version: 66.02
glider: 102
mission: 4
dive: 197
start: 12 25 107 21 47 4
data:
$ID,102
$MISSION,4
$DIVE,197
$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,-79870.961
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,214007,6248.557,-1301.327,27,1.7,27,-11.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,3.65
$_SM_ANGLEo,-51.0
$GPS2,214609,6248.542,-1301.241,13,2.0,13,-11.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.012,0.208
$KALMAN_X,244095.5,-21.5,-200.5,-483117.3,1340.6
$KALMAN_Y,44728.2,-274.9,1114.0,94073.5,-13878.0
$MHEAD_RNG_PITCHd_Wd,15.2,50325,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.95,-146.6,0.0,0.0,0,26,0.00,0.00,-3.65,0.000,2,0.000,0.000,28,1882,689
$GC,29,-0.95,-146.6,3.6,-0.0,0,215,10.95,2.58,-166.77,0.000,4,0.097,0.075,2289,494,3477
$GC,441,-0.95,-146.6,27.9,-10.3,19,445,0.00,2.50,0.00,0.000,6,0.000,0.040,2289,1913,3476
$GC,767,-0.95,-146.6,61.3,-8.8,35,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1916,3477
$GC,1077,-0.95,-146.6,80.7,-6.7,50,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1916,3476
$GC,1386,-0.95,-146.6,103.8,-5.6,65,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1916,3477
$GC,1695,-0.95,-146.6,130.1,-8.5,80,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1917,3477
$GC,2003,-0.95,-146.6,151.5,-7.0,95,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1916,3476
$GC,2312,-0.95,-146.6,173.5,-7.6,110,2317,0.00,2.47,0.00,0.000,4,0.000,0.048,2288,3295,3477
$GC,2358,-0.95,-146.6,177.0,-7.9,112,2362,0.00,2.50,0.00,0.000,6,0.000,0.043,2289,1898,3476
$GC,2678,-0.95,-146.6,201.0,-6.8,128,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3476
$GC,2987,-0.95,-146.6,224.6,-7.7,143,2994,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3300,3476
$GC,3044,-0.95,-146.6,229.2,-7.7,145,3048,0.00,2.50,0.00,0.000,6,0.000,0.043,2289,1900,3476
$GC,3365,-0.95,-146.6,253.4,-7.4,161,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3476
$GC,3675,-0.95,-146.6,276.9,-7.6,176,3679,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3303,3476
$GC,3714,-0.95,-146.6,279.8,-7.5,178,3718,0.00,2.53,0.00,0.000,6,0.000,0.044,2289,1897,3477
$GC,4039,-0.95,-146.6,303.7,-7.5,194,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3476
$GC,4348,-0.95,-146.6,327.0,-7.2,209,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3477
$GC,4658,-0.95,-146.6,347.7,-6.6,224,4662,0.00,2.53,0.00,0.000,4,0.000,0.049,2289,3304,3476
$GC,4723,-0.95,-146.6,352.3,-6.5,227,4728,0.00,2.53,0.00,0.000,6,0.000,0.044,2289,1898,3476
$GC,5050,-0.95,-146.6,374.8,-7.2,243,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3477
$GC,5360,-0.95,-146.6,397.4,-7.7,258,5364,0.00,2.53,0.00,0.000,4,0.000,0.049,2289,3296,3476
$GC,5414,-0.95,-146.6,401.9,-8.2,260,5421,0.00,2.53,0.00,0.000,6,0.000,0.045,2289,1907,3477
$GC,5730,-0.95,-146.6,426.7,-7.6,276,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1907,3477
$GC,6039,-0.95,-146.6,449.3,-7.1,291,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1907,3476
$GC,6348,-0.95,-146.6,472.1,-7.3,306,6349,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1907,3476
$GC,6658,-0.95,-146.6,494.7,-7.4,321,6662,0.00,2.53,0.00,0.000,4,0.000,0.052,2289,3295,3475
$GC,6712,-0.95,-146.6,498.9,-8.3,323,6719,0.00,2.53,0.00,0.000,6,0.000,0.048,2289,1898,3476
