version: 66.02
glider: 102
mission: 4
dive: 237
start: 1 4 108 14 41 48
data:
$ID,102
$MISSION,4
$DIVE,237
$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,-80737.172
$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,24
$R_STBD_OVSHOOT,41
$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
$GPS1,143007,6325.164,-1333.488,54,1.6,54,-12.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.04
$_SM_ANGLEo,-49.4
$GPS2,144056,6325.252,-1333.724,14,1.4,31,-12.5
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.209,0.007
$KALMAN_X,307738.0,-1206.9,4410.2,-578782.5,-12474.5
$KALMAN_Y,-30218.6,1542.0,-4527.1,240790.8,17146.5
$MHEAD_RNG_PITCHd_Wd,100.6,23747,-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,23,-0.95,-146.6,0.0,0.0,0,45,0.00,0.00,-19.98,0.000,2,0.000,0.000,35,1883,1058
$GC,48,-0.95,-146.6,3.2,-0.0,1,218,11.05,2.58,-151.05,0.000,4,0.103,0.077,2285,498,3476
$GC,231,-0.95,-146.6,5.5,-6.5,10,235,0.00,2.47,0.00,0.000,6,0.000,0.041,2285,1895,3476
$GC,557,-0.95,-146.6,33.3,-5.3,26,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1895,3476
$GC,866,-0.95,-146.6,67.1,-12.5,41,870,0.00,2.55,0.00,0.000,4,0.000,0.048,2284,3301,3476
$GC,928,-0.95,-146.6,73.2,-9.3,44,932,0.00,2.53,0.00,0.000,6,0.000,0.043,2285,1894,3476
$GC,1254,-0.95,-146.6,108.7,-7.1,60,1258,0.00,2.60,0.00,0.000,4,0.000,0.066,2285,492,3476
$GC,1275,-0.95,-146.6,109.9,-5.4,61,1279,0.00,2.47,0.00,0.000,6,0.000,0.041,2285,1908,3475
$GC,1596,-0.95,-146.6,132.5,-7.3,77,1600,0.00,2.50,0.00,0.000,4,0.000,0.049,2285,3296,3476
$GC,1651,-0.95,-146.6,138.2,-10.8,79,1658,0.00,2.50,0.00,0.000,6,0.000,0.044,2285,1904,3476
$GC,1967,-0.95,-146.6,163.5,-10.4,95,1971,0.00,2.60,0.00,0.000,4,0.000,0.065,2285,496,3476
$GC,1998,-0.95,-146.6,166.9,-10.0,96,2005,0.00,2.47,0.00,0.000,6,0.000,0.041,2284,1907,3476
$GC,2315,-0.95,-146.6,188.9,-5.5,112,2319,0.00,2.50,0.00,0.000,4,0.000,0.050,2285,3293,3476
$GC,2369,-0.95,-146.6,192.3,-6.4,114,2376,0.00,2.50,0.00,0.000,6,0.000,0.044,2284,1900,3475
$GC,2685,-0.95,-146.6,213.5,-5.8,130,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,2995,-0.95,-146.6,236.0,-7.3,145,2999,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3301,3476
$GC,3017,-0.95,-146.6,237.8,-7.7,146,3021,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1892,3475
$GC,3337,-0.95,-146.6,260.2,-5.7,162,3341,0.00,2.55,0.00,0.000,4,0.000,0.049,2285,3302,3476
$GC,3354,-0.95,-146.6,261.1,-5.9,163,3359,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1898,3476
$GC,3680,-0.95,-146.6,286.6,-7.6,179,3685,0.00,2.60,0.00,0.000,4,0.000,0.067,2285,492,3475
$GC,3707,-0.95,-146.6,288.5,-7.5,180,3712,0.00,2.45,0.00,0.000,6,0.000,0.041,2285,1900,3475
