version: 66.02
glider: 102
mission: 4
dive: 245
start: 1 6 108 15 28 15
data:
$ID,102
$MISSION,4
$DIVE,245
$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,-80880.766
$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,29
$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
$GPS1,151808,6337.849,-1308.019,31,1.2,31,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.87
$_SM_ANGLEo,-50.8
$GPS2,152721,6337.777,-1308.009,12,1.0,12,-12.3
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.098,0.184
$KALMAN_X,324165.7,-546.6,-942.8,-567870.9,10847.3
$KALMAN_Y,-33675.3,-885.5,139.1,265268.2,-1233.9
$MHEAD_RNG_PITCHd_Wd,344.4,22694,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.95,-146.6,0.0,0.0,0,106,0.00,0.00,-82.05,0.000,2,0.000,0.000,31,1886,2226
$GC,109,-0.95,-146.6,3.3,-0.7,4,182,11.88,2.60,-55.08,0.000,4,0.137,0.075,2285,498,3476
$GC,221,-0.95,-146.6,11.9,-9.5,9,226,0.00,2.50,0.00,0.000,6,0.000,0.041,2285,1906,3476
$GC,537,-0.95,-146.6,39.4,-9.5,24,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1910,3476
$GC,846,-0.95,-146.6,63.0,-6.3,39,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1910,3476
$GC,1156,-0.95,-146.6,82.0,-5.8,54,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1910,3476
$GC,1466,-0.95,-146.6,105.1,-7.1,69,1470,0.00,2.50,0.00,0.000,4,0.000,0.048,2285,3298,3476
$GC,1528,-0.95,-146.6,109.3,-6.8,72,1532,0.00,2.50,0.00,0.000,6,0.000,0.044,2284,1906,3476
$GC,1854,-0.95,-146.6,129.2,-6.6,88,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3476
$GC,2162,-0.95,-146.6,152.3,-7.5,103,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3476
$GC,2471,-0.95,-146.6,174.8,-7.2,118,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3476
$GC,2781,-0.95,-146.6,198.0,-8.1,133,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3476
$GC,3090,-0.95,-146.6,221.2,-6.9,148,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3476
$GC,3399,-0.95,-146.6,241.6,-6.6,163,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3475
$GC,3709,-0.95,-146.6,262.6,-6.9,178,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3476
$GC,4018,-0.95,-146.6,283.1,-6.6,193,4022,0.00,2.62,0.00,0.000,4,0.000,0.067,2285,490,3476
$GC,4089,-0.95,-146.6,288.0,-7.1,196,4094,0.00,2.47,0.00,0.000,6,0.000,0.041,2285,1901,3476
$GC,4410,-0.95,-146.6,309.7,-7.1,212,4415,0.00,2.62,0.00,0.000,4,0.000,0.067,2284,489,3476
$GC,4460,-0.95,-146.6,313.7,-7.8,214,4464,0.00,2.47,0.00,0.000,6,0.000,0.042,2285,1899,3476
$GC,4781,-0.95,-146.6,337.8,-7.6,230,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3475
$GC,5090,-0.95,-146.6,360.4,-7.2,245,5094,0.00,2.60,0.00,0.000,4,0.000,0.066,2285,496,3475
$GC,5174,-0.95,-146.6,366.8,-7.6,249,5178,0.00,2.47,0.00,0.000,6,0.000,0.042,2285,1904,3475
$GC,5499,-0.95,-146.6,388.4,-6.5,265,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1907,3476
$GC,5808,-0.95,-146.6,408.9,-6.7,280,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1907,3475
$GC,6118,-0.95,-146.6,429.7,-6.8,295,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1907,3475
$GC,6429,-0.95,-146.6,450.3,-6.6,310,6434,0.00,2.62,0.00,0.000,4,0.000,0.067,2285,496,3475
