version: 66.02
glider: 102
mission: 4
dive: 247
start: 1 7 108 3 17 45
data:
$ID,102
$MISSION,4
$DIVE,247
$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,-80907.539
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,030707,6340.478,-1307.353,27,1.5,27,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-50.4
$GPS2,031651,6340.357,-1307.399,11,1.5,11,-12.4
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.169,0.123
$KALMAN_X,331658.1,-1020.9,-2045.9,-573224.8,6261.1
$KALMAN_Y,-41858.7,692.1,-351.5,277120.2,-9196.8
$MHEAD_RNG_PITCHd_Wd,318.3,17985,-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,-82.00,0.000,2,0.000,0.000,26,1879,2248
$GC,109,-0.95,-146.6,3.6,-1.1,4,183,11.65,0.00,-59.08,0.000,6,0.128,0.000,2284,1880,3477
$GC,482,-0.95,-146.6,32.0,-9.1,22,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1880,3476
$GC,791,-0.95,-146.6,56.0,-5.9,37,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1880,3477
$GC,1099,-0.95,-146.6,79.0,-6.4,52,1103,0.00,2.58,0.00,0.000,4,0.000,0.048,2284,3301,3476
$GC,1170,-0.95,-146.6,84.6,-9.1,55,1174,0.00,2.47,0.00,0.000,6,0.000,0.043,2283,1908,3476
$GC,1493,-0.95,-146.6,107.5,-7.1,71,1498,0.00,2.53,0.00,0.000,4,0.000,0.048,2284,3302,3477
$GC,1555,-0.95,-146.6,112.6,-7.9,74,1559,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1896,3476
$GC,1881,-0.95,-146.6,135.9,-7.6,90,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1896,3476
$GC,2190,-0.95,-146.6,157.9,-6.5,105,2194,0.00,2.55,0.00,0.000,4,0.000,0.048,2284,3303,3476
$GC,2267,-0.95,-146.6,163.7,-7.4,108,2273,0.00,2.53,0.00,0.000,6,0.000,0.043,2284,1895,3476
$GC,2583,-0.95,-146.6,187.7,-7.6,124,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1895,3476
$GC,2892,-0.95,-146.6,211.0,-7.5,139,2896,0.00,2.55,0.00,0.000,4,0.000,0.049,2283,3304,3476
$GC,2975,-0.95,-146.6,217.5,-7.5,143,2979,0.00,2.53,0.00,0.000,6,0.000,0.043,2284,1896,3476
$GC,3301,-0.95,-146.6,242.3,-7.5,159,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3476
$GC,3610,-0.95,-146.6,265.5,-7.4,174,3614,0.00,2.55,0.00,0.000,4,0.000,0.049,2284,3303,3476
$GC,3675,-0.95,-146.6,270.4,-6.9,177,3680,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1894,3476
$GC,4002,-0.95,-146.6,292.8,-6.9,193,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1894,3476
$GC,4311,-0.95,-146.6,314.1,-6.5,208,4316,0.00,2.58,0.00,0.000,4,0.000,0.051,2284,3310,3476
$GC,4389,-0.95,-146.6,319.7,-8.1,211,4395,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1901,3476
$GC,4705,-0.95,-146.6,343.0,-7.5,227,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3476
$GC,5013,-0.95,-146.6,367.1,-8.6,242,5018,0.00,2.55,0.00,0.000,4,0.000,0.050,2284,3310,3476
$GC,5075,-0.95,-146.6,372.5,-8.7,245,5079,0.00,2.55,0.00,0.000,6,0.000,0.044,2284,1893,3476
$GC,5401,-0.95,-146.6,398.3,-7.4,261,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1892,3476
$GC,5710,-0.95,-146.6,422.0,-7.6,276,5715,0.00,2.55,0.00,0.000,4,0.000,0.051,2284,3305,3476
$GC,5772,-0.95,-146.6,426.9,-8.2,279,5776,0.00,2.53,0.00,0.000,6,0.000,0.046,2283,1901,3476
$GC,6098,-0.95,-146.6,452.5,-7.8,295,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3476
