version: 66.02
glider: 102
mission: 4
dive: 212
start: 12 29 107 19 1 26
data:
$ID,102
$MISSION,4
$DIVE,212
$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,-80151.336
$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,16
$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
$GPS1,184333,6256.783,-1249.421,40,3.2,76,-11.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.61
$_SM_ANGLEo,-55.9
$GPS2,190032,6256.654,-1249.636,11,1.3,11,-11.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.047,0.203
$KALMAN_X,257490.7,-520.2,897.1,-486845.3,5180.2
$KALMAN_Y,-18404.5,931.0,9261.6,162817.6,-16958.8
$MHEAD_RNG_PITCHd_Wd,25.0,40018,-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,-6.90,0.000,2,0.000,0.000,27,1895,770
$GC,32,-0.95,-146.6,3.6,-0.0,1,224,11.12,2.62,-171.57,0.000,4,0.103,0.073,2290,486,3475
$GC,285,-0.95,-146.6,8.0,-8.1,13,289,0.00,2.47,0.00,0.000,6,0.000,0.041,2290,1904,3475
$GC,612,-0.95,-146.6,26.5,-5.0,29,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1906,3475
$GC,921,-0.95,-146.6,50.4,-6.7,44,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3475
$GC,1230,-0.95,-146.6,76.4,-9.5,59,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3475
$GC,1541,-0.95,-146.6,110.8,-8.3,74,1545,0.00,2.50,0.00,0.000,4,0.000,0.049,2291,3293,3475
$GC,1580,-0.95,-146.6,113.9,-7.2,76,1584,0.00,2.53,0.00,0.000,6,0.000,0.044,2291,1892,3475
$GC,1906,-0.95,-146.6,139.2,-6.9,92,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1892,3475
$GC,2214,-0.95,-146.6,162.3,-10.3,107,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1892,3475
$GC,2524,-0.95,-146.6,188.9,-8.6,122,2528,0.00,2.55,0.00,0.000,4,0.000,0.049,2290,3298,3475
$GC,2562,-0.95,-146.6,192.3,-9.1,124,2567,0.00,2.53,0.00,0.000,6,0.000,0.044,2290,1895,3475
$GC,2888,-0.95,-146.6,215.2,-7.6,140,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1895,3475
$GC,3197,-0.95,-146.6,236.4,-6.7,155,3202,0.00,2.53,0.00,0.000,4,0.000,0.048,2291,3295,3475
$GC,3241,-0.95,-146.6,239.5,-7.6,157,3246,0.00,2.50,0.00,0.000,6,0.000,0.044,2291,1897,3475
$GC,3568,-0.95,-146.6,263.8,-7.0,173,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1897,3475
$GC,3877,-0.95,-146.6,288.8,-8.0,188,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1896,3475
$GC,4187,-0.95,-146.6,312.9,-7.6,203,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1897,3475
$GC,4495,-0.95,-146.6,338.2,-8.1,218,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1897,3475
$GC,4805,-0.95,-146.6,361.5,-7.2,233,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1897,3475
$GC,5114,-0.95,-146.6,384.1,-7.4,248,5118,0.00,2.55,0.00,0.000,4,0.000,0.051,2290,3302,3475
$GC,5163,-0.95,-146.6,387.8,-6.9,250,5167,0.00,2.53,0.00,0.000,6,0.000,0.045,2290,1901,3475
$GC,5484,-0.95,-146.6,410.1,-6.8,266,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1902,3475
$GC,5794,-0.95,-146.6,430.6,-6.7,281,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1901,3475
$GC,6103,-0.95,-146.6,452.6,-7.4,296,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1902,3475
$GC,6413,-0.95,-146.6,473.2,-5.1,311,6417,0.00,2.55,0.00,0.000,4,0.000,0.052,2290,3300,3474
$GC,6474,-0.95,-146.6,476.3,-5.6,314,6479,0.00,2.53,0.00,0.000,6,0.000,0.047,2290,1901,3474
$GC,6800,-0.95,-146.6,497.8,-7.0,330,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1899,3474
$GC,7110,-0.95,-146.6,516.1,-5.7,345,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1900,3474
$GC,7419,-0.95,-146.6,537.9,-7.3,360,7423,0.00,2.60,0.00,0.000,4,0.000,0.069,2290,497,3474
$GC,7496,-0.95,-146.6,544.6,-8.9,363,7502,0.00,2.47,0.00,0.000,6,0.000,0.046,2290,1895,3473
$GC,7812,-0.95,-146.6,564.7,-4.9,379,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1895,3474
$GC,8121,-0.95,-146.6,582.9,-5.8,394,8125,0.00,2.58,0.00,0.000,4,0.000,0.060,2290,3295,3474
$GC,8182,-0.95,-146.6,586.6,-6.0,397,8186,0.00,2.55,0.00,0.000,6,0.000,0.052,2290,1899,3474
$GC,8508,-0.95,-146.6,606.1,-6.6,413,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1899,3473
$GC,8817,-0.95,-146.6,624.2,-5.9,428,8821,0.00,2.58,0.00,0.000,4,0.000,0.062,2290,3300,3473
$GC,8901,-0.95,-146.6,629.4,-4.9,432,8905,0.00,2.55,0.00,0.000,6,0.000,0.055,2290,1897,3473
$STATE,9039,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9039,begin apogee
$GC,9044,-0.36,0.0,637.3,5.5,439,9170,0.60,0.00,122.62,1.230,6,0.074,0.000,2420,2104,2878
$STATE,9171,end apogee,CONTROL_FINISHED_OK
