version: 66.02
glider: 102
mission: 4
dive: 206
start: 12 28 107 7 39 3
data:
$ID,102
$MISSION,4
$DIVE,206
$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,-80045.156
$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,36
$R_STBD_OVSHOOT,26
$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
$GPS1,072907,6249.961,-1257.089,35,1.4,35,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.67
$_SM_ANGLEo,-59.0
$GPS2,073809,6249.868,-1257.264,9,1.9,9,-11.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.003,0.209
$KALMAN_X,245543.4,-53.0,-1778.2,-479449.2,11431.1
$KALMAN_Y,2921.1,26.4,3082.6,136066.5,-41176.2
$MHEAD_RNG_PITCHd_Wd,12.7,48836,-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,-146.4,0.0,0.0,0,44,0.00,0.00,-21.98,0.000,2,0.000,0.000,31,1877,1110
$GC,47,-0.95,-146.6,3.7,-0.0,1,226,11.23,2.60,-160.68,0.000,4,0.109,0.061,2289,3302,3475
$GC,237,-0.95,-146.6,3.2,-1.9,9,242,0.00,2.53,0.00,0.000,6,0.000,0.042,2289,1902,3476
$GC,552,-0.95,-146.6,28.5,-7.0,24,556,0.00,2.55,0.00,0.000,4,0.000,0.048,2289,3309,3475
$GC,618,-0.95,-146.6,33.6,-7.7,27,622,0.00,2.55,0.00,0.000,6,0.000,0.044,2289,1895,3475
$GC,946,-0.95,-146.6,57.3,-8.3,43,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3475
$GC,1254,-0.95,-146.6,81.6,-6.3,58,1258,0.00,2.55,0.00,0.000,4,0.000,0.048,2289,3305,3475
$GC,1304,-0.95,-146.6,85.4,-8.0,60,1308,0.00,2.53,0.00,0.000,6,0.000,0.044,2289,1899,3475
$GC,1625,-0.95,-146.6,113.7,-9.3,76,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3476
$GC,1934,-0.95,-146.6,134.6,-6.9,91,1938,0.00,2.55,0.00,0.000,4,0.000,0.048,2289,3310,3475
$GC,1996,-0.95,-146.6,138.7,-6.6,94,2000,0.00,2.53,0.00,0.000,6,0.000,0.042,2289,1899,3476
$GC,2321,-0.95,-146.6,158.0,-6.0,110,2325,0.00,2.55,0.00,0.000,4,0.000,0.048,2289,3310,3475
$GC,2364,-0.95,-146.6,160.7,-6.1,112,2368,0.00,2.53,0.00,0.000,6,0.000,0.043,2289,1898,3475
$GC,2691,-0.95,-146.6,179.3,-5.7,128,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3475
$GC,3000,-0.95,-146.6,197.7,-5.7,143,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3475
$GC,3309,-0.95,-146.6,216.4,-6.5,158,3314,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3305,3475
$GC,3359,-0.95,-146.6,219.8,-6.1,160,3363,0.00,2.53,0.00,0.000,6,0.000,0.044,2289,1896,3475
$GC,3680,-0.95,-146.6,241.5,-6.4,176,3684,0.00,2.55,0.00,0.000,4,0.000,0.049,2289,3310,3475
$GC,3723,-0.95,-146.6,244.9,-8.3,178,3727,0.00,2.53,0.00,0.000,6,0.000,0.043,2289,1895,3475
$GC,4050,-0.95,-146.6,269.7,-8.5,194,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3475
$GC,4359,-0.95,-146.6,295.8,-6.8,209,4363,0.00,2.55,0.00,0.000,4,0.000,0.050,2289,3305,3475
$GC,4413,-0.95,-146.6,299.5,-6.8,211,4419,0.00,2.53,0.00,0.000,6,0.000,0.043,2289,1895,3475
$GC,4729,-0.95,-146.6,322.1,-7.8,227,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3475
$GC,5038,-0.95,-146.6,343.6,-6.7,242,5042,0.00,2.55,0.00,0.000,4,0.000,0.051,2289,3305,3475
$GC,5103,-0.95,-146.6,348.7,-7.2,245,5108,0.00,2.55,0.00,0.000,6,0.000,0.045,2289,1903,3475
$GC,5430,-0.95,-146.6,372.1,-6.0,261,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1903,3475
$GC,5740,-0.95,-146.6,395.1,-7.0,276,5744,0.00,2.55,0.00,0.000,4,0.000,0.051,2289,3309,3475
$GC,5788,-0.95,-146.6,398.9,-7.6,278,5793,0.00,2.55,0.00,0.000,6,0.000,0.045,2289,1893,3475
$GC,6110,-0.95,-146.6,424.6,-7.9,294,6114,0.00,2.55,0.00,0.000,4,0.000,0.051,2289,3305,3475
$GC,6164,-0.95,-146.6,428.8,-7.8,296,6170,0.00,2.53,0.00,0.000,6,0.000,0.046,2289,1901,3475
