version: 66.02
glider: 102
mission: 4
dive: 215
start: 12 30 107 10 13 27
data:
$ID,102
$MISSION,4
$DIVE,215
$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,-80195.969
$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,34
$R_STBD_OVSHOOT,40
$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
$GPS1,100708,6304.906,-1252.907,24,1.3,24,-12.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.45
$_SM_ANGLEo,-46.5
$GPS2,101233,6304.956,-1252.948,14,1.2,14,-12.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.027,0.207
$KALMAN_X,257767.7,-361.4,2474.6,-491785.0,3081.0
$KALMAN_Y,-10550.9,1049.0,493.1,179018.2,-10621.8
$MHEAD_RNG_PITCHd_Wd,19.4,26152,-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,21,-0.95,-146.6,0.0,0.0,0,44,0.00,0.00,-21.70,0.000,2,0.000,0.000,34,1878,1107
$GC,47,-0.95,-146.6,3.4,-0.0,1,200,10.90,2.55,-135.07,0.000,4,0.095,0.074,2286,503,3476
$GC,453,-0.95,-146.6,27.7,-9.6,19,460,0.00,2.47,0.00,0.000,6,0.000,0.042,2286,1896,3476
$GC,769,-0.95,-146.6,49.2,-7.7,35,773,0.00,2.60,0.00,0.000,4,0.000,0.067,2286,505,3476
$GC,954,-0.95,-146.6,62.6,-5.7,43,958,0.00,2.45,0.00,0.000,6,0.000,0.041,2286,1902,3476
$GC,1269,-0.95,-146.6,80.9,-6.9,58,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,1579,-0.95,-146.6,101.8,-6.7,73,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,1889,-0.95,-146.6,123.3,-7.2,88,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3476
$GC,2197,-0.95,-146.6,144.1,-6.8,103,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,2506,-0.95,-146.6,164.1,-6.8,118,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,2815,-0.95,-146.6,188.2,-7.0,133,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,3124,-0.95,-146.6,211.8,-7.4,148,3128,0.00,2.53,0.00,0.000,4,0.000,0.050,2286,3300,3476
$GC,3167,-0.95,-146.6,216.4,-10.6,150,3172,0.00,2.50,0.00,0.000,6,0.000,0.045,2286,1908,3476
$GC,3495,-0.95,-146.6,240.3,-6.7,166,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,3804,-0.95,-146.6,259.3,-5.7,181,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,4113,-0.95,-146.6,280.0,-6.8,196,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,4422,-0.95,-146.6,302.5,-7.9,211,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,4732,-0.95,-146.6,325.4,-6.6,226,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,5041,-0.95,-146.6,347.0,-6.9,241,5045,0.00,2.53,0.00,0.000,4,0.000,0.050,2286,3298,3476
$GC,5090,-0.95,-146.6,350.7,-7.7,243,5094,0.00,2.50,0.00,0.000,6,0.000,0.046,2286,1901,3476
$GC,5410,-0.95,-146.6,373.7,-7.7,259,5415,0.00,2.53,0.00,0.000,4,0.000,0.050,2286,3295,3477
$GC,5449,-0.95,-146.6,376.9,-8.2,261,5454,0.00,2.53,0.00,0.000,6,0.000,0.046,2286,1896,3476
$GC,5776,-0.95,-146.6,403.2,-8.1,277,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,6085,-0.95,-146.6,424.4,-6.0,292,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3476
$GC,6395,-0.95,-146.6,439.8,-4.0,307,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3476
$GC,6704,-0.95,-146.6,450.8,-3.0,322,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3476
$GC,7012,-0.95,-146.6,464.4,-6.4,337,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3476
$GC,7322,-0.95,-146.6,488.9,-8.3,352,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3476
$GC,7631,-0.95,-146.6,512.7,-6.8,367,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1893,3475
$GC,7941,-0.95,-146.6,529.6,-5.1,382,7945,0.00,2.55,0.00,0.000,4,0.000,0.055,2286,3295,3475
$GC,8025,-0.95,-146.6,534.0,-5.5,386,8029,0.00,2.53,0.00,0.000,6,0.000,0.049,2286,1900,3475
$GC,8351,-0.95,-146.6,555.8,-7.5,402,8355,0.00,2.62,0.00,0.000,4,0.000,0.074,2286,495,3475
$STATE,8392,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8393,begin apogee
$GC,8401,-0.36,0.0,559.5,8.4,404,8526,0.57,0.00,122.07,1.186,6,0.073,0.000,2414,2093,2878
$STATE,8527,end apogee,CONTROL_FINISHED_OK
$STATE,8527,begin climb
$GC,8529,0.95,146.6,564.6,0.0,410,8659,1.33,2.67,120.45,1.149,4,0.058,0.064,2703,3500,2280
