version: 66.02
glider: 102
mission: 4
dive: 241
start: 1 5 108 15 46 9
data:
$ID,102
$MISSION,4
$DIVE,241
$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,-80821.969
$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,28
$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
$GPS1,154001,6328.831,-1313.598,37,1.2,42,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-52.4
$GPS2,154515,6328.830,-1313.650,14,1.0,14,-12.3
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.026,0.208
$KALMAN_X,306816.2,-225.1,-1415.2,-555371.1,-228.0
$KALMAN_Y,-27283.8,-1630.1,1245.4,241999.3,3378.7
$MHEAD_RNG_PITCHd_Wd,5.3,11480,-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,-0.94,-146.6,0.0,0.0,0,65,0.00,0.00,-41.62,0.000,2,0.000,0.000,28,1877,1507
$GC,67,-0.94,-146.6,3.1,-0.8,2,234,11.25,2.58,-147.80,0.000,4,0.109,0.060,2287,3297,3475
$GC,251,-0.94,-146.6,3.8,-6.6,10,258,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1894,3475
$GC,567,-0.94,-146.6,30.0,-7.9,26,571,0.00,2.60,0.00,0.000,4,0.000,0.068,2287,498,3475
$GC,583,-0.94,-146.6,31.3,-8.4,27,588,0.00,2.50,0.00,0.000,6,0.000,0.043,2287,1905,3474
$GC,910,-0.94,-146.6,58.2,-7.7,43,914,0.00,2.65,0.00,0.000,4,0.000,0.067,2287,493,3475
$GC,1166,-0.94,-146.6,78.9,-7.7,54,1173,0.00,2.47,0.00,0.000,6,0.000,0.041,2287,1898,3475
$GC,1484,-0.94,-146.6,101.3,-7.3,70,1488,0.00,2.62,0.00,0.000,4,0.000,0.067,2287,493,3475
$GC,1703,-0.94,-146.6,119.3,-9.6,80,1707,0.00,2.50,0.00,0.000,6,0.000,0.042,2287,1908,3475
$GC,2029,-0.94,-146.6,145.3,-6.8,96,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1910,3475
$GC,2338,-0.94,-146.6,168.2,-7.4,111,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1911,3475
$GC,2648,-0.94,-146.6,189.0,-6.7,126,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1910,3475
$GC,2957,-0.94,-146.6,208.4,-6.5,141,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1910,3475
$GC,3266,-0.94,-146.6,228.7,-6.8,156,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1910,3475
$GC,3575,-0.94,-146.6,248.5,-6.2,171,3579,0.00,2.50,0.00,0.000,4,0.000,0.050,2287,3295,3475
$GC,3624,-0.94,-146.6,251.8,-6.9,173,3629,0.00,2.53,0.00,0.000,6,0.000,0.045,2287,1905,3475
$GC,3946,-0.94,-146.6,272.7,-6.9,189,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,4255,-0.94,-146.6,293.6,-6.7,204,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,4564,-0.94,-146.6,312.3,-6.1,219,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,4874,-0.94,-146.6,330.4,-6.0,234,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,5183,-0.94,-146.6,352.0,-7.2,249,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,5492,-0.94,-146.6,373.4,-6.6,264,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,5802,-0.94,-146.6,393.8,-6.7,279,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,6110,-0.94,-146.6,414.0,-6.4,294,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,6420,-0.94,-146.6,434.4,-6.3,309,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,6729,-0.94,-146.6,455.0,-6.5,324,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,7039,-0.94,-146.6,476.2,-6.9,339,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1903,3474
$GC,7348,-0.94,-146.6,497.5,-7.2,354,7352,0.00,2.55,0.00,0.000,4,0.000,0.051,2287,3304,3473
$GC,7397,-0.94,-146.6,501.1,-7.6,356,7401,0.00,2.55,0.00,0.000,6,0.000,0.047,2287,1893,3473
$GC,7712,-0.94,-146.6,522.5,-6.8,371,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3474