$GC,6480,-0.95,-146.6,450.7,-6.6,312,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3475
$GC,6789,-0.95,-146.6,469.7,-6.0,327,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3475
$GC,7098,-0.95,-146.6,487.6,-5.7,342,7103,0.00,2.58,0.00,0.000,4,0.000,0.053,2289,3310,3475
$GC,7142,-0.95,-146.6,490.2,-5.5,344,7146,0.00,2.55,0.00,0.000,6,0.000,0.047,2289,1900,3475
$GC,7469,-0.95,-146.6,508.8,-5.6,360,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3474
$GC,7780,-0.95,-146.6,526.2,-5.6,375,7785,0.00,2.55,0.00,0.000,4,0.000,0.053,2289,3304,3474
$GC,7847,-0.95,-146.6,530.1,-5.8,378,7851,0.00,2.55,0.00,0.000,6,0.000,0.048,2289,1894,3474
$GC,8168,-0.95,-146.6,548.9,-5.7,394,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3474
$GC,8477,-0.95,-146.6,566.6,-5.8,409,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3474
$GC,8786,-0.95,-146.6,586.6,-6.4,424,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3474
$GC,9096,-0.95,-146.6,603.1,-5.0,439,9097,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3474
$GC,9405,-0.95,-146.6,617.5,-4.4,454,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3474
$GC,9715,-0.95,-146.6,631.5,-4.5,469,9719,0.00,2.60,0.00,0.000,4,0.000,0.060,2288,3302,3474
$GC,9769,-0.95,-146.6,634.4,-5.9,471,9775,0.00,2.55,0.00,0.000,6,0.000,0.050,2288,1901,3474
$GC,10085,-0.95,-146.6,652.5,-6.0,487,10086,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3474
$GC,10394,-0.95,-146.6,671.6,-6.1,502,10395,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3474
$GC,10703,-0.95,-146.6,690.1,-6.0,517,10704,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3474
$GC,11012,-0.95,-146.6,708.6,-6.0,532,11013,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3474
$GC,11322,-0.95,-146.6,726.7,-5.6,547,11326,0.00,2.60,0.00,0.000,4,0.000,0.063,2288,3310,3473
$GC,11399,-0.95,-146.6,731.5,-5.7,550,11406,0.00,2.58,0.00,0.000,6,0.000,0.054,2289,1897,3473
$STATE,11589,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11589,begin apogee
$GC,11594,-0.36,0.0,742.6,5.9,560,11722,0.60,0.00,124.38,1.299,6,0.072,0.000,2419,2104,2877
$STATE,11723,end apogee,CONTROL_FINISHED_OK
$STATE,11723,begin climb
$GC,11725,0.95,146.6,746.1,0.0,566,11856,1.25,2.67,123.00,1.253,4,0.049,0.068,2704,3499,2279
$GC,11940,0.95,146.6,738.3,6.6,576,11945,0.00,2.58,0.00,0.000,6,0.000,0.054,2704,2103,2279
$GC,12267,0.96,154.5,718.4,5.8,592,12277,0.00,0.00,7.68,1.238,6,0.000,0.000,2704,2103,2248
$GC,12576,0.96,154.5,699.5,6.3,607,12580,0.00,2.60,0.00,0.000,4,0.000,0.065,2704,3499,2247
$GC,12631,0.96,154.5,695.8,6.5,609,12638,0.00,2.58,0.00,0.000,6,0.000,0.055,2704,2097,2247
$GC,12947,0.97,166.3,675.8,5.6,625,12959,0.00,0.00,10.60,1.280,6,0.000,0.000,2704,2097,2200
$GC,13256,1.02,205.7,660.1,4.8,640,13298,0.00,2.70,33.72,1.274,4,0.000,0.064,2704,3492,2039
$GC,13361,1.02,208.0,653.8,5.9,644,13370,0.00,2.58,3.53,1.139,6,0.000,0.053,2704,2100,2029
$GC,13698,1.02,208.0,632.8,6.4,661,13699,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2099,2029
$GC,14007,1.07,247.6,615.5,4.8,676,14047,0.10,0.00,33.35,1.246,6,0.054,0.000,2743,2100,1868
$GC,14355,1.07,247.6,592.7,7.5,693,14360,0.00,2.60,0.00,0.000,4,0.000,0.058,2743,3500,1868
$GC,14421,1.07,247.6,587.5,8.1,696,14426,0.00,2.55,0.00,0.000,6,0.000,0.050,2743,2098,1868
$GC,14748,1.07,247.6,563.6,8.1,712,14753,0.00,2.65,0.00,0.000,4,0.000,0.072,2743,690,1868
$GC,14797,1.07,247.6,559.7,7.2,714,14802,0.00,2.53,0.00,0.000,6,0.000,0.047,2743,2106,1868
