version: 66.02
glider: 102
mission: 4
dive: 249
start: 1 7 108 16 8 52
data:
$ID,102
$MISSION,4
$DIVE,249
$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,-80932.781
$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,26
$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
$GPS1,155231,6344.802,-1309.641,37,1.5,37,-12.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-56.8
$GPS2,160757,6344.713,-1309.692,9,1.5,9,-12.4
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.166,0.126
$KALMAN_X,348817.8,-561.0,-13989.7,-580920.4,74722.0
$KALMAN_Y,-51790.9,770.7,8689.9,285963.8,-47194.7
$MHEAD_RNG_PITCHd_Wd,319.6,9795,-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,-146.6,0.0,0.0,0,105,0.00,0.00,-81.20,0.000,2,0.000,0.000,28,1886,2207
$GC,108,-0.95,-146.6,3.0,-0.3,4,220,11.80,2.58,-93.75,0.000,4,0.134,0.074,2283,494,3475
$GC,371,-0.95,-146.6,12.6,-7.9,16,375,0.00,2.47,0.00,0.000,6,0.000,0.041,2283,1908,3475
$GC,698,-0.95,-146.6,41.5,-8.7,32,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1912,3475
$GC,1007,-0.95,-146.6,65.6,-7.2,47,1012,0.00,2.53,0.00,0.000,4,0.000,0.049,2283,3304,3476
$GC,1057,-0.95,-146.6,69.1,-7.1,49,1061,0.00,2.53,0.00,0.000,6,0.000,0.042,2283,1900,3475
$GC,1373,-0.95,-146.6,90.3,-6.8,64,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3475
$GC,1682,-0.95,-146.6,111.4,-6.4,79,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3475
$GC,1991,-0.95,-146.6,133.8,-7.8,94,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3475
$GC,2300,-0.95,-146.6,159.0,-8.3,109,2304,0.00,2.53,0.00,0.000,4,0.000,0.046,2283,3300,3475
$GC,2394,-0.95,-146.6,166.9,-8.8,113,2398,0.00,2.50,0.00,0.000,6,0.000,0.042,2283,1901,3475
$GC,2715,-0.95,-146.6,193.5,-8.1,129,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1901,3475
$GC,3024,-0.95,-146.6,212.1,-5.1,144,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1901,3475
$GC,3333,-0.95,-146.6,229.5,-6.8,159,3337,0.00,2.53,0.00,0.000,4,0.000,0.048,2283,3300,3475
$GC,3405,-0.95,-146.6,234.6,-7.0,162,3410,0.00,2.53,0.00,0.000,6,0.000,0.043,2283,1895,3475
$GC,3720,-0.95,-146.6,254.1,-6.1,177,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1895,3475
$GC,4030,-0.95,-146.6,271.9,-5.2,192,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1895,3475
$GC,4340,-0.95,-146.6,286.9,-5.4,207,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1895,3475
$GC,4648,-0.95,-146.6,305.9,-6.7,222,4653,0.00,2.55,0.00,0.000,4,0.000,0.049,2283,3303,3475
$GC,4714,-0.95,-146.6,310.8,-7.9,225,4719,0.00,2.53,0.00,0.000,6,0.000,0.044,2283,1898,3475
$GC,5042,-0.95,-146.6,334.8,-7.4,241,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3475
$GC,5351,-0.95,-146.6,358.1,-7.6,256,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3475
$GC,5661,-0.95,-146.6,383.3,-8.4,271,5665,0.00,2.55,0.00,0.000,4,0.000,0.049,2283,3304,3475
$GC,5722,-0.95,-146.6,388.6,-8.3,274,5726,0.00,2.53,0.00,0.000,6,0.000,0.044,2283,1901,3475
$GC,6047,-0.95,-146.6,415.2,-8.1,290,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1901,3475
