version: 66.02
glider: 102
mission: 4
dive: 205
start: 12 28 107 1 26 2
data:
$ID,102
$MISSION,4
$DIVE,205
$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,-80033.156
$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,24
$R_STBD_OVSHOOT,27
$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
$GPS1,011207,6252.197,-1259.036,23,1.4,23,-11.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.57
$_SM_ANGLEo,-51.3
$GPS2,012508,6252.046,-1258.818,12,1.4,12,-11.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.089,0.189
$KALMAN_X,244575.0,370.3,413.3,-482462.5,1891.4
$KALMAN_Y,13280.2,823.3,1940.9,130082.1,-20588.0
$MHEAD_RNG_PITCHd_Wd,37.1,44599,-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,18,begin dive
$GC,20,-0.95,-146.6,0.0,0.0,0,29,0.00,0.00,-6.97,0.000,2,0.000,0.000,27,1888,771
$GC,32,-0.95,-146.6,3.7,-0.0,1,220,11.00,2.60,-166.95,0.000,4,0.097,0.073,2291,495,3475
$GC,445,-0.95,-146.6,23.7,-9.6,20,450,0.00,2.50,0.00,0.000,6,0.000,0.041,2291,1915,3475
$GC,772,-0.95,-146.6,54.1,-10.8,36,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1918,3475
$GC,1082,-0.95,-146.6,77.1,-8.0,51,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1917,3476
$GC,1390,-0.95,-146.6,97.4,-6.1,66,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1918,3476
$GC,1700,-0.95,-146.6,119.8,-7.6,81,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1917,3475
$GC,2009,-0.95,-146.6,143.3,-9.0,96,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1917,3475
$GC,2318,-0.95,-146.6,166.1,-6.7,111,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1918,3475
$GC,2627,-0.95,-146.6,185.6,-6.3,126,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1918,3475
$GC,2937,-0.95,-146.6,204.2,-4.6,141,2942,0.00,2.65,0.00,0.000,4,0.000,0.067,2291,495,3475
$GC,2992,-0.95,-146.6,207.8,-6.4,143,2999,0.00,2.47,0.00,0.000,6,0.000,0.042,2291,1910,3475
$GC,3308,-0.95,-146.6,228.1,-7.0,159,3312,0.00,2.50,0.00,0.000,4,0.000,0.049,2291,3295,3475
$GC,3346,-0.95,-146.6,230.7,-7.5,160,3353,0.00,2.53,0.00,0.000,6,0.000,0.046,2291,1908,3475
$GC,3662,-0.95,-146.6,249.2,-6.4,176,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1908,3475
$GC,3971,-0.95,-146.6,271.6,-6.4,191,3975,0.00,2.53,0.00,0.000,4,0.000,0.051,2291,3301,3475
$GC,4014,-0.95,-146.6,274.6,-7.1,193,4018,0.00,2.53,0.00,0.000,6,0.000,0.045,2290,1897,3475
$GC,4341,-0.95,-146.6,299.3,-7.5,209,4345,0.00,2.53,0.00,0.000,4,0.000,0.050,2291,3294,3475
$GC,4395,-0.95,-146.6,303.0,-6.8,211,4402,0.00,2.50,0.00,0.000,6,0.000,0.044,2290,1899,3475
$GC,4710,-0.95,-146.6,324.6,-7.7,227,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1900,3475
$GC,5020,-0.95,-146.6,347.5,-7.0,242,5024,0.00,2.53,0.00,0.000,4,0.000,0.049,2290,3298,3475
$GC,5052,-0.95,-146.6,349.4,-5.9,243,5058,0.00,2.53,0.00,0.000,6,0.000,0.047,2291,1898,3475
$GC,5367,-0.95,-146.6,368.9,-6.5,259,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1898,3475
$GC,5676,-0.95,-146.6,389.4,-6.9,274,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1898,3475
$GC,5986,-0.95,-146.6,410.7,-6.7,289,5990,0.00,2.53,0.00,0.000,4,0.000,0.051,2291,3294,3475
$GC,6017,-0.95,-146.6,413.0,-6.8,290,6024,0.00,2.55,0.00,0.000,6,0.000,0.046,2290,1897,3475
$GC,6334,-0.95,-146.6,434.7,-6.5,306,6335,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1897,3475
$GC,6643,-0.95,-146.6,457.0,-7.4,321,6647,0.00,2.55,0.00,0.000,4,0.000,0.052,2291,3300,3475
$GC,6675,-0.95,-146.6,459.4,-7.3,322,6681,0.00,2.53,0.00,0.000,6,0.000,0.047,2290,1899,3475
