version: 66.02
glider: 102
mission: 4
dive: 252
start: 1 8 108 12 42 15
data:
$ID,102
$MISSION,4
$DIVE,252
$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,-81038.055
$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,23
$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
$GPS1,123025,6356.330,-1319.313,38,2.0,38,-12.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-54.2
$GPS2,124123,6356.409,-1319.361,12,2.1,31,-12.6
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.207,-0.030
$KALMAN_X,340529.3,419.4,-1053.2,-595110.1,8260.1
$KALMAN_Y,-32244.1,138.6,2032.8,295384.6,-19.4
$MHEAD_RNG_PITCHd_Wd,274.2,10901,-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,22,-0.95,-146.6,0.0,0.0,0,115,0.00,0.00,-91.25,0.000,2,0.000,0.000,34,1890,2385
$GC,118,-0.95,-146.6,3.5,-0.8,5,202,11.88,2.58,-61.40,0.000,4,0.137,0.061,2286,3294,3476
$GC,454,-0.95,-146.6,22.9,-6.2,20,458,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1898,3476
$GC,775,-0.95,-146.6,49.7,-9.9,36,780,0.00,2.53,0.00,0.000,4,0.000,0.047,2286,3297,3476
$GC,909,-0.95,-146.6,61.2,-9.3,42,913,0.00,2.50,0.00,0.000,6,0.000,0.042,2286,1901,3476
$GC,1238,-0.95,-146.6,85.9,-7.0,58,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,1546,-0.95,-146.6,108.4,-7.9,73,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,1855,-0.95,-146.6,130.9,-7.1,88,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,2164,-0.95,-146.6,151.4,-5.6,103,2168,0.00,2.53,0.00,0.000,4,0.000,0.047,2286,3300,3475
$GC,2264,-0.95,-146.6,157.7,-8.0,107,2271,0.00,2.53,0.00,0.000,6,0.000,0.042,2286,1892,3475
$GC,2580,-0.95,-146.6,180.2,-7.4,123,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1892,3476
$GC,2890,-0.95,-146.6,200.6,-6.7,138,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1892,3475
$GC,3198,-0.95,-146.6,222.8,-8.5,153,3202,0.00,2.55,0.00,0.000,4,0.000,0.048,2286,3301,3475
$GC,3297,-0.95,-146.6,231.0,-7.8,157,3304,0.00,2.53,0.00,0.000,6,0.000,0.042,2286,1894,3476
$GC,3613,-0.95,-146.6,254.3,-7.2,173,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1893,3475
$GC,3922,-0.95,-146.6,277.0,-5.9,188,3927,0.00,2.55,0.00,0.000,4,0.000,0.048,2286,3301,3476
$GC,4001,-0.95,-146.6,281.5,-5.7,191,4006,0.00,2.50,0.00,0.000,6,0.000,0.043,2286,1901,3476
$GC,4316,-0.95,-146.6,298.5,-5.4,207,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3475
$GC,4625,-0.95,-146.6,315.8,-6.1,222,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,4934,-0.95,-146.6,338.0,-7.8,237,4938,0.00,2.53,0.00,0.000,4,0.000,0.049,2286,3295,3476
$GC,5034,-0.95,-146.6,346.4,-8.5,241,5040,0.00,2.50,0.00,0.000,6,0.000,0.043,2286,1899,3475
$GC,5350,-0.95,-146.6,371.6,-7.9,257,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3475
$GC,5659,-0.95,-146.6,394.8,-7.0,272,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3475
$GC,5968,-0.95,-146.6,415.2,-6.5,287,5972,0.00,2.53,0.00,0.000,4,0.000,0.049,2286,3296,3476
$GC,6041,-0.95,-146.6,420.2,-6.9,290,6045,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1902,3475