$GC,6357,-0.95,-146.6,437.3,-6.5,305,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1901,3475
$GC,6666,-0.95,-146.6,456.6,-6.0,320,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3474
$GC,6978,-0.95,-146.6,476.0,-6.6,335,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3474
$GC,7285,-0.95,-146.6,497.5,-7.5,350,7289,0.00,2.55,0.00,0.000,4,0.000,0.050,2283,3303,3474
$GC,7346,-0.95,-146.6,502.2,-7.8,353,7350,0.00,2.55,0.00,0.000,6,0.000,0.046,2283,1894,3475
$GC,7672,-0.95,-146.6,526.3,-7.6,369,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1894,3474
$GC,7982,-0.95,-146.6,551.2,-7.8,384,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1894,3474
$GC,8290,-0.95,-146.6,573.6,-7.0,399,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1894,3474
$GC,8599,-0.95,-146.6,594.7,-7.0,414,8603,0.00,2.58,0.00,0.000,4,0.000,0.056,2283,3301,3474
$GC,8665,-0.95,-146.6,599.4,-7.8,417,8669,0.00,2.53,0.00,0.000,6,0.000,0.047,2283,1902,3474
$GC,8986,-0.95,-146.6,622.8,-6.8,433,8990,0.00,2.58,0.00,0.000,4,0.000,0.055,2283,3303,3474
$GC,9080,-0.95,-146.6,628.2,-5.7,437,9084,0.00,2.55,0.00,0.000,6,0.000,0.048,2283,1895,3474
$GC,9395,-0.95,-146.6,645.8,-6.1,452,9399,0.00,2.58,0.00,0.000,4,0.000,0.056,2283,3297,3474
$GC,9458,-0.95,-146.6,650.3,-7.1,455,9462,0.00,2.55,0.00,0.000,6,0.000,0.049,2282,1892,3474
$GC,9785,-0.95,-146.6,675.7,-7.1,471,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1892,3474
$GC,10093,-0.95,-146.6,699.6,-8.2,486,10097,0.00,2.60,0.00,0.000,4,0.000,0.057,2283,3303,3474
$GC,10192,-0.95,-146.6,708.1,-8.0,490,10199,0.00,2.58,0.00,0.000,6,0.000,0.051,2283,1906,3474
$GC,10509,-0.95,-146.6,730.7,-8.9,506,10510,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3474
$GC,10818,-0.95,-146.6,745.6,-0.2,521,10822,0.00,2.65,0.00,0.000,4,0.000,0.075,2283,494,3473
$GC,11075,-0.95,-146.6,745.5,-0.5,532,11081,0.00,2.50,0.00,0.000,6,0.000,0.050,2283,1902,3473
$STATE,11099,end dive,NO_VERTICAL_VELOCITY
$STATE,11100,begin apogee
$GC,11105,-0.36,0.0,745.4,0.0,534,11233,0.60,0.00,124.30,1.304,6,0.047,0.000,2423,2102,2878
$STATE,11233,end apogee,CONTROL_FINISHED_OK
$STATE,11233,begin climb
$GC,11235,0.95,146.6,745.2,0.0,540,11367,1.23,2.67,123.35,1.271,4,0.046,0.065,2705,3497,2280
$GC,11622,1.04,222.1,732.3,3.7,557,11693,0.00,2.58,63.38,1.290,6,0.000,0.052,2705,2099,1971
$GC,12021,1.06,238.2,717.9,5.5,577,12042,0.00,2.65,14.20,1.288,4,0.000,0.061,2705,3497,1906
$GC,12199,1.06,238.2,703.4,10.1,585,12204,0.00,2.55,0.00,0.000,6,0.000,0.051,2705,2099,1905
$GC,12525,1.06,238.2,665.4,13.6,601,12526,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2099,1905
$GC,12835,1.06,238.2,627.0,9.8,616,12836,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2099,1904
$GC,13144,1.16,321.5,606.7,3.5,631,13216,0.20,0.00,68.50,1.253,6,0.038,0.000,2766,2099,1567
$GC,13513,1.16,321.5,577.6,10.2,649,13514,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2099,1568
$GC,13822,1.16,321.5,542.9,11.6,664,13827,0.00,2.62,0.00,0.000,4,0.000,0.070,2767,690,1568
$GC,13872,1.16,321.5,536.2,12.8,666,13876,0.00,2.50,0.00,0.000,6,0.000,0.043,2766,2100,1568
