version: 66.02
glider: 102
mission: 4
dive: 208
start: 12 28 107 19 50 21
data:
$ID,102
$MISSION,4
$DIVE,208
$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,-80092.141
$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,39
$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
$GPS1,194331,6250.957,-1248.036,64,2.3,83,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.51
$_SM_ANGLEo,-53.9
$GPS2,194927,6250.921,-1248.129,15,1.6,15,-11.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.143,0.152
$KALMAN_X,252947.0,672.4,-1024.2,-480281.8,5681.6
$KALMAN_Y,-10766.8,-399.5,7336.2,147867.2,13500.6
$MHEAD_RNG_PITCHd_Wd,328.4,49903,-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,22,-0.95,-146.6,0.0,0.0,0,44,0.00,0.00,-20.75,0.000,2,0.000,0.000,27,1880,1077
$GC,47,-0.95,-146.6,3.7,-0.0,1,234,11.20,2.58,-163.55,0.000,4,0.107,0.056,2285,3289,3477
$GC,407,-0.95,-146.6,21.5,-7.3,17,414,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1905,3476
$GC,723,-0.95,-146.6,43.9,-6.4,33,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3476
$GC,1033,-0.95,-146.6,65.4,-7.1,48,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3476
$GC,1342,-0.95,-146.6,84.9,-6.4,63,1346,0.00,2.50,0.00,0.000,4,0.000,0.048,2285,3295,3476
$GC,1407,-0.95,-146.6,89.0,-6.5,66,1412,0.00,2.50,0.00,0.000,6,0.000,0.044,2284,1898,3476
$GC,1735,-0.95,-146.6,108.4,-6.0,82,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3476
$GC,2044,-0.95,-146.6,126.8,-7.2,97,2048,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3298,3476
$GC,2098,-0.95,-146.6,131.1,-8.3,99,2105,0.00,2.53,0.00,0.000,6,0.000,0.043,2285,1905,3476
$GC,2414,-0.95,-146.6,152.0,-6.8,115,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3476
$GC,2723,-0.95,-146.6,172.7,-6.5,130,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3476
$GC,3032,-0.95,-146.6,193.1,-6.8,145,3037,0.00,2.47,0.00,0.000,4,0.000,0.048,2284,3294,3476
$GC,3087,-0.95,-146.6,197.1,-7.4,147,3094,0.00,2.50,0.00,0.000,6,0.000,0.044,2285,1899,3476
$GC,3403,-0.95,-146.6,217.5,-6.3,163,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3476
$GC,3712,-0.95,-146.6,237.6,-6.5,178,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,4021,-0.95,-146.6,257.6,-6.9,193,4026,0.00,2.53,0.00,0.000,4,0.000,0.049,2284,3299,3476
$GC,4089,-0.95,-146.6,262.1,-6.3,196,4093,0.00,2.50,0.00,0.000,6,0.000,0.044,2284,1899,3476
$GC,4409,-0.95,-146.6,283.0,-6.8,212,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1899,3476
$GC,4719,-0.95,-146.6,302.7,-6.0,227,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,5028,-0.95,-146.6,319.4,-5.2,242,5032,0.00,2.53,0.00,0.000,4,0.000,0.049,2284,3297,3476
$GC,5083,-0.95,-146.6,322.7,-6.2,244,5089,0.00,2.50,0.00,0.000,6,0.000,0.044,2284,1900,3476
$GC,5398,-0.95,-146.6,344.3,-6.6,260,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,5707,-0.95,-146.6,365.0,-6.9,275,5711,0.00,2.53,0.00,0.000,4,0.000,0.050,2284,3297,3476
$GC,5768,-0.95,-146.6,369.3,-7.4,278,5772,0.00,2.53,0.00,0.000,6,0.000,0.045,2284,1896,3476
$GC,6093,-0.95,-146.6,391.8,-6.6,294,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1896,3476
$GC,6402,-0.95,-146.6,411.7,-6.5,309,6407,0.00,2.53,0.00,0.000,4,0.000,0.051,2284,3293,3476
$GC,6452,-0.95,-146.6,414.9,-6.5,311,6456,0.00,2.50,0.00,0.000,6,0.000,0.045,2284,1899,3476