$GC,6990,-0.95,-146.6,481.2,-7.5,338,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1900,3475
$GC,7300,-0.95,-146.6,503.1,-6.9,353,7304,0.00,2.53,0.00,0.000,4,0.000,0.051,2291,3293,3474
$GC,7331,-0.95,-146.6,505.3,-6.7,354,7338,0.00,2.50,0.00,0.000,6,0.000,0.045,2290,1899,3474
$GC,7648,-0.95,-146.6,526.2,-6.2,370,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1899,3474
$GC,7956,-0.95,-146.6,545.7,-6.8,385,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1899,3474
$GC,8265,-0.95,-146.6,564.7,-6.3,400,8270,0.00,2.53,0.00,0.000,4,0.000,0.054,2291,3293,3473
$GC,8350,-0.95,-146.6,569.8,-5.9,404,8354,0.00,2.53,0.00,0.000,6,0.000,0.047,2291,1895,3473
$GC,8675,-0.95,-146.6,589.0,-6.5,420,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1895,3474
$GC,8985,-0.95,-146.6,607.8,-5.9,435,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1895,3474
$GC,9293,-0.95,-146.6,629.4,-7.1,450,9298,0.00,2.53,0.00,0.000,4,0.000,0.058,2291,3291,3474
$GC,9387,-0.95,-146.6,636.4,-7.8,454,9392,0.00,2.53,0.00,0.000,6,0.000,0.049,2291,1896,3473
$GC,9708,-0.95,-146.6,658.2,-6.7,470,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1895,3474
$GC,10019,-0.95,-146.6,676.6,-5.4,485,10024,0.00,2.58,0.00,0.000,4,0.000,0.059,2291,3294,3473
$GC,10059,-0.95,-146.6,679.0,-5.8,487,10063,0.00,2.53,0.00,0.000,6,0.000,0.051,2291,1903,3473
$GC,10385,-0.95,-146.6,696.4,-5.5,503,10389,0.00,2.65,0.00,0.000,4,0.000,0.075,2291,489,3473
$GC,10446,-0.95,-146.6,699.9,-6.0,506,10453,0.00,2.50,0.00,0.000,6,0.000,0.053,2290,1890,3473
$GC,10780,-0.95,-146.6,718.1,-5.7,522,10781,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1890,3473
$STATE,11067,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11067,begin apogee
$GC,11072,-0.36,0.0,736.2,6.3,536,11200,0.57,0.00,124.15,1.289,6,0.070,0.000,2416,2103,2878
$STATE,11200,end apogee,CONTROL_FINISHED_OK
$STATE,11200,begin climb
$GC,11203,0.95,146.6,740.1,0.0,542,11334,1.27,2.75,123.38,1.249,4,0.053,0.074,2701,688,2280
$GC,11362,0.96,159.0,736.8,5.6,550,11384,0.00,2.60,11.68,1.212,6,0.000,0.054,2702,2101,2228
$GC,11692,0.96,159.0,716.9,6.4,566,11697,0.00,2.62,0.00,0.000,4,0.000,0.067,2702,3501,2227
$GC,11915,0.96,159.0,698.7,9.3,576,11920,0.00,2.58,0.00,0.000,6,0.000,0.056,2702,2101,2227
$GC,12242,0.96,159.0,674.2,7.2,592,12246,0.00,2.67,0.00,0.000,4,0.000,0.078,2702,691,2226
$GC,12313,0.96,159.0,668.8,7.2,595,12317,0.00,2.55,0.00,0.000,6,0.000,0.052,2701,2102,2226
$GC,12635,1.05,232.5,652.1,3.8,611,12702,0.10,2.67,60.83,1.276,4,0.057,0.063,2738,3501,1928
$GC,12755,1.05,232.5,645.5,6.4,616,12761,0.00,2.62,0.00,0.000,6,0.000,0.055,2739,2094,1928
$GC,13069,1.05,232.5,624.2,7.2,632,13074,0.00,2.67,0.00,0.000,4,0.000,0.076,2739,687,1928
$GC,13108,1.05,232.5,621.2,7.7,634,13113,0.00,2.58,0.00,0.000,6,0.000,0.051,2739,2109,1928
$GC,13434,1.05,232.5,598.1,6.9,650,13435,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2110,1928
$GC,13743,1.05,232.5,574.7,7.9,665,13747,0.00,2.58,0.00,0.000,4,0.000,0.058,2739,3506,1927
$GC,13792,1.05,232.5,570.7,7.8,667,13796,0.00,2.58,0.00,0.000,6,0.000,0.050,2739,2088,1927
$GC,14113,1.05,232.5,547.5,7.1,683,14117,0.00,2.62,0.00,0.000,4,0.000,0.058,2739,3507,1927
$GC,14196,1.05,232.5,540.5,8.7,687,14200,0.00,2.55,0.00,0.000,6,0.000,0.049,2739,2101,1928
$GC,14521,1.05,232.5,513.4,8.4,703,14526,0.00,2.65,0.00,0.000,4,0.000,0.071,2739,686,1927
$GC,14565,1.05,232.5,509.5,8.7,705,14569,0.00,2.53,0.00,0.000,6,0.000,0.045,2739,2108,1927
