version: 66.02
glider: 102
mission: 4
dive: 232
start: 1 3 108 8 46 3
data:
$ID,102
$MISSION,4
$DIVE,232
$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,-80603.172
$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,33
$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
$GPS1,082832,6314.344,-1300.144,35,1.9,35,-12.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.35
$_SM_ANGLEo,-46.6
$GPS2,084511,6314.339,-1300.292,11,2.1,30,-12.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.184,0.099
$KALMAN_X,307526.4,919.3,9958.2,-556787.2,18694.5
$KALMAN_Y,-43338.6,-295.1,-8152.7,239179.5,-15733.3
$MHEAD_RNG_PITCHd_Wd,310.3,12322,-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,19,begin dive
$GC,21,-0.95,-146.6,0.0,0.0,0,45,0.00,0.00,-21.92,0.000,2,0.000,0.000,32,1882,1113
$GC,48,-0.95,-146.6,3.4,-0.0,1,206,11.27,2.60,-139.55,0.000,4,0.112,0.074,2284,498,3476
$GC,463,-0.95,-146.6,28.7,-5.3,20,467,0.00,2.50,0.00,0.000,6,0.000,0.041,2285,1910,3477
$GC,789,-0.95,-146.6,50.3,-5.5,36,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1913,3476
$GC,1100,-0.95,-146.6,70.8,-7.9,51,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1914,3476
$GC,1407,-0.95,-146.6,94.3,-8.0,66,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1914,3477
$GC,1716,-0.95,-146.6,118.4,-7.2,81,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1913,3476
$GC,2026,-0.95,-146.6,140.1,-7.2,96,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1913,3477
$GC,2335,-0.95,-146.6,161.0,-6.1,111,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1913,3476
$GC,2647,-0.95,-146.6,175.4,-4.8,126,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1913,3476
$GC,2954,-0.95,-146.6,195.0,-6.9,141,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1913,3476
$GC,3263,-0.95,-146.6,218.2,-7.1,156,3267,0.00,2.50,0.00,0.000,4,0.000,0.050,2284,3295,3476
$GC,3336,-0.95,-146.6,223.1,-5.9,159,3340,0.00,2.50,0.00,0.000,6,0.000,0.044,2284,1902,3476
$GC,3651,-0.95,-146.6,248.6,-8.0,174,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3476
$GC,3960,-0.95,-146.6,270.5,-6.5,189,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3476
$GC,4269,-0.95,-146.6,291.7,-7.0,204,4273,0.00,2.53,0.00,0.000,4,0.000,0.049,2284,3299,3476
$GC,4335,-0.95,-146.6,296.6,-7.0,207,4339,0.00,2.50,0.00,0.000,6,0.000,0.044,2285,1901,3476
$GC,4656,-0.95,-146.6,316.5,-6.1,223,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3476
$GC,4965,-0.95,-146.6,336.0,-6.3,238,4969,0.00,2.53,0.00,0.000,4,0.000,0.050,2285,3300,3476
$GC,5033,-0.95,-146.6,340.4,-6.9,241,5037,0.00,2.50,0.00,0.000,6,0.000,0.045,2284,1901,3476
$GC,5352,-0.95,-146.6,362.0,-6.9,257,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3476
$GC,5662,-0.95,-146.6,384.1,-7.4,272,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3476
$GC,5971,-0.95,-146.6,407.5,-7.5,287,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3476
$GC,6280,-0.95,-146.6,430.5,-7.4,302,6285,0.00,2.53,0.00,0.000,4,0.000,0.051,2284,3298,3476
$GC,6335,-0.95,-146.6,434.7,-7.8,304,6342,0.00,2.53,0.00,0.000,6,0.000,0.046,2284,1897,3476
$GC,6651,-0.95,-146.6,457.2,-7.2,320,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3476
$GC,6960,-0.95,-146.6,481.1,-7.9,335,6964,0.00,2.55,0.00,0.000,4,0.000,0.052,2284,3299,3476
$GC,7021,-0.95,-146.6,486.1,-8.5,338,7026,0.00,2.53,0.00,0.000,6,0.000,0.047,2284,1899,3475
$GC,7347,-0.95,-146.6,510.0,-6.7,354,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1899,3475
$GC,7656,-0.95,-146.6,529.3,-6.4,369,7661,0.00,2.55,0.00,0.000,4,0.000,0.052,2284,3300,3475
$GC,7734,-0.95,-146.6,534.7,-7.1,372,7740,0.00,2.53,0.00,0.000,6,0.000,0.048,2284,1901,3475
$GC,8049,-0.95,-146.6,555.4,-6.4,388,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3475
$GC,8359,-0.95,-146.6,577.1,-7.3,403,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3475
$GC,8668,-0.95,-146.6,597.6,-6.3,418,8672,0.00,2.53,0.00,0.000,4,0.000,0.055,2284,3297,3475
$GC,8757,-0.95,-146.6,603.0,-5.4,422,8761,0.00,2.53,0.00,0.000,6,0.000,0.048,2285,1897,3475
$GC,9078,-0.95,-146.6,619.4,-5.9,438,9083,0.00,2.55,0.00,0.000,4,0.000,0.057,2284,3297,3475
$GC,9163,-0.95,-146.6,625.1,-7.4,442,9167,0.00,2.55,0.00,0.000,6,0.000,0.050,2284,1894,3475
$STATE,9383,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9383,begin apogee
