version: 66.02
glider: 102
mission: 4
dive: 207
start: 12 28 107 14 2 1
data:
$ID,102
$MISSION,4
$DIVE,207
$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,-80074.375
$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,31
$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
$GPS1,135128,6250.963,-1250.664,28,2.8,47,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.57
$_SM_ANGLEo,-50.9
$GPS2,140107,6250.927,-1250.558,11,1.5,27,-11.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.020,0.208
$KALMAN_X,245899.1,-286.3,3750.4,-479182.6,-13796.4
$KALMAN_Y,-2670.6,-393.2,5250.8,141854.8,-37822.0
$MHEAD_RNG_PITCHd_Wd,6.5,49019,-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,-146.6,0.0,0.0,0,44,0.00,0.00,-21.92,0.000,2,0.000,0.000,27,1877,1105
$GC,47,-0.95,-146.6,3.6,-0.0,1,210,11.43,2.60,-144.30,0.000,4,0.113,0.061,2285,3295,3476
$GC,215,-0.95,-146.6,5.8,-6.2,9,219,0.00,2.50,0.00,0.000,6,0.000,0.041,2285,1900,3476
$GC,537,-0.95,-146.6,30.5,-7.3,25,541,0.00,2.55,0.00,0.000,4,0.000,0.048,2285,3306,3476
$GC,603,-0.95,-146.6,35.3,-7.6,28,607,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1905,3476
$GC,930,-0.95,-146.6,59.0,-5.9,44,934,0.00,2.55,0.00,0.000,4,0.000,0.048,2285,3314,3476
$GC,974,-0.95,-146.6,61.6,-5.9,46,978,0.00,2.55,0.00,0.000,6,0.000,0.043,2285,1895,3476
$GC,1295,-0.95,-146.6,78.2,-4.9,62,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1895,3476
$GC,1604,-0.95,-146.6,100.1,-8.2,77,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1895,3476
$GC,1913,-0.95,-146.6,121.9,-7.6,92,1918,0.00,2.55,0.00,0.000,4,0.000,0.048,2285,3310,3476
$GC,1979,-0.95,-146.6,126.6,-7.9,95,1984,0.00,2.53,0.00,0.000,6,0.000,0.043,2285,1897,3476
$GC,2306,-0.95,-146.6,153.4,-8.5,111,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3476
$GC,2616,-0.95,-146.6,182.8,-8.8,126,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3476
$GC,2925,-0.95,-146.6,212.7,-11.3,141,2930,0.00,2.55,0.00,0.000,4,0.000,0.049,2285,3314,3476
$GC,2974,-0.95,-146.6,219.2,-12.6,143,2979,0.00,2.53,0.00,0.000,6,0.000,0.043,2285,1900,3476
$GC,3296,-0.95,-146.6,247.1,-6.2,159,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,3605,-0.95,-146.6,265.1,-5.6,174,3609,0.00,2.53,0.00,0.000,4,0.000,0.049,2285,3305,3476
$GC,3654,-0.95,-146.6,268.4,-6.3,176,3658,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1899,3476
$GC,3975,-0.95,-146.6,289.5,-6.8,192,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3476
$GC,4284,-0.95,-146.6,310.1,-7.1,207,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3476
$GC,4593,-0.95,-146.6,334.7,-7.7,222,4598,0.00,2.53,0.00,0.000,4,0.000,0.050,2285,3305,3476
$GC,4665,-0.95,-146.6,340.0,-8.3,225,4669,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1894,3476
$GC,4986,-0.95,-146.6,367.1,-7.8,241,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1894,3476
$GC,5296,-0.95,-146.6,389.2,-7.0,256,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1894,3476
$GC,5605,-0.95,-146.6,410.8,-6.8,271,5610,0.00,2.58,0.00,0.000,4,0.000,0.052,2285,3309,3476
$GC,5667,-0.95,-146.6,415.4,-7.9,274,5671,0.00,2.55,0.00,0.000,6,0.000,0.046,2285,1896,3476
