version: 66.02
glider: 102
mission: 4
dive: 250
start: 1 7 108 21 56 38
data:
$ID,102
$MISSION,4
$DIVE,250
$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,-80968.297
$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,34
$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
$GPS1,214008,6347.793,-1311.070,36,1.2,36,-12.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-55.0
$GPS2,215544,6347.887,-1310.933,14,1.1,31,-12.4
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.193,0.080
$KALMAN_X,338940.3,436.8,-1682.6,-585484.5,13454.8
$KALMAN_Y,-43598.9,-858.1,4511.0,289491.5,-12086.9
$MHEAD_RNG_PITCHd_Wd,304.9,27256,-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,-146.6,0.0,0.0,0,85,0.00,0.00,-61.12,0.000,2,0.000,0.000,30,1877,1862
$GC,88,-0.95,-146.6,3.1,-0.6,3,233,11.38,2.60,-123.03,0.000,4,0.117,0.061,2284,3296,3476
$GC,459,-0.95,-146.6,22.0,-7.1,20,463,0.00,2.50,0.00,0.000,6,0.000,0.042,2284,1899,3475
$GC,785,-0.95,-146.6,45.4,-5.7,36,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1899,3475
$GC,1096,-0.95,-146.6,68.2,-6.2,51,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3475
$GC,1403,-0.95,-146.6,87.5,-7.1,66,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3475
$GC,1713,-0.95,-146.6,106.9,-5.9,81,1717,0.00,2.53,0.00,0.000,4,0.000,0.047,2284,3299,3475
$GC,1802,-0.95,-146.6,111.8,-5.3,85,1806,0.00,2.47,0.00,0.000,6,0.000,0.042,2284,1899,3475
$GC,2122,-0.95,-146.6,130.9,-6.4,101,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3475
$GC,2432,-0.95,-146.6,151.7,-5.4,116,2436,0.00,2.53,0.00,0.000,4,0.000,0.047,2284,3300,3475
$GC,2493,-0.95,-146.6,158.0,-11.5,119,2498,0.00,2.47,0.00,0.000,6,0.000,0.041,2284,1900,3475
$GC,2819,-0.95,-146.6,182.8,-7.0,135,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1899,3475
$GC,3129,-0.95,-146.6,203.3,-6.0,150,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3475
$GC,3441,-0.95,-146.6,225.2,-7.8,165,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1899,3475
$GC,3748,-0.95,-146.6,251.4,-9.3,180,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1899,3475
$GC,4056,-0.95,-146.6,274.7,-6.9,195,4061,0.00,2.53,0.00,0.000,4,0.000,0.048,2284,3298,3475
$GC,4141,-0.95,-146.6,280.0,-7.1,199,4145,0.00,2.50,0.00,0.000,6,0.000,0.043,2284,1901,3475
$GC,4466,-0.95,-146.6,302.5,-8.0,215,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3475
$GC,4776,-0.95,-146.6,326.7,-7.6,230,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3475
$GC,5085,-0.95,-146.6,349.0,-6.6,245,5089,0.00,2.53,0.00,0.000,4,0.000,0.048,2284,3298,3476
$GC,5146,-0.95,-146.6,353.0,-6.5,248,5150,0.00,2.50,0.00,0.000,6,0.000,0.044,2284,1901,3475
$GC,5472,-0.95,-146.6,374.4,-6.4,264,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3475
$GC,5781,-0.95,-146.6,397.7,-8.9,279,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3476
$GC,6090,-0.95,-146.6,428.1,-10.2,294,6094,0.00,2.53,0.00,0.000,4,0.000,0.050,2284,3297,3475
$GC,6156,-0.95,-146.6,434.9,-10.6,297,6160,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1894,3475
$GC,6477,-0.95,-146.6,462.6,-8.2,313,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1892,3475
$GC,6786,-0.95,-146.6,481.9,-5.8,328,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1892,3474
$GC,7096,-0.95,-146.6,499.5,-5.8,343,7100,0.00,2.55,0.00,0.000,4,0.000,0.051,2284,3297,3474
$GC,7173,-0.95,-146.6,504.3,-6.1,346,7179,0.00,2.53,0.00,0.000,6,0.000,0.045,2284,1896,3474
$GC,7489,-0.95,-146.6,522.2,-5.5,362,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3474
$GC,7798,-0.95,-146.6,540.5,-6.6,377,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3474
$GC,8107,-0.95,-146.6,562.5,-7.2,392,8111,0.00,2.55,0.00,0.000,4,0.000,0.053,2284,3297,3474
$GC,8178,-0.95,-146.6,567.9,-7.2,395,8183,0.00,2.53,0.00,0.000,6,0.000,0.046,2284,1895,3474
