version: 66.02
glider: 102
mission: 4
dive: 214
start: 12 30 107 5 28 9
data:
$ID,102
$MISSION,4
$DIVE,214
$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,-80178.953
$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,19
$R_STBD_OVSHOOT,32
$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
$GPS1,051801,6302.233,-1248.750,40,1.1,40,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.58
$_SM_ANGLEo,-53.5
$GPS2,052715,6302.274,-1248.868,10,1.9,10,-11.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.113,0.175
$KALMAN_X,257995.9,381.2,2006.1,-488727.4,5378.5
$KALMAN_Y,-9900.5,1517.7,-712.7,174104.4,-7470.8
$MHEAD_RNG_PITCHd_Wd,339.0,32093,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.95,-146.6,0.0,0.0,0,30,0.00,0.00,-6.38,0.000,2,0.000,0.000,27,1894,757
$GC,33,-0.95,-146.6,3.6,-0.0,1,214,11.23,2.62,-162.05,0.000,4,0.107,0.074,2287,486,3476
$GC,468,-0.95,-146.6,25.5,-9.8,20,472,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1905,3475
$GC,788,-0.95,-146.6,54.4,-10.4,36,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3475
$GC,1097,-0.95,-146.6,88.1,-8.6,51,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3476
$GC,1406,-0.95,-146.6,108.8,-6.2,66,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3476
$GC,1716,-0.95,-146.6,129.7,-7.2,81,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3476
$GC,2026,-0.95,-146.6,149.7,-6.8,96,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3476
$GC,2334,-0.95,-146.6,172.4,-7.3,111,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3476
$GC,2643,-0.95,-146.6,194.2,-7.1,126,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3476
$GC,2953,-0.95,-146.6,217.2,-7.4,141,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3475
$GC,3262,-0.95,-146.6,238.4,-6.5,156,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3476
$GC,3571,-0.95,-146.6,260.2,-7.4,171,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3476
$GC,3880,-0.95,-146.6,284.0,-7.9,186,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3475
$GC,4190,-0.95,-146.6,306.9,-7.4,201,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3476
$GC,4499,-0.95,-146.6,331.0,-7.9,216,4503,0.00,2.53,0.00,0.000,4,0.000,0.052,2287,3300,3475
$GC,4553,-0.95,-146.6,335.4,-7.7,218,4560,0.00,2.53,0.00,0.000,6,0.000,0.045,2287,1897,3475
$GC,4869,-0.95,-146.6,356.2,-6.2,234,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3475
$GC,5178,-0.95,-146.6,378.0,-8.0,249,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3475
$GC,5487,-0.95,-146.6,402.6,-7.2,264,5491,0.00,2.55,0.00,0.000,4,0.000,0.051,2287,3301,3475
$GC,5543,-0.95,-146.6,406.3,-6.8,266,5549,0.00,2.53,0.00,0.000,6,0.000,0.046,2287,1896,3475
$GC,5858,-0.95,-146.6,423.1,-6.8,282,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1896,3475
$GC,6167,-0.95,-146.6,447.2,-7.2,297,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1896,3475
$GC,6477,-0.95,-146.6,465.2,-5.3,312,6482,0.00,2.55,0.00,0.000,4,0.000,0.054,2287,3302,3475
$GC,6584,-0.95,-146.6,471.2,-6.2,317,6588,0.00,2.55,0.00,0.000,6,0.000,0.049,2287,1894,3475
$GC,6909,-0.95,-146.6,491.8,-6.8,333,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1891,3474
$GC,7218,-0.95,-146.6,510.0,-6.0,348,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1891,3474
$GC,7532,-0.95,-146.6,525.5,-5.5,363,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1891,3473
$GC,7837,-0.95,-146.6,545.5,-7.3,378,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1891,3474
$STATE,7938,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7938,begin apogee
$GC,7944,-0.36,0.0,553.1,7.5,383,8068,0.60,0.00,121.38,1.180,6,0.076,0.000,2416,2095,2878
$STATE,8069,end apogee,CONTROL_FINISHED_OK
$STATE,8069,begin climb
$GC,8071,0.95,146.6,557.0,0.0,389,8196,1.30,0.00,121.00,1.131,6,0.055,0.000,2701,2094,2280
$GC,8491,0.95,146.6,540.2,6.3,410,8495,0.00,2.60,0.00,0.000,4,0.000,0.062,2702,3496,2279