$GC,4029,-0.95,-146.6,311.2,-7.6,196,4033,0.00,2.53,0.00,0.000,4,0.000,0.051,2285,3301,3476
$GC,4055,-0.95,-146.6,312.9,-6.8,197,4059,0.00,2.53,0.00,0.000,6,0.000,0.045,2284,1896,3475
$GC,4376,-0.95,-146.6,335.3,-6.7,213,4381,0.00,2.58,0.00,0.000,4,0.000,0.067,2285,495,3475
$GC,4393,-0.95,-146.6,336.3,-6.3,214,4397,0.00,2.47,0.00,0.000,6,0.000,0.043,2285,1899,3475
$GC,4720,-0.95,-146.6,356.3,-5.8,230,4724,0.00,2.53,0.00,0.000,4,0.000,0.051,2284,3295,3475
$GC,4741,-0.95,-146.6,357.8,-6.5,231,4745,0.00,2.53,0.00,0.000,6,0.000,0.047,2284,1898,3475
$GC,5068,-0.95,-146.6,378.3,-6.6,247,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3475
$GC,5377,-0.95,-146.6,398.1,-6.2,262,5381,0.00,2.60,0.00,0.000,4,0.000,0.068,2285,494,3475
$GC,5397,-0.95,-146.6,399.6,-6.9,263,5401,0.00,2.47,0.00,0.000,6,0.000,0.042,2285,1900,3475
$GC,5724,-0.95,-146.6,420.2,-6.3,279,5728,0.00,2.53,0.00,0.000,4,0.000,0.053,2284,3294,3475
$GC,5751,-0.95,-146.6,422.0,-6.4,280,5756,0.00,2.55,0.00,0.000,6,0.000,0.048,2284,1901,3475
$GC,6073,-0.95,-146.6,442.6,-7.0,296,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3475
$GC,6382,-0.95,-146.6,466.6,-8.0,311,6386,0.00,2.53,0.00,0.000,4,0.000,0.051,2285,3302,3475
$GC,6421,-0.95,-146.6,469.9,-8.8,313,6425,0.00,2.53,0.00,0.000,6,0.000,0.046,2285,1898,3475
$GC,6746,-0.95,-146.6,496.5,-8.6,329,6750,0.00,2.60,0.00,0.000,4,0.000,0.068,2284,495,3474
$GC,6772,-0.95,-146.6,499.0,-10.0,330,6776,0.00,2.47,0.00,0.000,6,0.000,0.044,2284,1899,3474
$GC,7094,-0.95,-146.6,529.8,-11.4,346,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3475
$GC,7403,-0.95,-146.6,563.3,-10.4,361,7407,0.00,2.62,0.00,0.000,4,0.000,0.068,2284,493,3475
$GC,7441,-0.95,-146.6,567.7,-11.8,363,7446,0.00,2.47,0.00,0.000,6,0.000,0.045,2284,1899,3475
$GC,7769,-0.95,-146.6,601.1,-9.8,379,7773,0.00,2.55,0.00,0.000,4,0.000,0.058,2284,3296,3475
$GC,7868,-0.95,-146.6,611.2,-10.4,383,7875,0.00,2.53,0.00,0.000,6,0.000,0.049,2284,1902,3474
$GC,8184,-0.95,-146.6,641.1,-9.2,399,8188,0.00,2.58,0.00,0.000,4,0.000,0.057,2284,3304,3474
$GC,8255,-0.95,-146.6,648.1,-9.7,402,8260,0.00,2.58,0.00,0.000,6,0.000,0.050,2284,1902,3475
$GC,8577,-0.95,-146.6,675.8,-8.2,418,8581,0.00,2.55,0.00,0.000,4,0.000,0.056,2284,3299,3474
$GC,8604,-0.95,-146.6,678.4,-9.2,419,8608,0.00,2.55,0.00,0.000,6,0.000,0.050,2284,1895,3474
$GC,8919,-0.95,-146.6,702.1,-7.4,434,8923,0.00,2.62,0.00,0.000,4,0.000,0.073,2284,488,3474
$GC,8939,-0.95,-146.6,703.5,-6.6,435,8944,0.00,2.50,0.00,0.000,6,0.000,0.048,2284,1904,3474
$GC,9267,-0.95,-146.6,729.6,-7.8,451,9271,0.00,2.65,0.00,0.000,4,0.000,0.072,2284,488,3474
$GC,9310,-0.95,-146.6,733.5,-8.8,453,9314,0.00,2.53,0.00,0.000,6,0.000,0.048,2284,1906,3474
