version: 66.02
glider: 102
mission: 4
dive: 203
start: 12 27 107 12 37 33
data:
$ID,102
$MISSION,4
$DIVE,203
$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,-80001.992
$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,28
$R_STBD_OVSHOOT,33
$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
$GPS1,122538,6254.882,-1259.769,31,1.2,31,-12.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.51
$_SM_ANGLEo,-44.4
$GPS2,123639,6254.774,-1259.390,14,1.4,14,-12.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.099,0.184
$KALMAN_X,241801.4,-934.9,1305.0,-479791.5,-4283.7
$KALMAN_Y,29772.5,571.1,162.3,120658.2,-3289.6
$MHEAD_RNG_PITCHd_Wd,40.3,39654,-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,20,begin dive
$GC,22,-0.95,-146.6,0.0,0.0,0,45,0.00,0.00,-21.42,0.000,2,0.000,0.000,27,1892,1083
$GC,48,-0.95,-146.6,3.4,-0.0,1,224,11.02,2.58,-156.75,0.000,4,0.100,0.071,2286,500,3474
$GC,479,-0.95,-146.6,30.3,-9.2,21,483,0.00,2.47,0.00,0.000,6,0.000,0.041,2286,1906,3475
$GC,805,-0.95,-146.6,54.9,-7.5,37,810,0.00,2.62,0.00,0.000,4,0.000,0.066,2286,501,3475
$GC,871,-0.95,-146.6,59.4,-6.5,40,876,0.00,2.47,0.00,0.000,6,0.000,0.041,2286,1903,3475
$GC,1199,-0.95,-146.6,85.7,-7.4,56,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3475
$GC,1508,-0.95,-146.6,110.0,-7.1,71,1512,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3294,3475
$GC,1547,-0.95,-146.6,112.8,-7.4,73,1551,0.00,2.47,0.00,0.000,6,0.000,0.044,2286,1906,3475
$GC,1873,-0.95,-146.6,133.4,-3.9,89,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3475
$GC,2181,-0.95,-146.6,153.6,-8.2,104,2185,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3297,3475
$GC,2213,-0.95,-146.6,156.1,-7.9,105,2220,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1904,3475
$GC,2529,-0.95,-146.6,179.1,-7.3,121,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3475
$GC,2838,-0.95,-146.6,202.2,-7.1,136,2842,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3302,3475
$GC,2876,-0.95,-146.6,204.7,-6.6,138,2881,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1895,3475
$GC,3203,-0.95,-146.6,227.9,-7.5,154,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3475
$GC,3511,-0.95,-146.6,249.7,-7.4,169,3516,0.00,2.53,0.00,0.000,4,0.000,0.049,2286,3300,3475
$GC,3551,-0.95,-146.6,252.4,-7.1,171,3555,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1897,3475
$GC,3877,-0.95,-146.6,278.3,-7.8,187,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3475
$GC,4186,-0.95,-146.6,299.3,-6.1,202,4190,0.00,2.53,0.00,0.000,4,0.000,0.050,2286,3302,3475
$GC,4217,-0.95,-146.6,301.6,-7.2,203,4224,0.00,2.53,0.00,0.000,6,0.000,0.044,2286,1896,3475
$GC,4533,-0.95,-146.6,323.0,-6.3,219,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3475
$GC,4842,-0.95,-146.6,342.9,-6.9,234,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3475
$GC,5151,-0.95,-146.6,363.5,-6.5,249,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3474
$GC,5461,-0.95,-146.6,383.7,-6.2,264,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3475
$GC,5770,-0.95,-146.6,403.3,-6.6,279,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3475
$GC,6079,-0.95,-146.6,424.7,-7.2,294,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3475
$GC,6389,-0.95,-146.6,448.3,-7.6,309,6393,0.00,2.55,0.00,0.000,4,0.000,0.051,2286,3298,3474
$GC,6428,-0.95,-146.6,451.3,-8.0,311,6432,0.00,2.50,0.00,0.000,6,0.000,0.047,2286,1902,3475
$GC,6753,-0.95,-146.6,472.4,-5.9,327,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3474