$GC,8619,0.95,146.6,531.6,6.5,416,8624,0.00,2.55,0.00,0.000,6,0.000,0.050,2702,2097,2279
$GC,8946,0.96,157.6,513.7,5.7,432,8961,0.00,2.70,9.98,1.156,4,0.000,0.072,2701,689,2235
$GC,9028,0.96,157.6,508.6,6.4,435,9033,0.00,2.55,0.00,0.000,6,0.000,0.049,2702,2103,2235
$GC,9355,0.96,157.6,489.7,6.2,451,9359,0.00,2.55,0.00,0.000,4,0.000,0.061,2702,3499,2234
$GC,9438,0.96,157.6,484.5,6.5,455,9443,0.00,2.55,0.00,0.000,6,0.000,0.050,2702,2095,2234
$GC,9765,0.99,182.4,466.3,5.3,471,9788,0.00,0.00,21.20,1.157,6,0.000,0.000,2702,2095,2134
$GC,10094,1.05,229.4,449.9,4.6,487,10138,0.00,2.65,39.20,1.127,4,0.000,0.058,2702,3499,1942
$GC,10190,1.05,229.4,444.3,6.5,491,10194,0.00,2.55,0.00,0.000,6,0.000,0.048,2702,2097,1941
$GC,10505,1.06,234.9,425.2,5.8,506,10513,0.10,0.00,5.62,1.106,6,0.058,0.000,2738,2097,1920
$GC,10815,1.06,234.9,404.8,6.8,521,10819,0.00,2.60,0.00,0.000,4,0.000,0.068,2739,693,1920
$GC,10869,1.06,234.9,400.4,8.6,523,10876,0.00,2.50,0.00,0.000,6,0.000,0.044,2739,2104,1920
$GC,11184,1.06,234.9,379.5,6.9,539,11186,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2107,1920
$GC,11494,1.06,234.9,356.9,7.3,554,11498,0.00,2.55,0.00,0.000,4,0.000,0.054,2738,3505,1920
$GC,11565,1.06,234.9,350.4,9.1,557,11570,0.00,2.53,0.00,0.000,6,0.000,0.044,2739,2091,1920
$GC,11886,1.06,234.9,326.6,7.1,573,11888,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2091,1920
$GC,12195,1.06,234.9,302.7,7.8,588,12197,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2091,1920
$GC,12505,1.06,234.9,277.7,8.7,603,12506,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2091,1920
$GC,12814,1.06,234.9,250.5,9.2,618,12818,0.00,2.55,0.00,0.000,4,0.000,0.052,2738,3501,1921
$GC,12891,1.06,234.9,243.2,10.5,621,12897,0.00,2.50,0.00,0.000,6,0.000,0.043,2739,2098,1921
$GC,13206,1.06,234.9,214.7,7.4,637,13207,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1921
$GC,13516,1.06,234.9,190.7,6.6,652,13517,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2098,1922
$GC,13825,1.06,234.9,165.9,8.9,667,13829,0.00,2.55,0.00,0.000,4,0.000,0.051,2738,3504,1921
$GC,13908,1.06,234.9,158.5,8.1,671,13913,0.00,2.50,0.00,0.000,6,0.000,0.041,2738,2098,1922
$GC,14235,1.06,234.9,135.2,9.3,687,14236,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1922
$GC,14544,1.06,234.9,109.6,8.3,702,14545,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2098,1922
$GC,14853,1.06,234.9,84.1,8.6,717,14857,0.00,2.55,0.00,0.000,4,0.000,0.049,2738,3502,1923
$GC,14919,1.06,234.9,79.3,7.6,720,14923,0.00,2.47,0.00,0.000,6,0.000,0.040,2738,2099,1923
$GC,15246,1.06,234.9,51.2,9.3,736,15247,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1922
$GC,15555,1.06,234.9,24.3,7.4,751,15556,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2098,1923
$GC,15865,1.06,234.9,3.0,7.3,766,15869,0.00,2.58,0.00,0.000,4,0.000,0.064,2738,694,1923
$GC,15896,1.30,432.8,3.0,0.1,767,16010,0.12,2.50,105.07,0.788,6,0.039,0.041,2793,2113,1112
$STATE,16190,end climb,NO_VERTICAL_VELOCITY
$STATE,16190,begin surface
$SM_CCo,16193,64.75,0.770,0,0,603,558.06
$SM_GC,3.49,12.00,0.00,0.00,0.032,0.000,0.000,35,1883,602,-11.27,-0.48,558.06
$IRIDIUM_FIX,6235.17,-1249.73,301207,090948
$TT8_MAMPS,0.026845
$HUMID,2063
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,14.80
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,525.5,37.3
$24V_AH,23.3,47.670
$10V_AH,10.1,23.055
$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,25.350,72.175,423.450,64.750,0.000,75.330,68.998,247.999,6.750,0.000,0.000,11.558,1382.802,13006.820,628.976,1643.758,577.620,33.360,1458.725,0.000,1626.286,0.000,29.696
$DEVICE_MAMPS,107.380,73.632,1180.413,770.068,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,581.318,527.058,543.614,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38087,782
$CFSIZE,260165632,245108736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,301207,100708,6304.906,-1252.907,24,1.3,24,-12.0