version: 66.02
glider: 102
mission: 4
dive: 213
start: 12 30 107 0 37 9
data:
$ID,102
$MISSION,4
$DIVE,213
$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,-80166.766
$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,26
$R_STBD_OVSHOOT,28
$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
$GPS1,001708,6258.701,-1248.487,35,1.9,35,-11.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.62
$_SM_ANGLEo,-54.7
$GPS2,003615,6258.915,-1248.456,13,1.7,13,-11.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.104,0.181
$KALMAN_X,253905.1,-54.3,3295.7,-485102.5,636.5
$KALMAN_Y,-12916.1,555.4,2103.5,169082.5,-11975.2
$MHEAD_RNG_PITCHd_Wd,342.0,37108,-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,-21.88,0.000,2,0.000,0.000,29,1885,1114
$GC,47,-0.95,-146.6,3.6,-0.0,1,213,11.23,2.60,-148.57,0.000,4,0.109,0.060,2288,3302,3476
$GC,331,-0.95,-146.6,13.4,-7.9,14,336,0.00,2.53,0.00,0.000,6,0.000,0.042,2287,1899,3476
$GC,659,-0.95,-146.6,38.0,-7.8,30,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3476
$GC,968,-0.95,-146.6,62.2,-5.5,45,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3476
$GC,1277,-0.95,-146.6,83.1,-6.4,60,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3476
$GC,1588,-0.95,-146.6,109.8,-8.9,75,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3476
$GC,1896,-0.95,-146.6,135.3,-6.8,90,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3476
$GC,2205,-0.95,-146.6,159.3,-8.9,105,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3477
$GC,2514,-0.95,-146.6,181.4,-7.3,120,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3476
$GC,2823,-0.95,-146.6,203.3,-7.5,135,2827,0.00,2.55,0.00,0.000,4,0.000,0.048,2287,3310,3476
$GC,2900,-0.95,-146.6,209.0,-8.0,138,2906,0.00,2.53,0.00,0.000,6,0.000,0.043,2288,1902,3476
$GC,3215,-0.95,-146.6,230.4,-6.6,154,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3476
$GC,3524,-0.95,-146.6,255.6,-7.9,169,3529,0.00,2.53,0.00,0.000,4,0.000,0.049,2288,3304,3476
$GC,3574,-0.95,-146.6,259.8,-7.8,171,3578,0.00,2.55,0.00,0.000,6,0.000,0.044,2288,1900,3476
$GC,3895,-0.95,-146.6,283.1,-6.9,187,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3476
$GC,4204,-0.95,-146.6,305.8,-7.4,202,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3476
$GC,4513,-0.95,-146.6,327.5,-7.2,217,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3476
$GC,4823,-0.95,-146.6,349.6,-7.8,232,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3476
$GC,5132,-0.95,-146.6,374.2,-7.4,247,5136,0.00,2.55,0.00,0.000,4,0.000,0.050,2288,3309,3476
$GC,5204,-0.95,-146.6,380.2,-9.3,250,5208,0.00,2.53,0.00,0.000,6,0.000,0.045,2288,1901,3476
$GC,5526,-0.95,-146.6,402.9,-6.9,266,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,5835,-0.95,-146.6,419.5,-4.8,281,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3476
$GC,6144,-0.95,-146.6,436.9,-6.1,296,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3476
$GC,6454,-0.95,-146.6,457.3,-6.7,311,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,6763,-0.95,-146.6,476.4,-5.1,326,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,7072,-0.95,-146.6,497.9,-7.4,341,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3475
$GC,7381,-0.95,-146.6,518.6,-6.3,356,7383,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3475
$GC,7690,-0.95,-146.6,538.4,-6.7,371,7695,0.00,2.62,0.00,0.000,4,0.000,0.072,2288,494,3475
$GC,7790,-0.95,-146.6,545.3,-6.2,375,7797,0.00,2.50,0.00,0.000,6,0.000,0.048,2287,1899,3475
$STATE,8063,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8063,begin apogee
$GC,8068,-0.36,0.0,562.6,6.9,389,8194,0.60,0.00,122.12,1.172,6,0.067,0.000,2419,2104,2877
$STATE,8194,end apogee,CONTROL_FINISHED_OK
$STATE,8194,begin climb
$GC,8196,0.95,146.6,566.1,0.0,395,8326,1.30,0.00,121.28,1.133,6,0.058,0.000,2702,2104,2280
