version: 66.02
glider: 102
mission: 4
dive: 244
start: 1 6 108 8 59 44
data:
$ID,102
$MISSION,4
$DIVE,244
$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,-80866.641
$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,25
$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
$GPS1,085326,6336.701,-1310.450,39,1.1,39,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-60.2
$GPS2,085850,6336.726,-1310.404,13,1.1,13,-12.4
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.055,0.201
$KALMAN_X,319290.3,-817.9,737.9,-566544.2,7560.7
$KALMAN_Y,-30290.3,483.3,426.4,258235.5,-1783.5
$MHEAD_RNG_PITCHd_Wd,357.1,24586,-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,-146.6,0.0,0.0,0,66,0.00,0.00,-42.25,0.000,2,0.000,0.000,34,1884,1510
$GC,68,-0.95,-146.6,3.0,-0.1,2,234,11.38,2.60,-144.65,0.000,4,0.117,0.077,2285,500,3475
$GC,409,-0.95,-146.6,17.2,-7.2,17,415,0.00,2.50,0.00,0.000,6,0.000,0.041,2285,1899,3475
$GC,725,-0.95,-146.6,39.1,-6.8,33,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3475
$GC,1034,-0.95,-146.6,60.7,-6.9,48,1038,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3295,3475
$GC,1083,-0.95,-146.6,64.3,-7.5,50,1087,0.00,2.50,0.00,0.000,6,0.000,0.044,2285,1903,3475
$GC,1404,-0.95,-146.6,87.1,-7.1,66,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1903,3474
$GC,1715,-0.95,-146.6,108.9,-7.1,81,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1903,3475
$GC,2023,-0.95,-146.6,131.1,-7.1,96,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1903,3475
$GC,2332,-0.95,-146.6,152.4,-6.6,111,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1903,3475
$GC,2641,-0.95,-146.6,173.1,-6.7,126,2645,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3299,3475
$GC,2695,-0.95,-146.6,176.8,-6.6,128,2702,0.00,2.50,0.00,0.000,6,0.000,0.043,2285,1900,3475
$GC,3011,-0.95,-146.6,196.3,-5.8,144,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3475
$GC,3321,-0.95,-146.6,213.4,-5.6,159,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3475
$GC,3630,-0.95,-146.6,230.7,-5.5,174,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3475
$GC,3939,-0.95,-146.6,249.1,-5.7,189,3943,0.00,2.50,0.00,0.000,4,0.000,0.048,2285,3296,3475
$GC,3988,-0.95,-146.6,252.4,-6.9,191,3992,0.00,2.50,0.00,0.000,6,0.000,0.044,2285,1900,3475
$GC,4309,-0.95,-146.6,274.1,-6.8,207,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3475
$GC,4618,-0.95,-146.6,297.7,-7.6,222,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3475
$GC,4927,-0.95,-146.6,321.4,-7.8,237,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3475
$GC,5237,-0.95,-146.6,344.7,-7.3,252,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3475
$GC,5546,-0.95,-146.6,365.2,-7.1,267,5550,0.00,2.50,0.00,0.000,4,0.000,0.049,2285,3297,3475
$GC,5634,-0.95,-146.6,371.2,-6.4,271,5638,0.00,2.53,0.00,0.000,6,0.000,0.046,2285,1899,3475
$GC,5961,-0.95,-146.6,398.7,-8.7,287,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3475
$GC,6270,-0.95,-146.6,421.8,-7.1,302,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3475
$GC,6580,-0.95,-146.6,444.6,-7.2,317,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3475
$GC,6889,-0.95,-146.6,466.4,-7.4,332,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3474
$GC,7198,-0.95,-146.6,490.9,-8.2,347,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1896,3474
$GC,7507,-0.95,-146.6,517.0,-8.3,362,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1896,3474
