version: 66.02
glider: 102
mission: 4
dive: 217
start: 12 30 107 20 4 26
data:
$ID,102
$MISSION,4
$DIVE,217
$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,-80228.656
$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,37
$R_STBD_OVSHOOT,36
$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
$GPS1,194608,6308.615,-1253.563,38,1.8,38,-12.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.30
$_SM_ANGLEo,-40.7
$GPS2,200332,6308.643,-1253.977,13,2.0,13,-12.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.190,0.087
$KALMAN_X,263936.8,-524.6,192.3,-496414.5,9509.0
$KALMAN_Y,-9854.4,-113.4,254.3,186577.6,-4914.6
$MHEAD_RNG_PITCHd_Wd,306.5,21112,-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,-21.45,0.000,2,0.000,0.000,28,1885,1088
$GC,47,-0.95,-146.6,3.4,-0.0,1,195,11.30,2.58,-129.12,0.000,4,0.112,0.076,2284,513,3477
$GC,348,-0.95,-146.6,27.6,-5.8,15,352,0.00,2.45,0.00,0.000,6,0.000,0.039,2284,1910,3477
$GC,674,-0.95,-146.6,56.5,-8.9,31,678,0.00,2.62,0.00,0.000,4,0.000,0.067,2284,510,3477
$GC,759,-0.95,-146.6,64.2,-9.7,35,764,0.00,2.45,0.00,0.000,6,0.000,0.041,2284,1902,3477
$GC,1086,-0.95,-146.6,72.2,-3.8,51,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3477
$GC,1396,-0.95,-146.6,92.4,-6.5,66,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3477
$GC,1705,-0.95,-146.6,110.3,-7.8,81,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3476
$GC,2014,-0.95,-146.6,127.5,-5.6,96,2018,0.00,2.53,0.00,0.000,4,0.000,0.049,2284,3301,3476
$GC,2102,-0.95,-146.6,134.9,-9.5,100,2107,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1915,3476
$GC,2429,-0.95,-146.6,164.8,-8.9,116,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1915,3476
$GC,2738,-0.95,-146.6,190.2,-7.4,131,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1915,3476
$GC,3047,-0.95,-146.6,213.4,-8.2,146,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1915,3476
$GC,3357,-0.95,-146.6,236.4,-7.2,161,3361,0.00,2.50,0.00,0.000,4,0.000,0.048,2284,3300,3476
$GC,3434,-0.95,-146.6,242.1,-6.5,164,3440,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1894,3476
$GC,3749,-0.95,-146.6,262.2,-6.3,180,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1894,3476
$GC,4059,-0.95,-146.6,280.6,-5.9,195,4063,0.00,2.53,0.00,0.000,4,0.000,0.049,2284,3297,3476
$GC,4130,-0.95,-146.6,285.3,-7.0,198,4134,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1894,3475
$GC,4451,-0.95,-146.6,307.3,-7.5,214,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1894,3476
$GC,4761,-0.95,-146.6,330.6,-7.3,229,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1894,3476
$GC,5070,-0.95,-146.6,353.1,-7.1,244,5074,0.00,2.55,0.00,0.000,4,0.000,0.050,2284,3301,3475
$GC,5146,-0.95,-146.6,358.8,-7.4,247,5153,0.00,2.53,0.00,0.000,6,0.000,0.046,2284,1900,3476
$GC,5462,-0.95,-146.6,383.1,-7.8,263,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3476
$GC,5772,-0.95,-146.6,404.0,-5.7,278,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3475
$GC,6081,-0.95,-146.6,427.5,-7.3,293,6085,0.00,2.53,0.00,0.000,4,0.000,0.051,2284,3298,3476
$GC,6169,-0.95,-146.6,432.1,-4.5,297,6173,0.00,2.53,0.00,0.000,6,0.000,0.046,2284,1899,3475
$GC,6495,-0.95,-146.6,449.2,-6.5,313,6500,0.00,2.50,0.00,0.000,4,0.000,0.051,2284,3296,3475
$GC,6580,-0.95,-146.6,456.7,-10.1,317,6584,0.00,2.50,0.00,0.000,6,0.000,0.046,2284,1898,3476
$GC,6905,-0.95,-146.6,484.1,-6.1,333,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1895,3475
$GC,7215,-0.95,-146.6,497.5,-4.9,348,7219,0.00,2.55,0.00,0.000,4,0.000,0.051,2284,3301,3474
$GC,7270,-0.95,-146.6,501.0,-6.7,350,7276,0.00,2.53,0.00,0.000,6,0.000,0.046,2284,1897,3475
$GC,7585,-0.95,-146.6,525.7,-8.1,366,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3474
$GC,7895,-0.95,-146.6,546.7,-7.4,381,7899,0.00,2.53,0.00,0.000,4,0.000,0.054,2283,3294,3475
$GC,7994,-0.95,-146.6,554.5,-7.5,385,8001,0.00,2.55,0.00,0.000,6,0.000,0.048,2284,1901,3474
$GC,8310,-0.95,-146.6,574.1,-5.5,401,8314,0.00,2.55,0.00,0.000,4,0.000,0.056,2283,3297,3475
$GC,8410,-0.95,-146.6,579.9,-6.0,405,8417,0.00,2.53,0.00,0.000,6,0.000,0.051,2284,1901,3475
$GC,8726,-0.95,-146.6,598.8,-6.2,421,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3474
