version: 66.02
glider: 102
mission: 4
dive: 216
start: 12 30 107 15 17 44
data:
$ID,102
$MISSION,4
$DIVE,216
$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,-80211.945
$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,31
$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
$GPS1,150740,6308.120,-1248.294,70,1.6,72,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.44
$_SM_ANGLEo,-48.4
$GPS2,151650,6308.258,-1248.311,13,1.5,13,-12.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.196,0.071
$KALMAN_X,262155.0,-391.6,1314.2,-490917.9,7778.5
$KALMAN_Y,-8127.3,68.5,-284.1,184459.2,-3036.2
$MHEAD_RNG_PITCHd_Wd,301.9,25512,-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,-21.52,0.000,2,0.000,0.000,28,1892,1097
$GC,47,-0.95,-146.6,3.5,-0.0,1,213,11.02,2.62,-148.18,0.000,4,0.099,0.073,2289,495,3476
$GC,466,-0.95,-146.6,48.4,-16.5,20,471,0.00,2.47,0.00,0.000,6,0.000,0.041,2289,1906,3476
$GC,794,-0.95,-146.6,73.3,-5.0,36,798,0.00,2.62,0.00,0.000,4,0.000,0.066,2289,498,3476
$GC,932,-0.95,-146.6,80.0,-7.4,42,937,0.00,2.45,0.00,0.000,6,0.000,0.041,2289,1907,3476
$GC,1256,-0.95,-146.6,91.2,-3.7,58,1260,0.00,2.62,0.00,0.000,4,0.000,0.067,2289,498,3476
$GC,1299,-0.95,-146.6,93.4,-4.8,60,1303,0.00,2.47,0.00,0.000,6,0.000,0.042,2289,1906,3476
$GC,1626,-0.95,-146.6,114.3,-8.4,76,1630,0.00,2.50,0.00,0.000,4,0.000,0.051,2289,3295,3476
$GC,1697,-0.95,-146.6,121.9,-10.5,79,1701,0.00,2.50,0.00,0.000,6,0.000,0.045,2289,1903,3476
$GC,2019,-0.95,-146.6,147.5,-3.5,95,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,2328,-0.95,-146.6,167.0,-6.0,110,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,2637,-0.95,-146.6,179.4,-5.2,125,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,2946,-0.95,-146.6,199.5,-6.9,140,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,3256,-0.95,-146.6,223.5,-6.3,155,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,3564,-0.95,-146.6,242.9,-7.7,170,3569,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3300,3476
$GC,3653,-0.95,-146.6,249.9,-8.5,174,3658,0.00,2.50,0.00,0.000,6,0.000,0.044,2289,1898,3476
$GC,3980,-0.95,-146.6,269.5,-5.2,190,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3476
$GC,4288,-0.95,-146.6,291.9,-8.1,205,4293,0.00,2.53,0.00,0.000,4,0.000,0.049,2289,3297,3476
$GC,4372,-0.95,-146.6,298.2,-8.4,209,4377,0.00,2.50,0.00,0.000,6,0.000,0.044,2289,1902,3476
$GC,4701,-0.95,-146.6,326.3,-7.8,225,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,5007,-0.95,-146.6,348.7,-6.7,240,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,5317,-0.95,-146.6,367.8,-6.6,255,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,5626,-0.95,-146.6,385.0,-6.0,270,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,5935,-0.95,-146.6,414.3,-11.1,285,5940,0.00,2.50,0.00,0.000,4,0.000,0.051,2289,3297,3476
$GC,5985,-0.95,-146.6,420.3,-11.7,287,5989,0.00,2.53,0.00,0.000,6,0.000,0.047,2289,1901,3476
$GC,6306,-0.95,-146.6,450.6,-7.5,303,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3476
$GC,6615,-0.95,-146.6,466.4,-4.6,318,6620,0.00,2.53,0.00,0.000,4,0.000,0.051,2288,3302,3475
$GC,6727,-0.95,-146.6,471.8,-4.3,323,6731,0.00,2.53,0.00,0.000,6,0.000,0.047,2289,1899,3475
$GC,7047,-0.95,-146.6,481.7,-2.0,339,7051,0.00,2.53,0.00,0.000,4,0.000,0.053,2289,3296,3475
$GC,7131,-0.95,-146.6,483.7,-3.6,343,7135,0.00,2.53,0.00,0.000,6,0.000,0.048,2289,1897,3475
$GC,7456,-0.95,-146.6,508.2,-7.9,359,7461,0.00,2.55,0.00,0.000,4,0.000,0.055,2289,3301,3475
$GC,7511,-0.95,-146.6,512.4,-7.8,361,7518,0.00,2.53,0.00,0.000,6,0.000,0.050,2289,1900,3475
$GC,7827,-0.95,-146.6,534.5,-7.2,377,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3475
$STATE,7969,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7969,begin apogee
$GC,7975,-0.36,0.0,543.6,6.0,384,8100,0.60,0.00,121.90,1.167,6,0.071,0.000,2419,2095,2878
