version: 66.02
glider: 102
mission: 4
dive: 253
start: 1 8 108 17 55 51
data:
$ID,102
$MISSION,4
$DIVE,253
$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,-81052.32
$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,31
$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
$GPS1,174831,6356.025,-1329.062,37,1.3,37,-12.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-53.6
$GPS2,175457,6356.067,-1329.059,12,1.6,12,-12.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.138,-0.060
$KALMAN_X,338157.3,-597.5,-266.5,-601031.9,3687.7
$KALMAN_Y,-28427.1,-636.8,-578.5,294341.8,9261.7
$MHEAD_RNG_PITCHd_Wd,259.3,7323,-17.6,-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,23,-1.34,-64.9,0.0,0.0,0,106,0.00,0.00,-81.72,0.000,2,0.000,0.000,29,1889,2203
$GC,109,-1.44,-144.9,3.1,-0.9,4,205,11.25,2.60,-78.55,0.000,4,0.133,0.077,2174,496,3468
$GC,282,-1.44,-144.9,15.8,-17.3,12,286,0.00,2.50,0.00,0.000,6,0.000,0.041,2174,1904,3468
$GC,608,-1.44,-144.9,59.6,-13.2,28,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,1907,3468
$GC,918,-1.44,-144.9,101.3,-14.4,43,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,1907,3468
$GC,1227,-1.44,-144.9,142.2,-13.1,58,1231,0.00,2.53,0.00,0.000,4,0.000,0.048,2174,3303,3468
$GC,1292,-1.44,-144.9,151.6,-14.4,61,1297,0.00,2.53,0.00,0.000,6,0.000,0.044,2174,1902,3468
$GC,1619,-1.44,-144.9,195.2,-12.8,77,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,1902,3468
$GC,1928,-1.44,-144.9,233.0,-12.5,92,1932,0.00,2.55,0.00,0.000,4,0.000,0.048,2174,3305,3468
$GC,2016,-1.44,-144.9,244.6,-13.0,96,2020,0.00,2.53,0.00,0.000,6,0.000,0.044,2174,1901,3469
$GC,2343,-1.44,-144.9,283.4,-11.6,112,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,1901,3468
$GC,2652,-1.44,-144.9,319.5,-11.7,127,2656,0.00,2.55,0.00,0.000,4,0.000,0.048,2174,3309,3469
$GC,2736,-1.44,-144.9,329.0,-11.0,131,2740,0.00,2.55,0.00,0.000,6,0.000,0.044,2174,1894,3468
$GC,3062,-1.44,-144.9,363.3,-10.5,147,3066,0.00,2.55,0.00,0.000,4,0.000,0.050,2174,3300,3468
$GC,3123,-1.44,-144.9,369.7,-10.1,150,3127,0.00,2.53,0.00,0.000,6,0.000,0.046,2174,1901,3468
$GC,3449,-1.44,-144.9,406.8,-11.8,166,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,1901,3468
$GC,3758,-1.44,-144.9,445.8,-12.2,181,3762,0.00,2.55,0.00,0.000,4,0.000,0.050,2174,3303,3468
$GC,3857,-1.44,-144.9,457.4,-11.3,185,3864,0.00,2.58,0.00,0.000,6,0.000,0.047,2174,1897,3468
$GC,4173,-1.44,-144.9,489.1,-10.0,201,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,1897,3468
$GC,4482,-1.44,-144.9,522.6,-12.1,216,4487,0.00,2.58,0.00,0.000,4,0.000,0.054,2174,3299,3468
$GC,4593,-1.44,-144.9,535.9,-11.1,221,4598,0.00,2.55,0.00,0.000,6,0.000,0.048,2174,1895,3468
$GC,4920,-1.44,-144.9,569.1,-9.8,237,4925,0.00,2.62,0.00,0.000,4,0.000,0.072,2174,495,3467
