version: 66.02
glider: 102
mission: 4
dive: 201
start: 12 26 107 23 49 44
data:
$ID,102
$MISSION,4
$DIVE,201
$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,-79953.602
$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,26
$R_STBD_OVSHOOT,24
$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
$GPS1,234237,6252.886,-1309.575,35,1.4,35,-12.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,3.51
$_SM_ANGLEo,-47.7
$GPS2,234850,6252.945,-1309.445,8,1.4,13,-12.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.037,0.205
$KALMAN_X,236118.3,-100.7,3289.6,-485778.3,-14686.7
$KALMAN_Y,33059.9,-4.2,3550.4,111179.5,-12731.8
$MHEAD_RNG_PITCHd_Wd,22.3,41107,-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,21,-0.95,-146.6,0.0,0.0,0,45,0.00,0.00,-21.95,0.000,2,0.000,0.000,28,1888,1086
$GC,48,-0.95,-146.6,3.2,-0.0,1,206,11.00,2.62,-138.02,0.000,4,0.098,0.075,2289,499,3477
$GC,460,-0.95,-146.6,32.9,-14.0,20,465,0.00,2.50,0.00,0.000,6,0.000,0.041,2289,1916,3477
$GC,787,-0.95,-146.6,52.5,-8.1,36,791,0.00,2.65,0.00,0.000,4,0.000,0.066,2289,498,3477
$GC,908,-0.95,-146.6,59.2,-8.2,41,915,0.00,2.50,0.00,0.000,6,0.000,0.041,2290,1900,3476
$GC,1224,-0.95,-146.6,79.0,-6.9,57,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3477
$GC,1534,-0.95,-146.6,93.9,-5.2,72,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3477
$GC,1843,-0.95,-146.6,115.1,-6.4,87,1847,0.00,2.53,0.00,0.000,4,0.000,0.049,2289,3298,3477
$GC,1914,-0.95,-146.6,120.4,-7.9,90,1918,0.00,2.50,0.00,0.000,6,0.000,0.043,2289,1901,3476
$GC,2236,-0.95,-146.6,140.0,-4.4,106,2240,0.00,2.53,0.00,0.000,4,0.000,0.048,2290,3301,3476
$GC,2285,-0.95,-146.6,142.2,-4.2,108,2289,0.00,2.53,0.00,0.000,6,0.000,0.043,2289,1894,3476
$GC,2606,-0.95,-146.6,161.4,-7.7,124,2610,0.00,2.53,0.00,0.000,4,0.000,0.047,2289,3296,3476
$GC,2654,-0.95,-146.6,166.0,-9.2,126,2659,0.00,2.50,0.00,0.000,6,0.000,0.043,2289,1900,3476
$GC,2976,-0.95,-146.6,188.4,-5.7,142,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3476
$GC,3285,-0.95,-146.6,216.5,-9.7,157,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3476
$GC,3594,-0.95,-146.6,239.5,-7.3,172,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3476
$GC,3903,-0.95,-146.6,260.9,-6.7,187,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3476
$GC,4212,-0.95,-146.6,282.4,-7.5,202,4217,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3299,3476
$GC,4256,-0.95,-146.6,286.0,-8.2,204,4260,0.00,2.50,0.00,0.000,6,0.000,0.044,2289,1900,3476
$GC,4583,-0.95,-146.6,311.1,-8.0,220,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3476
$GC,4892,-0.95,-146.6,336.1,-7.9,235,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3476
$GC,5201,-0.95,-146.6,359.0,-7.1,250,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3476
$GC,5510,-0.95,-146.6,380.1,-6.7,265,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3476
$GC,5820,-0.95,-146.6,400.5,-6.6,280,5825,0.00,2.53,0.00,0.000,4,0.000,0.050,2289,3303,3476
$GC,5861,-0.95,-146.6,403.3,-7.0,282,5866,0.00,2.53,0.00,0.000,6,0.000,0.045,2289,1901,3476
$GC,6187,-0.95,-146.6,424.4,-6.3,298,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3476
$GC,6496,-0.95,-146.6,445.3,-7.0,313,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3476
$GC,6806,-0.95,-146.6,465.6,-6.4,328,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3476
$GC,7115,-0.95,-146.6,483.0,-5.4,343,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3476
$GC,7426,-0.95,-146.6,500.5,-5.9,358,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3476
$GC,7734,-0.95,-146.6,519.4,-6.4,373,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3475