$GC,14193,1.16,321.5,491.3,14.3,682,14194,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2104,1568
$GC,14502,1.16,321.5,456.7,9.1,697,14507,0.00,2.62,0.00,0.000,4,0.000,0.066,2766,690,1569
$GC,14546,1.16,321.5,452.6,8.6,699,14550,0.00,2.50,0.00,0.000,6,0.000,0.042,2766,2096,1568
$GC,14873,1.16,321.5,427.5,8.1,715,14874,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2100,1569
$GC,15182,1.16,321.5,401.2,8.9,730,15183,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2100,1569
$GC,15491,1.16,321.5,366.6,12.2,745,15492,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2100,1569
$GC,15800,1.16,321.5,324.2,13.7,760,15802,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2100,1570
$GC,16110,1.16,321.5,287.4,10.6,775,16114,0.00,2.62,0.00,0.000,4,0.000,0.064,2766,689,1570
$GC,16171,1.16,321.5,281.3,9.9,778,16175,0.00,2.50,0.00,0.000,6,0.000,0.040,2766,2104,1570
$GC,16496,1.16,321.5,254.1,8.2,794,16498,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2108,1570
$GC,16806,1.16,321.5,223.2,10.6,809,16810,0.00,2.62,0.00,0.000,4,0.000,0.063,2766,690,1570
$GC,16855,1.16,321.5,217.0,14.1,811,16859,0.00,2.50,0.00,0.000,6,0.000,0.040,2766,2093,1570
$GC,17176,1.16,321.5,176.1,12.9,827,17177,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2097,1570
$GC,17486,1.16,321.5,144.6,10.8,842,17487,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2096,1571
$GC,17795,1.16,321.5,109.3,12.3,857,17799,0.00,2.60,0.00,0.000,4,0.000,0.061,2767,688,1571
$GC,17844,1.16,321.5,103.6,10.5,859,17848,0.00,2.50,0.00,0.000,6,0.000,0.039,2766,2110,1570
$GC,18165,1.16,321.5,75.3,9.5,875,18167,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2114,1571
$GC,18477,1.16,321.5,48.1,9.9,890,18478,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2114,1570
$GC,18784,1.16,321.5,18.1,11.1,905,18785,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2114,1571
$GC,19093,1.41,521.7,2.2,0.0,920,19185,0.15,0.00,88.00,0.819,2,0.058,0.000,2808,2116,896
$STATE,19185,end climb,SURFACE_DEPTH_REACHED
$STATE,19186,begin surface coast
$FINISH,2.3,1.013666
$STATE,19342,end surface coast,NO_VERTICAL_VELOCITY
$STATE,19342,begin surface
$SM_CCo,19345,37.70,0.805,0,0,603,558.06
$SM_GC,2.80,11.98,0.00,0.00,0.029,0.000,0.000,31,1879,603,-11.26,-0.59,558.06
$IRIDIUM_FIX,6317.84,-1304.41,070108,202035
$TT8_MAMPS,0.026845
$HUMID,2063
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.60
$XPDR_PINGS,2
$24V_AH,23.3,53.838
$10V_AH,10.1,26.317
$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,25.950,97.900,481.725,37.700,0.000,156.788,225.716,240.680,6.500,0.000,0.000,11.321,1661.552,15509.538,660.008,2037.245,860.329,33.369,1684.169,0.000,2007.345,0.000,39.724
$DEVICE_MAMPS,134.225,75.166,1303.900,804.583,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,686.665,629.080,587.999,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47396,932
$CFSIZE,260165632,242884608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,070108,214008,6347.793,-1311.070,36,1.2,36,-12.4