$GC,15118,1.07,247.6,536.7,7.6,730,15123,0.00,2.67,0.00,0.000,4,0.000,0.068,2743,687,1868
$GC,15173,1.07,247.6,532.5,7.8,732,15179,0.00,2.53,0.00,0.000,6,0.000,0.046,2743,2101,1868
$GC,15488,1.07,247.6,506.0,9.0,748,15492,0.00,2.55,0.00,0.000,4,0.000,0.058,2743,3500,1868
$GC,15549,1.07,247.6,500.3,9.1,751,15554,0.00,2.53,0.00,0.000,6,0.000,0.049,2743,2098,1868
$GC,15875,1.07,247.6,472.6,8.0,767,15876,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2098,1869
$GC,16184,1.07,247.6,446.5,8.6,782,16186,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2098,1869
$GC,16494,1.07,247.6,420.2,7.8,797,16495,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2098,1870
$GC,16803,1.07,247.6,397.1,7.4,812,16804,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2098,1870
$GC,17112,1.07,247.6,371.3,8.3,827,17113,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2098,1870
$GC,17421,1.07,247.6,348.5,7.3,842,17423,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2098,1870
$GC,17731,1.07,247.6,324.5,7.8,857,17732,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2098,1871
$GC,18040,1.07,247.6,297.9,8.4,872,18044,0.00,2.55,0.00,0.000,4,0.000,0.052,2743,3501,1871
$GC,18094,1.07,247.6,293.1,9.3,874,18101,0.00,2.50,0.00,0.000,6,0.000,0.043,2743,2094,1871
$GC,18410,1.07,247.6,265.9,8.8,890,18411,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2094,1872
$GC,18719,1.07,247.6,238.6,9.0,905,18720,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2093,1872
$GC,19028,1.07,247.6,210.1,9.2,920,19029,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2094,1872
$GC,19338,1.07,247.6,183.1,8.2,935,19339,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2094,1872
$GC,19647,1.07,247.6,160.0,7.1,950,19651,0.00,2.58,0.00,0.000,4,0.000,0.051,2743,3506,1872
$GC,19723,1.09,262.3,155.4,5.6,953,19743,0.00,2.50,13.88,0.941,6,0.000,0.041,2743,2098,1807
$GC,20059,1.09,262.3,129.6,8.9,970,20061,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2098,1807
$GC,20370,1.09,262.3,97.6,11.5,985,20371,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2098,1807
$GC,20678,1.09,262.3,71.2,9.9,1000,20679,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2097,1807
$GC,20987,1.09,262.3,38.4,10.7,1015,20988,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2097,1807
$GC,21296,1.09,262.3,11.7,7.7,1030,21297,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2097,1807
$GC,21606,1.33,461.2,3.0,0.1,1045,21714,0.15,0.00,104.50,0.766,6,0.051,0.000,2789,2091,996
$STATE,21785,end climb,NO_VERTICAL_VELOCITY
$STATE,21787,begin surface
$SM_CCo,21790,50.10,0.752,0,0,602,558.06
$SM_GC,3.65,11.93,0.00,0.00,0.030,0.000,0.000,28,1882,603,-11.27,-0.45,558.06
$IRIDIUM_FIX,6225.82,-1302.85,281207,111104
$TT8_MAMPS,0.026845
$HUMID,2037
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.50
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,650.1,101.9
$24V_AH,23.3,46.260
$10V_AH,10.1,22.348
$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,25.250,123.625,454.625,50.100,0.000,73.543,71.361,224.564,6.500,0.000,0.000,11.365,1847.572,17527.814,687.891,2150.524,589.692,33.363,1777.420,0.000,2116.710,0.000,37.953
$DEVICE_MAMPS,108.914,72.098,1298.531,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,772.771,711.766,635.989,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53712,1054
$CFSIZE,260165632,245547008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,281207,135128,6250.963,-1250.664,28,2.8,47,-11.9