version: 66.02
glider: 102
mission: 4
dive: 242
start: 1 5 108 22 16 22
data:
$ID,102
$MISSION,4
$DIVE,242
$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,-80835.664
$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,33
$R_STBD_OVSHOOT,35
$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
$GPS1,220537,6332.036,-1307.834,29,1.0,29,-12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-55.9
$GPS2,221527,6332.004,-1307.827,11,1.1,11,-12.3
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.099,0.164
$KALMAN_X,309433.3,1197.0,1205.0,-556913.8,-3048.2
$KALMAN_Y,-29355.6,-544.2,692.0,249359.1,132.8
$MHEAD_RNG_PITCHd_Wd,341.2,8107,-12.5,-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,-1.04,-116.2,0.0,0.0,0,50,0.00,0.00,-26.48,0.000,2,0.000,0.000,28,1874,1193
$GC,52,-1.08,-146.6,3.0,-0.4,2,229,11.25,2.58,-156.07,0.000,4,0.115,0.060,2258,3297,3476
$GC,393,-1.08,-146.6,19.5,-9.2,18,397,0.00,2.50,0.00,0.000,6,0.000,0.043,2258,1905,3475
$GC,718,-1.08,-146.6,49.3,-8.8,34,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1905,3475
$GC,1029,-1.08,-146.6,75.5,-8.6,49,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1905,3476
$GC,1338,-1.08,-146.6,102.6,-10.0,64,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1905,3476
$GC,1646,-1.08,-146.6,129.6,-8.5,79,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1905,3476
$GC,1955,-1.08,-146.6,156.2,-8.4,94,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1905,3476
$GC,2265,-1.08,-146.6,181.4,-8.0,109,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1905,3476
$GC,2574,-1.08,-146.6,206.6,-8.5,124,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1905,3476
$GC,2883,-1.08,-146.6,231.0,-7.6,139,2887,0.00,2.50,0.00,0.000,4,0.000,0.048,2258,3297,3476
$GC,2938,-1.08,-146.6,235.5,-8.1,141,2944,0.00,2.53,0.00,0.000,6,0.000,0.044,2258,1895,3476
$GC,3253,-1.08,-146.6,258.6,-7.2,157,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1895,3476
$GC,3562,-1.08,-146.6,282.7,-7.9,172,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1895,3476
$GC,3872,-1.08,-146.6,308.2,-8.9,187,3876,0.00,2.55,0.00,0.000,4,0.000,0.048,2258,3304,3476
$GC,3920,-1.08,-146.6,312.6,-8.7,189,3924,0.00,2.53,0.00,0.000,6,0.000,0.044,2258,1900,3475
$GC,4241,-1.08,-146.6,339.9,-9.0,205,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1900,3476
$GC,4551,-1.08,-146.6,364.6,-7.5,220,4555,0.00,2.53,0.00,0.000,4,0.000,0.049,2258,3296,3476
$GC,4600,-1.08,-146.6,368.5,-7.8,222,4604,0.00,2.50,0.00,0.000,6,0.000,0.044,2258,1900,3476
$GC,4921,-1.08,-146.6,393.0,-7.8,238,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1900,3476
$GC,5230,-1.08,-146.6,417.7,-8.1,253,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1901,3476
$GC,5539,-1.08,-146.6,442.3,-7.9,268,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1901,3475
$GC,5849,-1.08,-146.6,467.0,-7.7,283,5853,0.00,2.53,0.00,0.000,4,0.000,0.050,2258,3295,3475
$GC,5911,-1.08,-146.6,471.9,-8.1,286,5915,0.00,2.53,0.00,0.000,6,0.000,0.046,2258,1896,3475
$GC,6236,-1.08,-146.6,497.1,-7.6,302,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1895,3475