$GC,7063,-0.95,-146.6,490.7,-5.6,342,7067,0.00,2.53,0.00,0.000,4,0.000,0.052,2286,3295,3474
$GC,7147,-0.95,-146.6,496.4,-7.1,346,7151,0.00,2.53,0.00,0.000,6,0.000,0.048,2286,1899,3474
$GC,7472,-0.95,-146.6,518.8,-6.5,362,7477,0.00,2.53,0.00,0.000,4,0.000,0.052,2286,3296,3473
$GC,7512,-0.95,-146.6,521.5,-6.8,364,7516,0.00,2.53,0.00,0.000,6,0.000,0.046,2286,1892,3473
$GC,7837,-0.95,-146.6,543.5,-6.7,380,7841,0.00,2.58,0.00,0.000,4,0.000,0.071,2286,498,3473
$GC,7885,-0.95,-146.6,547.4,-7.7,382,7890,0.00,2.45,0.00,0.000,6,0.000,0.046,2286,1896,3473
$GC,8207,-0.95,-146.6,571.8,-8.4,398,8211,0.00,2.62,0.00,0.000,4,0.000,0.072,2286,492,3473
$GC,8272,-0.95,-146.6,577.8,-9.2,401,8276,0.00,2.47,0.00,0.000,6,0.000,0.048,2286,1898,3473
$GC,8600,-0.95,-146.6,600.9,-6.3,417,8604,0.00,2.58,0.00,0.000,4,0.000,0.059,2286,3305,3473
$GC,8665,-0.95,-146.6,605.2,-6.3,420,8670,0.00,2.55,0.00,0.000,6,0.000,0.052,2285,1904,3473
$GC,8992,-0.95,-146.6,624.5,-6.0,436,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3473
$GC,9302,-0.95,-146.6,642.4,-6.3,451,9306,0.00,2.62,0.00,0.000,4,0.000,0.076,2286,493,3473
$GC,9378,-0.95,-146.6,648.1,-7.8,454,9385,0.00,2.50,0.00,0.000,6,0.000,0.051,2286,1906,3472
$GC,9694,-0.95,-146.6,670.1,-7.1,470,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3473
$GC,10004,-0.95,-146.6,690.2,-5.8,485,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3473
$GC,10312,-0.95,-146.6,711.2,-6.8,500,10314,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3471
$STATE,10373,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10373,begin apogee
$GC,10378,-0.36,0.0,714.9,6.1,503,10505,0.60,0.00,123.43,1.280,6,0.074,0.000,2415,2105,2878
$STATE,10505,end apogee,CONTROL_FINISHED_OK
$STATE,10505,begin climb
$GC,10508,0.95,146.6,718.5,0.0,509,10639,1.33,2.80,123.03,1.237,4,0.058,0.075,2703,692,2279
$GC,10780,0.95,146.6,707.1,6.8,522,10784,0.00,2.55,0.00,0.000,6,0.000,0.053,2703,2095,2280
$GC,11107,0.95,146.6,687.9,6.3,538,11111,0.00,2.65,0.00,0.000,4,0.000,0.066,2703,3506,2279
$GC,11212,0.95,146.6,680.7,6.9,543,11217,0.00,2.60,0.00,0.000,6,0.000,0.055,2703,2098,2278
$GC,11538,0.95,152.3,661.2,5.8,559,11545,0.00,0.00,5.45,1.230,6,0.000,0.000,2703,2098,2257
$GC,11847,1.01,198.0,645.6,4.6,574,11888,0.00,0.00,39.50,1.260,6,0.000,0.000,2703,2098,2070
$GC,12197,1.04,224.8,627.8,5.2,591,12226,0.00,2.78,23.02,1.255,4,0.000,0.078,2703,688,1961
$GC,12293,1.04,224.8,621.7,6.8,595,12298,0.00,2.58,0.00,0.000,6,0.000,0.051,2703,2104,1960
$GC,12615,1.04,224.8,601.3,6.5,611,12616,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,1960
$GC,12924,1.04,224.8,582.9,6.3,626,12929,0.00,2.65,0.00,0.000,4,0.000,0.073,2703,691,1959
$GC,13013,1.04,224.8,576.3,7.5,630,13017,0.00,2.53,0.00,0.000,6,0.000,0.049,2703,2103,1959
$GC,13340,1.04,224.8,553.5,6.8,646,13341,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2103,1958
$GC,13649,1.04,224.8,533.5,6.4,661,13654,0.00,2.67,0.00,0.000,4,0.000,0.070,2703,684,1959
$GC,13693,1.04,224.8,530.5,6.9,663,13697,0.00,2.53,0.00,0.000,6,0.000,0.048,2702,2103,1959
$GC,14020,1.04,224.8,510.2,6.2,679,14021,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2103,1959
$GC,14329,1.04,224.8,488.7,7.2,694,14330,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2103,1958
$GC,14638,1.04,224.8,466.4,7.2,709,14642,0.00,2.65,0.00,0.000,4,0.000,0.067,2703,685,1959
$GC,14692,1.04,224.8,462.2,7.9,711,14699,0.00,2.50,0.00,0.000,6,0.000,0.044,2703,2102,1959
