version: 66.02
glider: 102
mission: 4
dive: 227
start: 1 2 108 4 54 39
data:
$ID,102
$MISSION,4
$DIVE,227
$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,-80468.391
$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,24
$R_STBD_OVSHOOT,29
$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
$GPS1,043425,6313.193,-1301.408,50,1.3,50,-12.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.41
$_SM_ANGLEo,-58.1
$GPS2,045345,6312.979,-1301.265,14,1.4,14,-12.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.043,0.204
$KALMAN_X,295063.7,-1630.9,7571.1,-540201.9,9114.5
$KALMAN_Y,-32655.2,460.2,-3148.6,220212.6,-9121.8
$MHEAD_RNG_PITCHd_Wd,0.2,12046,-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,-146.6,0.0,0.0,0,44,0.00,0.00,-21.40,0.000,2,0.000,0.000,27,1896,1101
$GC,47,-0.95,-146.6,3.4,-0.0,1,220,11.25,0.00,-158.90,0.000,6,0.110,0.000,2286,1897,3476
$GC,521,-0.95,-146.6,23.2,-7.8,24,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3476
$GC,828,-0.95,-146.6,45.2,-7.4,39,832,0.00,2.55,0.00,0.000,4,0.000,0.047,2286,3305,3476
$GC,912,-0.95,-146.6,51.4,-7.2,43,916,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1898,3476
$GC,1238,-0.95,-146.6,74.7,-6.8,59,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3476
$GC,1547,-0.95,-146.6,96.0,-6.6,74,1551,0.00,2.53,0.00,0.000,4,0.000,0.046,2286,3304,3476
$GC,1591,-0.95,-146.6,99.2,-7.1,76,1595,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1895,3476
$GC,1918,-0.95,-146.6,121.0,-6.7,92,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3476
$GC,2227,-0.95,-146.6,140.7,-6.4,107,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3476
$GC,2536,-0.95,-146.6,162.2,-6.6,122,2540,0.00,2.53,0.00,0.000,4,0.000,0.046,2285,3303,3476
$GC,2597,-0.95,-146.6,166.5,-7.4,125,2601,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1893,3476
$GC,2923,-0.95,-146.6,189.2,-6.7,141,2925,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1893,3476
$GC,3232,-0.95,-146.6,208.3,-7.0,156,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1893,3476
$GC,3541,-0.95,-146.6,230.8,-7.4,171,3546,0.00,2.55,0.00,0.000,4,0.000,0.047,2286,3306,3476
$GC,3620,-0.95,-146.6,236.9,-7.7,174,3626,0.00,2.50,0.00,0.000,6,0.000,0.042,2286,1902,3476
$GC,3935,-0.95,-146.6,261.9,-7.8,190,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,4245,-0.95,-146.6,282.4,-6.8,205,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,4554,-0.95,-146.6,303.7,-7.2,220,4558,0.00,2.53,0.00,0.000,4,0.000,0.047,2286,3304,3476
$GC,4625,-0.95,-146.6,309.2,-7.2,223,4629,0.00,2.53,0.00,0.000,6,0.000,0.043,2286,1896,3476
$GC,4947,-0.95,-146.6,330.4,-4.8,239,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,5256,-0.95,-146.6,349.4,-7.1,254,5260,0.00,2.55,0.00,0.000,4,0.000,0.048,2285,3305,3476
$GC,5332,-0.95,-146.6,355.5,-8.5,257,5339,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1897,3476
$GC,5648,-0.95,-146.6,377.6,-6.7,273,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,5957,-0.95,-146.6,397.8,-6.8,288,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3476
$GC,6266,-0.95,-146.6,423.1,-8.5,303,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3476
$GC,6576,-0.95,-146.6,445.1,-7.0,318,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,6885,-0.95,-146.6,466.9,-6.8,333,6889,0.00,2.60,0.00,0.000,4,0.000,0.068,2286,493,3476
$GC,6928,-0.95,-146.6,470.2,-7.5,335,6932,0.00,2.47,0.00,0.000,6,0.000,0.042,2286,1911,3475
$GC,7255,-0.95,-146.6,490.8,-6.5,351,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1918,3474
$GC,7564,-0.95,-146.6,513.8,-7.8,366,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1918,3474
$GC,7874,-0.95,-146.6,533.8,-5.8,381,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1918,3474
$GC,8183,-0.95,-146.6,552.9,-6.5,396,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1918,3474
$GC,8492,-0.95,-146.6,574.1,-6.5,411,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1918,3474
$GC,8801,-0.95,-146.6,593.6,-6.3,426,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1918,3474
$STATE,9067,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9067,begin apogee
$GC,9073,-0.36,0.0,610.3,6.3,439,9199,0.60,0.00,122.88,1.180,6,0.071,0.000,2417,2106,2878
$STATE,9200,end apogee,CONTROL_FINISHED_OK
$STATE,9200,begin climb
$GC,9202,0.95,146.6,613.1,0.0,445,9332,1.30,2.65,121.90,1.146,4,0.053,0.064,2705,3494,2279
$GC,9360,0.96,158.4,608.8,5.6,453,9377,0.00,2.55,10.70,1.118,6,0.000,0.048,2705,2103,2232
$GC,9685,0.96,158.4,587.0,6.8,469,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2103,2231