$GC,8043,-0.95,-146.6,539.3,-6.5,388,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3475
$GC,8352,-0.95,-146.6,558.9,-6.4,403,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3475
$GC,8662,-0.95,-146.6,579.3,-6.8,418,8666,0.00,2.55,0.00,0.000,4,0.000,0.054,2289,3296,3475
$GC,8738,-0.95,-146.6,584.8,-7.5,421,8745,0.00,2.53,0.00,0.000,6,0.000,0.046,2289,1895,3475
$GC,9054,-0.95,-146.6,606.0,-6.9,437,9058,0.00,2.55,0.00,0.000,4,0.000,0.054,2289,3298,3475
$GC,9097,-0.95,-146.6,609.2,-7.0,439,9101,0.00,2.55,0.00,0.000,6,0.000,0.048,2289,1902,3475
$GC,9423,-0.95,-146.6,631.9,-7.0,455,9428,0.00,2.53,0.00,0.000,4,0.000,0.056,2289,3293,3476
$GC,9462,-0.95,-146.6,635.0,-7.5,457,9467,0.00,2.53,0.00,0.000,6,0.000,0.048,2289,1899,3475
$GC,9789,-0.95,-146.6,659.5,-7.7,473,9790,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3475
$GC,10097,-0.95,-146.6,682.3,-7.0,488,10102,0.00,2.60,0.00,0.000,4,0.000,0.070,2289,491,3475
$GC,10129,-0.95,-146.6,684.6,-7.7,489,10136,0.00,2.47,0.00,0.000,6,0.000,0.048,2289,1892,3475
$GC,10445,-0.95,-146.6,705.5,-6.6,505,10446,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1892,3474
$GC,10754,-0.95,-146.6,726.1,-6.7,520,10758,0.00,2.62,0.00,0.000,4,0.000,0.074,2289,492,3474
$GC,10870,-0.95,-146.6,735.3,-7.7,525,10875,0.00,2.50,0.00,0.000,6,0.000,0.051,2289,1897,3474
$GC,11185,-0.95,-146.6,756.9,-6.0,540,11190,0.00,2.58,0.00,0.000,4,0.000,0.063,2289,3302,3474
$GC,11234,-0.95,-146.6,760.4,-8.9,542,11239,0.00,2.55,0.00,0.000,6,0.000,0.058,2289,1901,3474
$STATE,11307,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11307,begin apogee
$GC,11312,-0.36,0.0,765.4,6.8,546,11440,0.60,0.00,124.65,1.310,6,0.074,0.000,2420,2106,2877
$STATE,11441,end apogee,CONTROL_FINISHED_OK
$STATE,11441,begin climb
$GC,11443,0.95,146.6,771.1,0.0,552,11574,1.25,2.67,123.38,1.267,4,0.053,0.068,2700,3499,2280
$GC,11587,0.96,156.3,767.1,5.7,560,11602,0.00,2.60,9.45,1.209,6,0.000,0.054,2700,2101,2240
$GC,11912,0.96,156.3,746.5,6.2,575,11916,0.00,2.62,0.00,0.000,4,0.000,0.065,2700,3506,2239
$GC,12011,0.96,156.3,741.3,6.1,579,12017,0.00,2.58,0.00,0.000,6,0.000,0.055,2701,2101,2238
$GC,12327,0.96,161.0,723.1,5.9,595,12337,0.00,2.72,4.65,1.210,4,0.000,0.077,2700,687,2221
$GC,12397,0.96,161.0,718.5,6.3,598,12402,0.00,2.58,0.00,0.000,6,0.000,0.053,2700,2105,2221
$GC,12719,0.99,185.2,699.3,5.3,614,12747,0.00,2.75,21.12,1.299,4,0.000,0.073,2700,693,2122
$GC,12799,0.99,185.2,694.9,6.4,617,12805,0.00,2.58,0.00,0.000,6,0.000,0.052,2701,2102,2122
$GC,13113,0.99,185.2,676.3,6.3,633,13118,0.00,2.60,0.00,0.000,4,0.000,0.064,2700,3500,2121
$GC,13181,0.99,185.2,672.1,6.4,636,13186,0.00,2.58,0.00,0.000,6,0.000,0.052,2700,2098,2121
$GC,13501,1.01,198.4,653.3,5.6,652,13515,0.00,0.00,12.02,1.282,6,0.000,0.000,2700,2098,2069
$GC,13810,1.01,198.4,633.6,7.0,667,13814,0.00,2.62,0.00,0.000,4,0.000,0.071,2700,692,2068
$GC,13871,1.01,198.4,628.8,7.5,670,13876,0.00,2.53,0.00,0.000,6,0.000,0.048,2700,2102,2068
$GC,14197,1.01,198.4,606.1,6.8,686,14198,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2104,2068
$GC,14506,1.01,198.4,584.4,7.2,701,14507,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2103,2068
$GC,14816,1.01,198.4,561.7,7.2,716,14817,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2104,2068
$GC,15125,1.01,198.4,538.0,7.8,731,15129,0.00,2.55,0.00,0.000,4,0.000,0.057,2700,3504,2068
$GC,15190,1.01,198.4,532.3,8.5,734,15194,0.00,2.53,0.00,0.000,6,0.000,0.045,2700,2096,2068
$GC,15517,1.01,198.4,506.1,7.7,750,15518,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2096,2069