$GC,8636,1.01,197.5,550.0,4.5,417,8681,0.00,0.00,42.75,1.151,6,0.000,0.000,2702,2104,2072
$GC,8983,1.01,197.5,527.3,6.6,434,8988,0.00,2.67,0.00,0.000,4,0.000,0.071,2702,689,2071
$GC,9083,1.01,197.5,520.5,6.4,438,9089,0.00,2.53,0.00,0.000,6,0.000,0.049,2703,2094,2071
$GC,9399,1.02,207.9,501.8,5.7,454,9410,0.00,0.00,9.15,1.173,6,0.000,0.000,2702,2095,2030
$GC,9707,1.02,207.9,481.1,7.1,469,9712,0.00,2.62,0.00,0.000,4,0.000,0.069,2702,692,2030
$GC,9792,1.02,207.9,474.6,7.7,473,9796,0.00,2.53,0.00,0.000,6,0.000,0.047,2702,2110,2030
$GC,10117,1.02,207.9,451.6,6.9,489,10118,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2110,2029
$GC,10426,1.02,207.9,427.2,8.0,504,10431,0.00,2.55,0.00,0.000,4,0.000,0.058,2702,3499,2029
$GC,10510,1.02,207.9,420.6,7.3,508,10515,0.00,2.53,0.00,0.000,6,0.000,0.048,2702,2101,2029
$GC,10836,1.05,226.1,401.2,5.5,524,10856,0.00,0.00,15.73,1.119,6,0.000,0.000,2702,2101,1956
$GC,11165,1.05,226.1,379.5,7.5,540,11166,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2101,1956
$GC,11475,1.05,226.1,356.9,7.4,555,11479,0.00,2.62,0.00,0.000,4,0.000,0.067,2702,685,1955
$GC,11535,1.05,226.1,352.5,7.1,558,11540,0.00,2.50,0.00,0.000,6,0.000,0.042,2702,2105,1956
$GC,11861,1.05,226.1,329.0,7.5,574,11862,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2110,1956
$GC,12170,1.05,226.1,305.6,6.8,589,12171,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2109,1956
$GC,12479,1.05,226.1,280.3,8.6,604,12480,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2109,1956
$GC,12789,1.05,226.1,254.5,8.2,619,12793,0.00,2.62,0.00,0.000,4,0.000,0.062,2702,691,1957
$GC,12860,1.05,226.1,249.2,7.9,622,12864,0.00,2.50,0.00,0.000,6,0.000,0.041,2702,2105,1956
$GC,13181,1.05,226.1,225.4,7.2,638,13182,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2108,1957
$GC,13490,1.05,226.1,202.5,7.7,653,13491,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2108,1957
$GC,13799,1.05,226.1,176.5,8.6,668,13800,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2108,1957
$GC,14108,1.05,226.1,153.6,6.5,683,14110,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2108,1957
$GC,14418,1.09,260.8,135.1,5.0,698,14453,0.12,2.70,28.65,0.909,4,0.049,0.061,2748,694,1813
$GC,14493,1.09,260.8,128.0,10.4,701,14497,0.00,2.47,0.00,0.000,6,0.000,0.041,2748,2102,1813
$GC,14808,1.09,260.8,100.6,7.1,716,14809,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2105,1813
$GC,15117,1.09,260.8,75.6,9.3,731,15119,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2105,1813
$GC,15426,1.09,260.8,48.6,8.8,746,15428,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2105,1814
$GC,15737,1.09,260.8,21.4,9.4,761,15738,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2105,1814
$GC,16046,1.30,437.1,3.1,0.7,776,16150,0.15,2.60,93.70,0.793,4,0.057,0.046,2794,3494,1095
$STATE,16344,end climb,NO_VERTICAL_VELOCITY
$STATE,16344,begin surface
$SM_CCo,16347,62.30,0.788,0,0,603,558.06
$SM_CCo,16774,1.12,0.890,0,0,603,558.06
$SM_GC,3.95,0.00,0.00,1.12,0.000,0.000,0.890,27,1897,603,-11.35,-0.06,558.06
$IRIDIUM_FIX,6235.17,-1244.06,301207,040420
$TT8_MAMPS,0.026845
$HUMID,2038
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,18.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,475.3,96.9
$24V_AH,23.3,47.508
$10V_AH,10.1,22.977
$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,25.350,62.200,433.375,63.425,0.000,195.941,190.590,383.645,4.500,0.000,0.000,14.800,1380.006,13304.329,649.548,1621.156,972.501,33.353,1456.073,0.000,1596.154,0.000,26.617
$DEVICE_MAMPS,108.914,72.098,1172.743,890.487,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,581.801,531.709,550.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41120,789
$CFSIZE,260165632,245145600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,301207,051801,6302.233,-1248.750,40,1.1,40,-11.9