$GC,6356,-0.95,-146.6,442.4,-7.3,305,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3475
$GC,6665,-0.95,-146.6,468.1,-8.6,320,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3474
$GC,6974,-0.95,-146.6,492.4,-7.3,335,6978,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3296,3475
$GC,7058,-0.95,-146.6,499.0,-7.8,339,7063,0.00,2.53,0.00,0.000,6,0.000,0.046,2286,1896,3474
$GC,7384,-0.95,-146.6,523.5,-7.1,355,7389,0.00,2.53,0.00,0.000,4,0.000,0.053,2286,3295,3474
$GC,7456,-0.95,-146.6,528.8,-8.0,358,7461,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1896,3474
$GC,7772,-0.95,-146.6,538.4,-1.8,373,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3474
$GC,8081,-0.95,-146.6,551.5,-4.9,388,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3474
$GC,8391,-0.95,-146.6,569.8,-5.8,403,8395,0.00,2.58,0.00,0.000,4,0.000,0.056,2286,3298,3475
$GC,8497,-0.95,-146.6,576.1,-6.0,408,8502,0.00,2.53,0.00,0.000,6,0.000,0.048,2286,1900,3474
$GC,8824,-0.95,-146.6,594.7,-5.7,424,8825,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3474
$GC,9133,-0.95,-146.6,616.2,-7.0,439,9134,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,9442,-0.95,-146.6,637.1,-8.1,454,9446,0.00,2.58,0.00,0.000,4,0.000,0.057,2286,3300,3473
$GC,9530,-0.95,-146.6,644.9,-7.9,458,9535,0.00,2.55,0.00,0.000,6,0.000,0.050,2286,1898,3473
$GC,9851,-0.95,-146.6,658.1,-0.9,474,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3473
$GC,10160,-0.95,-146.6,707.3,-12.9,489,10165,0.00,2.58,0.00,0.000,4,0.000,0.058,2286,3299,3473
$GC,10250,-0.95,-146.6,719.4,-3.5,493,10254,0.00,2.55,0.00,0.000,6,0.000,0.053,2286,1898,3472
$GC,10570,-0.95,-146.6,749.2,-1.8,509,10574,0.00,2.60,0.00,0.000,4,0.000,0.063,2287,3300,3472
$GC,10613,-0.95,-146.6,749.2,0.2,511,10618,0.00,2.53,0.00,0.000,6,0.000,0.050,2286,1891,3472
$GC,10935,-0.95,-146.6,751.2,-0.3,527,10939,0.00,2.58,0.00,0.000,4,0.000,0.059,2287,3300,3471
$GC,11192,-0.95,-146.6,752.5,-0.9,538,11198,0.00,2.55,0.00,0.000,6,0.000,0.055,2287,1905,3470
$STATE,11484,end dive,NO_VERTICAL_VELOCITY
$STATE,11484,begin apogee
$GC,11490,-0.36,0.0,752.9,0.0,553,11617,0.60,0.00,123.88,1.332,6,0.064,0.000,2420,2100,2878
$STATE,11618,end apogee,CONTROL_FINISHED_OK
$STATE,11618,begin climb
$GC,11620,0.95,146.6,752.6,0.0,559,11751,1.23,2.72,123.05,1.291,4,0.038,0.073,2712,692,2280
$GC,11780,0.97,168.8,749.7,5.3,566,11807,0.00,2.58,19.65,1.263,6,0.000,0.051,2712,2101,2189
$GC,12115,0.97,168.8,699.9,18.4,583,12120,0.00,2.67,0.00,0.000,4,0.000,0.074,2712,688,2188
$GC,12232,0.97,168.8,679.1,17.0,588,12236,0.00,2.55,0.00,0.000,6,0.000,0.051,2711,2098,2188
$GC,12547,1.28,417.0,672.0,-1.4,603,12762,0.25,2.78,203.85,1.245,4,0.036,0.077,2786,699,1176
$GC,12851,1.28,417.0,643.0,17.1,617,12855,0.00,2.53,0.00,0.000,6,0.000,0.049,2786,2103,1177
$GC,13172,1.28,417.0,590.3,17.6,633,13173,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2107,1176
$GC,13481,1.28,417.0,542.2,11.3,648,13482,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2107,1176