$GC,7027,-0.95,-146.6,521.3,-7.3,339,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3476
$GC,7337,-0.95,-146.6,543.1,-6.8,354,7341,0.00,2.55,0.00,0.000,4,0.000,0.054,2289,3300,3476
$GC,7391,-0.95,-146.6,546.9,-7.3,356,7398,0.00,2.53,0.00,0.000,6,0.000,0.048,2288,1902,3475
$GC,7706,-0.95,-146.6,568.7,-7.0,372,7711,0.00,2.55,0.00,0.000,4,0.000,0.054,2289,3299,3475
$GC,7755,-0.95,-146.6,572.3,-7.1,374,7760,0.00,2.53,0.00,0.000,6,0.000,0.048,2289,1899,3475
$GC,8077,-0.95,-146.6,594.8,-6.9,390,8078,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3475
$GC,8386,-0.95,-146.6,615.7,-6.7,405,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3475
$GC,8695,-0.95,-146.6,635.9,-6.4,420,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3474
$GC,9005,-0.95,-146.6,653.7,-5.3,435,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3475
$GC,9314,-0.95,-146.6,671.2,-5.7,450,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3475
$GC,9623,-0.95,-146.6,691.3,-6.5,465,9627,0.00,2.58,0.00,0.000,4,0.000,0.057,2289,3300,3474
$GC,9662,-0.95,-146.6,694.2,-7.9,467,9666,0.00,2.55,0.00,0.000,6,0.000,0.051,2289,1901,3474
$GC,9987,-0.95,-146.6,717.7,-7.8,483,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3474
$GC,10297,-0.95,-146.6,735.6,-5.5,498,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3474
$GC,10607,-0.95,-146.6,753.5,-5.7,513,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3473
$STATE,10687,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10687,begin apogee
$GC,10692,-0.36,0.0,759.7,7.5,517,10820,0.60,0.00,124.68,1.315,6,0.076,0.000,2418,2095,2878
$STATE,10821,end apogee,CONTROL_FINISHED_OK
$STATE,10821,begin climb
$GC,10823,0.95,146.6,763.9,0.0,523,10954,1.27,2.72,122.72,1.292,4,0.053,0.067,2702,3492,2280
$GC,11209,0.98,169.6,747.6,5.3,540,11236,0.00,2.58,20.23,1.280,6,0.000,0.055,2703,2104,2186
$GC,11544,0.99,184.5,727.4,5.6,557,11564,0.00,0.00,13.65,1.284,6,0.000,0.000,2702,2104,2125
$GC,11873,0.99,184.5,708.8,6.2,573,11877,0.00,2.67,0.00,0.000,4,0.000,0.077,2703,691,2124
$GC,11934,0.99,184.5,704.5,7.3,576,11939,0.00,2.55,0.00,0.000,6,0.000,0.053,2703,2094,2124
$GC,12260,1.00,193.1,685.4,5.7,592,12270,0.00,0.00,8.20,1.290,6,0.000,0.000,2702,2095,2090
$GC,12569,1.02,206.5,667.5,5.6,607,12590,0.00,2.70,11.88,1.292,4,0.000,0.061,2704,3503,2035
$GC,12659,1.02,206.5,661.7,6.4,611,12663,0.00,2.60,0.00,0.000,6,0.000,0.054,2703,2091,2035
$GC,12984,1.05,229.1,643.2,5.3,627,13009,0.00,2.72,19.77,1.279,4,0.000,0.075,2703,689,1944
$GC,13076,1.05,233.9,637.9,5.9,631,13088,0.00,2.55,5.43,1.206,6,0.000,0.048,2703,2105,1924
$GC,13396,1.08,251.3,620.8,5.5,647,13417,0.12,0.00,15.82,1.253,6,0.048,0.000,2750,2106,1852
$GC,13726,1.08,251.3,596.0,7.6,663,13727,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2108,1852
$GC,14035,1.08,251.3,572.4,7.6,678,14036,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2108,1852
$GC,14344,1.08,251.3,548.1,7.8,693,14348,0.00,2.67,0.00,0.000,4,0.000,0.068,2750,685,1853
$GC,14393,1.08,251.3,544.0,8.7,695,14397,0.00,2.53,0.00,0.000,6,0.000,0.044,2750,2105,1853
$GC,14714,1.08,251.3,518.6,7.9,711,14715,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2106,1853
$GC,15023,1.08,251.3,492.9,8.3,726,15027,0.00,2.55,0.00,0.000,4,0.000,0.055,2750,3504,1853