$GC,6546,-1.08,-146.6,521.5,-8.0,317,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1896,3475
$GC,6855,-1.08,-146.6,547.2,-8.9,332,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1895,3475
$GC,7164,-1.08,-146.6,572.0,-7.8,347,7168,0.00,2.55,0.00,0.000,4,0.000,0.054,2258,3299,3475
$GC,7218,-1.08,-146.6,576.3,-8.0,349,7225,0.00,2.53,0.00,0.000,6,0.000,0.048,2258,1901,3475
$GC,7534,-1.08,-146.6,598.9,-7.0,365,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1901,3475
$GC,7844,-1.08,-146.6,622.8,-8.1,380,7848,0.00,2.55,0.00,0.000,4,0.000,0.057,2258,3297,3475
$GC,7887,-1.08,-146.6,626.7,-8.8,382,7891,0.00,2.53,0.00,0.000,6,0.000,0.049,2258,1901,3475
$GC,8214,-1.08,-146.6,654.1,-7.6,398,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1900,3475
$GC,8523,-1.08,-146.6,676.6,-7.3,413,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1900,3475
$GC,8832,-1.08,-146.6,698.3,-7.3,428,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1900,3475
$STATE,8851,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8851,begin apogee
$GC,8857,-0.36,0.0,700.0,7.4,429,8984,0.75,0.00,123.93,1.249,6,0.075,0.000,2420,2096,2878
$STATE,8985,end apogee,CONTROL_FINISHED_OK
$STATE,8985,begin climb
$GC,8987,1.08,146.6,703.3,0.0,435,9114,1.40,0.00,123.25,1.213,6,0.054,0.000,2731,2096,2280
$GC,9423,1.08,146.6,683.4,6.4,457,9424,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2096,2280
$GC,9732,1.08,146.6,663.4,6.4,472,9733,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2096,2279
$GC,10041,1.08,146.6,641.8,7.0,487,10045,0.00,2.60,0.00,0.000,4,0.000,0.060,2732,3498,2278
$GC,10299,1.08,146.6,624.6,6.3,498,10305,0.00,2.55,0.00,0.000,6,0.000,0.049,2732,2101,2277
$GC,10614,1.08,148.0,608.0,5.9,514,10618,0.00,2.58,0.00,0.000,4,0.000,0.058,2732,3498,2276
$GC,10820,1.08,148.0,593.5,6.8,523,10824,0.00,2.53,0.00,0.000,6,0.000,0.048,2732,2097,2276
$GC,11141,1.08,148.9,572.2,6.0,539,11146,0.00,2.58,0.00,0.000,4,0.000,0.057,2731,3498,2276
$GC,11230,1.08,148.9,566.4,6.4,543,11235,0.00,2.50,0.00,0.000,6,0.000,0.045,2731,2098,2276
$GC,11551,1.10,167.9,548.9,5.3,559,11572,0.00,0.00,17.92,1.200,6,0.000,0.000,2732,2098,2193
$GC,11881,1.12,179.7,530.6,5.6,575,11893,0.00,0.00,10.93,1.174,6,0.000,0.000,2732,2098,2145
$GC,12190,1.12,180.1,511.8,6.0,590,12195,0.00,2.58,0.00,0.000,4,0.000,0.053,2731,3500,2145
$GC,12307,1.12,180.1,503.7,7.3,595,12311,0.00,2.53,0.00,0.000,6,0.000,0.044,2732,2092,2145
$GC,12629,1.12,180.1,481.4,7.4,611,12630,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2092,2145
$GC,12938,1.12,180.1,457.5,8.5,626,12942,0.00,2.58,0.00,0.000,4,0.000,0.054,2731,3500,2146
$GC,13127,1.12,180.1,441.0,8.4,634,13133,0.00,2.50,0.00,0.000,6,0.000,0.044,2732,2101,2146
$GC,13442,1.12,180.1,415.3,8.4,650,13444,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2101,2146
$GC,13752,1.12,180.1,388.2,9.3,665,13756,0.00,2.58,0.00,0.000,4,0.000,0.052,2731,3505,2146
$GC,13829,1.12,180.1,380.6,9.6,668,13835,0.00,2.50,0.00,0.000,6,0.000,0.042,2732,2098,2146