$GC,14892,1.05,232.5,483.1,7.7,721,14893,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2109,1927
$GC,15202,1.05,232.5,460.8,7.3,736,15203,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2110,1928
$GC,15511,1.05,232.5,436.4,7.9,751,15515,0.00,2.67,0.00,0.000,4,0.000,0.067,2739,685,1928
$GC,15565,1.05,232.5,431.3,9.2,753,15571,0.00,2.53,0.00,0.000,6,0.000,0.044,2739,2098,1928
$GC,15880,1.05,232.5,405.3,7.9,769,15885,0.00,2.55,0.00,0.000,4,0.000,0.054,2739,3500,1928
$GC,15980,1.05,232.5,397.0,7.0,773,15987,0.00,2.53,0.00,0.000,6,0.000,0.046,2739,2092,1928
$GC,16296,1.05,232.5,372.1,8.6,789,16297,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2092,1928
$GC,16605,1.05,232.5,344.8,7.9,804,16606,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2091,1929
$GC,16914,1.05,232.5,318.3,9.7,819,16918,0.00,2.55,0.00,0.000,4,0.000,0.053,2739,3501,1929
$GC,16985,1.05,232.5,310.8,11.2,822,16989,0.00,2.50,0.00,0.000,6,0.000,0.043,2739,2099,1929
$GC,17306,1.05,232.5,280.2,8.0,838,17308,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1930
$GC,17615,1.05,232.5,256.6,7.6,853,17617,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2100,1929
$GC,17925,1.05,232.5,235.7,7.9,868,17926,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2100,1930
$GC,18234,1.05,232.5,206.5,9.6,883,18239,0.00,2.55,0.00,0.000,4,0.000,0.052,2739,3505,1931
$GC,18296,1.05,232.5,200.0,11.9,886,18300,0.00,2.50,0.00,0.000,6,0.000,0.043,2739,2099,1931
$GC,18622,1.05,232.5,173.2,8.6,902,18623,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1931
$GC,18931,1.05,232.5,147.9,8.5,917,18933,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1931
$GC,19241,1.06,235.6,129.2,5.9,932,19247,0.00,0.00,4.38,0.938,6,0.000,0.000,2739,2099,1917
$GC,19551,1.06,235.6,105.7,9.3,947,19553,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1916
$GC,19859,1.06,235.6,77.5,8.5,962,19860,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1916
$GC,20168,1.06,237.1,54.6,6.0,977,20170,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1916
$GC,20478,1.07,248.8,36.1,5.7,992,20491,0.00,0.00,11.12,0.878,6,0.000,0.000,2739,2099,1863
$GC,20788,1.07,248.8,10.3,8.0,1007,20792,0.00,2.58,0.00,0.000,4,0.000,0.050,2739,3507,1863
$GC,20859,1.07,248.8,3.8,8.8,1010,20864,0.00,2.53,0.00,0.000,6,0.000,0.042,2739,2088,1863
$GC,21181,1.31,441.7,3.0,0.3,1026,21224,0.17,0.00,39.97,0.790,2,0.051,0.000,2794,2084,1585
$STATE,21225,end climb,NO_VERTICAL_VELOCITY
$STATE,21225,begin surface
$SM_CCo,21228,121.68,0.736,0,0,603,558.06
$SM_CCo,21713,0.28,1.250,0,0,603,558.06
$SM_GC,3.88,0.00,0.00,0.28,0.000,0.000,1.250,32,1879,603,-11.33,-0.59,558.06
$IRIDIUM_FIX,6225.82,-1254.73,281207,050511
$TT8_MAMPS,0.026845
$HUMID,2028
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.40
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,700.2,45.6
$24V_AH,23.3,46.082
$10V_AH,10.1,22.252
$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,25.075,133.900,375.500,121.950,0.000,109.673,106.924,323.553,8.000,0.000,0.000,14.025,1827.061,17014.439,698.264,2176.820,779.123,33.365,1795.248,0.000,2142.273,0.000,43.950
$DEVICE_MAMPS,97.409,78.234,1288.560,1250.210,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,763.743,694.962,644.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50514,1028
$CFSIZE,260165632,245616640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,281207,072907,6249.961,-1257.089,35,1.4,35,-11.9