$GC,6408,-0.95,-146.6,475.5,-7.4,310,6412,0.00,2.55,0.00,0.000,4,0.000,0.051,2283,3309,3475
$GC,6469,-0.95,-146.6,480.1,-7.4,313,6473,0.00,2.55,0.00,0.000,6,0.000,0.046,2284,1894,3476
$GC,6794,-0.95,-146.6,503.3,-6.8,329,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1893,3476
$GC,7103,-0.95,-146.6,523.7,-6.7,344,7108,0.00,2.55,0.00,0.000,4,0.000,0.052,2283,3302,3476
$GC,7181,-0.95,-146.6,529.3,-7.6,347,7187,0.00,2.53,0.00,0.000,6,0.000,0.046,2284,1901,3476
$GC,7499,-0.95,-146.6,551.3,-7.1,363,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3476
$GC,7806,-0.95,-146.6,571.4,-6.3,378,7810,0.00,2.55,0.00,0.000,4,0.000,0.054,2284,3301,3475
$GC,7872,-0.95,-146.6,576.0,-6.8,381,7876,0.00,2.53,0.00,0.000,6,0.000,0.047,2284,1894,3475
$GC,8198,-0.95,-146.6,595.8,-6.1,397,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1894,3475
$GC,8508,-0.95,-146.6,616.3,-7.0,412,8512,0.00,2.58,0.00,0.000,4,0.000,0.056,2284,3305,3476
$GC,8585,-0.95,-146.6,622.0,-8.2,415,8591,0.00,2.55,0.00,0.000,6,0.000,0.048,2284,1897,3475
$GC,8900,-0.95,-146.6,644.4,-6.9,431,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1897,3475
$GC,9210,-0.95,-146.6,664.8,-6.9,446,9214,0.00,2.58,0.00,0.000,4,0.000,0.058,2284,3303,3475
$GC,9271,-0.95,-146.6,668.8,-6.1,449,9276,0.00,2.55,0.00,0.000,6,0.000,0.050,2284,1901,3475
$GC,9597,-0.95,-146.6,691.3,-7.2,465,9598,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3476
$GC,9907,-0.95,-146.6,711.8,-6.4,480,9911,0.00,2.58,0.00,0.000,4,0.000,0.058,2284,3301,3476
$GC,9972,-0.95,-146.6,716.2,-6.9,483,9977,0.00,2.55,0.00,0.000,6,0.000,0.051,2284,1898,3476
$GC,10299,-0.95,-146.6,736.3,-7.2,499,10300,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3475
$STATE,10462,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10462,begin apogee
$GC,10468,-0.36,0.0,747.0,6.2,507,10596,0.62,0.00,125.07,1.295,6,0.071,0.000,2421,2103,2878
$STATE,10597,end apogee,CONTROL_FINISHED_OK
$STATE,10597,begin climb
$GC,10599,0.95,146.6,752.1,0.0,513,10731,1.25,2.67,123.57,1.267,4,0.050,0.065,2702,3496,2280
$GC,10874,0.98,171.2,742.4,5.3,526,10902,0.00,2.58,21.70,1.245,6,0.000,0.052,2703,2096,2179
$GC,11225,1.00,189.2,724.3,5.5,543,11247,0.00,2.67,16.27,1.253,4,0.000,0.061,2702,3497,2105
$GC,11437,1.00,189.2,707.5,8.9,552,11441,0.00,2.55,0.00,0.000,6,0.000,0.051,2703,2099,2105
$GC,11758,1.00,189.2,681.9,7.3,568,11762,0.00,2.60,0.00,0.000,4,0.000,0.061,2703,3497,2104
$GC,11846,1.00,189.2,675.3,7.7,572,11851,0.00,2.53,0.00,0.000,6,0.000,0.049,2703,2101,2104
$GC,12167,1.06,240.9,655.2,4.5,588,12213,0.10,0.00,43.33,1.265,6,0.060,0.000,2737,2101,1895
$GC,12516,1.06,240.9,633.6,6.7,605,12518,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2101,1895
$GC,12826,1.06,240.9,606.8,9.4,620,12827,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2101,1895
$GC,13135,1.06,240.9,584.2,6.5,635,13136,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2100,1894
$GC,13444,1.06,240.9,564.8,6.1,650,13445,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2101,1895
$GC,13754,1.06,240.9,543.6,7.1,665,13755,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2101,1895
$GC,14063,1.06,240.9,518.8,8.5,680,14064,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2101,1895