$STATE,8101,end apogee,CONTROL_FINISHED_OK
$STATE,8101,begin climb
$GC,8103,0.95,146.6,548.5,0.0,390,8234,1.30,2.70,120.93,1.124,4,0.051,0.061,2708,3495,2280
$GC,8308,1.00,191.8,543.8,4.7,400,8352,0.00,2.55,37.95,1.118,6,0.000,0.049,2708,2102,2095
$GC,8676,1.05,233.5,524.4,4.8,418,8717,0.00,2.65,34.60,1.137,4,0.000,0.060,2708,3497,1925
$GC,8818,1.05,233.5,515.5,6.6,424,8822,0.00,2.55,0.00,0.000,6,0.000,0.051,2708,2101,1925
$GC,9133,1.05,233.5,491.3,7.8,439,9134,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2101,1924
$GC,9443,1.05,233.5,467.9,7.4,454,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2101,1923
$GC,9751,1.05,233.5,448.0,6.2,469,9753,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2101,1923
$GC,10062,1.13,297.3,433.3,4.1,484,10123,0.15,2.67,51.65,1.126,4,0.048,0.054,2760,3500,1665
$GC,10162,1.13,297.3,426.5,7.7,488,10169,0.00,2.55,0.00,0.000,6,0.000,0.048,2759,2098,1665
$GC,10477,1.13,297.3,397.5,10.5,504,10478,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2098,1665
$GC,10786,1.13,297.3,363.2,10.4,519,10788,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2098,1665
$GC,11096,1.13,297.3,335.2,8.7,534,11097,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2098,1665
$GC,11405,1.13,297.3,307.6,9.0,549,11409,0.00,2.60,0.00,0.000,4,0.000,0.067,2760,691,1665
$GC,11470,1.13,297.3,301.6,8.9,552,11475,0.00,2.47,0.00,0.000,6,0.000,0.042,2760,2103,1665
$GC,11797,1.13,297.3,274.6,8.8,568,11802,0.00,2.53,0.00,0.000,4,0.000,0.051,2759,3499,1665
$GC,11859,1.13,297.3,269.2,8.7,571,11864,0.00,2.50,0.00,0.000,6,0.000,0.044,2760,2096,1665
$GC,12185,1.13,297.3,247.7,10.0,587,12186,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2096,1666
$GC,12495,1.13,297.3,215.0,8.5,602,12496,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2096,1666
$GC,12804,1.13,297.3,188.4,7.1,617,12805,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2097,1666
$GC,13113,1.13,297.3,153.4,11.9,632,13114,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2096,1666
$GC,13425,1.13,297.3,121.7,8.5,647,13429,0.00,2.60,0.00,0.000,4,0.000,0.064,2760,689,1667
$GC,13488,1.15,311.9,117.4,5.6,650,13510,0.00,2.50,12.82,0.938,6,0.000,0.041,2760,2111,1605
$GC,13820,1.15,311.9,80.8,11.0,666,13824,0.00,2.50,0.00,0.000,4,0.000,0.051,2760,3494,1605
$GC,13869,1.15,311.9,76.0,9.0,668,13873,0.00,2.47,0.00,0.000,6,0.000,0.040,2759,2091,1605
$GC,14191,1.18,335.3,57.1,5.3,684,14211,0.00,0.00,18.73,0.890,6,0.000,0.000,2760,2091,1511
$GC,14521,1.25,392.9,35.9,4.3,700,14568,0.00,0.00,44.70,0.855,6,0.000,0.000,2759,2090,1276
$GC,14870,1.25,392.9,3.4,16.6,717,14871,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2086,1275
$GC,15179,1.51,602.1,3.1,-0.2,732,15277,0.25,2.62,91.43,0.792,4,0.039,0.048,2832,3498,602
$GC,15294,1.81,849.9,2.8,-1.4,736,15301,0.28,2.53,0.00,0.000,6,0.069,0.040,2891,2096,601
$STATE,15609,end climb,NO_VERTICAL_VELOCITY
$STATE,15609,begin surface
$SM_CCo,16032,0.00,0.000,0,0,602,558.30
$SM_GC,3.51,12.75,0.00,0.00,0.048,0.000,0.000,29,1884,602,-11.27,-0.45,558.30
$IRIDIUM_FIX,6244.56,-1251.84,301207,191930
$TT8_MAMPS,0.026845
$HUMID,2054
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.30
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,475.9,77.2
$24V_AH,23.3,48.003
$10V_AH,10.1,23.215
$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,26.350,92.200,534.700,0.000,0.000,74.816,77.602,229.097,7.000,0.000,0.000,15.342,1357.689,12309.752,660.992,1694.440,563.595,33.371,1539.248,0.000,1667.713,0.000,26.583
$DEVICE_MAMPS,98.943,72.865,1166.607,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,558.858,505.757,554.133,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37961,752
$CFSIZE,260165632,245002240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,301207,194608,6308.615,-1253.563,38,1.8,38,-12.0