version: 66.02
glider: 102
mission: 4
dive: 225
start: 1 1 108 17 33 9
data:
$ID,102
$MISSION,4
$DIVE,225
$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,-80419.438
$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,27
$R_STBD_OVSHOOT,32
$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
$GPS1,172301,6316.636,-1258.957,42,1.7,42,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.34
$_SM_ANGLEo,-50.9
$GPS2,173215,6316.584,-1258.653,11,2.0,11,-12.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.206,0.032
$KALMAN_X,305425.0,-136.3,-11182.7,-531065.0,14753.6
$KALMAN_Y,-33074.9,395.8,6028.1,218219.9,-7401.9
$MHEAD_RNG_PITCHd_Wd,290.8,13938,-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,20,begin dive
$GC,22,-0.95,-146.6,0.0,0.0,0,44,0.00,0.00,-20.40,0.000,2,0.000,0.000,34,1883,1075
$GC,47,-0.95,-146.6,3.4,-0.0,1,220,11.00,2.60,-153.75,0.000,4,0.100,0.074,2286,499,3476
$GC,338,-0.95,-146.6,14.8,-9.5,14,345,0.00,2.50,0.00,0.000,6,0.000,0.040,2286,1907,3476
$GC,654,-0.95,-146.6,34.6,-7.4,30,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3476
$GC,963,-0.95,-146.6,58.8,-7.8,45,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3477
$GC,1273,-0.95,-146.6,81.0,-6.4,60,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3476
$GC,1584,-0.95,-146.6,101.6,-6.7,75,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3476
$GC,1891,-0.95,-146.6,124.6,-7.1,90,1896,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3295,3476
$GC,1953,-0.95,-146.6,129.0,-7.1,93,1958,0.00,2.47,0.00,0.000,6,0.000,0.043,2286,1905,3476
$GC,2279,-0.95,-146.6,152.9,-7.2,109,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,2588,-0.95,-146.6,174.5,-7.1,124,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,2898,-0.95,-146.6,196.5,-7.4,139,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,3207,-0.95,-146.6,219.1,-6.9,154,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,3516,-0.95,-146.6,240.1,-6.4,169,3520,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3296,3476
$GC,3578,-0.95,-146.6,244.3,-6.7,172,3582,0.00,2.50,0.00,0.000,6,0.000,0.043,2286,1898,3476
$GC,3903,-0.95,-146.6,266.8,-6.8,188,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3476
$GC,4212,-0.95,-146.6,290.3,-7.9,203,4217,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3299,3476
$GC,4274,-0.95,-146.6,295.4,-8.3,206,4279,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1901,3476
$GC,4600,-0.95,-146.6,321.7,-8.4,222,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3476
$GC,4909,-0.95,-146.6,346.9,-8.1,237,4914,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3300,3476
$GC,4982,-0.95,-146.6,352.7,-8.3,240,4986,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1901,3476
$GC,5297,-0.95,-146.6,374.4,-6.4,255,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,5606,-0.95,-146.6,392.3,-5.7,270,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,5916,-0.95,-146.6,409.2,-5.4,285,5920,0.00,2.50,0.00,0.000,4,0.000,0.049,2286,3295,3476
$GC,5987,-0.95,-146.6,413.4,-6.0,288,5991,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1901,3476
$GC,6308,-0.95,-146.6,431.8,-5.9,304,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,6618,-0.95,-146.6,451.8,-6.5,319,6622,0.00,2.53,0.00,0.000,4,0.000,0.050,2286,3297,3476
$GC,6701,-0.95,-146.6,457.8,-7.3,323,6705,0.00,2.53,0.00,0.000,6,0.000,0.046,2286,1894,3476
$GC,7026,-0.95,-146.6,481.1,-7.4,339,7031,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3298,3476
$GC,7093,-0.95,-146.6,486.0,-7.6,342,7097,0.00,2.53,0.00,0.000,6,0.000,0.048,2286,1895,3475
$GC,7419,-0.95,-146.6,509.3,-7.1,358,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1893,3474
$GC,7729,-0.95,-146.6,529.1,-6.1,373,7733,0.00,2.55,0.00,0.000,4,0.000,0.051,2286,3298,3474
$GC,7839,-0.95,-146.6,536.0,-6.2,378,7844,0.00,2.55,0.00,0.000,6,0.000,0.047,2286,1897,3474
$GC,8166,-0.95,-146.6,552.6,-4.7,394,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3475
$GC,8475,-0.95,-146.6,570.2,-6.3,409,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3475
$GC,8784,-0.95,-146.6,590.3,-6.8,424,8789,0.00,2.58,0.00,0.000,4,0.000,0.057,2286,3302,3474
$GC,8862,-0.95,-146.6,595.6,-6.3,427,8868,0.00,2.53,0.00,0.000,6,0.000,0.049,2286,1900,3474
$STATE,9176,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9176,begin apogee
$GC,9181,-0.36,0.0,615.8,6.8,443,9307,0.60,0.00,122.60,1.193,6,0.075,0.000,2416,2096,2878
$STATE,9308,end apogee,CONTROL_FINISHED_OK
$STATE,9308,begin climb