$GC,8494,-0.95,-146.6,588.8,-7.0,410,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1895,3474
$GC,8803,-0.95,-146.6,612.0,-8.0,425,8807,0.00,2.55,0.00,0.000,4,0.000,0.055,2284,3296,3474
$GC,8914,-0.95,-146.6,620.6,-7.1,430,8918,0.00,2.53,0.00,0.000,6,0.000,0.048,2284,1901,3474
$GC,9235,-0.95,-146.6,639.7,-5.8,446,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3474
$GC,9544,-0.95,-146.6,653.4,-4.3,461,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3474
$GC,9853,-0.95,-146.6,671.4,-6.0,476,9855,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3474
$GC,10162,-0.95,-146.6,692.3,-7.3,491,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3473
$GC,10472,-0.95,-146.6,711.2,-5.3,506,10476,0.00,2.58,0.00,0.000,4,0.000,0.057,2284,3299,3473
$GC,10527,-0.95,-146.6,714.5,-6.0,508,10533,0.00,2.53,0.00,0.000,6,0.000,0.051,2284,1901,3473
$GC,10842,-0.95,-146.6,731.8,-6.0,524,10843,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3473
$GC,11151,-0.95,-146.6,751.9,-6.3,539,11152,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3473
$GC,11461,-0.95,-146.6,770.2,-6.1,554,11465,0.00,2.58,0.00,0.000,4,0.000,0.059,2284,3300,3472
$GC,11526,-0.95,-146.6,774.5,-6.1,557,11531,0.00,2.55,0.00,0.000,6,0.000,0.054,2284,1892,3472
$GC,11854,-0.95,-146.6,793.8,-5.9,573,11858,0.00,2.60,0.00,0.000,4,0.000,0.063,2284,3297,3471
$GC,11925,-0.95,-146.6,798.5,-6.1,576,11929,0.00,2.55,0.00,0.000,6,0.000,0.056,2284,1901,3472
$GC,12246,-0.95,-146.6,817.0,-6.3,592,12250,0.00,2.58,0.00,0.000,4,0.000,0.064,2284,3293,3471
$GC,12296,-0.95,-146.6,819.8,-4.7,594,12300,0.00,2.55,0.00,0.000,6,0.000,0.055,2284,1897,3471
$GC,12611,-0.95,-146.6,832.4,0.1,609,12615,0.00,2.65,0.00,0.000,4,0.000,0.081,2284,493,3470
$GC,12868,-0.95,-146.6,832.4,0.0,620,12874,0.00,2.50,0.00,0.000,6,0.000,0.054,2284,1901,3469
$STATE,13078,end dive,NO_VERTICAL_VELOCITY
$STATE,13078,begin apogee
$GC,13084,-0.36,0.0,832.4,0.0,631,13212,0.60,0.00,124.82,1.403,6,0.060,0.000,2420,2101,2878
$STATE,13213,end apogee,CONTROL_FINISHED_OK
$STATE,13213,begin climb
$GC,13215,0.95,146.6,832.3,0.0,637,13343,1.27,0.00,124.38,1.357,6,0.057,0.000,2702,2101,2280
$GC,13647,0.96,153.0,813.5,5.8,658,13660,0.00,2.72,6.40,1.282,4,0.000,0.073,2702,689,2254
$GC,13785,0.97,166.7,805.5,5.6,664,13805,0.00,2.58,12.75,1.333,6,0.000,0.052,2702,2098,2198
$GC,14132,1.01,196.5,787.7,5.1,681,14164,0.00,2.70,26.33,1.350,4,0.000,0.066,2701,3505,2076
$GC,14304,1.01,196.5,776.5,6.9,689,14308,0.00,2.60,0.00,0.000,6,0.000,0.055,2702,2099,2075
$GC,14629,1.01,196.5,756.3,6.4,705,14630,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2099,2074
$GC,14939,1.01,196.5,735.9,6.8,720,14940,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2099,2074
$GC,15249,1.01,199.4,717.5,5.9,735,15250,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2099,2074
$GC,15557,1.01,199.4,696.8,6.7,750,15562,0.00,0.00,3.50,1.203,6,0.000,0.000,2702,2099,2064
$GC,15866,1.01,199.4,676.2,6.4,765,15871,0.00,2.60,0.00,0.000,4,0.000,0.059,2702,3501,2063
$GC,15944,1.01,199.4,670.8,6.7,768,15950,0.00,2.55,0.00,0.000,6,0.000,0.050,2701,2098,2063
$GC,16259,1.01,199.4,651.2,6.2,784,16260,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,2063
$GC,16569,1.02,207.9,631.8,5.7,799,16583,0.00,2.67,7.95,1.274,4,0.000,0.058,2702,3504,2030
$GC,16645,1.02,207.9,626.5,7.1,802,16649,0.00,2.55,0.00,0.000,6,0.000,0.048,2702,2098,2030
$GC,16960,1.02,207.9,605.3,6.7,817,16961,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2099,2030
$GC,17270,1.02,207.9,584.5,6.3,832,17271,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2099,2030
$GC,17578,1.02,207.9,563.8,8.0,847,17580,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2099,2030
$GC,17888,1.02,207.9,538.3,8.7,862,17889,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2099,2030