$GC,8022,-0.94,-146.6,542.3,-6.2,386,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3474
$GC,8331,-0.94,-146.6,562.4,-6.7,401,8336,0.00,2.55,0.00,0.000,4,0.000,0.054,2287,3299,3473
$GC,8403,-0.94,-146.6,567.5,-7.2,404,8407,0.00,2.53,0.00,0.000,6,0.000,0.047,2287,1901,3473
$GC,8725,-0.94,-146.6,587.0,-5.7,420,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3473
$GC,9034,-0.94,-146.6,605.8,-6.1,435,9038,0.00,2.55,0.00,0.000,4,0.000,0.054,2287,3297,3473
$GC,9095,-0.94,-146.6,610.0,-6.2,438,9099,0.00,2.53,0.00,0.000,6,0.000,0.048,2287,1900,3473
$GC,9421,-0.94,-146.6,635.1,-8.7,454,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3473
$GC,9730,-0.94,-146.6,656.6,-5.1,469,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3473
$GC,10039,-0.94,-146.6,667.3,-3.8,484,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3473
$GC,10348,-0.94,-146.6,688.5,-10.5,499,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,10658,-0.94,-146.6,714.7,-5.9,514,10659,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3473
$GC,10967,-0.94,-146.6,733.6,-7.9,529,10968,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3473
$GC,11276,-0.94,-146.6,763.7,-8.0,544,11281,0.00,2.58,0.00,0.000,4,0.000,0.060,2287,3302,3474
$GC,11361,-0.94,-146.6,768.7,-5.8,548,11365,0.00,2.58,0.00,0.000,6,0.000,0.054,2287,1898,3473
$STATE,11520,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11520,begin apogee
$GC,11525,-0.36,0.0,774.4,4.0,556,11653,0.60,0.00,124.78,1.297,6,0.070,0.000,2418,2095,2878
$STATE,11654,end apogee,CONTROL_FINISHED_OK
$STATE,11654,begin climb
$GC,11657,0.94,146.6,773.5,0.0,562,11788,1.25,2.70,123.55,1.258,4,0.048,0.064,2704,3501,2280
$GC,12014,0.94,146.6,756.6,12.8,579,12018,0.00,2.58,0.00,0.000,6,0.000,0.054,2703,2103,2279
$GC,12329,0.99,187.8,744.0,4.8,594,12371,0.00,2.67,35.33,1.276,4,0.000,0.061,2703,3501,2111
$GC,12421,0.99,187.8,738.3,7.4,598,12426,0.00,2.60,0.00,0.000,6,0.000,0.054,2703,2092,2111
$GC,12742,0.99,187.8,719.8,10.1,614,12746,0.00,2.65,0.00,0.000,4,0.000,0.076,2704,692,2111
$GC,12813,0.99,187.8,711.6,10.2,617,12817,0.00,2.55,0.00,0.000,6,0.000,0.051,2703,2093,2110
$GC,13135,1.00,190.1,694.4,5.9,633,13139,0.00,2.60,0.00,0.000,4,0.000,0.061,2703,3501,2110
$GC,13297,1.00,190.1,680.7,8.2,640,13301,0.00,2.58,0.00,0.000,6,0.000,0.052,2703,2098,2110
$GC,13612,1.00,190.1,654.9,8.7,655,13616,0.00,2.62,0.00,0.000,4,0.000,0.074,2703,691,2110
$GC,13666,1.00,190.1,650.0,9.2,657,13673,0.00,2.53,0.00,0.000,6,0.000,0.048,2704,2104,2109
$GC,13982,1.00,190.1,628.1,6.1,673,13983,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2104,2109
$GC,14291,1.00,190.1,607.0,6.6,688,14292,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,2109
$GC,14600,1.00,190.1,585.5,7.4,703,14601,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,2108
$GC,14909,1.00,190.1,561.3,7.3,718,14911,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2106,2108
$GC,15219,1.10,276.9,545.2,3.4,733,15295,0.15,0.00,72.68,1.168,6,0.046,0.000,2757,2106,1749
$GC,15607,1.10,276.9,515.5,9.2,751,15612,0.12,2.58,0.00,0.000,4,0.084,0.054,2731,3502,1750
$GC,15668,1.10,276.9,509.6,9.1,754,15673,0.00,2.55,0.00,0.000,6,0.000,0.047,2731,2097,1750
$GC,15995,1.10,276.9,481.0,8.7,770,15996,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2098,1750
$GC,16304,1.10,276.9,454.2,8.5,785,16308,0.00,2.62,0.00,0.000,4,0.000,0.068,2730,691,1751
$GC,16358,1.10,276.9,449.3,8.7,787,16364,0.00,2.50,0.00,0.000,6,0.000,0.042,2731,2106,1751