$GC,13790,1.28,417.0,510.8,10.3,663,13791,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2107,1176
$GC,14100,1.28,417.0,471.1,13.0,678,14101,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2107,1176
$GC,14409,1.28,417.0,432.6,12.9,693,14413,0.00,2.67,0.00,0.000,4,0.000,0.071,2787,687,1176
$GC,14497,1.28,417.0,420.3,14.2,697,14501,0.00,2.50,0.00,0.000,6,0.000,0.043,2787,2104,1176
$GC,14824,1.28,417.0,373.7,15.0,713,14828,0.00,2.65,0.00,0.000,4,0.000,0.068,2787,691,1176
$GC,14867,1.28,417.0,366.6,16.1,715,14871,0.00,2.47,0.00,0.000,6,0.000,0.042,2786,2100,1176
$GC,15194,1.28,417.0,319.3,13.3,731,15198,0.00,2.62,0.00,0.000,4,0.000,0.067,2787,692,1176
$GC,15255,1.28,417.0,311.4,13.0,734,15260,0.00,2.47,0.00,0.000,6,0.000,0.041,2786,2101,1177
$GC,15581,1.28,417.0,278.0,9.7,750,15586,0.00,2.65,0.00,0.000,4,0.000,0.067,2787,687,1177
$GC,15638,1.28,417.0,272.0,10.9,752,15644,0.00,2.50,0.00,0.000,6,0.000,0.041,2786,2102,1177
$GC,15953,1.28,417.0,241.4,9.7,768,15957,0.00,2.65,0.00,0.000,4,0.000,0.066,2787,687,1177
$GC,15996,1.28,417.0,236.4,11.6,770,16000,0.00,2.47,0.00,0.000,6,0.000,0.041,2787,2099,1177
$GC,16323,1.28,417.0,201.2,11.2,786,16327,0.00,2.62,0.00,0.000,4,0.000,0.065,2787,692,1177
$GC,16377,1.28,417.0,194.6,11.9,788,16384,0.00,2.47,0.00,0.000,6,0.000,0.041,2787,2104,1177
$GC,16693,1.28,417.0,155.5,13.5,804,16697,0.00,2.62,0.00,0.000,4,0.000,0.064,2786,692,1178
$GC,16742,1.28,417.0,148.8,12.9,806,16746,0.00,2.47,0.00,0.000,6,0.000,0.041,2787,2103,1178
$GC,17063,1.28,417.0,109.9,12.5,822,17068,0.00,2.65,0.00,0.000,4,0.000,0.066,2787,687,1179
$GC,17125,1.28,417.0,102.6,11.8,825,17130,0.00,2.50,0.00,0.000,6,0.000,0.041,2787,2103,1179
$GC,17452,1.28,417.0,64.6,13.6,841,17453,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2105,1179
$GC,17761,1.28,417.0,27.2,12.2,856,17766,0.00,2.62,0.00,0.000,4,0.000,0.064,2787,692,1179
$GC,17850,1.28,417.0,16.9,9.5,860,17855,0.00,2.47,0.00,0.000,6,0.000,0.040,2787,2101,1179
$STATE,18046,end climb,SURFACE_DEPTH_REACHED
$STATE,18046,begin surface coast
$FINISH,2.1,1.002046
$STATE,18150,end surface coast,CONTROL_FINISHED_OK
$STATE,18150,begin surface
$SM_CCo,18172,95.45,0.791,7,0,603,558.06
$SM_GC,2.55,0.00,0.00,95.45,0.000,0.000,0.791,30,1888,603,-11.34,-0.34,558.06
$IRIDIUM_FIX,6332.30,-1314.71,080108,161636
$TT8_MAMPS,0.026845
$HUMID,2036
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.50
$XPDR_PINGS,2
$24V_AH,23.2,54.428
$10V_AH,10.1,26.631
$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,25.825,133.700,470.425,95.450,0.000,75.376,82.641,283.317,6.750,0.000,0.000,33.991,1595.313,13855.768,751.573,2076.115,677.846,33.369,1790.957,0.000,2013.990,0.000,41.339
$DEVICE_MAMPS,137.293,76.700,1332.279,790.777,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,644.856,590.576,533.292,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44358,875
$CFSIZE,260165632,242679808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,7,0
$GPS,080108,174831,6356.025,-1329.062,37,1.3,37,-12.7