$GC,9995,0.99,178.7,568.1,5.4,484,10019,0.00,2.72,17.45,1.165,4,0.000,0.069,2705,698,2149
$GC,10087,0.99,178.7,562.2,7.1,488,10091,0.00,2.50,0.00,0.000,6,0.000,0.048,2705,2090,2149
$GC,10408,1.01,200.6,543.7,5.3,504,10432,0.00,2.67,18.70,1.167,4,0.000,0.061,2705,3510,2060
$GC,10505,1.02,202.5,538.1,5.9,508,10510,0.00,2.58,0.00,0.000,6,0.000,0.049,2705,2101,2060
$GC,10820,1.02,202.5,519.7,6.1,523,10825,0.00,2.65,0.00,0.000,4,0.000,0.070,2705,687,2060
$GC,10882,1.02,202.5,515.5,6.9,526,10886,0.00,2.53,0.00,0.000,6,0.000,0.046,2705,2104,2060
$GC,11208,1.02,202.5,493.4,6.5,542,11209,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2105,2059
$GC,11516,1.02,202.5,472.7,6.6,557,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2105,2059
$GC,11826,1.02,202.5,453.4,6.3,572,11830,0.00,2.60,0.00,0.000,4,0.000,0.065,2705,689,2059
$GC,11880,1.02,202.5,449.5,7.0,574,11887,0.00,2.50,0.00,0.000,6,0.000,0.043,2705,2103,2059
$GC,12195,1.02,202.5,428.6,6.3,590,12197,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2105,2059
$GC,12505,1.02,202.5,407.1,6.7,605,12509,0.00,2.55,0.00,0.000,4,0.000,0.054,2705,3501,2059
$GC,12621,1.02,202.5,398.9,6.4,610,12626,0.00,2.53,0.00,0.000,6,0.000,0.044,2705,2086,2059
$GC,12936,1.02,202.5,379.2,6.8,625,12937,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2085,2059
$GC,13245,1.02,202.5,356.6,6.6,640,13246,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2086,2059
$GC,13555,1.02,202.5,335.0,7.1,655,13556,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2085,2060
$GC,13864,1.03,211.8,315.4,5.7,670,13876,0.00,0.00,10.32,1.039,6,0.000,0.000,2705,2085,2014
$GC,14173,1.03,211.8,295.9,6.6,685,14174,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2085,2014
$GC,14483,1.03,211.8,275.3,6.7,700,14484,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2086,2014
$GC,14792,1.03,211.8,254.9,6.4,715,14793,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2085,2014
$GC,15101,1.03,211.8,234.6,6.4,730,15105,0.00,2.55,0.00,0.000,4,0.000,0.063,2705,687,2014
$GC,15166,1.03,211.8,230.3,6.6,733,15171,0.00,2.47,0.00,0.000,6,0.000,0.041,2705,2106,2014
$GC,15493,1.03,211.8,208.8,7.0,749,15494,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2110,2014
$GC,15802,1.03,211.8,187.5,6.6,764,15804,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2110,2014
$GC,16112,1.03,211.8,167.6,6.6,779,16113,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2110,2014
$GC,16422,1.03,211.8,146.7,7.1,794,16423,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2110,2015
$GC,16732,1.03,211.8,125.9,6.4,809,16736,0.00,2.62,0.00,0.000,4,0.000,0.061,2705,687,2015
$GC,16803,1.03,211.8,121.0,6.5,812,16808,0.00,2.50,0.00,0.000,6,0.000,0.040,2705,2105,2015
$GC,17125,1.03,211.8,100.2,6.5,828,17126,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2110,2015
$GC,17436,1.04,221.5,81.6,5.7,843,17447,0.00,0.00,9.15,0.900,6,0.000,0.000,2705,2109,1974
$GC,17745,1.04,221.5,61.6,6.6,858,17746,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2109,1974
$GC,18053,1.04,221.5,42.7,6.5,873,18057,0.00,2.60,0.00,0.000,4,0.000,0.059,2705,692,1974
$GC,18096,1.04,221.5,39.8,6.3,875,18100,0.00,2.47,0.00,0.000,6,0.000,0.039,2705,2101,1974
$GC,18423,1.04,221.5,20.8,6.7,891,18424,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2104,1974
$GC,18732,1.11,280.8,2.7,4.2,906,18776,0.15,2.58,35.15,0.787,4,0.045,0.051,2761,3496,1732
$GC,19028,1.33,460.3,2.7,0.6,919,19127,0.12,2.50,89.68,0.749,6,0.080,0.041,2785,2098,1000
$STATE,19435,end climb,NO_VERTICAL_VELOCITY
$STATE,19435,begin surface
$SM_CCo,19438,50.40,0.750,0,0,603,558.06
$SM_CCo,19851,0.00,0.000,0,0,603,558.06
$SM_GC,3.66,0.00,0.00,0.00,0.000,0.000,0.000,34,1889,603,-11.32,-0.31,558.06
$IRIDIUM_FIX,6249.28,-1255.03,020108,080817
$TT8_MAMPS,0.026845
$HUMID,2046
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.60
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,575.5,44.2
$24V_AH,23.3,49.954
$10V_AH,10.1,24.230
$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,25.300,87.425,435.925,50.400,0.000,178.108,191.978,413.200,6.500,0.000,0.000,15.543,1641.289,15750.348,664.609,1937.018,1022.658,33.350,1612.674,0.000,1903.282,0.000,38.778
$DEVICE_MAMPS,109.681,69.797,1180.413,750.126,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,695.126,634.590,680.535,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47399,939
$CFSIZE,260165632,244326400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,020108,102638,6313.221,-1255.555,32,1.3,32,-12.1