$GC,6773,-0.95,-146.6,436.1,-6.8,327,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,7082,-0.95,-146.6,458.4,-7.2,342,7086,0.00,2.53,0.00,0.000,4,0.000,0.051,2285,3293,3476
$GC,7181,-0.95,-146.6,465.0,-7.1,346,7188,0.00,2.50,0.00,0.000,6,0.000,0.046,2285,1900,3476
$GC,7497,-0.95,-146.6,492.3,-9.9,362,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3475
$GC,7806,-0.95,-146.6,515.0,-6.6,377,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3475
$GC,8116,-0.95,-146.6,530.9,-4.4,392,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3475
$GC,8424,-0.95,-146.6,548.1,-6.3,407,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3475
$GC,8734,-0.95,-146.6,569.1,-6.6,422,8738,0.00,2.53,0.00,0.000,4,0.000,0.053,2284,3299,3475
$GC,8795,-0.95,-146.6,573.4,-7.1,425,8799,0.00,2.53,0.00,0.000,6,0.000,0.048,2284,1900,3475
$GC,9121,-0.95,-146.6,595.6,-6.6,441,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3474
$GC,9430,-0.95,-146.6,614.8,-6.2,456,9431,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3475
$GC,9739,-0.95,-146.6,634.6,-6.2,471,9744,0.00,2.55,0.00,0.000,4,0.000,0.058,2284,3290,3474
$GC,9806,-0.95,-146.6,639.1,-7.2,474,9810,0.00,2.53,0.00,0.000,6,0.000,0.049,2284,1898,3474
$GC,10133,-0.95,-146.6,656.8,-5.5,490,10134,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3474
$GC,10442,-0.95,-146.6,673.5,-5.9,505,10443,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3473
$GC,10751,-0.95,-146.6,691.8,-5.7,520,10752,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3473
$GC,11060,-0.95,-146.6,710.3,-6.3,535,11064,0.00,2.58,0.00,0.000,4,0.000,0.062,2284,3293,3473
$GC,11121,-0.95,-146.6,714.3,-6.6,538,11126,0.00,2.55,0.00,0.000,6,0.000,0.055,2284,1901,3472
$STATE,11129,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11130,begin apogee
$GC,11135,-0.36,0.0,715.2,7.7,538,11262,0.57,0.00,123.65,1.289,6,0.072,0.000,2412,2094,2878
$STATE,11262,end apogee,CONTROL_FINISHED_OK
$STATE,11263,begin climb
$GC,11265,0.95,146.6,720.0,0.0,545,11396,1.30,2.70,122.85,1.240,4,0.054,0.065,2703,3496,2280
$GC,11522,0.97,162.3,712.9,5.5,557,11543,0.00,2.58,14.07,1.240,6,0.000,0.053,2703,2097,2215
$GC,11852,0.97,162.3,693.8,6.1,573,11853,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2097,2214
$GC,12161,0.99,180.8,675.9,5.4,588,12181,0.00,0.00,16.27,1.266,6,0.000,0.000,2703,2097,2141
$GC,12490,1.00,192.9,656.3,5.6,604,12504,0.00,0.00,11.45,1.260,6,0.000,0.000,2703,2097,2091
$GC,12821,1.03,210.0,637.6,5.5,620,12841,0.00,0.00,15.38,1.263,6,0.000,0.000,2703,2097,2021
$GC,13151,1.03,214.9,618.6,5.9,636,13158,0.00,0.00,5.35,1.216,6,0.000,0.000,2703,2097,2001
$GC,13460,1.03,214.9,599.3,6.6,651,13461,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2096,2001
$GC,13769,1.03,214.9,578.5,6.7,666,13770,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2097,2000
$GC,14078,1.03,214.9,557.0,6.9,681,14079,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2097,2000
$GC,14388,1.03,214.9,535.6,6.9,696,14392,0.00,2.62,0.00,0.000,4,0.000,0.071,2703,685,2000
$GC,14448,1.03,214.9,531.2,6.6,699,14453,0.00,2.53,0.00,0.000,6,0.000,0.046,2703,2104,2000
$GC,14774,1.03,214.9,510.2,6.3,715,14775,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2103,2000
$GC,15084,1.03,214.9,490.7,6.0,730,15088,0.00,2.55,0.00,0.000,4,0.000,0.057,2703,3499,2000
$GC,15172,1.03,214.9,484.6,7.2,734,15176,0.00,2.53,0.00,0.000,6,0.000,0.048,2702,2098,1999
