version: 66.02
glider: 102
mission: 4
dive: 230
start: 1 2 108 21 28 3
data:
$ID,102
$MISSION,4
$DIVE,230
$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,-80518.453
$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,23
$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
$GPS1,212126,6313.249,-1257.557,39,1.3,39,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.27
$_SM_ANGLEo,-48.4
$GPS2,212709,6313.180,-1257.580,12,1.0,12,-12.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.191,0.084
$KALMAN_X,306708.5,-2538.9,12059.2,-552190.5,20488.3
$KALMAN_Y,-37983.9,1349.4,-9009.4,230880.0,-12452.5
$MHEAD_RNG_PITCHd_Wd,305.9,14907,-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,-21.40,0.000,2,0.000,0.000,27,1886,1103
$GC,47,-0.95,-146.6,3.3,-0.0,1,218,11.15,2.60,-151.40,0.000,4,0.106,0.077,2284,498,3476
$GC,420,-0.95,-146.6,22.5,-8.4,18,424,0.00,2.50,0.00,0.000,6,0.000,0.042,2284,1910,3475
$GC,741,-0.95,-146.6,42.9,-6.7,34,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1913,3476
$GC,1051,-0.95,-146.6,66.7,-8.5,49,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1913,3476
$GC,1360,-0.95,-146.6,91.3,-7.5,64,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1913,3476
$GC,1669,-0.95,-146.6,115.2,-7.7,79,1673,0.00,2.50,0.00,0.000,4,0.000,0.048,2284,3298,3476
$GC,1740,-0.95,-146.6,120.6,-7.8,82,1745,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1895,3476
$GC,2058,-0.95,-146.6,140.8,-5.8,97,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1895,3476
$GC,2365,-0.95,-146.6,162.4,-7.4,112,2369,0.00,2.55,0.00,0.000,4,0.000,0.048,2284,3303,3476
$GC,2459,-0.95,-146.6,170.0,-8.0,116,2463,0.00,2.53,0.00,0.000,6,0.000,0.043,2284,1897,3476
$GC,2774,-0.95,-146.6,193.3,-7.2,131,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3475
$GC,3084,-0.95,-146.6,215.9,-7.3,146,3088,0.00,2.53,0.00,0.000,4,0.000,0.049,2284,3299,3476
$GC,3139,-0.95,-146.6,220.3,-8.0,148,3146,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1895,3475
$GC,3454,-0.95,-146.6,242.5,-7.0,164,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1895,3476
$GC,3764,-0.95,-146.6,264.4,-7.1,179,3768,0.00,2.55,0.00,0.000,4,0.000,0.050,2284,3302,3475
$GC,3818,-0.95,-146.6,268.4,-7.6,181,3825,0.00,2.53,0.00,0.000,6,0.000,0.045,2284,1903,3476
$GC,4134,-0.95,-146.6,291.8,-7.5,197,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1903,3476
$GC,4443,-0.95,-146.6,316.0,-7.8,212,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1903,3475
$GC,4752,-0.95,-146.6,340.0,-7.7,227,4757,0.00,2.53,0.00,0.000,4,0.000,0.050,2284,3298,3476
$GC,4814,-0.95,-146.6,344.8,-7.4,230,4818,0.00,2.53,0.00,0.000,6,0.000,0.046,2284,1898,3475
$GC,5140,-0.95,-146.6,369.3,-7.4,246,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3475
$GC,5449,-0.95,-146.6,392.3,-7.5,261,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3475
$GC,5758,-0.95,-146.6,415.6,-7.4,276,5763,0.00,2.55,0.00,0.000,4,0.000,0.051,2284,3300,3475
$GC,5814,-0.95,-146.6,420.0,-8.4,278,5820,0.00,2.53,0.00,0.000,6,0.000,0.047,2284,1899,3475
$GC,6129,-0.95,-146.6,442.2,-6.7,294,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1899,3475
$GC,6438,-0.95,-146.6,461.4,-5.7,309,6443,0.00,2.55,0.00,0.000,4,0.000,0.051,2284,3300,3474
$GC,6511,-0.95,-146.6,465.6,-5.7,312,6515,0.00,2.50,0.00,0.000,6,0.000,0.047,2284,1900,3475
$GC,6831,-0.95,-146.6,487.0,-7.1,328,6832,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3474
$GC,7141,-0.95,-146.6,507.8,-6.9,343,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3474
$GC,7450,-0.95,-146.6,528.8,-7.0,358,7454,0.00,2.55,0.00,0.000,4,0.000,0.053,2284,3300,3474
$GC,7528,-0.95,-146.6,534.9,-8.1,361,7534,0.00,2.53,0.00,0.000,6,0.000,0.047,2284,1900,3474
$GC,7843,-0.95,-146.6,556.8,-6.7,377,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3474
$GC,8153,-0.95,-146.6,577.6,-6.3,392,8157,0.00,2.55,0.00,0.000,4,0.000,0.055,2284,3297,3474
$GC,8224,-0.95,-146.6,582.3,-6.0,395,8228,0.00,2.53,0.00,0.000,6,0.000,0.048,2284,1899,3473
$GC,8546,-0.95,-146.6,598.8,-4.6,411,8550,0.00,2.58,0.00,0.000,4,0.000,0.057,2284,3304,3473
$GC,8653,-0.95,-146.6,604.1,-5.2,416,8657,0.00,2.53,0.00,0.000,6,0.000,0.051,2284,1901,3473
$GC,8978,-0.95,-146.6,622.8,-6.4,432,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3474
$STATE,8997,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8997,begin apogee
$GC,9003,-0.36,0.0,624.1,6.0,433,9129,0.62,0.00,122.82,1.193,6,0.068,0.000,2421,2095,2878