$GC,6478,-0.95,-146.6,453.9,-7.4,312,6482,0.00,2.45,0.00,0.000,6,0.000,0.043,2285,1901,3475
$GC,6800,-0.95,-146.6,473.0,-5.1,328,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1907,3475
$GC,7109,-0.95,-146.6,492.6,-7.0,343,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1907,3474
$GC,7418,-0.95,-146.6,515.6,-6.7,358,7422,0.00,2.53,0.00,0.000,4,0.000,0.053,2285,3297,3475
$GC,7485,-0.95,-146.6,520.0,-7.0,361,7489,0.00,2.50,0.00,0.000,6,0.000,0.048,2285,1903,3475
$GC,7805,-0.95,-146.6,536.4,-4.2,377,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1904,3474
$GC,8114,-0.95,-146.6,552.8,-5.6,392,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1904,3474
$GC,8424,-0.95,-146.6,575.3,-7.9,407,8428,0.00,2.55,0.00,0.000,4,0.000,0.055,2285,3299,3474
$GC,8535,-0.95,-146.6,584.3,-7.9,412,8539,0.00,2.53,0.00,0.000,6,0.000,0.048,2285,1902,3474
$GC,8856,-0.95,-146.6,604.4,-6.0,428,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3475
$GC,9165,-0.95,-146.6,621.7,-6.0,443,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,9475,-0.95,-146.6,637.5,-5.6,458,9479,0.00,2.55,0.00,0.000,4,0.000,0.056,2285,3302,3474
$GC,9540,-0.95,-146.6,642.5,-8.1,461,9545,0.00,2.53,0.00,0.000,6,0.000,0.048,2285,1898,3474
$GC,9867,-0.95,-146.6,672.2,-8.9,477,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3474
$GC,10177,-0.95,-146.6,692.1,-5.8,492,10178,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3474
$GC,10486,-0.95,-146.6,712.5,-7.2,507,10490,0.00,2.55,0.00,0.000,4,0.000,0.057,2285,3297,3474
$GC,10547,-0.95,-146.6,717.0,-7.8,510,10552,0.00,2.55,0.00,0.000,6,0.000,0.051,2285,1895,3474
$STATE,10707,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10707,begin apogee
$GC,10712,-0.36,0.0,727.6,6.7,518,10840,0.62,0.00,124.35,1.268,6,0.074,0.000,2421,2103,2878
$STATE,10841,end apogee,CONTROL_FINISHED_OK
$STATE,10841,begin climb
$GC,10843,0.95,146.6,732.3,0.0,524,10974,1.25,2.75,122.78,1.245,4,0.049,0.069,2703,696,2280
$GC,11064,0.95,146.6,726.1,7.7,535,11068,0.00,2.53,0.00,0.000,6,0.000,0.048,2703,2094,2280
$GC,11391,0.95,146.6,700.6,8.5,551,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2095,2279
$GC,11700,0.99,180.6,680.5,5.0,566,11735,0.00,2.67,29.08,1.243,4,0.000,0.062,2703,3507,2141
$GC,11881,1.01,194.0,668.2,5.6,574,11901,0.00,2.58,12.43,1.222,6,0.000,0.051,2703,2099,2086
$GC,12229,1.03,216.6,646.8,5.3,591,12250,0.00,0.00,19.52,1.230,6,0.000,0.000,2703,2099,1995
$GC,12557,1.06,240.1,621.8,5.3,607,12584,0.10,2.67,20.50,1.219,4,0.057,0.056,2740,3506,1898
$GC,12680,1.06,240.1,611.6,9.1,612,12686,0.00,2.58,0.00,0.000,6,0.000,0.048,2740,2094,1898
$GC,12995,1.06,240.1,581.1,11.1,628,12996,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2093,1898
$GC,13305,1.06,240.1,545.3,11.6,643,13306,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2094,1898
$GC,13613,1.06,240.1,517.5,7.5,658,13618,0.00,2.58,0.00,0.000,4,0.000,0.054,2740,3504,1898
$GC,13676,1.06,240.1,512.8,7.1,661,13680,0.00,2.53,0.00,0.000,6,0.000,0.047,2740,2101,1898
$GC,14002,1.06,240.1,490.2,6.9,677,14003,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2100,1898
$GC,14311,1.06,240.1,465.7,8.2,692,14312,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2101,1898