$GC,4964,-1.44,-144.9,573.8,-10.6,239,4968,0.00,2.47,0.00,0.000,6,0.000,0.046,2174,1896,3468
$GC,5291,-1.44,-144.9,606.8,-10.9,255,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,1900,3468
$GC,5600,-1.44,-144.9,640.3,-10.4,270,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,1900,3467
$GC,5909,-1.44,-144.9,672.5,-11.9,285,5914,0.00,2.60,0.00,0.000,4,0.000,0.063,2174,3301,3467
$GC,5971,-1.44,-144.9,680.5,-13.7,288,5976,0.00,2.58,0.00,0.000,6,0.000,0.055,2174,1904,3467
$GC,6297,-1.44,-144.9,721.1,-12.7,304,6302,0.00,2.60,0.00,0.000,4,0.000,0.061,2174,3305,3466
$GC,6404,-1.44,-144.9,734.6,-13.5,309,6409,0.00,2.60,0.00,0.000,6,0.000,0.056,2175,1895,3466
$GC,6731,-1.44,-144.9,773.5,-12.1,325,6735,0.00,2.62,0.00,0.000,4,0.000,0.064,2174,3307,3465
$GC,6854,-1.44,-144.9,788.9,-13.5,330,6860,0.00,2.60,0.00,0.000,6,0.000,0.058,2174,1895,3465
$GC,7170,-1.44,-146.6,812.3,-0.1,346,7174,0.00,2.60,0.00,0.000,4,0.000,0.063,2175,3302,3464
$GC,7427,-1.44,-146.6,812.3,-0.0,357,7433,0.00,2.58,0.00,0.000,6,0.000,0.059,2174,1900,3463
$STATE,7451,end dive,NO_VERTICAL_VELOCITY
$STATE,7451,begin apogee
$GC,7457,-0.36,0.0,812.3,0.0,359,7584,1.10,0.00,123.38,1.370,6,0.056,0.000,2423,2095,2878
$STATE,7585,end apogee,CONTROL_FINISHED_OK
$STATE,7585,begin climb
$GC,7587,1.44,146.6,812.1,0.0,365,7720,1.73,2.72,124.05,1.327,4,0.043,0.072,2813,687,2280
$GC,7966,1.44,146.6,804.3,11.6,382,7973,0.00,2.58,0.00,0.000,6,0.000,0.053,2813,2106,2279
$GC,8282,1.44,146.6,770.9,10.4,398,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2106,2279
$GC,8591,1.44,146.6,739.9,8.9,413,8596,0.00,2.60,0.00,0.000,4,0.000,0.065,2813,3507,2278
$GC,8850,1.44,146.6,716.9,8.3,424,8856,0.00,2.60,0.00,0.000,6,0.000,0.055,2813,2100,2278
$GC,9165,1.44,146.6,690.2,8.7,440,9169,0.00,2.67,0.00,0.000,4,0.000,0.076,2813,685,2277
$GC,9422,1.44,146.6,668.2,7.7,451,9428,0.00,2.55,0.00,0.000,6,0.000,0.050,2813,2106,2277
$GC,9737,1.44,146.6,644.8,8.2,467,9742,0.00,2.67,0.00,0.000,4,0.000,0.072,2813,688,2277
$GC,9782,1.44,146.6,640.6,9.5,469,9787,0.00,2.55,0.00,0.000,6,0.000,0.049,2813,2104,2276
$GC,10103,1.44,146.6,612.0,8.8,485,10107,0.00,2.58,0.00,0.000,4,0.000,0.061,2813,3501,2276
$GC,10292,1.44,146.6,595.6,9.3,493,10299,0.00,2.55,0.00,0.000,6,0.000,0.051,2813,2092,2276
$GC,10608,1.44,146.6,564.4,11.0,509,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2092,2276
$GC,10917,1.44,146.6,536.3,8.5,524,10921,0.00,2.58,0.00,0.000,4,0.000,0.058,2813,3502,2276
$GC,11173,1.44,146.6,511.7,9.3,535,11180,0.00,2.55,0.00,0.000,6,0.000,0.048,2813,2099,2276
$GC,11489,1.44,146.6,484.0,8.4,551,11494,0.00,2.62,0.00,0.000,4,0.000,0.071,2813,692,2276
$GC,11746,1.44,146.6,461.3,7.6,562,11753,0.00,2.47,0.00,0.000,6,0.000,0.042,2813,2105,2276