$GC,14144,1.12,180.1,350.0,9.7,684,14145,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2099,2146
$GC,14453,1.12,180.1,321.7,8.9,699,14457,0.00,2.53,0.00,0.000,4,0.000,0.051,2732,3499,2146
$GC,14575,1.12,180.1,310.4,9.1,704,14582,0.00,2.47,0.00,0.000,6,0.000,0.041,2732,2098,2146
$GC,14891,1.13,190.8,289.1,5.6,720,14903,0.00,0.00,10.48,1.023,6,0.000,0.000,2731,2098,2100
$GC,15200,1.13,190.8,269.9,6.8,735,15204,0.00,2.55,0.00,0.000,4,0.000,0.051,2732,3499,2100
$GC,15261,1.13,190.8,265.6,7.3,738,15265,0.00,2.50,0.00,0.000,6,0.000,0.041,2732,2093,2100
$GC,15586,1.13,190.8,244.2,6.6,754,15587,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2094,2100
$GC,15896,1.13,190.8,223.3,6.8,769,15900,0.00,2.58,0.00,0.000,4,0.000,0.051,2731,3502,2100
$GC,15979,1.13,190.8,216.9,7.1,773,15984,0.00,2.50,0.00,0.000,6,0.000,0.041,2732,2092,2100
$GC,16305,1.13,190.8,194.2,7.0,789,16306,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2092,2100
$GC,16615,1.13,190.8,171.9,7.6,804,16619,0.00,2.58,0.00,0.000,4,0.000,0.051,2732,3502,2100
$GC,16714,1.13,190.8,164.4,7.2,808,16721,0.00,2.47,0.00,0.000,6,0.000,0.041,2732,2099,2100
$GC,17030,1.13,190.8,142.8,7.6,824,17031,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2099,2100
$GC,17340,1.13,190.8,120.7,7.4,839,17344,0.00,2.55,0.00,0.000,4,0.000,0.050,2731,3501,2100
$GC,17434,1.13,190.8,112.9,8.7,843,17438,0.00,2.47,0.00,0.000,6,0.000,0.040,2732,2099,2100
$GC,17755,1.13,190.8,90.1,6.8,859,17756,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2099,2101
$GC,18065,1.20,244.0,75.3,4.0,874,18114,0.10,2.62,42.25,0.854,4,0.056,0.048,2767,3497,1883
$GC,18195,1.20,245.3,69.2,6.0,880,18200,0.00,2.50,0.00,0.000,6,0.000,0.041,2767,2100,1883
$GC,18524,1.20,245.3,40.3,8.7,896,18525,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2100,1882
$GC,18831,1.20,245.3,13.7,8.5,911,18835,0.00,2.55,0.00,0.000,4,0.000,0.049,2768,3498,1883
$GC,18948,1.20,245.3,2.5,7.5,916,18952,0.00,2.47,0.00,0.000,6,0.000,0.041,2767,2102,1882
$GC,19272,1.40,409.6,2.4,-0.1,932,19291,0.15,0.00,17.00,0.829,2,0.058,0.000,2807,2096,1787
$STATE,19292,end climb,NO_VERTICAL_VELOCITY
$STATE,19292,begin surface
$SM_CCo,19295,146.60,0.747,0,0,603,558.06
$SM_CCo,19805,0.00,0.000,0,0,603,558.06
$SM_GC,3.36,0.00,0.00,0.00,0.000,0.000,0.000,27,1891,603,-11.35,-0.25,558.06
$IRIDIUM_FIX,6308.26,-1309.45,060108,020240
$TT8_MAMPS,0.026845
$HUMID,2026
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.60
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,600.5,109.3
$24V_AH,23.3,52.565
$10V_AH,10.1,25.658
$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,25.650,102.025,345.750,146.600,0.000,77.207,69.829,265.304,7.250,0.000,0.000,13.070,1674.998,15343.574,707.011,2030.026,641.837,33.365,1696.390,0.000,2000.436,0.000,34.735
$DEVICE_MAMPS,115.050,59.826,1248.676,747.058,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,690.287,629.809,598.249,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47363,933
$CFSIZE,260165632,243335168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,060108,034738,6333.724,-1308.845,34,0.8,34,-12.3