$STATE,9129,end apogee,CONTROL_FINISHED_OK
$STATE,9130,begin climb
$GC,9132,0.95,146.6,628.7,0.0,439,9261,1.27,0.00,122.28,1.157,6,0.050,0.000,2705,2095,2279
$GC,9571,0.97,163.9,609.8,5.5,461,9589,0.00,0.00,15.27,1.166,6,0.000,0.000,2705,2095,2209
$GC,9899,0.97,163.9,590.4,6.6,477,9903,0.00,2.60,0.00,0.000,4,0.000,0.062,2705,3497,2208
$GC,10056,0.98,177.3,581.6,5.6,484,10073,0.00,2.55,11.90,1.180,6,0.000,0.050,2705,2102,2155
$GC,10381,0.98,177.3,561.1,6.9,500,10385,0.00,2.60,0.00,0.000,4,0.000,0.059,2705,3501,2153
$GC,10510,0.98,177.3,551.6,7.8,506,10514,0.00,2.55,0.00,0.000,6,0.000,0.050,2705,2099,2153
$GC,10835,0.98,177.3,530.2,6.1,522,10836,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2099,2153
$GC,11145,0.99,178.5,511.5,6.0,537,11146,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2100,2153
$GC,11454,0.99,178.5,490.3,6.5,552,11455,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2100,2152
$GC,11763,0.99,178.5,470.4,6.4,567,11767,0.00,2.58,0.00,0.000,4,0.000,0.054,2705,3501,2152
$GC,11885,0.99,178.5,462.2,6.3,572,11891,0.00,2.53,0.00,0.000,6,0.000,0.044,2705,2089,2153
$GC,12200,1.06,236.5,446.1,4.3,588,12251,0.00,0.00,48.88,1.098,6,0.000,0.000,2705,2090,1913
$GC,12550,1.06,236.5,425.7,6.6,605,12551,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2089,1913
$GC,12859,1.06,236.5,405.0,6.8,620,12860,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2089,1913
$GC,13168,1.06,236.5,383.9,6.9,635,13169,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2090,1913
$GC,13477,1.06,236.5,361.7,7.3,650,13479,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2089,1913
$GC,13786,1.06,236.5,338.8,7.4,665,13788,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2090,1913
$GC,14096,1.06,236.5,316.4,7.1,680,14097,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2089,1913
$GC,14405,1.06,236.5,294.1,7.2,695,14406,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2089,1913
$GC,14714,1.06,236.5,272.8,6.8,710,14715,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2089,1913
$GC,15023,1.06,236.5,253.1,6.1,725,15025,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2089,1913
$GC,15333,1.06,236.5,233.4,6.5,740,15334,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2089,1913
$GC,15642,1.07,242.7,214.8,5.8,755,15650,0.00,0.00,6.38,0.981,6,0.000,0.000,2705,2089,1888
$GC,15951,1.07,242.7,194.1,6.7,770,15952,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2089,1888
$GC,16261,1.07,242.7,173.7,6.7,785,16262,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2088,1888
$GC,16570,1.07,242.7,153.2,6.5,800,16571,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2088,1888
$GC,16879,1.07,242.7,132.9,6.5,815,16881,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2089,1888
$GC,17189,1.07,242.7,112.6,6.7,830,17190,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2088,1888
$GC,17499,1.07,242.7,92.5,6.5,845,17501,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2089,1888
$GC,17808,1.07,242.7,72.5,6.4,860,17812,0.00,2.58,0.00,0.000,4,0.000,0.063,2705,689,1889
$GC,17871,1.07,242.7,68.3,6.6,863,17876,0.00,2.50,0.00,0.000,6,0.000,0.041,2705,2108,1889
$GC,18198,1.09,259.7,48.5,5.5,879,18218,0.12,0.00,14.65,0.864,6,0.048,0.000,2754,2113,1819
$GC,18528,1.09,259.7,20.2,8.5,895,18530,0.12,0.00,0.00,0.000,6,0.081,0.000,2728,2112,1818
$GC,18837,1.19,345.5,2.8,3.4,910,18890,0.12,0.00,48.97,0.779,6,0.051,0.000,2775,2115,1468
$STATE,19164,end climb,NO_VERTICAL_VELOCITY
$STATE,19164,begin surface
$SM_CCo,19167,107.28,0.744,0,0,603,558.06
$SM_GC,3.40,11.80,0.00,0.00,0.027,0.000,0.000,28,1884,603,-11.26,-0.45,558.06
$IRIDIUM_FIX,6254.00,-1351.72,020108,191937
$TT8_MAMPS,0.026845
$HUMID,2049
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.60
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,526.0,107.9
$24V_AH,23.3,50.426
$10V_AH,10.1,24.491
$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,25.225,76.975,391.150,107.275,0.000,38.783,35.941,161.561,5.750,0.000,0.000,14.340,1624.178,15403.458,686.183,1888.789,439.196,33.350,1603.719,0.000,1864.973,0.000,29.882
$DEVICE_MAMPS,105.846,76.700,1193.452,743.990,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,685.153,624.741,629.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47401,926
$CFSIZE,260165632,244150272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,030108,025752,6312.970,-1303.714,38,2.7,57,-12.1