version: 66.02
glider: 102
mission: 4
dive: 219
start: 12 31 107 6 33 56
data:
$ID,102
$MISSION,4
$DIVE,219
$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,-80262.234
$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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,062038,6309.964,-1302.449,30,1.6,30,-12.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.52
$_SM_ANGLEo,-52.6
$GPS2,063302,6309.913,-1302.469,14,1.9,14,-12.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.157,0.137
$KALMAN_X,266360.0,-690.2,-26.2,-505957.4,8556.5
$KALMAN_Y,-14513.2,178.4,375.6,193167.6,-7401.0
$MHEAD_RNG_PITCHd_Wd,323.2,14067,-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,-21.58,0.000,2,0.000,0.000,29,1876,1102
$GC,47,-0.95,-146.6,3.5,-0.0,1,205,11.10,2.58,-137.55,0.000,4,0.103,0.077,2289,503,3476
$GC,295,-0.95,-146.6,13.4,-12.3,12,302,0.00,2.50,0.00,0.000,6,0.000,0.041,2289,1911,3476
$GC,611,-0.95,-146.6,41.9,-7.1,28,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1912,3476
$GC,922,-0.95,-146.6,60.1,-6.1,43,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1912,3477
$GC,1230,-0.95,-146.6,75.5,-5.4,58,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1912,3476
$GC,1539,-0.95,-146.6,99.7,-8.3,73,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1912,3476
$GC,1848,-0.95,-146.6,123.5,-7.4,88,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1911,3476
$GC,2157,-0.95,-146.6,146.9,-7.0,103,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1911,3476
$GC,2466,-0.95,-146.6,166.4,-7.3,118,2471,0.00,2.50,0.00,0.000,4,0.000,0.049,2289,3295,3476
$GC,2528,-0.95,-146.6,170.9,-7.6,121,2533,0.00,2.50,0.00,0.000,6,0.000,0.044,2289,1906,3476
$GC,2854,-0.95,-146.6,194.5,-7.0,137,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1906,3476
$GC,3164,-0.95,-146.6,213.4,-5.6,152,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1906,3476
$GC,3473,-0.95,-146.6,231.4,-5.9,167,3477,0.00,2.50,0.00,0.000,4,0.000,0.048,2289,3297,3476
$GC,3557,-0.95,-146.6,237.0,-6.7,171,3561,0.00,2.50,0.00,0.000,6,0.000,0.044,2289,1899,3476
$GC,3883,-0.95,-146.6,256.8,-6.2,187,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3476
$GC,4191,-0.95,-146.6,277.7,-6.9,202,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3476
$GC,4501,-0.95,-146.6,299.5,-7.3,217,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3476
$GC,4810,-0.95,-146.6,319.8,-6.4,232,4814,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3301,3476
$GC,4895,-0.95,-146.6,325.5,-7.2,236,4899,0.00,2.53,0.00,0.000,6,0.000,0.044,2289,1897,3476
$GC,5220,-0.95,-146.6,347.5,-7.0,252,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1896,3476
$GC,5529,-0.95,-146.6,369.1,-7.2,267,5533,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3299,3476
$GC,5584,-0.95,-146.6,373.4,-7.9,269,5591,0.00,2.53,0.00,0.000,6,0.000,0.045,2289,1896,3476
$GC,5900,-0.95,-146.6,396.3,-6.9,285,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3475
$GC,6209,-0.95,-146.6,415.9,-6.3,300,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3476
$GC,6518,-0.95,-146.6,436.4,-6.7,315,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1896,3475
$GC,6828,-0.95,-146.6,454.7,-5.0,330,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3475
$GC,7137,-0.95,-146.6,471.6,-6.1,345,7141,0.00,2.53,0.00,0.000,4,0.000,0.051,2289,3295,3476
$GC,7202,-0.95,-146.6,476.5,-7.7,348,7206,0.00,2.53,0.00,0.000,6,0.000,0.046,2288,1895,3476
$GC,7529,-0.95,-146.6,503.1,-8.9,364,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1891,3475
$GC,7838,-0.95,-146.6,528.8,-7.6,379,7842,0.00,2.55,0.00,0.000,4,0.000,0.052,2288,3301,3474
$GC,7954,-0.95,-146.6,537.5,-7.2,384,7958,0.00,2.53,0.00,0.000,6,0.000,0.047,2288,1899,3475
$GC,8276,-0.95,-146.6,555.2,-5.4,400,8277,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3474
$GC,8584,-0.95,-146.6,577.9,-8.1,415,8586,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3474
$GC,8894,-0.95,-146.6,599.1,-6.3,430,8898,0.00,2.55,0.00,0.000,4,0.000,0.055,2289,3296,3474
$GC,8937,-0.95,-146.6,601.1,-4.6,432,8942,0.00,2.53,0.00,0.000,6,0.000,0.048,2288,1897,3474
$GC,9258,-0.95,-146.6,620.5,-6.1,448,9262,0.00,2.55,0.00,0.000,4,0.000,0.058,2289,3294,3474