$GC,16674,1.10,276.9,423.1,8.1,803,16675,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2110,1751
$GC,16983,1.10,276.9,399.2,7.8,818,16984,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2110,1752
$GC,17292,1.10,276.9,375.4,7.7,833,17293,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2110,1752
$GC,17601,1.10,276.9,351.2,7.9,848,17603,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2110,1752
$GC,17910,1.10,276.9,326.5,8.1,863,17912,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2110,1752
$GC,18220,1.10,276.9,302.2,7.9,878,18224,0.00,2.62,0.00,0.000,4,0.000,0.064,2731,691,1752
$GC,18269,1.10,276.9,298.1,8.2,880,18273,0.00,2.47,0.00,0.000,6,0.000,0.041,2731,2103,1752
$GC,18584,1.10,276.9,271.5,8.4,895,18585,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2106,1753
$GC,18893,1.10,276.9,244.7,8.7,910,18897,0.00,2.62,0.00,0.000,4,0.000,0.064,2731,691,1753
$GC,18942,1.10,276.9,240.1,9.0,912,18946,0.00,2.50,0.00,0.000,6,0.000,0.041,2731,2107,1753
$GC,19263,1.10,276.9,213.1,8.0,928,19264,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2112,1753
$GC,19572,1.10,276.9,188.0,8.1,943,19573,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2111,1753
$GC,19882,1.10,276.9,162.5,8.2,958,19886,0.00,2.62,0.00,0.000,4,0.000,0.062,2731,691,1753
$GC,19930,1.10,276.9,157.9,9.1,960,19935,0.00,2.47,0.00,0.000,6,0.000,0.040,2731,2102,1753
$GC,20252,1.10,276.9,131.1,8.3,976,20253,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2105,1754
$GC,20561,1.10,276.9,105.7,8.3,991,20563,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2105,1754
$GC,20872,1.10,276.9,80.0,7.8,1006,20873,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2105,1754
$GC,21180,1.10,276.9,58.0,7.4,1021,21184,0.00,2.60,0.00,0.000,4,0.000,0.061,2731,691,1754
$GC,21229,1.10,276.9,53.3,8.6,1023,21233,0.00,2.47,0.00,0.000,6,0.000,0.038,2731,2103,1754
$GC,21546,1.10,276.9,29.8,7.2,1038,21547,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2106,1754
$GC,21854,1.10,276.9,7.0,7.2,1053,21855,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2106,1754
$GC,22164,1.36,484.8,2.5,-0.1,1068,22279,0.28,2.67,108.62,0.769,4,0.051,0.062,2797,691,900
$GC,22285,1.61,690.3,2.2,-0.1,1074,22295,0.22,2.53,4.15,0.769,2,0.058,0.041,2846,2104,878
$STATE,22296,end climb,SURFACE_DEPTH_REACHED
$STATE,22296,begin surface coast
$FINISH,2.1,1.026128
$STATE,22300,end surface coast,NO_VERTICAL_VELOCITY
$STATE,22300,begin surface
$SM_CCo,22303,35.65,0.746,0,0,603,558.06
$SM_CCo,22702,0.00,0.000,0,0,602,558.06
$SM_GC,3.22,0.00,0.00,0.00,0.000,0.000,0.000,29,1878,602,-11.34,-0.62,558.06
$IRIDIUM_FIX,6308.26,-1358.66,050108,151548
$TT8_MAMPS,0.026845
$HUMID,2049
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.70
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,675.1,108.0
$24V_AH,23.2,52.400
$10V_AH,10.1,25.567
$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,26.050,108.525,469.100,35.650,0.000,37.187,36.316,132.562,6.500,0.000,0.000,15.640,1884.750,17776.307,661.798,2248.515,450.525,33.359,1795.891,0.000,2212.498,0.000,39.585
$DEVICE_MAMPS,108.914,75.933,1296.997,746.291,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,793.336,725.153,654.871,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53712,1074
$CFSIZE,260165632,243376128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,050108,220537,6332.036,-1307.834,29,1.0,29,-12.3