$GC,5992,-0.95,-146.6,437.6,-6.7,290,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1896,3476
$GC,6302,-0.95,-146.6,459.6,-7.2,305,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1896,3476
$GC,6611,-0.95,-146.6,481.2,-6.9,320,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1896,3476
$GC,6922,-0.95,-146.6,500.7,-6.5,335,6927,0.00,2.58,0.00,0.000,4,0.000,0.052,2285,3311,3476
$GC,6972,-0.95,-146.6,504.5,-7.1,337,6976,0.00,2.53,0.00,0.000,6,0.000,0.046,2285,1901,3475
$GC,7292,-0.95,-146.6,524.4,-6.5,353,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3475
$GC,7602,-0.95,-146.6,544.8,-6.8,368,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3475
$GC,7912,-0.95,-146.6,564.0,-5.9,383,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3475
$GC,8220,-0.95,-146.6,583.0,-6.4,398,8225,0.00,2.58,0.00,0.000,4,0.000,0.056,2285,3303,3475
$GC,8269,-0.95,-146.6,586.3,-6.6,400,8274,0.00,2.55,0.00,0.000,6,0.000,0.049,2285,1898,3475
$GC,8591,-0.95,-146.6,605.5,-6.6,416,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3475
$GC,8900,-0.95,-146.6,628.7,-7.7,431,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3475
$GC,9210,-0.95,-146.6,651.8,-7.7,446,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3474
$GC,9522,-0.95,-146.6,675.1,-7.4,461,9527,0.00,2.65,0.00,0.000,4,0.000,0.076,2285,489,3474
$GC,9593,-0.95,-146.6,680.8,-7.5,464,9597,0.00,2.53,0.00,0.000,6,0.000,0.051,2285,1900,3474
$GC,9914,-0.95,-146.6,702.4,-6.9,480,9919,0.00,2.58,0.00,0.000,4,0.000,0.064,2285,3300,3473
$GC,9964,-0.95,-146.6,705.8,-6.9,482,9968,0.00,2.53,0.00,0.000,6,0.000,0.057,2285,1902,3473
$STATE,10139,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10139,begin apogee
$GC,10144,-0.36,0.0,717.9,6.9,491,10271,0.62,0.00,123.97,1.279,6,0.072,0.000,2421,2100,2877
$STATE,10272,end apogee,CONTROL_FINISHED_OK
$STATE,10272,begin climb
$GC,10274,0.95,146.6,722.6,0.0,497,10406,1.25,2.78,122.97,1.236,4,0.051,0.074,2701,692,2280
$GC,10501,0.97,162.3,715.9,5.5,508,10521,0.00,2.55,13.98,1.240,6,0.000,0.052,2701,2094,2215
$GC,10843,0.97,166.0,694.9,5.9,525,10852,0.00,2.65,4.22,1.151,4,0.000,0.067,2701,3504,2201
$GC,10964,0.97,166.0,687.2,6.1,530,10969,0.00,2.60,0.00,0.000,6,0.000,0.055,2701,2094,2201
$GC,11280,0.97,166.0,667.7,6.6,545,11281,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2094,2200
$GC,11589,0.97,166.0,645.5,7.4,560,11593,0.00,2.65,0.00,0.000,4,0.000,0.077,2701,691,2200
$GC,11672,0.97,166.0,638.8,7.8,564,11677,0.00,2.55,0.00,0.000,6,0.000,0.051,2701,2104,2200
$GC,11998,0.97,166.0,614.5,7.2,580,12002,0.00,2.60,0.00,0.000,4,0.000,0.064,2701,3506,2199
$GC,12086,0.97,166.0,608.0,6.5,584,12090,0.00,2.58,0.00,0.000,6,0.000,0.053,2701,2095,2199
$GC,12413,1.04,225.7,591.3,4.2,600,12464,0.00,0.00,50.00,1.229,6,0.000,0.000,2701,2095,1957
$GC,12762,1.10,270.6,575.4,4.7,617,12807,0.15,2.75,37.83,1.200,4,0.046,0.073,2749,692,1774
$GC,12847,1.10,270.6,569.5,7.6,621,12852,0.00,2.55,0.00,0.000,6,0.000,0.048,2749,2104,1774
$GC,13173,1.10,270.6,545.8,7.0,637,13174,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2107,1774
$GC,13482,1.10,270.6,524.2,7.1,652,13483,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2107,1775