$GC,14372,1.06,240.9,493.0,8.3,695,14373,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2101,1895
$GC,14682,1.06,240.9,468.2,8.0,710,14683,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2101,1896
$GC,14991,1.06,240.9,445.5,7.0,725,14995,0.00,2.55,0.00,0.000,4,0.000,0.051,2737,3498,1896
$GC,15068,1.06,240.9,438.5,8.9,728,15074,0.00,2.50,0.00,0.000,6,0.000,0.043,2737,2098,1896
$GC,15384,1.06,240.9,412.4,8.6,744,15385,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2098,1896
$GC,15693,1.06,240.9,385.2,8.9,759,15694,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2098,1896
$GC,16002,1.06,240.9,358.0,8.8,774,16003,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2098,1897
$GC,16311,1.06,240.9,333.6,7.3,789,16313,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2098,1897
$GC,16620,1.06,240.9,312.3,7.6,804,16622,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2098,1897
$GC,16930,1.06,240.9,285.7,9.3,819,16931,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2098,1897
$GC,17239,1.06,240.9,257.5,8.7,834,17243,0.00,2.55,0.00,0.000,4,0.000,0.051,2737,3501,1898
$GC,17301,1.06,240.9,251.7,8.5,837,17305,0.00,2.50,0.00,0.000,6,0.000,0.042,2737,2093,1898
$GC,17626,1.06,240.9,226.6,7.2,853,17627,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2094,1898
$GC,17936,1.15,312.9,208.4,3.9,868,17997,0.00,0.00,58.33,0.953,6,0.000,0.000,2737,2093,1602
$GC,18305,1.15,312.9,174.8,9.8,886,18306,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2094,1601
$GC,18615,1.15,312.9,147.0,9.3,901,18616,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2094,1601
$GC,18926,1.15,312.9,118.8,10.9,916,18930,0.00,2.60,0.00,0.000,4,0.000,0.064,2737,689,1601
$GC,19019,1.15,312.9,110.2,7.3,920,19024,0.00,2.50,0.00,0.000,6,0.000,0.040,2737,2104,1601
$GC,19341,1.15,312.9,81.8,8.8,936,19342,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2107,1601
$GC,19650,1.15,312.9,52.5,8.1,951,19655,0.00,2.62,0.00,0.000,4,0.000,0.061,2737,690,1601
$GC,19717,1.21,365.0,49.1,4.5,954,19763,0.10,2.50,40.53,0.851,6,0.057,0.041,2775,2108,1390
$GC,20079,1.21,365.0,17.5,12.5,972,20080,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2108,1389
$GC,20388,1.47,571.8,2.4,-0.1,987,20500,0.15,2.60,103.82,0.788,4,0.057,0.049,2817,3491,602
$STATE,20582,end climb,NO_VERTICAL_VELOCITY
$STATE,20582,begin surface
$SM_CCo,21007,0.00,0.000,0,0,603,558.06
$SM_GC,3.02,12.12,0.00,0.00,0.034,0.000,0.000,28,1902,603,-11.27,0.06,558.06
$IRIDIUM_FIX,6313.04,-1302.22,070108,070712
$TT8_MAMPS,0.026845
$HUMID,2051
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,675.4,80.7
$24V_AH,23.2,53.456
$10V_AH,10.1,26.118
$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,26.000,113.050,532.625,0.000,0.000,77.599,73.116,252.486,7.250,0.000,0.000,12.533,1764.536,16403.812,664.189,2119.723,639.305,33.374,1727.675,0.000,2081.050,0.000,43.124
$DEVICE_MAMPS,128.089,65.195,1295.463,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,740.668,671.618,610.279,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50526,996
$CFSIZE,260165632,243011584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,070108,090907,6342.956,-1310.825,41,1.1,41,-12.4