$GC,9637,-0.95,-146.6,757.5,-7.2,469,9641,0.00,2.55,0.00,0.000,4,0.000,0.060,2284,3305,3475
$GC,9743,-0.95,-146.6,767.0,-9.2,474,9747,0.00,2.58,0.00,0.000,6,0.000,0.052,2284,1895,3474
$GC,10069,-0.95,-146.6,788.0,-5.0,490,10073,0.00,2.60,0.00,0.000,4,0.000,0.062,2284,3304,3474
$GC,10118,-0.95,-146.6,790.0,-4.3,492,10123,0.00,2.58,0.00,0.000,6,0.000,0.054,2284,1898,3474
$GC,10433,-0.95,-146.6,807.5,-1.8,507,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3474
$GC,10743,-0.95,-146.6,814.6,-3.8,522,10747,0.00,2.58,0.00,0.000,4,0.000,0.061,2284,3300,3473
$GC,10770,-0.95,-146.6,815.7,-4.3,523,10774,0.00,2.55,0.00,0.000,6,0.000,0.054,2284,1902,3473
$GC,11087,-0.95,-146.6,825.0,-2.8,538,11088,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3473
$GC,11394,-0.95,-146.6,839.8,-6.1,553,11395,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3473
$GC,11703,-0.95,-146.6,863.3,-6.8,568,11704,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3473
$GC,12012,-0.95,-146.6,881.3,-5.6,583,12017,0.00,2.65,0.00,0.000,4,0.000,0.075,2284,486,3472
$GC,12056,-0.95,-146.6,884.3,-6.6,585,12060,0.00,2.53,0.00,0.000,6,0.000,0.056,2284,1895,3472
$GC,12383,-0.95,-146.6,902.5,-5.4,601,12388,0.00,2.65,0.00,0.000,4,0.000,0.077,2284,489,3472
$GC,12517,-0.95,-146.6,913.4,-9.2,607,12521,0.00,2.55,0.00,0.000,6,0.000,0.058,2284,1900,3472
$GC,12844,-0.95,-146.6,938.2,-6.2,623,12848,0.00,2.62,0.00,0.000,4,0.000,0.070,2284,3304,3471
$GC,12899,-0.95,-146.6,941.4,-6.0,625,12905,0.00,2.58,0.00,0.000,6,0.000,0.061,2284,1903,3471
$GC,13214,-0.95,-146.6,950.1,-3.6,641,13219,0.00,2.60,0.00,0.000,4,0.000,0.069,2284,3303,3470
$GC,13304,-0.95,-146.6,952.3,-2.2,645,13308,0.00,2.60,0.00,0.000,6,0.000,0.064,2284,1898,3470
$GC,13624,-0.95,-146.6,961.2,-3.1,661,13629,0.00,2.70,0.00,0.000,4,0.000,0.087,2284,485,3469
$GC,13679,-0.95,-146.6,964.3,-7.0,663,13685,0.00,2.58,0.00,0.000,6,0.000,0.061,2284,1901,3468
$GC,13995,-0.95,-146.6,982.8,-6.4,679,13999,0.00,2.62,0.00,0.000,4,0.000,0.072,2284,3303,3467
$GC,14111,-0.95,-146.6,988.3,-2.0,684,14115,0.00,2.62,0.00,0.000,6,0.000,0.067,2284,1896,3467
$STATE,14137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14137,begin apogee
$GC,14143,-0.36,0.0,990.4,6.7,685,14273,0.62,0.00,127.38,1.495,6,0.079,0.000,2418,2100,2878
$STATE,14274,end apogee,CONTROL_FINISHED_OK
$STATE,14274,begin climb
$GC,14276,0.95,146.6,994.2,0.0,691,14412,1.27,2.83,126.45,1.448,4,0.057,0.084,2700,692,2281
$GC,14458,0.95,147.3,988.6,6.0,699,14464,0.00,2.60,0.00,0.000,6,0.000,0.061,2700,2099,2280
$GC,14773,0.95,147.3,970.4,6.3,715,14777,0.00,2.65,0.00,0.000,4,0.000,0.071,2700,3505,2280
$GC,15029,0.99,183.9,956.4,4.9,726,15069,0.00,2.62,32.92,1.457,6,0.000,0.061,2700,2098,2127