$GC,13791,1.10,270.6,501.3,7.5,667,13795,0.00,2.67,0.00,0.000,4,0.000,0.070,2749,691,1775
$GC,13852,1.10,270.6,496.4,8.1,670,13856,0.00,2.50,0.00,0.000,6,0.000,0.045,2749,2100,1775
$GC,14177,1.10,270.6,472.8,7.3,686,14179,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2104,1775
$GC,14487,1.10,270.6,448.9,8.0,701,14488,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2104,1775
$GC,14796,1.10,270.6,422.5,8.7,716,14801,0.00,2.65,0.00,0.000,4,0.000,0.067,2750,688,1776
$GC,14845,1.10,270.6,417.7,9.8,718,14850,0.00,2.53,0.00,0.000,6,0.000,0.044,2749,2108,1775
$GC,15166,1.10,270.6,389.9,8.7,734,15168,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2112,1776
$GC,15476,1.10,270.6,364.2,8.6,749,15477,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2113,1776
$GC,15785,1.10,270.6,338.7,8.6,764,15786,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2113,1776
$GC,16094,1.10,270.6,309.3,9.3,779,16095,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2113,1777
$GC,16404,1.10,270.6,281.4,9.0,794,16408,0.00,2.65,0.00,0.000,4,0.000,0.065,2749,690,1776
$GC,16452,1.10,270.6,276.9,9.5,796,16457,0.00,2.50,0.00,0.000,6,0.000,0.041,2749,2099,1777
$GC,16773,1.10,270.6,249.4,8.5,812,16775,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2103,1778
$GC,17083,1.10,270.6,221.8,9.0,827,17084,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2103,1778
$GC,17392,1.10,270.6,194.0,8.9,842,17393,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2104,1778
$GC,17701,1.10,270.6,164.5,9.7,857,17702,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2103,1779
$GC,18011,1.10,270.6,136.2,8.7,872,18012,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2103,1779
$GC,18320,1.10,270.6,104.7,10.1,887,18322,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2104,1779
$GC,18629,1.10,270.6,73.3,9.9,902,18631,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2104,1779
$GC,18939,1.10,270.6,44.9,8.3,917,18940,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2103,1778
$GC,19248,1.10,270.6,15.8,8.8,932,19249,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2103,1779
$GC,19559,1.35,474.1,3.1,-0.1,947,19673,0.17,2.70,107.28,0.769,4,0.045,0.061,2807,687,945
$GC,19712,1.61,682.1,2.9,-0.2,954,19765,0.17,2.53,43.30,0.748,6,0.065,0.041,2846,2114,602
$STATE,19949,end climb,NO_VERTICAL_VELOCITY
$STATE,19949,begin surface
$SM_CCo,20372,0.00,0.000,0,0,602,558.30
$SM_GC,3.61,12.15,0.00,0.00,0.029,0.000,0.000,27,1883,602,-11.27,-0.48,558.30
$IRIDIUM_FIX,6225.82,-1249.09,281207,171729
$TT8_MAMPS,0.026078
$HUMID,2032
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,675.1,51.5
$24V_AH,23.3,46.437
$10V_AH,10.1,22.440
$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,25.950,108.875,503.550,0.000,0.000,77.791,71.649,241.289,6.500,0.000,0.000,28.589,1686.413,16014.406,637.085,2012.453,600.059,33.361,1652.427,0.000,1962.264,0.000,39.431
$DEVICE_MAMPS,112.749,77.467,1279.356,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,707.493,652.690,618.973,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47345,966
$CFSIZE,260165632,245506048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,281207,194331,6250.957,-1248.036,64,2.3,83,-11.8