version: 66.02
glider: 102
mission: 4
dive: 255
start: 1 9 108 2 59 9
data:
$ID,102
$MISSION,4
$DIVE,255
$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,-81104.883
$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,37
$R_STBD_OVSHOOT,30
$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
$GPS1,024908,6355.511,-1336.568,29,1.0,29,-12.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-57.2
$GPS2,025815,6355.526,-1336.818,10,1.1,10,-12.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.018,-0.109
$KALMAN_X,339097.5,-217.3,-2062.0,-607434.4,6587.1
$KALMAN_Y,-25562.2,-106.7,-1711.5,291104.5,11844.4
$MHEAD_RNG_PITCHd_Wd,202.1,9964,-25.4,-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,-1.85,-32.6,0.0,0.0,0,125,0.00,0.00,-100.28,0.000,2,0.000,0.000,28,1880,2560
$GC,127,-1.90,-70.9,3.6,-1.2,5,174,10.80,2.58,-29.52,0.000,4,0.138,0.061,2074,3301,3167
$GC,348,-1.90,-70.9,32.6,-12.4,15,353,0.00,2.50,0.00,0.000,6,0.000,0.044,2074,1911,3167
$GC,675,-1.90,-70.9,77.0,-14.1,31,680,0.00,2.53,0.00,0.000,4,0.000,0.048,2074,3300,3167
$GC,809,-1.90,-70.9,94.9,-13.1,37,813,0.00,2.53,0.00,0.000,6,0.000,0.044,2074,1901,3167
$GC,1136,-1.90,-70.9,139.1,-13.2,53,1141,0.00,2.55,0.00,0.000,4,0.000,0.049,2074,3300,3167
$GC,1232,-1.90,-70.9,152.9,-14.6,57,1236,0.00,2.53,0.00,0.000,6,0.000,0.044,2074,1899,3167
$GC,1547,-1.90,-70.9,196.5,-13.9,72,1551,0.00,2.55,0.00,0.000,4,0.000,0.049,2074,3301,3167
$GC,1715,-1.90,-70.9,214.6,-11.6,79,1721,0.00,2.53,0.00,0.000,6,0.000,0.044,2074,1896,3167
$GC,2030,-1.90,-70.9,253.9,-13.1,95,2034,0.00,2.55,0.00,0.000,4,0.000,0.050,2074,3299,3167
$GC,2146,-1.90,-70.9,270.9,-15.0,100,2151,0.00,2.53,0.00,0.000,6,0.000,0.046,2074,1894,3167
$GC,2461,-1.90,-70.9,312.9,-14.0,115,2466,0.00,2.55,0.00,0.000,4,0.000,0.051,2074,3298,3167
$GC,2667,-1.90,-70.9,349.9,-18.7,124,2673,0.00,2.53,0.00,0.000,6,0.000,0.048,2074,1900,3167
$GC,2988,-1.90,-70.9,418.5,-21.5,140,2992,0.00,2.55,0.00,0.000,4,0.000,0.051,2074,3302,3167
$GC,3245,-1.90,-70.9,482.1,-25.6,151,3251,0.00,2.55,0.00,0.000,6,0.000,0.049,2074,1900,3167
$GC,3561,-1.90,-70.9,552.0,-20.2,167,3565,0.00,2.58,0.00,0.000,4,0.000,0.055,2074,3305,3167
$GC,3817,-1.90,-70.9,591.3,-11.5,178,3824,0.00,2.58,0.00,0.000,6,0.000,0.051,2073,1894,3166
$GC,4132,-1.90,-70.9,620.2,-9.4,194,4137,0.00,2.58,0.00,0.000,4,0.000,0.060,2074,3297,3167
$GC,4389,-1.90,-70.9,655.1,-16.8,205,4396,0.00,2.58,0.00,0.000,6,0.000,0.054,2074,1907,3166