$GC,15385,0.99,183.9,928.2,8.6,744,15389,0.00,2.67,0.00,0.000,4,0.000,0.069,2700,3507,2127
$GC,15585,0.99,183.9,910.0,8.8,753,15590,0.00,2.62,0.00,0.000,6,0.000,0.059,2700,2095,2127
$GC,15912,0.99,183.9,884.5,7.3,769,15916,0.00,2.65,0.00,0.000,4,0.000,0.067,2700,3503,2126
$GC,15977,0.99,183.9,878.8,8.5,772,15982,0.00,2.60,0.00,0.000,6,0.000,0.059,2700,2098,2126
$GC,16304,0.99,183.9,853.3,8.6,788,16309,0.00,2.70,0.00,0.000,4,0.000,0.081,2700,684,2126
$GC,16411,0.99,183.9,843.8,9.0,793,16415,0.00,2.58,0.00,0.000,6,0.000,0.054,2700,2100,2125
$GC,16736,0.99,183.9,817.6,7.2,809,16741,0.00,2.60,0.00,0.000,4,0.000,0.064,2700,3500,2125
$GC,16808,0.99,183.9,812.5,6.1,812,16813,0.00,2.58,0.00,0.000,6,0.000,0.054,2700,2092,2125
$GC,17129,1.01,196.3,793.4,5.6,828,17150,0.00,2.70,11.23,1.396,4,0.000,0.061,2700,3506,2077
$GC,17177,1.02,208.0,790.3,5.7,830,17195,0.00,2.58,10.75,1.338,6,0.000,0.052,2700,2100,2030
$GC,17503,1.07,247.5,770.1,4.8,846,17545,0.12,0.00,34.45,1.355,6,0.051,0.000,2741,2100,1868
$GC,17853,1.07,247.5,742.7,8.5,863,17858,0.00,2.60,0.00,0.000,4,0.000,0.056,2741,3502,1868
$GC,17908,1.07,247.5,737.4,9.4,865,17915,0.00,2.55,0.00,0.000,6,0.000,0.050,2741,2099,1868
$GC,18224,1.07,247.5,709.6,9.0,881,18228,0.00,2.60,0.00,0.000,4,0.000,0.055,2741,3508,1869
$GC,18256,1.07,247.5,706.6,8.4,882,18262,0.00,2.55,0.00,0.000,6,0.000,0.048,2741,2100,1869
$GC,18571,1.07,247.5,681.8,7.2,898,18572,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2100,1869
$GC,18881,1.09,264.7,663.9,5.5,913,18903,0.00,2.65,16.05,1.272,4,0.000,0.053,2741,3505,1798
$GC,18954,1.09,264.7,659.4,6.8,916,18958,0.00,2.58,0.00,0.000,6,0.000,0.047,2741,2091,1797
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$STATE,26257,end climb,NO_VERTICAL_VELOCITY
$STATE,26257,begin surface
$SM_CCo,26260,125.78,0.768,0,0,603,558.06
$SM_GC,3.13,11.68,0.00,0.00,0.028,0.000,0.000,26,1879,603,-11.27,-0.59,558.06
$IRIDIUM_FIX,6258.74,-1334.23,040108,181813
$TT8_MAMPS,0.026845
$HUMID,2040
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.60
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,926.7,86.1
$24V_AH,23.1,51.719
$10V_AH,10.1,25.174
$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
$DEVICE_SECS,24.750,302.850,387.600,125.775,0.000,77.432,86.455,282.617,9.250,0.000,0.000,33.230,2366.503,20629.182,793.165,2897.796,765.329,33.355,2299.502,0.000,2812.414,0.000,55.691
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,937.972,862.432,685.962,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66239,1274
$CFSIZE,260165632,243589120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,040108,220937,6328.890,-1326.011,27,1.2,28,-12.5