$GC,18197,1.02,207.9,513.4,7.2,877,18198,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,2031
$GC,18506,1.02,207.9,489.3,7.4,892,18507,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,2031
$GC,18815,1.02,207.9,468.6,6.7,907,18817,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,2031
$GC,19125,1.02,207.9,449.6,6.1,922,19126,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,2031
$GC,19435,1.04,222.2,431.9,5.6,937,19453,0.00,0.00,13.05,1.128,6,0.000,0.000,2702,2098,1972
$GC,19763,1.04,222.2,411.5,6.5,953,19764,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,1972
$GC,20073,1.04,223.3,392.1,6.0,968,20074,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,1972
$GC,20382,1.04,223.3,373.5,6.3,983,20386,0.00,2.60,0.00,0.000,4,0.000,0.065,2702,685,1973
$GC,20436,1.04,223.3,369.7,7.0,985,20443,0.00,2.53,0.00,0.000,6,0.000,0.041,2702,2108,1973
$GC,20752,1.04,223.3,348.9,6.4,1001,20753,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2111,1973
$GC,21061,1.04,223.3,329.2,6.3,1016,21062,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2111,1973
$GC,21370,1.04,223.3,309.1,6.6,1031,21372,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2111,1974
$GC,21680,1.04,223.3,287.3,7.2,1046,21684,0.00,2.60,0.00,0.000,4,0.000,0.061,2702,690,1974
$GC,21763,1.04,223.3,281.0,7.9,1050,21768,0.00,2.50,0.00,0.000,6,0.000,0.040,2702,2106,1974
$GC,22090,1.04,223.3,258.8,6.9,1066,22091,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2111,1974
$GC,22399,1.04,223.3,238.4,6.2,1081,22401,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2111,1974
$GC,22709,1.05,229.7,220.3,5.8,1096,22723,0.00,2.67,7.80,0.992,4,0.000,0.061,2702,692,1940
$GC,22774,1.06,235.6,216.2,5.8,1099,22786,0.10,2.47,5.97,0.987,6,0.056,0.040,2740,2109,1916
$GC,23103,1.06,235.6,193.8,6.9,1115,23104,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2108,1916
$GC,23410,1.06,235.6,169.3,7.3,1130,23412,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2109,1916
$GC,23720,1.06,235.6,148.7,6.2,1145,23721,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2109,1916
$GC,24030,1.06,235.6,127.4,8.1,1160,24031,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2109,1916
$GC,24339,1.06,235.6,99.4,8.8,1175,24340,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2108,1917
$GC,24649,1.06,235.6,75.1,7.9,1190,24651,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2108,1917
$GC,24958,1.06,235.6,47.3,8.8,1205,24959,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2109,1917
$GC,25267,1.10,269.8,26.3,5.0,1220,25296,0.00,0.00,27.35,0.851,6,0.000,0.000,2740,2109,1778
$GC,25597,1.10,269.8,11.4,7.0,1236,25598,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2109,1777
$GC,25906,1.35,471.0,2.1,-0.0,1251,25920,0.17,0.00,11.80,0.854,2,0.047,0.000,2795,2112,1721
$STATE,25921,end climb,SURFACE_DEPTH_REACHED
$STATE,25921,begin surface coast
$FINISH,2.4,1.027365
$STATE,26093,end surface coast,NO_VERTICAL_VELOCITY
$STATE,26093,begin surface
$SM_CCo,26096,141.27,0.758,1,0,603,558.06
$SM_GC,2.87,12.00,0.00,0.00,0.028,0.000,0.000,30,1886,602,-11.26,-0.42,558.30
$IRIDIUM_FIX,6317.84,-1308.04,070108,202040
$TT8_MAMPS,0.026078
$HUMID,2024
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.60
$XPDR_PINGS,5
$24V_AH,23.2,54.026
$10V_AH,10.1,26.433
$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,25.525,108.150,372.100,141.275,0.000,187.350,375.832,0.000,8.250,0.000,0.000,34.886,2197.870,20952.873,740.833,2552.310,851.558,33.369,1961.653,0.000,2505.322,0.000,46.185
$DEVICE_MAMPS,116.584,80.535,1402.843,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,949.271,854.300,747.497,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63051,1260
$CFSIZE,260165632,242749440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,080108,051725,6350.296,-1318.672,36,1.8,54,-12.5