$GC,15072,1.08,251.3,488.6,8.3,728,15077,0.00,2.53,0.00,0.000,6,0.000,0.047,2750,2099,1853
$GC,15394,1.08,251.3,463.1,8.1,744,15395,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2099,1854
$GC,15703,1.08,251.3,436.3,8.7,759,15704,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2099,1854
$GC,16012,1.08,251.3,408.9,8.7,774,16013,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2098,1855
$GC,16321,1.08,251.3,382.0,8.5,789,16322,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2099,1855
$GC,16630,1.08,251.3,356.8,7.8,804,16632,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2099,1855
$GC,16940,1.08,251.3,330.9,8.8,819,16941,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2098,1856
$GC,17249,1.08,251.3,302.7,8.6,834,17250,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2099,1856
$GC,17558,1.08,251.3,277.0,8.5,849,17560,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2099,1856
$GC,17867,1.08,251.3,252.3,8.1,864,17869,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2098,1857
$GC,18177,1.08,251.3,226.4,8.0,879,18179,0.12,0.00,0.00,0.000,6,0.083,0.000,2724,2099,1857
$GC,18486,1.08,251.3,203.4,7.5,894,18487,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2098,1857
$GC,18795,1.08,251.3,180.2,8.2,909,18796,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2098,1857
$GC,19105,1.08,251.3,152.2,9.0,924,19109,0.00,2.55,0.00,0.000,4,0.000,0.050,2725,3501,1857
$GC,19153,1.08,251.3,148.1,8.8,926,19158,0.00,2.50,0.00,0.000,6,0.000,0.041,2724,2098,1858
$GC,19474,1.08,251.3,122.5,7.9,942,19478,0.00,2.58,0.00,0.000,4,0.000,0.062,2724,695,1858
$GC,19540,1.08,251.3,117.3,7.2,945,19544,0.00,2.45,0.00,0.000,6,0.000,0.038,2724,2105,1858
$GC,19868,1.08,251.3,93.6,7.5,961,19869,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2108,1858
$GC,20176,1.08,251.3,67.7,10.2,976,20177,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2108,1858
$GC,20485,1.08,251.3,44.9,6.3,991,20490,0.00,2.60,0.00,0.000,4,0.000,0.061,2724,697,1858
$GC,20535,1.12,286.0,42.5,5.0,993,20570,0.00,2.45,29.02,0.848,6,0.000,0.039,2724,2109,1711
$GC,20899,1.12,286.0,14.0,7.9,1011,20900,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2109,1711
$GC,21208,1.32,445.7,3.0,1.2,1026,21296,0.22,0.00,84.38,0.782,6,0.039,0.000,2792,2112,1060
$GC,21617,1.56,646.2,3.0,0.0,1046,21626,0.20,0.00,6.82,0.815,2,0.070,0.000,2837,2113,1016
$STATE,21627,end climb,NO_VERTICAL_VELOCITY
$STATE,21627,begin surface
$SM_CCo,21630,52.22,0.765,0,0,602,558.06
$SM_GC,3.65,12.05,0.00,0.00,0.027,0.000,0.000,34,1893,603,-11.26,-0.20,558.06
$IRIDIUM_FIX,6221.17,-1302.85,251207,191943
$TT8_MAMPS,0.026845
$HUMID,2037
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,18.60
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,700.3,67.9
$24V_AH,23.3,44.624
$10V_AH,10.1,21.442
$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,25.550,97.775,462.600,52.225,0.000,37.845,34.613,181.408,8.250,0.000,0.000,14.797,1822.241,17357.850,653.196,2166.209,466.185,33.365,1744.760,0.000,2130.282,0.000,41.097
$DEVICE_MAMPS,96.642,77.467,1315.405,764.699,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,766.268,706.486,653.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53672,1046
$CFSIZE,260165632,246177792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,261207,035638,6249.083,-1259.630,36,1.1,36,-11.9