$GC,15499,1.05,226.5,465.4,5.7,750,15511,0.00,0.00,10.35,1.156,6,0.000,0.000,2703,2098,1954
$GC,15808,1.05,226.5,446.3,6.1,765,15809,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,1954
$GC,16117,1.06,237.3,428.4,5.7,780,16133,0.10,2.67,10.30,1.123,4,0.057,0.069,2740,689,1910
$GC,16189,1.06,237.3,422.9,7.9,782,16193,0.00,2.50,0.00,0.000,6,0.000,0.043,2739,2101,1910
$GC,16504,1.06,237.3,396.6,9.5,797,16505,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2104,1910
$GC,16813,1.06,237.3,366.0,9.9,812,16817,0.00,2.55,0.00,0.000,4,0.000,0.054,2739,3503,1909
$GC,16874,1.06,237.3,360.3,9.3,815,16879,0.00,2.53,0.00,0.000,6,0.000,0.046,2740,2095,1910
$GC,17201,1.06,237.3,336.2,7.0,831,17202,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2095,1910
$GC,17510,1.06,237.3,315.0,7.0,846,17511,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2095,1910
$GC,17819,1.06,237.3,291.8,8.3,861,17821,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2095,1911
$GC,18128,1.06,237.3,268.4,7.9,876,18130,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2095,1911
$GC,18438,1.06,237.3,239.8,9.1,891,18439,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2095,1911
$GC,18747,1.06,237.3,211.8,8.9,906,18748,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2095,1911
$GC,19056,1.06,237.3,182.8,9.8,921,19060,0.00,2.55,0.00,0.000,4,0.000,0.051,2740,3500,1911
$GC,19127,1.06,237.3,175.2,11.3,924,19132,0.00,2.50,0.00,0.000,6,0.000,0.041,2740,2087,1912
$GC,19449,1.06,237.3,144.9,9.3,940,19450,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2087,1912
$GC,19758,1.06,237.3,118.6,8.2,955,19759,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2087,1912
$GC,20067,1.06,237.3,92.1,6.8,970,20072,0.00,2.58,0.00,0.000,4,0.000,0.050,2739,3504,1913
$GC,20168,1.19,342.1,88.7,2.9,974,20257,0.00,2.47,81.78,0.849,6,0.000,0.041,2740,2103,1482
$GC,20567,1.19,342.1,62.8,8.3,994,20571,0.00,2.62,0.00,0.000,4,0.000,0.064,2740,693,1482
$GC,20616,1.19,342.1,58.7,7.2,996,20620,0.00,2.47,0.00,0.000,6,0.000,0.040,2740,2105,1482
$GC,20937,1.19,342.1,28.6,11.3,1012,20938,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2108,1482
$GC,21246,1.19,342.1,3.1,8.9,1027,21251,0.00,2.65,0.00,0.000,4,0.000,0.066,2740,691,1482
$GC,21256,1.27,405.0,3.0,4.1,1027,21305,0.10,2.55,39.50,0.794,6,0.077,0.046,2773,2103,1225
$STATE,21570,end climb,NO_VERTICAL_VELOCITY
$STATE,21570,begin surface
$SM_CCo,21573,77.90,0.755,0,0,602,558.06
$SM_GC,3.52,11.82,0.00,0.00,0.028,0.000,0.000,31,1894,603,-11.27,-0.17,558.06
$IRIDIUM_FIX,6225.82,-1250.14,281207,171755
$TT8_MAMPS,0.026845
$HUMID,2059
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.40
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,675.8,49.2
$24V_AH,23.3,46.612
$10V_AH,10.1,22.537
$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,25.100,107.375,450.950,77.900,0.000,36.603,33.087,175.338,7.500,0.000,0.000,17.131,1826.944,17274.488,691.361,2170.392,466.713,33.364,1787.949,0.000,2130.791,0.000,42.345
$DEVICE_MAMPS,107.380,70.564,1289.327,754.728,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,770.996,704.491,658.351,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53597,1043
$CFSIZE,260165632,245424128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,291207,015926,6253.409,-1249.399,38,1.7,38,-11.9