$GC,12062,1.44,146.6,434.2,9.0,578,12063,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2106,2277
$GC,12371,1.44,146.6,410.2,7.1,593,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2106,2277
$GC,12681,1.44,146.6,384.6,9.4,608,12685,0.00,2.53,0.00,0.000,4,0.000,0.054,2813,3503,2277
$GC,12937,1.44,146.6,362.7,7.3,619,12944,0.00,2.50,0.00,0.000,6,0.000,0.044,2813,2096,2277
$GC,13253,1.44,146.6,333.5,9.4,635,13257,0.00,2.55,0.00,0.000,4,0.000,0.051,2813,3499,2277
$GC,13347,1.44,146.6,324.2,9.2,639,13351,0.00,2.47,0.00,0.000,6,0.000,0.043,2813,2099,2278
$GC,13662,1.44,146.6,295.9,7.8,654,13666,0.00,2.55,0.00,0.000,4,0.000,0.051,2813,3500,2278
$GC,13813,1.44,146.6,284.1,7.7,661,13818,0.00,2.50,0.00,0.000,6,0.000,0.042,2813,2091,2278
$GC,14139,1.44,146.6,258.0,7.7,677,14143,0.00,2.58,0.00,0.000,4,0.000,0.052,2813,3501,2279
$GC,14330,1.44,146.6,240.9,10.2,685,14336,0.00,2.50,0.00,0.000,6,0.000,0.041,2813,2098,2279
$GC,14645,1.44,146.6,210.9,9.9,701,14649,0.00,2.55,0.00,0.000,4,0.000,0.051,2814,3499,2279
$GC,14856,1.44,146.6,188.3,10.6,710,14864,0.00,2.50,0.00,0.000,6,0.000,0.041,2813,2101,2279
$GC,15172,1.44,146.6,155.2,10.4,726,15177,0.00,2.55,0.00,0.000,4,0.000,0.051,2813,3502,2279
$GC,15369,1.44,146.6,135.3,10.0,735,15374,0.00,2.47,0.00,0.000,6,0.000,0.041,2813,2098,2280
$GC,15696,1.44,146.6,106.1,8.5,751,15700,0.00,2.55,0.00,0.000,4,0.000,0.050,2813,3501,2280
$GC,15871,1.44,146.6,90.4,11.2,759,15875,0.00,2.47,0.00,0.000,6,0.000,0.040,2813,2097,2280
$GC,16197,1.44,146.6,56.4,9.8,775,16201,0.00,2.55,0.00,0.000,4,0.000,0.050,2813,3501,2281
$GC,16454,1.44,146.6,37.6,7.0,786,16460,0.00,2.47,0.00,0.000,6,0.000,0.040,2814,2097,2281
$GC,16770,1.44,146.6,16.1,8.3,802,16771,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2097,2281
$STATE,16994,end climb,SURFACE_DEPTH_REACHED
$STATE,16994,begin surface coast
$FINISH,2.0,1.001999
$STATE,17305,end surface coast,NO_VERTICAL_VELOCITY
$STATE,17305,begin surface
$SM_CCo,17326,223.77,0.763,4,0,603,558.06
$SM_GC,2.51,0.00,0.00,223.77,0.000,0.000,0.763,27,1887,603,-11.35,-0.40,558.06
$IRIDIUM_FIX,6327.46,-1319.47,080108,161642
$TT8_MAMPS,0.026078
$HUMID,1997
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.60
$XPDR_PINGS,1
$24V_AH,23.2,54.586
$10V_AH,10.1,26.720
$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,25.950,138.825,247.425,223.775,0.000,37.797,40.105,196.079,7.000,0.000,0.000,13.632,1609.253,12836.464,724.017,2295.468,494.625,33.367,1814.274,0.000,2242.446,0.000,44.563
$DEVICE_MAMPS,133.458,76.700,1369.862,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,606.508,559.796,502.503,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41110,828
$CFSIZE,260165632,242614272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,4,0
$GPS,080108,224956,6356.131,-1332.479,38,1.6,38,-12.7