$STATE,9171,begin climb
$GC,9173,0.95,146.6,639.5,0.0,445,9304,1.27,2.70,121.85,1.187,4,0.061,0.065,2700,3496,2279
$GC,9524,0.95,146.6,630.0,7.0,461,9529,0.00,2.55,0.00,0.000,6,0.000,0.051,2700,2101,2279
$GC,9845,0.97,162.1,612.7,5.5,477,9867,0.00,2.67,13.60,1.213,4,0.000,0.062,2700,3496,2217
$GC,9935,0.99,179.0,607.4,5.5,481,9957,0.00,2.55,14.98,1.206,6,0.000,0.051,2700,2100,2148
$GC,10265,1.07,246.7,590.6,4.0,497,10326,0.12,0.00,56.78,1.198,6,0.050,0.000,2742,2100,1872
$GC,10635,1.07,246.7,560.9,9.0,515,10636,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2100,1871
$GC,10944,1.07,246.7,533.8,8.7,530,10948,0.00,2.58,0.00,0.000,4,0.000,0.058,2742,3498,1871
$GC,11004,1.07,246.7,528.6,8.3,533,11009,0.00,2.55,0.00,0.000,6,0.000,0.050,2742,2098,1871
$GC,11331,1.07,246.7,499.9,8.5,549,11335,0.00,2.62,0.00,0.000,4,0.000,0.073,2741,692,1871
$GC,11391,1.07,246.7,494.6,8.7,552,11396,0.00,2.53,0.00,0.000,6,0.000,0.047,2742,2105,1871
$GC,11717,1.07,246.7,468.5,8.2,568,11719,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2106,1871
$GC,12027,1.07,246.7,443.1,8.2,583,12028,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2107,1871
$GC,12336,1.07,246.7,416.4,8.7,598,12337,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2109,1871
$GC,12645,1.07,246.7,390.9,8.3,613,12650,0.00,2.65,0.00,0.000,4,0.000,0.067,2742,690,1871
$GC,12717,1.07,246.7,384.8,8.1,616,12721,0.00,2.47,0.00,0.000,6,0.000,0.043,2742,2101,1871
$GC,13032,1.07,246.7,359.4,8.2,631,13036,0.00,2.55,0.00,0.000,4,0.000,0.054,2742,3501,1871
$GC,13120,1.07,246.7,351.6,9.2,635,13124,0.00,2.50,0.00,0.000,6,0.000,0.045,2742,2098,1871
$GC,13448,1.07,246.7,325.0,8.2,651,13449,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2098,1871
$GC,13757,1.07,246.7,302.4,7.3,666,13758,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2098,1871
$GC,14066,1.07,246.7,281.1,6.3,681,14067,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2098,1872
$GC,14375,1.07,246.7,259.2,7.3,696,14376,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2098,1872
$GC,14684,1.07,246.7,239.2,6.2,711,14686,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2098,1872
$GC,14994,1.07,246.7,218.9,6.8,726,14995,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2098,1873
$GC,15303,1.07,246.7,197.1,6.8,741,15304,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2097,1873
$GC,15612,1.07,246.7,175.0,7.4,756,15613,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2098,1873
$GC,15921,1.07,246.7,153.2,7.1,771,15923,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2098,1874
$GC,16231,1.07,246.7,130.9,7.0,786,16232,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2098,1874
$GC,16540,1.07,246.7,109.2,7.0,801,16541,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2098,1874
$GC,16851,1.07,246.7,88.0,6.5,816,16852,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2098,1874
$GC,17159,1.07,246.7,67.6,6.1,831,17163,0.00,2.55,0.00,0.000,4,0.000,0.050,2742,3500,1875
$GC,17207,1.07,246.7,64.2,7.2,833,17212,0.00,2.47,0.00,0.000,6,0.000,0.041,2741,2097,1874
$GC,17529,1.07,246.7,39.9,7.9,849,17530,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2097,1874
$GC,17839,1.07,246.7,16.4,8.0,864,17843,0.00,2.55,0.00,0.000,4,0.000,0.049,2742,3501,1875
$GC,17901,1.07,246.7,11.3,8.8,867,17905,0.00,2.50,0.00,0.000,6,0.000,0.041,2741,2098,1875
$GC,18227,1.32,448.3,3.1,-0.0,883,18337,0.15,0.00,106.47,0.779,6,0.060,0.000,2783,2093,1050
$STATE,18391,end climb,NO_VERTICAL_VELOCITY
$STATE,18391,begin surface
$SM_CCo,18394,56.95,0.752,0,0,602,558.06
$SM_GC,3.70,11.77,0.00,0.00,0.024,0.000,0.000,31,1893,603,-11.25,-0.20,558.06
$IRIDIUM_FIX,6230.49,-1252.24,291207,222228
$TT8_MAMPS,0.026845
$HUMID,2052
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.40
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,551.3,95.2
$24V_AH,23.3,47.327
$10V_AH,10.1,22.894
$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,25.050,87.425,436.300,56.950,0.000,156.197,333.462,235.381,6.000,0.000,0.000,13.044,1563.261,14910.440,629.422,1865.613,925.344,33.350,1573.446,0.000,1839.307,0.000,31.458
$DEVICE_MAMPS,102.778,72.865,1230.268,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,651.102,601.169,603.435,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44189,891
$CFSIZE,260165632,245202944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,301207,001708,6258.701,-1248.487,35,1.9,35,-11.9