$GC,8759,0.95,146.6,558.4,6.7,421,8764,0.00,2.58,0.00,0.000,6,0.000,0.050,2703,2106,2280
$GC,9080,0.95,146.6,538.3,6.3,437,9081,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,2279
$GC,9389,0.95,146.6,518.6,6.5,452,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2106,2278
$GC,9699,0.95,152.8,500.4,5.8,467,9710,0.00,2.65,6.18,1.164,4,0.000,0.058,2703,3506,2253
$GC,9810,0.98,171.7,493.9,5.4,472,9832,0.00,2.55,16.08,1.175,6,0.000,0.050,2703,2098,2178
$GC,10152,1.00,191.2,476.0,5.4,489,10176,0.00,2.70,17.15,1.179,4,0.000,0.059,2703,3504,2099
$GC,10216,1.00,191.2,472.1,6.2,492,10221,0.00,2.58,0.00,0.000,6,0.000,0.050,2703,2098,2098
$GC,10542,1.00,191.2,452.3,6.6,508,10543,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,2098
$GC,10851,1.00,191.2,433.0,6.2,523,10853,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,2097
$GC,11161,1.02,203.9,414.4,5.6,538,11175,0.00,0.00,11.40,1.148,6,0.000,0.000,2703,2098,2046
$GC,11470,1.03,214.0,396.3,5.7,553,11482,0.00,0.00,9.65,1.124,6,0.000,0.000,2704,2098,2005
$GC,11780,1.06,235.4,380.0,5.4,568,11800,0.00,0.00,18.33,1.108,6,0.000,0.000,2703,2098,1918
$GC,12109,1.06,235.4,360.4,6.6,584,12110,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,1917
$GC,12418,1.06,235.4,339.3,7.2,599,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,1918
$GC,12727,1.06,235.4,316.3,7.3,614,12731,0.00,2.58,0.00,0.000,4,0.000,0.065,2703,691,1917
$GC,12782,1.06,235.4,311.9,8.1,616,12788,0.00,2.50,0.00,0.000,6,0.000,0.042,2703,2111,1918
$GC,13097,1.06,235.4,288.3,7.8,632,13098,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2116,1917
$GC,13406,1.06,235.4,264.9,7.4,647,13410,0.00,2.62,0.00,0.000,4,0.000,0.062,2703,690,1918
$GC,13455,1.06,235.4,260.7,7.9,649,13460,0.00,2.50,0.00,0.000,6,0.000,0.041,2703,2103,1918
$GC,13770,1.06,235.4,233.0,9.4,664,13771,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,1919
$GC,14079,1.06,235.4,205.5,8.1,679,14080,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,1919
$GC,14389,1.06,235.4,182.6,6.9,694,14393,0.00,2.62,0.00,0.000,4,0.000,0.062,2703,688,1919
$GC,14460,1.06,235.4,177.8,6.5,697,14464,0.00,2.50,0.00,0.000,6,0.000,0.041,2703,2103,1919
$GC,14781,1.06,236.6,159.1,6.0,713,14783,0.10,0.00,0.00,0.000,6,0.052,0.000,2747,2107,1919
$GC,15091,1.06,236.6,129.0,10.5,728,15093,0.12,0.00,0.00,0.000,6,0.084,0.000,2721,2106,1920
$GC,15400,1.06,236.6,96.9,10.6,743,15401,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2106,1920
$GC,15710,1.06,236.6,66.1,9.1,758,15714,0.00,2.53,0.00,0.000,4,0.000,0.051,2722,3500,1920
$GC,15772,1.06,236.6,59.6,10.8,761,15776,0.00,2.50,0.00,0.000,6,0.000,0.041,2721,2087,1921
$GC,16097,1.06,236.6,28.5,12.4,777,16099,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2087,1921
$GC,16409,1.24,386.8,3.9,1.5,792,16500,0.17,2.62,85.05,0.805,4,0.043,0.049,2779,3500,1300
$GC,16753,1.51,602.5,2.9,-0.4,807,16846,0.20,2.53,87.07,0.772,6,0.042,0.042,2833,2096,602
$STATE,17124,end climb,NO_VERTICAL_VELOCITY
$STATE,17124,begin surface
$SM_CCo,17547,0.00,0.000,0,0,603,558.06
$SM_GC,3.46,12.12,0.00,0.00,0.031,0.000,0.000,29,1894,603,-11.27,-0.11,558.06
$IRIDIUM_FIX,6239.86,-1245.10,301207,090939
$TT8_MAMPS,0.026845
$HUMID,2066
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,16.30
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,500.9,68.0
$24V_AH,23.3,47.825
$10V_AH,10.1,23.135
$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,25.525,77.350,493.425,0.000,0.000,37.716,37.311,149.286,8.250,0.000,0.000,16.394,1462.617,13607.672,598.642,1797.506,410.467,33.361,1506.022,0.000,1772.945,0.000,28.156
$DEVICE_MAMPS,95.108,74.399,1185.782,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,609.276,556.447,578.221,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41053,826
$CFSIZE,260165632,245051392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,301207,150740,6308.120,-1248.294,70,1.6,72,-12.0