$GC,7816,-0.95,-146.6,539.4,-6.9,377,7821,0.00,2.55,0.00,0.000,4,0.000,0.051,2285,3301,3474
$GC,7866,-0.95,-146.6,542.9,-6.2,379,7870,0.00,2.53,0.00,0.000,6,0.000,0.047,2285,1901,3474
$GC,8187,-0.95,-146.6,561.8,-5.3,395,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3474
$GC,8496,-0.95,-146.6,577.7,-5.2,410,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3474
$GC,8806,-0.95,-146.6,594.1,-5.8,425,8810,0.00,2.62,0.00,0.000,4,0.000,0.067,2285,487,3474
$GC,8862,-0.95,-146.6,598.0,-7.6,427,8868,0.00,2.50,0.00,0.000,6,0.000,0.044,2285,1904,3474
$GC,9177,-0.95,-146.6,621.2,-7.8,443,9178,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3474
$GC,9486,-0.95,-146.6,647.3,-8.7,458,9487,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3474
$GC,9795,-0.95,-146.6,670.6,-6.3,473,9800,0.00,2.55,0.00,0.000,4,0.000,0.059,2285,3297,3474
$GC,9839,-0.95,-146.6,673.2,-6.2,475,9843,0.00,2.55,0.00,0.000,6,0.000,0.051,2285,1894,3474
$GC,10167,-0.95,-146.6,690.0,-4.6,491,10168,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1894,3474
$GC,10476,-0.95,-146.6,709.5,-7.2,506,10480,0.00,2.62,0.00,0.000,4,0.000,0.074,2285,489,3474
$GC,10530,-0.95,-146.6,713.8,-7.4,508,10536,0.00,2.50,0.00,0.000,6,0.000,0.050,2285,1897,3474
$STATE,10617,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10617,begin apogee
$GC,10622,-0.36,0.0,720.2,7.6,513,10749,0.62,0.00,123.85,1.267,6,0.074,0.000,2420,2103,2878
$STATE,10750,end apogee,CONTROL_FINISHED_OK
$STATE,10750,begin climb
$GC,10753,0.95,146.6,723.2,0.0,519,10884,1.25,2.67,123.05,1.226,4,0.049,0.064,2702,3491,2280
$GC,10969,0.96,159.6,717.3,5.6,530,10991,0.00,2.55,11.75,1.204,6,0.000,0.051,2703,2102,2227
$GC,11300,0.99,178.2,698.9,5.4,546,11319,0.00,0.00,16.60,1.233,6,0.000,0.000,2702,2102,2151
$GC,11628,1.00,191.5,680.0,5.6,562,11642,0.00,0.00,12.25,1.236,6,0.000,0.000,2702,2102,2097
$GC,11937,1.00,191.5,659.8,7.5,577,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2102,2096
$GC,12246,1.00,191.5,635.9,7.1,592,12250,0.00,2.65,0.00,0.000,4,0.000,0.071,2703,684,2096
$GC,12300,1.00,191.5,631.7,6.9,594,12307,0.00,2.53,0.00,0.000,6,0.000,0.047,2702,2096,2096
$GC,12616,1.02,208.1,613.8,5.5,610,12636,0.00,0.00,14.68,1.230,6,0.000,0.000,2702,2096,2028
$GC,12946,1.05,228.2,594.6,5.4,626,12966,0.00,0.00,17.75,1.216,6,0.000,0.000,2702,2098,1946
$GC,13274,1.05,228.2,571.8,7.5,642,13279,0.00,2.65,0.00,0.000,4,0.000,0.067,2702,690,1946
$GC,13351,1.05,228.2,565.5,8.1,645,13358,0.00,2.53,0.00,0.000,6,0.000,0.044,2702,2110,1947
$GC,13667,1.05,228.2,543.5,6.8,661,13668,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2110,1946
$GC,13976,1.05,228.2,523.5,6.6,676,13977,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2111,1946
$GC,14286,1.05,228.2,501.1,7.4,691,14290,0.00,2.62,0.00,0.000,4,0.000,0.064,2702,690,1946
$GC,14362,1.05,228.2,494.5,8.8,694,14369,0.00,2.50,0.00,0.000,6,0.000,0.041,2702,2106,1947
$GC,14678,1.05,228.2,469.2,7.9,710,14679,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2106,1947
$GC,14988,1.05,228.2,445.3,7.3,725,14989,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2106,1946
$GC,15297,1.05,228.2,424.9,6.5,740,15301,0.00,2.62,0.00,0.000,4,0.000,0.064,2702,685,1946
$GC,15381,1.05,228.2,419.3,6.9,744,15385,0.00,2.47,0.00,0.000,6,0.000,0.041,2703,2102,1947
$GC,15706,1.05,228.2,399.3,6.1,760,15707,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2103,1947
$GC,16015,1.05,228.2,378.8,6.6,775,16016,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2105,1947