$GC,9310,0.95,146.6,619.7,0.0,449,9440,1.30,2.70,120.80,1.168,4,0.054,0.069,2702,692,2280
$GC,9501,0.97,167.1,614.8,5.4,458,9528,0.00,2.53,17.88,1.147,6,0.000,0.047,2702,2094,2195
$GC,9837,1.02,201.7,596.9,5.0,475,9871,0.00,2.67,29.25,1.180,4,0.000,0.062,2702,3508,2055
$GC,9992,1.02,201.7,588.1,6.2,482,9997,0.00,2.58,0.00,0.000,6,0.000,0.051,2702,2104,2054
$GC,10317,1.02,201.7,566.2,6.7,498,10318,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2103,2053
$GC,10627,1.02,201.7,548.6,6.1,513,10631,0.00,2.58,0.00,0.000,4,0.000,0.057,2702,3502,2052
$GC,10743,1.02,201.7,540.7,7.0,518,10747,0.00,2.55,0.00,0.000,6,0.000,0.048,2702,2089,2052
$GC,11064,1.02,201.7,517.0,7.6,534,11065,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2088,2052
$GC,11374,1.02,201.7,495.9,6.3,549,11378,0.00,2.60,0.00,0.000,4,0.000,0.056,2702,3509,2051
$GC,11484,1.02,201.7,488.2,6.9,554,11488,0.00,2.53,0.00,0.000,6,0.000,0.045,2702,2099,2051
$GC,11811,1.02,201.7,467.9,6.8,570,11812,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2099,2051
$GC,12121,1.02,202.2,447.6,6.0,585,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2099,2051
$GC,12429,1.02,202.2,428.8,6.2,600,12434,0.00,2.55,0.00,0.000,4,0.000,0.053,2702,3504,2051
$GC,12500,1.02,202.2,423.5,7.5,603,12505,0.00,2.50,0.00,0.000,6,0.000,0.044,2702,2098,2050
$GC,12822,1.02,202.2,401.3,7.1,619,12823,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,2051
$GC,13131,1.02,202.2,380.0,6.7,634,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,2051
$GC,13440,1.02,202.2,360.0,6.5,649,13444,0.00,2.58,0.00,0.000,4,0.000,0.052,2702,3510,2051
$GC,13528,1.02,202.2,353.9,6.7,653,13532,0.00,2.53,0.00,0.000,6,0.000,0.041,2702,2091,2051
$GC,13855,1.02,202.2,334.1,6.0,669,13856,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2091,2052
$GC,14164,1.04,221.0,317.1,5.4,684,14186,0.00,2.65,16.00,1.032,4,0.000,0.051,2702,3505,1976
$GC,14259,1.04,225.2,311.5,5.9,688,14268,0.00,2.53,4.60,0.998,6,0.000,0.041,2702,2094,1960
$GC,14584,1.06,239.2,293.1,5.6,704,14599,0.10,0.00,12.48,1.013,6,0.058,0.000,2739,2094,1902
$GC,14894,1.06,239.2,271.4,7.2,719,14898,0.00,2.58,0.00,0.000,4,0.000,0.051,2739,3504,1901
$GC,14965,1.06,239.2,265.8,7.7,722,14969,0.00,2.50,0.00,0.000,6,0.000,0.042,2739,2101,1901
$GC,15286,1.06,239.2,242.1,7.1,738,15287,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2101,1902
$GC,15595,1.06,239.2,219.1,7.4,753,15596,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2101,1902
$GC,15904,1.06,239.2,195.2,7.8,768,15905,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2101,1902
$GC,16214,1.06,239.2,171.4,7.5,783,16215,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2101,1902
$GC,16524,1.06,239.2,147.3,7.8,798,16525,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2101,1902
$GC,16833,1.06,239.2,123.6,7.7,813,16834,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2101,1902
$GC,17142,1.06,239.2,100.2,7.6,828,17143,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2101,1902
$GC,17451,1.06,239.2,76.9,7.8,843,17453,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2101,1903
$GC,17760,1.06,239.2,52.9,7.2,858,17762,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2101,1903
$GC,18071,1.06,239.2,30.0,7.6,873,18075,0.00,2.55,0.00,0.000,4,0.000,0.048,2739,3506,1903
$GC,18171,1.06,239.2,21.7,8.5,877,18178,0.00,2.50,0.00,0.000,6,0.000,0.039,2739,2101,1903
$GC,18486,1.30,435.7,2.8,0.1,893,18592,0.17,0.00,103.00,0.762,6,0.067,0.000,2780,2095,1101
$STATE,18791,end climb,NO_VERTICAL_VELOCITY
$STATE,18791,begin surface
$SM_CCo,18794,62.62,0.746,0,0,602,558.06
$SM_CCo,19218,0.08,2.399,0,0,603,558.06
$SM_GC,3.72,0.00,0.00,0.08,0.000,0.000,2.399,28,1887,603,-11.35,-0.37,558.06
$IRIDIUM_FIX,6249.28,-1256.09,010108,212157
$TT8_MAMPS,0.026845
$HUMID,2062
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.60
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,525.4,100.1
$24V_AH,23.3,49.616
$10V_AH,10.1,24.043
$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,25.100,97.300,426.600,62.700,0.000,79.259,68.754,238.799,6.000,0.000,0.000,12.505,1616.146,14974.620,655.898,1940.536,590.313,33.366,1624.370,0.000,1910.840,0.000,29.862
$DEVICE_MAMPS,100.477,74.399,1193.452,2399.176,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,669.624,613.423,612.042,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44172,908
$CFSIZE,260165632,244461568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,010108,225438,6313.802,-1259.238,33,2.0,33,-12.1