$GC,4705,-1.90,-70.9,714.2,-19.3,221,4710,0.00,2.58,0.00,0.000,4,0.000,0.063,2074,3296,3166
$GC,4947,-1.90,-70.9,743.7,-9.7,232,4951,0.00,2.58,0.00,0.000,6,0.000,0.057,2074,1901,3166
$GC,5272,-1.90,-70.9,772.0,-8.7,248,5277,0.00,2.60,0.00,0.000,4,0.000,0.061,2074,3304,3165
$GC,5462,-1.90,-70.9,805.1,-16.2,256,5469,0.00,2.60,0.00,0.000,6,0.000,0.058,2074,1897,3164
$GC,5778,-1.93,-96.6,812.7,-2.8,272,5783,0.00,2.60,0.00,0.000,4,0.000,0.066,2074,3296,3164
$GC,6037,-1.97,-131.8,817.3,-1.6,283,6043,0.00,2.60,0.00,0.000,6,0.000,0.061,2075,1899,3163
$GC,6353,-1.99,-146.6,820.7,-0.5,299,6357,0.00,2.60,0.00,0.000,4,0.000,0.064,2074,3296,3163
$GC,6610,-1.99,-146.6,823.6,-2.2,310,6616,0.00,2.55,0.00,0.000,6,0.000,0.058,2075,1898,3162
$GC,6926,-1.99,-146.6,825.9,-0.4,326,6931,0.00,2.60,0.00,0.000,4,0.000,0.065,2074,3296,3162
$GC,7184,-1.99,-146.6,831.6,-1.8,337,7190,0.00,2.58,0.00,0.000,6,0.000,0.060,2074,1898,3161
$GC,7500,-1.99,-146.6,835.1,-0.1,353,7504,0.00,2.62,0.00,0.000,4,0.000,0.071,2075,3295,3161
$STATE,7698,end dive,NO_VERTICAL_VELOCITY
$STATE,7698,begin apogee
$GC,7706,-0.36,0.0,835.4,0.0,362,7771,1.48,0.00,60.75,1.405,6,0.041,0.000,2423,2095,2878
$STATE,7771,end apogee,CONTROL_FINISHED_OK
$STATE,7771,begin climb
$GC,7774,1.99,146.6,835.5,0.0,365,7910,2.20,2.80,125.18,1.371,4,0.040,0.079,2936,687,2280
$GC,8107,1.99,146.6,809.2,12.0,380,8112,0.00,2.58,0.00,0.000,6,0.000,0.054,2936,2098,2280
$GC,8422,1.99,146.6,765.1,15.4,395,8427,0.00,2.62,0.00,0.000,4,0.000,0.066,2936,3502,2280
$GC,8679,1.99,146.6,722.6,15.9,406,8686,0.00,2.58,0.00,0.000,6,0.000,0.056,2936,2102,2280
$GC,8995,1.99,146.6,679.7,15.0,422,8999,0.00,2.67,0.00,0.000,4,0.000,0.075,2936,687,2279
$GC,9251,1.99,146.6,644.2,13.0,433,9258,0.00,2.55,0.00,0.000,6,0.000,0.051,2936,2102,2279
$GC,9567,1.99,146.6,604.7,9.2,449,9571,0.00,2.70,0.00,0.000,4,0.000,0.074,2936,685,2279
$GC,9587,1.99,146.6,603.1,7.4,450,9592,0.00,2.55,0.00,0.000,6,0.000,0.050,2936,2104,2279
$GC,9915,2.01,157.1,587.3,4.7,466,9930,0.00,2.72,9.62,1.285,4,0.000,0.073,2936,690,2237
$GC,10183,2.01,161.7,574.7,5.4,477,10193,0.00,2.53,5.12,1.226,6,0.000,0.048,2936,2102,2218
$GC,10503,2.01,161.7,552.6,8.7,492,10507,0.00,2.67,0.00,0.000,4,0.000,0.071,2936,684,2218
$GC,10568,2.01,161.7,545.6,11.5,495,10573,0.00,2.55,0.00,0.000,6,0.000,0.048,2936,2103,2218
$GC,10896,2.01,161.7,496.2,17.8,511,10900,0.00,2.60,0.00,0.000,4,0.000,0.062,2936,3507,2218
$GC,11153,2.01,161.7,455.1,15.7,522,11159,0.00,2.58,0.00,0.000,6,0.000,0.051,2936,2093,2218