$GC,16324,1.05,228.2,359.2,6.3,790,16329,0.00,2.62,0.00,0.000,4,0.000,0.064,2702,682,1948
$GC,16396,1.05,228.2,354.1,7.1,793,16400,0.00,2.50,0.00,0.000,6,0.000,0.041,2702,2108,1948
$GC,16711,1.05,228.2,333.0,6.7,808,16712,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2112,1948
$GC,17020,1.05,228.2,311.7,6.8,823,17025,0.00,2.62,0.00,0.000,4,0.000,0.061,2703,690,1948
$GC,17070,1.05,228.2,308.2,6.8,825,17074,0.00,2.47,0.00,0.000,6,0.000,0.041,2703,2103,1948
$GC,17385,1.05,228.2,285.5,7.1,840,17386,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2107,1948
$GC,17695,1.05,229.3,264.8,6.0,855,17699,0.00,2.62,0.00,0.000,4,0.000,0.062,2702,688,1948
$GC,17749,1.05,229.3,261.3,6.2,857,17756,0.00,2.50,0.00,0.000,6,0.000,0.040,2702,2105,1948
$GC,18064,1.05,229.3,242.8,6.4,873,18065,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2108,1948
$GC,18374,1.05,229.3,223.3,6.0,888,18378,0.00,2.60,0.00,0.000,4,0.000,0.061,2702,688,1948
$GC,18428,1.05,229.3,219.8,6.1,890,18435,0.00,2.50,0.00,0.000,6,0.000,0.041,2702,2109,1948
$GC,18744,1.05,229.3,200.8,6.2,906,18745,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2112,1949
$GC,19053,1.05,229.3,180.0,7.1,921,19054,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2113,1949
$GC,19363,1.05,229.9,162.1,6.0,936,19372,0.00,2.65,3.25,0.908,4,0.000,0.061,2702,694,1940
$GC,19439,1.05,229.9,157.1,6.7,939,19444,0.00,2.47,0.00,0.000,6,0.000,0.039,2703,2102,1940
$GC,19762,1.05,229.9,138.6,6.1,955,19763,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2105,1940
$GC,20071,1.05,229.9,119.4,6.4,970,20072,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2105,1940
$GC,20379,1.05,229.9,98.1,7.3,985,20384,0.00,2.62,0.00,0.000,4,0.000,0.061,2702,680,1940
$GC,20442,1.05,229.9,93.3,8.2,988,20446,0.00,2.50,0.00,0.000,6,0.000,0.040,2702,2099,1940
$GC,20768,1.05,229.9,71.4,6.5,1004,20769,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2103,1940
$GC,21078,1.05,229.9,51.6,7.2,1019,21079,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2103,1940
$GC,21387,1.13,292.9,36.6,4.1,1034,21442,0.17,2.70,49.00,0.835,4,0.039,0.062,2767,692,1683
$GC,21498,1.13,292.9,26.8,9.7,1039,21503,0.15,2.50,0.00,0.000,6,0.079,0.040,2736,2106,1683
$GC,21819,1.13,293.5,2.4,6.0,1055,21823,0.00,2.53,0.00,0.000,4,0.000,0.050,2736,3501,1683
$GC,21846,1.34,465.1,2.3,0.9,1056,21944,0.22,2.53,91.45,0.774,6,0.054,0.043,2794,2087,981
$STATE,22222,end climb,NO_VERTICAL_VELOCITY
$STATE,22222,begin surface
$SM_CCo,22225,47.92,0.761,0,0,602,558.06
$SM_CCo,22636,0.00,0.000,0,0,603,558.06
$SM_GC,3.13,0.00,0.00,0.00,0.000,0.000,0.000,31,1891,603,-11.33,-0.25,558.06
$IRIDIUM_FIX,6308.26,-1313.05,060108,070754
$TT8_MAMPS,0.026845
$HUMID,2056
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.70
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,675.3,53.7
$24V_AH,23.3,52.926
$10V_AH,10.1,25.841
$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,25.650,113.025,463.625,47.925,0.000,39.829,36.749,146.224,7.500,0.000,0.000,16.195,1871.679,17738.391,698.772,2197.169,459.836,33.371,1802.688,0.000,2159.754,0.000,42.715
$DEVICE_MAMPS,116.584,76.700,1267.084,760.864,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,792.499,725.335,697.684,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53721,1075
$CFSIZE,260165632,243195904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,060108,151808,6337.849,-1308.019,31,1.2,31,-12.4