$GC,9389,-0.36,0.0,639.3,6.4,453,9515,0.62,0.00,123.32,1.204,6,0.074,0.000,2420,2100,2878
$STATE,9516,end apogee,CONTROL_FINISHED_OK
$STATE,9516,begin climb
$GC,9518,0.95,146.6,643.6,0.0,459,9648,1.25,2.70,121.97,1.169,4,0.054,0.064,2700,3496,2280
$GC,9665,1.07,245.3,643.0,3.1,466,9753,0.12,2.58,81.60,1.152,6,0.051,0.050,2739,2099,1878
$GC,10068,1.07,247.8,619.5,5.9,486,10077,0.00,2.65,3.35,1.042,4,0.000,0.061,2738,3494,1867
$GC,10308,1.10,273.6,605.2,5.2,496,10336,0.00,2.53,22.15,1.179,6,0.000,0.049,2738,2102,1761
$GC,10644,1.10,273.6,583.3,8.9,513,10648,0.00,2.65,0.00,0.000,4,0.000,0.072,2738,691,1761
$GC,10693,1.10,273.6,578.2,9.7,515,10697,0.00,2.53,0.00,0.000,6,0.000,0.047,2739,2098,1761
$GC,11008,1.10,273.6,550.1,10.0,530,11010,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2098,1760
$GC,11317,1.10,273.6,522.7,8.2,545,11319,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1760
$GC,11627,1.10,273.6,497.3,8.5,560,11628,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2099,1760
$GC,11936,1.10,273.6,471.7,8.4,575,11937,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1760
$GC,12245,1.10,273.6,444.9,9.0,590,12246,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2099,1760
$GC,12554,1.10,273.6,417.6,8.5,605,12556,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1760
$GC,12864,1.10,273.6,390.3,8.8,620,12865,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2100,1760
$GC,13173,1.10,273.6,365.0,7.9,635,13174,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2102,1760
$GC,13482,1.10,273.6,340.3,8.0,650,13487,0.00,2.62,0.00,0.000,4,0.000,0.064,2738,689,1760
$GC,13539,1.10,273.6,335.6,8.7,652,13545,0.00,2.50,0.00,0.000,6,0.000,0.041,2738,2105,1760
$GC,13854,1.10,273.6,310.3,7.8,668,13855,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2108,1761
$GC,14163,1.10,273.6,285.9,8.1,683,14164,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2108,1761
$GC,14472,1.10,273.6,261.0,8.0,698,14473,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2107,1761
$GC,14781,1.10,273.6,235.8,8.0,713,14786,0.00,2.62,0.00,0.000,4,0.000,0.063,2739,689,1761
$GC,14836,1.10,273.6,230.9,8.9,715,14843,0.00,2.53,0.00,0.000,6,0.000,0.041,2739,2104,1761
$GC,15152,1.10,273.6,205.1,8.1,731,15153,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2104,1762
$GC,15462,1.10,273.6,180.6,7.6,746,15463,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2103,1762
$GC,15771,1.10,273.6,154.9,8.5,761,15772,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2103,1762
$GC,16080,1.10,273.6,126.5,9.1,776,16081,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2104,1762
$GC,16389,1.10,273.6,100.8,9.1,791,16391,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2103,1762
$GC,16698,1.10,273.6,74.8,7.9,806,16700,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2103,1762
$GC,17008,1.10,273.6,46.2,7.8,821,17012,0.00,2.62,0.00,0.000,4,0.000,0.062,2739,684,1762
$GC,17073,1.10,273.6,39.3,10.6,824,17078,0.00,2.47,0.00,0.000,6,0.000,0.040,2739,2102,1762
$GC,17395,1.10,273.6,13.4,12.8,840,17396,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2105,1762
$GC,17704,1.35,472.3,2.8,0.1,855,17812,0.20,0.00,104.43,0.768,6,0.055,0.000,2794,2103,951
$GC,18133,1.60,680.3,2.9,-0.2,876,18143,0.20,0.00,6.78,0.812,2,0.051,0.000,2847,2106,906
$STATE,18144,end climb,NO_VERTICAL_VELOCITY
$STATE,18144,begin surface
$SM_CCo,18147,38.88,0.752,0,0,602,558.06
$SM_CCo,18549,0.00,0.000,0,0,603,558.06
$SM_GC,3.66,0.00,0.00,0.00,0.000,0.000,0.000,32,1891,603,-11.33,-0.25,558.06
$IRIDIUM_FIX,6249.28,-1255.03,030108,121257
$TT8_MAMPS,0.026845
$HUMID,2059
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.60
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,550.1,98.0
$24V_AH,23.3,50.782
$10V_AH,10.1,24.671
$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,25.750,77.250,463.600,38.875,0.000,148.077,152.480,357.318,6.500,0.000,0.000,33.233,1543.177,14623.789,627.502,1859.903,896.351,33.355,1547.021,0.000,1814.309,0.000,31.473
$DEVICE_MAMPS,111.982,74.399,1204.190,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,640.066,590.745,594.967,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44222,876
$CFSIZE,260165632,244027392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,030108,135626,6315.552,-1305.616,37,1.2,37,-12.2