version: 66.02
glider: 102
mission: 4
dive: 231
start: 1 3 108 3 9 56
data:
$ID,102
$MISSION,4
$DIVE,231
$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,-80569.305
$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,22
$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
$GPS1,025752,6312.970,-1303.714,38,2.7,57,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.28
$_SM_ANGLEo,-50.8
$GPS2,030904,6312.989,-1303.807,28,2.3,47,-12.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.021,0.208
$KALMAN_X,302781.2,-2017.6,14286.6,-556472.7,9251.9
$KALMAN_Y,-39272.2,663.8,-9219.7,232706.2,-10095.3
$MHEAD_RNG_PITCHd_Wd,6.4,10046,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.95,-146.6,0.0,0.0,0,46,0.00,0.00,-21.52,0.000,2,0.000,0.000,27,1882,1105
$GC,49,-0.95,-146.6,3.3,-0.0,1,222,11.20,2.62,-153.30,0.000,4,0.107,0.061,2287,3304,3476
$GC,229,-0.95,-146.6,3.0,-1.6,9,235,0.00,2.53,0.00,0.000,6,0.000,0.040,2287,1895,3476
$GC,544,-0.95,-146.6,24.4,-6.4,25,548,0.00,2.55,0.00,0.000,4,0.000,0.048,2287,3302,3476
$GC,711,-0.95,-146.6,36.4,-7.5,32,718,0.00,2.55,0.00,0.000,6,0.000,0.042,2287,1899,3476
$GC,1027,-0.95,-146.6,58.4,-6.6,48,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3476
$GC,1336,-0.95,-146.6,79.4,-6.6,63,1340,0.00,2.55,0.00,0.000,4,0.000,0.048,2287,3307,3476
$GC,1379,-0.95,-146.6,82.5,-6.5,65,1383,0.00,2.53,0.00,0.000,6,0.000,0.042,2287,1902,3476
$GC,1706,-0.95,-146.6,104.3,-6.8,81,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3476
$GC,2017,-0.95,-146.6,124.7,-6.5,96,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3475
$GC,2325,-0.95,-146.6,145.1,-6.6,111,2329,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3300,3476
$GC,2391,-0.95,-146.6,149.8,-7.6,114,2395,0.00,2.53,0.00,0.000,6,0.000,0.043,2287,1894,3476
$GC,2717,-0.95,-146.6,171.5,-6.7,130,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3476
$GC,3026,-0.95,-146.6,192.6,-6.8,145,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3476
$GC,3336,-0.95,-146.6,214.1,-6.9,160,3340,0.00,2.55,0.00,0.000,4,0.000,0.048,2287,3303,3476
$GC,3397,-0.95,-146.6,218.2,-6.7,163,3402,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1894,3476
$GC,3723,-0.95,-146.6,238.8,-6.3,179,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3476
$GC,4033,-0.95,-146.6,260.6,-7.5,194,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3475
$GC,4342,-0.95,-146.6,282.3,-6.6,209,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3476
$GC,4651,-0.95,-146.6,304.0,-7.7,224,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3476
$GC,4960,-0.95,-146.6,326.7,-7.3,239,4962,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3476
$GC,5270,-0.95,-146.6,349.4,-7.2,254,5274,0.00,2.55,0.00,0.000,4,0.000,0.051,2287,3300,3475
$GC,5331,-0.95,-146.6,353.8,-7.3,257,5335,0.00,2.53,0.00,0.000,6,0.000,0.045,2287,1899,3476
$GC,5656,-0.95,-146.6,376.6,-7.0,273,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3476
$GC,5965,-0.95,-146.6,398.8,-7.1,288,5970,0.00,2.53,0.00,0.000,4,0.000,0.051,2287,3301,3475
$GC,6009,-0.95,-146.6,402.0,-7.6,290,6014,0.00,2.53,0.00,0.000,6,0.000,0.046,2287,1897,3475
$GC,6331,-0.95,-146.6,425.0,-7.3,306,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3475
$GC,6640,-0.95,-146.6,448.0,-7.4,321,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3475
$GC,6949,-0.95,-146.6,470.9,-8.2,336,6953,0.00,2.55,0.00,0.000,4,0.000,0.052,2287,3299,3475
$GC,6992,-0.95,-146.6,474.7,-8.8,338,6997,0.00,2.53,0.00,0.000,6,0.000,0.047,2287,1900,3475
$GC,7319,-0.95,-146.6,502.3,-8.4,354,7320,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3474
$GC,7627,-0.95,-146.6,524.7,-7.1,369,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3474
$GC,7937,-0.95,-146.6,545.6,-6.6,384,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3474
$GC,8246,-0.95,-146.6,565.2,-6.2,399,8251,0.00,2.55,0.00,0.000,4,0.000,0.054,2287,3307,3474
$GC,8301,-0.95,-146.6,568.6,-6.7,401,8308,0.00,2.55,0.00,0.000,6,0.000,0.047,2287,1894,3474
$GC,8617,-0.95,-146.6,588.0,-8.1,417,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3474
$GC,8926,-0.95,-146.6,611.1,-7.3,432,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3474
$STATE,9110,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9110,begin apogee
$GC,9116,-0.36,0.0,628.2,10.7,441,9242,0.60,0.00,122.95,1.189,6,0.071,0.000,2418,2104,2878
$STATE,9243,end apogee,CONTROL_FINISHED_OK
$STATE,9243,begin climb