$GC,11468,2.01,161.7,404.9,14.0,538,11472,0.00,2.62,0.00,0.000,4,0.000,0.072,2937,692,2219
$GC,11725,2.01,161.7,373.8,10.8,549,11731,0.00,2.50,0.00,0.000,6,0.000,0.044,2936,2106,2219
$GC,12040,2.01,161.7,348.1,8.6,565,12045,0.00,2.62,0.00,0.000,4,0.000,0.067,2936,690,2219
$GC,12111,2.01,161.7,341.0,9.1,568,12116,0.00,2.50,0.00,0.000,6,0.000,0.044,2936,2104,2219
$GC,12433,2.01,161.7,314.9,8.3,584,12437,0.00,2.55,0.00,0.000,4,0.000,0.058,2936,3500,2219
$GC,12472,2.01,161.7,311.0,10.0,586,12477,0.00,2.53,0.00,0.000,6,0.000,0.047,2936,2095,2220
$GC,12798,2.01,161.7,278.0,9.9,602,12802,0.00,2.60,0.00,0.000,4,0.000,0.067,2936,693,2220
$GC,13056,2.01,161.7,249.1,12.5,613,13062,0.00,2.50,0.00,0.000,6,0.000,0.042,2936,2103,2220
$GC,13371,2.01,161.7,215.2,10.9,629,13375,0.00,2.55,0.00,0.000,4,0.000,0.054,2936,3501,2221
$GC,13627,2.01,161.7,184.6,12.2,640,13634,0.00,2.53,0.00,0.000,6,0.000,0.044,2936,2099,2221
$GC,13943,2.01,161.7,151.6,10.0,656,13948,0.00,2.58,0.00,0.000,4,0.000,0.063,2936,687,2221
$GC,14200,2.01,161.7,124.3,11.2,667,14207,0.00,2.53,0.00,0.000,6,0.000,0.042,2936,2096,2221
$GC,14518,2.01,161.7,88.8,11.5,683,14523,0.00,2.60,0.00,0.000,4,0.000,0.061,2936,690,2221
$GC,14551,2.01,161.7,84.3,11.6,684,14557,0.00,2.50,0.00,0.000,6,0.000,0.041,2936,2101,2221
$GC,14867,2.01,161.7,49.8,11.0,700,14871,0.00,2.55,0.00,0.000,4,0.000,0.054,2936,3503,2222
$GC,15123,2.01,161.7,18.5,12.7,711,15130,0.00,2.53,0.00,0.000,6,0.000,0.041,2936,2097,2222
$STATE,15293,end climb,SURFACE_DEPTH_REACHED
$STATE,15293,begin surface coast
$FINISH,1.8,1.016998
$STATE,15316,end surface coast,CONTROL_FINISHED_OK
$STATE,15316,begin surface
$SM_CCo,15338,220.98,0.771,5,0,602,558.06
$SM_GC,2.33,0.00,0.00,220.98,0.000,0.000,0.771,30,1880,602,-11.34,-0.57,558.06
$IRIDIUM_FIX,6332.30,-1325.36,090108,060604
$TT8_MAMPS,0.026845
$HUMID,2007
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,16.00
$XPDR_PINGS,2
$24V_AH,23.1,54.881
$10V_AH,10.1,26.883
$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,27.000,154.400,200.675,220.975,0.000,70.010,80.629,221.418,7.500,0.000,0.000,16.281,1514.591,10921.214,657.681,2446.055,600.054,33.361,1815.791,0.000,2380.231,0.000,47.479
$DEVICE_MAMPS,138.060,79.001,1405.144,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,527.633,486.658,414.666,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37946,721
$CFSIZE,260165632,242503680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,5,0
$GPS,090108,072008,6352.987,-1339.155,37,1.1,37,-12.8