$GC,15826,1.01,198.4,481.3,7.9,765,15827,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2096,2069
$GC,16135,1.01,198.4,458.3,7.0,780,16139,0.00,2.60,0.00,0.000,4,0.000,0.066,2701,691,2069
$GC,16206,1.01,198.4,453.2,6.9,783,16211,0.00,2.50,0.00,0.000,6,0.000,0.042,2700,2111,2069
$GC,16527,1.01,198.4,432.6,6.3,799,16528,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2111,2070
$GC,16836,1.01,198.4,413.4,6.5,814,16841,0.00,2.62,0.00,0.000,4,0.000,0.062,2700,691,2070
$GC,16891,1.01,198.4,409.7,6.3,816,16897,0.00,2.47,0.00,0.000,6,0.000,0.041,2701,2103,2070
$GC,17206,1.01,198.4,388.2,7.2,832,17207,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2104,2070
$GC,17515,1.01,198.4,367.8,6.4,847,17520,0.00,2.62,0.00,0.000,4,0.000,0.063,2700,691,2071
$GC,17577,1.01,198.4,363.7,6.9,850,17581,0.00,2.47,0.00,0.000,6,0.000,0.041,2701,2106,2071
$GC,17903,1.01,198.4,343.8,6.2,866,17904,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2110,2071
$GC,18212,1.01,200.2,325.3,5.9,881,18218,0.00,0.00,3.60,0.992,6,0.000,0.000,2700,2110,2061
$GC,18522,1.01,200.2,305.7,6.9,896,18523,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2110,2061
$GC,18830,1.01,200.2,282.4,7.9,911,18832,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2110,2061
$GC,19140,1.01,200.2,255.5,8.9,926,19141,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2109,2061
$GC,19450,1.09,263.7,231.7,4.1,941,19510,0.15,2.70,50.88,0.946,4,0.043,0.061,2758,697,1803
$GC,19549,1.09,263.7,225.3,6.9,945,19556,0.10,2.53,0.00,0.000,6,0.079,0.040,2734,2098,1803
$GC,19865,1.09,263.7,198.3,11.7,961,19869,0.00,2.53,0.00,0.000,4,0.000,0.050,2734,3502,1803
$GC,19941,1.09,263.7,188.9,11.2,964,19948,0.00,2.50,0.00,0.000,6,0.000,0.041,2734,2095,1803
$GC,20257,1.11,277.4,163.0,5.6,980,20279,0.00,2.67,11.93,0.927,4,0.000,0.061,2734,695,1747
$GC,20324,1.11,277.4,159.1,6.2,983,20328,0.00,2.50,0.00,0.000,6,0.000,0.040,2734,2111,1747
$GC,20650,1.15,309.5,128.4,5.0,999,20681,0.00,2.70,26.02,0.887,4,0.000,0.061,2733,693,1615
$GC,20726,1.25,391.6,125.7,3.6,1002,20797,0.15,2.47,63.88,0.848,6,0.041,0.040,2786,2105,1280
$GC,21124,1.25,391.6,76.6,11.4,1022,21125,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2105,1280
$GC,21433,1.25,391.6,39.4,10.1,1037,21438,0.00,2.62,0.00,0.000,4,0.000,0.064,2786,695,1280
$GC,21496,1.25,391.6,32.5,11.0,1040,21500,0.00,2.47,0.00,0.000,6,0.000,0.041,2786,2097,1280
$GC,21821,1.25,391.6,3.8,9.1,1056,21826,0.00,2.55,0.00,0.000,4,0.000,0.050,2786,3502,1280
$GC,21838,1.25,391.6,2.9,9.1,1057,21843,0.00,2.50,0.00,0.000,6,0.000,0.042,2786,2103,1280
$STATE,22162,end climb,NO_VERTICAL_VELOCITY
$STATE,22162,begin surface
$SM_CCo,22166,96.97,0.759,4,0,603,558.06
$SM_CCo,22644,0.25,1.297,0,0,604,558.06
$SM_GC,3.79,0.00,0.00,0.25,0.000,0.000,1.297,35,1891,604,-11.32,-0.25,558.06
$IRIDIUM_FIX,6225.82,-1313.08,261207,212101
$TT8_MAMPS,0.026078
$HUMID,2046
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.70
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,700.1,74.2
$24V_AH,23.3,45.371
$10V_AH,10.1,21.849
$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,25.175,149.275,451.575,97.225,0.000,37.883,34.046,191.263,8.000,0.000,0.000,15.304,1916.359,17563.961,750.974,2288.670,499.789,33.363,1914.948,0.000,2252.147,0.000,44.386
$DEVICE_MAMPS,98.176,76.700,1310.036,1296.997,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,795.669,725.268,643.104,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53677,1073
$CFSIZE,260165632,245886976
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,22,4,0
$GPS,271207,060831,6254.829,-1307.221,40,1.4,45,-12.0