$GC,15008,1.04,224.8,439.1,7.1,727,15009,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2102,1960
$GC,15317,1.04,224.8,417.9,6.7,742,15321,0.00,2.65,0.00,0.000,4,0.000,0.066,2703,685,1960
$GC,15355,1.04,224.8,415.3,7.3,744,15360,0.00,2.50,0.00,0.000,6,0.000,0.044,2703,2099,1960
$GC,15681,1.04,224.8,393.0,6.7,760,15686,0.00,2.62,0.00,0.000,4,0.000,0.064,2703,690,1961
$GC,15725,1.04,224.8,390.0,6.5,762,15729,0.00,2.50,0.00,0.000,6,0.000,0.043,2703,2101,1961
$GC,16052,1.04,224.8,369.7,6.5,778,16053,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2105,1962
$GC,16361,1.06,237.6,351.5,5.6,793,16383,0.10,2.72,11.45,1.065,4,0.056,0.064,2741,687,1909
$GC,16439,1.06,237.6,345.4,8.1,796,16443,0.00,2.50,0.00,0.000,6,0.000,0.042,2742,2100,1909
$GC,16759,1.06,237.6,320.9,7.9,812,16761,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2105,1909
$GC,17069,1.06,237.6,297.7,7.4,827,17070,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2105,1909
$GC,17378,1.06,237.6,273.3,7.8,842,17379,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2105,1910
$GC,17687,1.06,237.6,250.7,7.5,857,17688,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2105,1910
$GC,17997,1.06,237.6,228.2,7.3,872,18001,0.00,2.62,0.00,0.000,4,0.000,0.064,2741,685,1910
$GC,18040,1.06,237.6,224.7,8.8,874,18044,0.00,2.53,0.00,0.000,6,0.000,0.041,2742,2105,1910
$GC,18366,1.06,237.6,198.1,8.6,890,18368,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2108,1910
$GC,18676,1.06,237.6,171.2,8.5,905,18680,0.00,2.53,0.00,0.000,4,0.000,0.050,2742,3503,1910
$GC,18714,1.06,237.6,168.1,8.1,907,18719,0.00,2.50,0.00,0.000,6,0.000,0.041,2742,2093,1911
$GC,19041,1.06,237.6,139.5,9.0,923,19042,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2093,1911
$GC,19352,1.06,237.6,119.8,7.4,938,19353,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2093,1912
$GC,19660,1.18,338.2,102.6,3.0,953,19741,0.00,0.00,79.25,0.848,6,0.000,0.000,2742,2093,1499
$GC,20051,1.18,338.2,69.8,7.6,972,20052,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2093,1499
$GC,20359,1.18,338.2,39.1,9.4,987,20364,0.00,2.60,0.00,0.000,4,0.000,0.064,2742,690,1499
$GC,20414,1.18,338.2,34.6,8.4,989,20421,0.00,2.53,0.00,0.000,6,0.000,0.041,2742,2098,1499
$GC,20730,1.18,338.2,6.4,8.4,1005,20731,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2099,1499
$GC,21040,1.43,536.0,3.0,0.1,1020,21152,0.25,2.60,104.82,0.758,4,0.056,0.050,2804,3486,693
$GC,21404,1.65,717.1,2.9,0.6,1036,21425,0.22,2.50,12.57,0.793,6,0.052,0.048,2858,2096,602
$GC,21742,1.90,920.1,3.0,-0.0,1053,21747,0.20,2.65,0.00,0.000,4,0.067,0.069,2907,695,603
$STATE,21749,end climb,NO_VERTICAL_VELOCITY
$STATE,21750,begin surface
$SM_CCo,22174,0.00,0.000,0,0,603,558.06
$SM_GC,3.68,12.43,0.00,0.00,0.031,0.000,0.000,27,1905,603,-11.27,0.17,558.06
$IRIDIUM_FIX,6225.82,-1255.79,271207,161644
$TT8_MAMPS,0.026845
$HUMID,2055
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,625.6,98.3
$24V_AH,23.3,45.732
$10V_AH,10.1,22.054
$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,26.150,143.325,522.525,0.000,0.000,77.545,86.198,314.710,7.000,0.000,0.000,15.674,1871.577,17253.850,685.297,2304.635,717.002,33.365,1859.565,0.000,2267.327,0.000,36.321
$DEVICE_MAMPS,100.477,78.234,1280.123,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,781.603,711.659,685.999,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53856,1053
$CFSIZE,260165632,245747712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,271207,184825,6252.501,-1255.024,26,1.2,44,-11.9