5,5.1,518,10809,0.00,2.67,26.33,1.208,4,0.000,0.058,2699,3503,2152
$GC,10899,1.01,200.5,600.2,5.3,523,10926,0.00,2.58,20.00,1.196,6,0.000,0.051,2699,2096,2060
$GC,11234,1.01,200.5,579.5,6.5,540,11235,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2096,2059
$GC,11544,1.01,200.5,558.9,6.7,555,11545,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2096,2058
$GC,11853,1.01,200.5,539.7,6.2,570,11854,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2096,2058
$GC,12162,1.03,217.5,522.2,5.5,585,12183,0.00,0.00,14.85,1.178,6,0.000,0.000,2699,2096,1991
$GC,12492,1.03,217.5,501.8,6.6,601,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2096,1990
$GC,12801,1.03,217.5,481.8,6.5,616,12802,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2096,1990
$GC,13111,1.04,222.0,463.1,5.9,631,13118,0.10,0.00,4.90,1.112,6,0.059,0.000,2736,2096,1972
$GC,13420,1.04,222.0,440.7,7.6,646,13424,0.00,2.60,0.00,0.000,4,0.000,0.066,2736,691,1972
$GC,13508,1.04,222.0,433.4,8.3,650,13512,0.00,2.50,0.00,0.000,6,0.000,0.041,2735,2109,1972
$GC,13835,1.04,222.0,408.0,7.6,666,13836,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2110,1972
$GC,14144,1.04,222.0,384.3,7.6,681,14145,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2110,1972
$GC,14454,1.04,222.0,361.1,8.0,696,14455,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2113,1973
$GC,14763,1.04,222.0,335.6,8.0,711,14764,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2113,1973
$GC,15072,1.04,222.0,312.2,6.8,726,15073,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2113,1973
$GC,15381,1.04,222.0,291.3,6.6,741,15386,0.00,2.62,0.00,0.000,4,0.000,0.061,2736,687,1973
$GC,15443,1.04,222.0,286.9,6.8,744,15447,0.00,2.50,0.00,0.000,6,0.000,0.041,2736,2105,1973
$GC,15768,1.04,222.0,265.6,6.3,760,15770,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2109,1974
$GC,16077,1.04,222.0,247.3,6.1,775,16078,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2108,1974
$GC,16387,1.04,222.0,226.8,6.6,790,16388,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2108,1974
$GC,16696,1.04,222.0,206.6,6.4,805,16697,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2108,1974
$GC,17005,1.04,222.0,185.5,7.1,820,17006,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2108,1975
$GC,17315,1.04,222.0,163.7,7.0,835,17316,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2108,1975
$GC,17624,1.04,222.0,142.3,6.5,850,17625,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2108,1975
$GC,17933,1.04,222.0,122.0,6.5,865,17935,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2108,1975
$GC,18243,1.04,222.0,102.7,6.3,880,18244,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2108,1975
$GC,18554,1.04,222.0,82.6,7.0,895,18555,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2108,1975
$GC,18861,1.04,222.0,60.4,7.5,910,18863,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2108,1975
$GC,19170,1.04,222.0,34.4,7.2,925,19172,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2108,1975
$GC,19480,1.04,222.0,12.8,8.4,940,19481,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2108,1975
$GC,19789,1.29,428.7,2.9,-0.2,955,19903,0.15,2.58,107.18,0.762,4,0.064,0.046,2777,3502,1129
$GC,19915,1.54,629.8,2.6,0.0,961,19987,0.25,2.55,65.78,0.738,6,0.068,0.042,2830,2084,603
$STATE,20297,end climb,NO_VERTICAL_VELOCITY
$STATE,20297,begin surface
$SM_CCo,20658,0.00,0.000,0,0,603,558.06
$SM_GC,3.60,0.00,0.00,0.00,0.000,0.000,0.000,34,1886,603,-11.32,-0.42,558.06
$IRIDIUM_FIX,6249.28,-1310.06,010108,151516
$TT8_MAMPS,0.026845
$HUMID,2045
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.60
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,601.0,65.1
$24V_AH,23.3,49.454
$10V_AH,10.1,23.955
$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,25.500,46.525,484.550,0.000,0.000,153.189,147.033,413.136,7.500,0.000,0.000,36.595,1659.805,16626.328,588.791,1894.026,940.696,33.356,1509.478,0.000,1848.362,0.000,37.548
$DEVICE_MAMPS,102.011,76.700,1221.831,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,724.423,661.735,653.346,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47438,979
$CFSIZE,260165632,244510720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,010108,172301,6316.636,-1258.957,42,1.7,42,-12.1