$GC,14620,1.06,240.1,444.3,6.9,707,14621,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2101,1898
$GC,14930,1.06,240.1,421.8,7.6,722,14931,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2101,1898
$GC,15239,1.06,240.1,397.7,8.0,737,15243,0.00,2.58,0.00,0.000,4,0.000,0.051,2740,3507,1898
$GC,15300,1.06,240.1,392.6,8.5,740,15305,0.00,2.53,0.00,0.000,6,0.000,0.043,2740,2092,1898
$GC,15626,1.06,240.1,366.7,8.1,756,15627,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2092,1898
$GC,15935,1.06,240.1,342.4,7.8,771,15936,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2092,1898
$GC,16244,1.06,240.1,317.7,8.3,786,16246,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2092,1898
$GC,16554,1.06,240.1,292.2,8.2,801,16555,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2092,1899
$GC,16863,1.06,240.1,268.4,7.4,816,16864,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2092,1899
$GC,17172,1.06,240.1,245.2,8.0,831,17173,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2092,1899
$GC,17482,1.06,240.1,221.0,7.1,846,17483,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2092,1899
$GC,17791,1.06,240.1,198.4,7.3,861,17792,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2092,1899
$GC,18100,1.06,240.1,173.8,7.6,876,18101,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2091,1900
$GC,18410,1.06,240.1,149.1,7.6,891,18411,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2092,1899
$GC,18720,1.06,240.1,126.0,7.5,906,18724,0.00,2.58,0.00,0.000,4,0.000,0.050,2740,3505,1900
$GC,18808,1.06,240.1,119.0,7.3,910,18813,0.00,2.50,0.00,0.000,6,0.000,0.041,2740,2091,1900
$GC,19136,1.06,240.1,95.3,7.6,926,19137,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2091,1900
$GC,19445,1.06,240.1,70.1,8.3,941,19446,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2091,1900
$GC,19754,1.09,263.6,46.9,5.3,956,19779,0.00,2.62,19.50,0.865,4,0.000,0.061,2740,689,1803
$GC,19825,1.09,263.6,43.0,6.6,959,19829,0.00,2.53,0.00,0.000,6,0.000,0.038,2740,2112,1803
$GC,20145,1.09,263.6,13.1,8.7,975,20146,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2116,1803
$GC,20457,1.34,467.7,2.3,-0.1,990,20569,0.17,2.55,106.30,0.772,4,0.077,0.044,2783,3504,970
$STATE,20808,end climb,NO_VERTICAL_VELOCITY
$STATE,20808,begin surface
$SM_CCo,20811,46.67,0.773,0,0,603,558.06
$SM_CCo,21224,0.62,0.974,0,0,603,558.06
$SM_GC,3.00,0.00,0.00,0.62,0.000,0.000,0.974,28,1901,603,-11.35,0.03,558.06
$IRIDIUM_FIX,6313.04,-1311.66,060108,191909
$TT8_MAMPS,0.026078
$HUMID,2053
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,675.4,61.7
$24V_AH,23.2,53.100
$10V_AH,10.1,25.935
$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,25.900,92.800,454.450,47.300,0.000,72.354,140.922,167.945,7.000,0.000,0.000,13.488,1766.797,16701.699,622.560,2076.500,611.166,33.369,1648.298,0.000,2045.616,0.000,39.455
$DEVICE_MAMPS,137.293,75.166,1267.851,974.090,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,746.505,679.376,642.958,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50622,1006
$CFSIZE,260165632,243142656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,060108,212307,6340.025,-1305.825,31,0.8,31,-12.3