$GC,9245,0.95,146.6,637.6,0.0,447,9376,1.25,2.72,121.25,1.160,4,0.054,0.062,2700,3502,2280
$GC,9456,1.00,186.1,634.6,4.8,457,9498,0.00,2.58,33.53,1.149,6,0.000,0.051,2700,2103,2118
$GC,9807,1.00,186.1,608.3,7.8,474,9811,0.00,2.60,0.00,0.000,4,0.000,0.058,2701,3497,2118
$GC,9895,1.00,186.1,603.1,7.0,478,9899,0.00,2.55,0.00,0.000,6,0.000,0.049,2700,2098,2118
$GC,10222,1.05,229.5,587.8,4.7,494,10265,0.10,2.67,36.20,1.167,4,0.060,0.058,2734,3500,1942
$GC,10388,1.05,229.5,575.7,8.7,501,10392,0.00,2.55,0.00,0.000,6,0.000,0.049,2734,2098,1941
$GC,10709,1.05,229.5,549.3,8.4,517,10713,0.00,2.65,0.00,0.000,4,0.000,0.071,2734,687,1941
$GC,10752,1.05,229.5,544.9,9.8,519,10757,0.00,2.50,0.00,0.000,6,0.000,0.046,2734,2095,1941
$GC,11073,1.05,229.5,516.2,8.9,535,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2095,1940
$GC,11382,1.05,229.5,491.3,7.8,550,11387,0.00,2.62,0.00,0.000,4,0.000,0.066,2734,689,1940
$GC,11425,1.05,229.5,487.7,8.6,552,11430,0.00,2.50,0.00,0.000,6,0.000,0.044,2734,2105,1939
$GC,11746,1.05,229.5,461.7,8.1,568,11747,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2106,1939
$GC,12055,1.05,229.5,436.0,8.3,583,12056,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2108,1939
$GC,12364,1.05,229.5,411.1,7.9,598,12366,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2109,1940
$GC,12674,1.05,229.5,387.9,7.8,613,12675,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2109,1939
$GC,12983,1.05,229.5,364.7,7.5,628,12984,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2109,1940
$GC,13292,1.05,229.5,340.9,7.7,643,13293,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2109,1939
$GC,13601,1.05,229.5,317.3,7.7,658,13606,0.00,2.65,0.00,0.000,4,0.000,0.064,2734,685,1939
$GC,13650,1.05,229.5,313.2,8.8,660,13655,0.00,2.50,0.00,0.000,6,0.000,0.041,2734,2106,1939
$GC,13973,1.05,229.5,287.5,8.1,676,13974,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2110,1940
$GC,14281,1.05,229.5,261.9,7.8,691,14283,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2110,1940
$GC,14591,1.05,229.5,242.5,6.4,706,14592,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2110,1940
$GC,14900,1.05,229.5,223.3,6.1,721,14901,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2110,1940
$GC,15210,1.08,252.8,204.5,5.3,736,15230,0.00,0.00,19.00,0.953,6,0.000,0.000,2734,2110,1846
$GC,15538,1.08,252.8,185.0,6.8,752,15539,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2110,1846
$GC,15847,1.08,252.8,165.2,6.4,767,15852,0.00,2.62,0.00,0.000,4,0.000,0.062,2734,691,1846
$GC,15902,1.08,252.8,160.9,7.9,769,15909,0.00,2.47,0.00,0.000,6,0.000,0.040,2734,2103,1847
$GC,16218,1.08,252.8,137.2,7.0,785,16219,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2106,1846
$GC,16529,1.08,252.8,111.4,8.8,800,16530,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2106,1847
$GC,16837,1.08,258.3,90.7,5.8,815,16848,0.00,2.65,5.95,0.904,4,0.000,0.060,2734,687,1824
$GC,16899,1.08,258.3,85.8,8.2,818,16903,0.00,2.50,0.00,0.000,6,0.000,0.040,2734,2100,1824
$GC,17226,1.08,258.3,60.9,8.2,834,17227,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2103,1824
$GC,17535,1.16,322.5,44.0,4.1,849,17587,0.00,0.00,50.40,0.818,6,0.000,0.000,2734,2103,1563
$GC,17886,1.16,322.5,14.1,9.6,866,17887,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2103,1561
$GC,18194,1.41,524.0,2.8,-0.0,881,18309,0.28,2.62,107.82,0.755,4,0.044,0.052,2808,3504,740
$GC,18331,1.67,731.9,2.7,-0.2,887,18359,0.22,2.55,18.62,0.755,6,0.064,0.044,2857,2098,602
$STATE,18624,end climb,NO_VERTICAL_VELOCITY
$STATE,18624,begin surface
$SM_CCo,19047,0.00,0.000,0,0,602,558.30
$SM_GC,3.47,12.27,0.00,0.00,0.034,0.000,0.000,33,1887,602,-11.26,-0.37,558.30
$IRIDIUM_FIX,6249.28,-1323.99,030108,070700
$TT8_MAMPS,0.026845
$HUMID,2052
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.50
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,550.8,85.2
$24V_AH,23.3,50.600
$10V_AH,10.1,24.581
$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,25.925,93.000,515.725,0.000,0.000,68.820,104.300,285.706,6.000,0.000,0.000,50.218,1564.325,14920.606,639.229,1919.905,675.117,33.368,1605.766,0.000,1855.832,0.000,31.452
$DEVICE_MAMPS,106.613,71.331,1188.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,659.103,607.506,639.355,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44224,902
$CFSIZE,260165632,244092928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,030108,082832,6314.344,-1300.144,35,1.9,35,-12.1