$GC,9319,-0.95,-146.6,624.4,-5.8,451,9324,0.00,2.53,0.00,0.000,6,0.000,0.050,2289,1901,3474
$GC,9646,-0.95,-146.6,644.8,-6.4,467,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3474
$STATE,9747,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9747,begin apogee
$GC,9752,-0.36,0.0,652.3,7.5,472,9878,0.60,0.00,123.00,1.224,6,0.070,0.000,2420,2095,2878
$STATE,9879,end apogee,CONTROL_FINISHED_OK
$STATE,9879,begin climb
$GC,9881,0.95,146.6,656.0,0.0,478,10007,1.27,0.00,121.93,1.187,6,0.054,0.000,2703,2094,2280
$GC,10313,0.98,172.6,636.2,5.2,499,10338,0.00,0.00,22.55,1.199,6,0.000,0.000,2704,2094,2174
$GC,10641,1.12,287.1,621.9,2.6,515,10744,0.15,2.67,94.32,1.190,4,0.047,0.063,2755,3497,1707
$GC,10901,1.12,287.1,592.6,7.7,527,10906,0.00,2.58,0.00,0.000,6,0.000,0.052,2755,2098,1706
$GC,11227,1.12,287.1,567.8,8.3,543,11228,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2098,1706
$GC,11536,1.12,287.1,539.0,9.4,558,11537,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2097,1706
$GC,11845,1.12,287.1,513.3,8.8,573,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2098,1705
$GC,12155,1.12,287.1,481.1,10.5,588,12156,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2098,1704
$GC,12464,1.12,287.1,448.1,10.9,603,12465,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2098,1704
$GC,12773,1.12,287.1,415.0,10.3,618,12774,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2098,1704
$GC,13083,1.12,287.1,385.2,9.5,633,13084,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2098,1705
$GC,13392,1.12,287.1,358.1,8.2,648,13396,0.00,2.60,0.00,0.000,4,0.000,0.065,2755,690,1706
$GC,13457,1.12,287.1,351.7,10.0,651,13462,0.00,2.50,0.00,0.000,6,0.000,0.041,2755,2103,1705
$GC,13784,1.12,287.1,322.3,8.7,667,13785,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2106,1706
$GC,14093,1.12,287.1,294.1,9.0,682,14097,0.00,2.65,0.00,0.000,4,0.000,0.064,2755,684,1706
$GC,14142,1.12,287.1,289.5,9.0,684,14146,0.00,2.50,0.00,0.000,6,0.000,0.041,2755,2107,1706
$GC,14463,1.12,287.1,259.9,9.3,700,14464,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2112,1706
$GC,14772,1.12,287.1,232.2,9.0,715,14773,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2112,1706
$GC,15081,1.12,287.1,202.5,10.0,730,15086,0.00,2.65,0.00,0.000,4,0.000,0.062,2755,684,1707
$GC,15136,1.12,287.1,196.7,10.8,732,15143,0.00,2.47,0.00,0.000,6,0.000,0.040,2755,2101,1706
$GC,15452,1.12,287.1,162.4,11.3,748,15453,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2105,1707
$GC,15762,1.12,287.1,125.6,11.7,763,15763,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2105,1707
$GC,16071,1.12,287.1,96.2,10.5,778,16075,0.00,2.62,0.00,0.000,4,0.000,0.062,2755,685,1707
$GC,16125,1.12,287.1,90.7,10.3,780,16132,0.00,2.50,0.00,0.000,6,0.000,0.040,2755,2103,1707
$GC,16441,1.12,287.1,59.3,7.6,796,16442,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2105,1707
$GC,16751,1.14,304.1,41.3,5.5,811,16771,0.00,0.00,14.40,0.875,6,0.000,0.000,2755,2105,1637
$GC,17081,1.14,304.1,5.6,10.7,827,17085,0.00,2.62,0.00,0.000,4,0.000,0.062,2755,690,1637
$GC,17107,1.14,304.1,3.3,9.4,828,17111,0.00,2.50,0.00,0.000,6,0.000,0.041,2755,2101,1637
$GC,17429,1.38,498.9,2.9,0.2,844,17459,0.15,0.00,27.10,0.818,2,0.066,0.000,2795,2106,1471
$STATE,17460,end climb,NO_VERTICAL_VELOCITY
$STATE,17460,begin surface
$SM_CCo,17463,108.40,0.752,0,0,602,558.06
$SM_GC,3.65,11.93,0.00,0.00,0.028,0.000,0.000,28,1891,603,-11.27,-0.28,558.06
$IRIDIUM_FIX,6244.56,-1302.17,311207,101044
$TT8_MAMPS,0.026078
$HUMID,2048
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.70
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,550.8,110.7
$24V_AH,23.3,48.534
$10V_AH,10.1,23.473
$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,25.200,77.050,403.300,108.400,0.000,116.789,167.078,225.182,7.250,0.000,0.000,16.063,1486.067,14170.828,657.475,1726.398,700.372,33.369,1524.082,0.000,1696.451,0.000,31.512
$DEVICE_MAMPS,102.778,76.700,1224.132,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,624.062,570.034,558.928,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41114,845
$CFSIZE,260165632,244830208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,311207,113502,6311.287,-1305.806,38,1.7,38,-12.1