$STATE,8765,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8765,begin apogee
$GC,8770,-0.36,0.0,601.7,7.0,423,8895,0.62,0.00,122.00,1.211,6,0.081,0.000,2416,2097,2878
$STATE,8896,end apogee,CONTROL_FINISHED_OK
$STATE,8896,begin climb
$GC,8899,0.95,146.6,606.1,0.0,429,9028,1.30,0.00,121.50,1.167,6,0.055,0.000,2702,2097,2280
$GC,9337,0.95,146.6,584.8,6.2,451,9341,0.00,2.60,0.00,0.000,4,0.000,0.062,2702,3496,2280
$GC,9425,0.95,146.6,578.4,7.0,455,9429,0.00,2.55,0.00,0.000,6,0.000,0.051,2702,2099,2279
$GC,9753,1.05,228.3,564.1,3.6,471,9828,0.10,2.70,67.35,1.174,4,0.058,0.061,2739,3497,1946
$GC,10018,1.05,228.3,545.6,9.3,483,10023,0.00,2.55,0.00,0.000,6,0.000,0.051,2739,2102,1946
$GC,10345,1.05,228.3,519.2,7.7,499,10346,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2102,1945
$GC,10654,1.05,228.3,494.7,7.5,514,10655,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2102,1945
$GC,10964,1.05,228.3,471.0,7.3,529,10965,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2102,1944
$GC,11273,1.05,228.3,447.1,8.3,544,11277,0.00,2.58,0.00,0.000,4,0.000,0.052,2739,3503,1944
$GC,11378,1.05,228.3,436.9,9.8,549,11383,0.00,2.53,0.00,0.000,6,0.000,0.046,2739,2092,1944
$GC,11704,1.05,228.3,409.6,8.0,565,11705,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2092,1944
$GC,12013,1.05,228.3,384.6,7.9,580,12014,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2092,1945
$GC,12322,1.05,228.3,359.9,7.8,595,12323,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2092,1945
$GC,12632,1.05,228.3,334.9,8.0,610,12636,0.00,2.60,0.00,0.000,4,0.000,0.052,2739,3506,1945
$GC,12719,1.05,228.3,327.0,8.6,614,12724,0.00,2.53,0.00,0.000,6,0.000,0.044,2738,2093,1945
$GC,13046,1.05,228.3,298.0,8.8,630,13047,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2093,1945
$GC,13356,1.05,228.3,272.5,7.3,645,13357,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2092,1945
$GC,13665,1.05,228.3,247.5,8.6,660,13669,0.00,2.58,0.00,0.000,4,0.000,0.052,2739,3506,1946
$GC,13770,1.05,228.3,238.5,8.6,665,13775,0.00,2.50,0.00,0.000,6,0.000,0.042,2739,2098,1946
$GC,14097,1.05,228.3,215.0,7.0,681,14098,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2098,1946
$GC,14406,1.05,228.3,194.6,6.7,696,14407,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2098,1945
$GC,14716,1.05,228.3,173.5,6.9,711,14720,0.00,2.55,0.00,0.000,4,0.000,0.049,2738,3501,1946
$GC,14828,1.05,228.3,165.1,8.8,716,14832,0.00,2.50,0.00,0.000,6,0.000,0.041,2739,2096,1946
$GC,15148,1.05,228.3,140.8,6.4,732,15149,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2096,1946
$GC,15458,1.05,228.3,119.6,8.5,747,15459,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2097,1947
$GC,15767,1.05,228.3,97.3,6.5,762,15771,0.00,2.55,0.00,0.000,4,0.000,0.049,2739,3501,1947
$GC,15905,1.05,228.3,86.5,7.6,768,15909,0.00,2.47,0.00,0.000,6,0.000,0.040,2739,2095,1947
$GC,16229,1.12,289.8,67.2,4.2,784,16280,0.00,0.00,49.03,0.846,6,0.000,0.000,2739,2095,1696
$GC,16578,1.14,301.5,38.1,5.7,801,16590,0.00,0.00,10.12,0.858,6,0.000,0.000,2738,2095,1648
$GC,16886,1.14,301.5,7.0,10.5,816,16888,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2094,1647
$GC,17194,1.39,507.3,2.9,-0.1,831,17311,0.25,2.67,108.05,0.761,4,0.068,0.050,2798,3502,808
$STATE,17315,end climb,NO_VERTICAL_VELOCITY
$STATE,17317,begin surface
$SM_CCo,17319,26.80,0.743,0,0,603,558.06
$SM_GC,3.53,11.95,0.00,0.00,0.029,0.000,0.000,29,1898,603,-11.26,-0.03,558.06
$IRIDIUM_FIX,6239.86,-1251.84,301207,232345
$TT8_MAMPS,0.026845
$HUMID,2040
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.50
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,500.3,111.0
$24V_AH,23.3,48.182
$10V_AH,10.1,23.303
$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,25.525,97.300,478.050,26.800,0.000,181.062,252.802,247.280,5.750,0.000,0.000,16.077,1510.742,13897.440,653.683,1867.385,891.524,33.365,1584.450,0.000,1837.620,0.000,28.280
$DEVICE_MAMPS,111.982,75.933,1211.093,743.223,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,619.447,563.860,588.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41203,837
$CFSIZE,260165632,244928512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,311207,010138,6308.684,-1300.106,26,1.2,26,-12.1