version: 66.02
glider: 102
mission: 4
dive: 221
start: 12 31 107 17 44 20
data:
$ID,102
$MISSION,4
$DIVE,221
$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,-80295.586
$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,29
$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
$GPS1,172937,6313.771,-1304.072,40,1.3,40,-12.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,3.46
$_SM_ANGLEo,-48.7
$GPS2,174326,6313.761,-1303.955,10,1.8,15,-12.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.119,0.172
$KALMAN_X,273303.1,-72.6,439.0,-515304.1,9426.6
$KALMAN_Y,-16132.1,804.1,998.6,200645.9,-6973.7
$MHEAD_RNG_PITCHd_Wd,337.4,9489,-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,-21.75,0.000,2,0.000,0.000,29,1884,1112
$GC,47,-0.95,-146.6,3.4,-0.0,1,213,11.07,2.58,-146.50,0.000,4,0.103,0.072,2287,499,3475
$GC,468,-0.95,-146.6,31.6,-5.1,20,472,0.00,2.47,0.00,0.000,6,0.000,0.041,2286,1906,3475
$GC,788,-0.95,-146.6,49.0,-5.5,36,793,0.00,2.62,0.00,0.000,4,0.000,0.064,2287,501,3475
$GC,843,-0.95,-146.6,53.8,-9.8,38,850,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1906,3475
$GC,1159,-0.95,-146.6,81.0,-8.4,54,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3475
$GC,1468,-0.95,-146.6,103.3,-7.3,69,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3475
$GC,1778,-0.95,-146.6,125.9,-7.4,84,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3475
$GC,2089,-0.95,-146.6,149.9,-7.8,99,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3475
$GC,2396,-0.95,-146.6,171.9,-7.2,114,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3475
$GC,2705,-0.95,-146.6,194.5,-7.0,129,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3475
$GC,3015,-0.95,-146.6,216.4,-7.1,144,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3475
$GC,3323,-0.95,-146.6,237.9,-7.0,159,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3475
$GC,3633,-0.95,-146.6,258.6,-6.6,174,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3475
$GC,3942,-0.95,-146.6,279.6,-7.1,189,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3475
$GC,4252,-0.95,-146.6,300.3,-6.5,204,4256,0.00,2.50,0.00,0.000,4,0.000,0.050,2287,3296,3475
$GC,4301,-0.95,-146.6,303.8,-7.0,206,4306,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1907,3475
$GC,4629,-0.95,-146.6,325.7,-6.8,222,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3475
$GC,4937,-0.95,-146.6,348.7,-7.8,237,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3475
$GC,5247,-0.95,-146.6,370.1,-6.4,252,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3475
$GC,5556,-0.95,-146.6,389.6,-6.2,267,5561,0.00,2.53,0.00,0.000,4,0.000,0.050,2287,3301,3474
$GC,5611,-0.95,-146.6,393.6,-7.4,269,5618,0.00,2.53,0.00,0.000,6,0.000,0.046,2287,1899,3475
$GC,5927,-0.95,-146.6,415.3,-6.9,285,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3475
$GC,6236,-0.95,-146.6,435.9,-6.5,300,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3475
$GC,6545,-0.95,-146.6,457.1,-7.4,315,6549,0.00,2.53,0.00,0.000,4,0.000,0.050,2287,3295,3475
$GC,6594,-0.95,-146.6,461.0,-7.7,317,6598,0.00,2.53,0.00,0.000,6,0.000,0.046,2287,1905,3475
$GC,6915,-0.95,-146.6,486.1,-8.0,333,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,7224,-0.95,-146.6,512.4,-8.7,348,7228,0.00,2.53,0.00,0.000,4,0.000,0.051,2287,3295,3474
$GC,7323,-0.95,-146.6,519.9,-7.8,352,7330,0.00,2.53,0.00,0.000,6,0.000,0.046,2287,1895,3473
$GC,7639,-0.95,-146.6,543.8,-7.8,368,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3474
$GC,7948,-0.95,-146.6,562.2,-5.1,383,7953,0.00,2.55,0.00,0.000,4,0.000,0.053,2287,3297,3474
$GC,8020,-0.95,-146.6,567.3,-7.5,386,8024,0.00,2.53,0.00,0.000,6,0.000,0.048,2287,1899,3474
$GC,8341,-0.95,-146.6,589.2,-7.4,402,8346,0.00,2.60,0.00,0.000,4,0.000,0.071,2287,489,3474
$GC,8396,-0.95,-146.6,593.6,-8.1,404,8403,0.00,2.47,0.00,0.000,6,0.000,0.046,2287,1896,3474
$GC,8712,-0.95,-146.6,613.6,-5.4,420,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3474
$GC,9022,-0.95,-146.6,629.3,-2.6,435,9023,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3473
$GC,9331,-0.95,-146.6,648.6,-6.0,450,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3473
$STATE,9473,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9473,begin apogee
$GC,9479,-0.36,0.0,658.1,6.3,457,9604,0.60,0.00,122.53,1.231,6,0.075,0.000,2416,2100,2878
$STATE,9605,end apogee,CONTROL_FINISHED_OK
$STATE,9605,begin climb
$GC,9607,0.95,146.6,661.9,0.0,463,9738,1.30,2.67,121.90,1.190,4,0.052,0.064,2704,3497,2280
$GC,9810,0.97,166.6,657.6,5.4,473,9835,0.00,2.58,17.58,1.178,6,0.000,0.051,2704,2097,2197
$GC,10157,1.00,190.1,638.1,5.3,490,10180,0.00,0.00,20.42,1.200,6,0.000,0.000,2704,2097,2102
$GC,10486,1.00,190.1,618.6,6.8,506,10491,0.00,2.62,0.00,0.000,4,0.000,0.061,2704,3502,2101
$GC,10571,1.00,190.1,612.6,7.6,510,10575,0.00,2.58,0.00,0.000,6,0.000,0.053,2704,2100,2101
$GC,10896,1.00,190.1,591.1,6.2,526,10901,0.00,2.65,0.00,0.000,4,0.000,0.074,2704,691,2100
$GC,10968,1.00,190.1,586.5,6.3,529,10973,0.00,2.53,0.00,0.000,6,0.000,0.048,2704,2087,2100
$GC,11289,1.00,190.1,565.7,7.0,545,11294,0.00,2.60,0.00,0.000,4,0.000,0.058,2704,3502,2100
$GC,11396,1.00,190.1,557.8,7.2,550,11400,0.00,2.55,0.00,0.000,6,0.000,0.050,2704,2099,2100
$GC,11722,1.00,190.1,535.8,7.1,566,11726,0.00,2.60,0.00,0.000,4,0.000,0.056,2704,3506,2099
$GC,11799,1.00,190.1,529.5,7.7,569,11805,0.00,2.53,0.00,0.000,6,0.000,0.046,2704,2098,2099
$GC,12114,1.00,190.1,505.8,7.8,585,12119,0.00,2.58,0.00,0.000,4,0.000,0.054,2704,3503,2099
$GC,12192,1.00,190.1,499.4,7.6,588,12198,0.00,2.53,0.00,0.000,6,0.000,0.046,2704,2092,2099
$GC,12507,1.00,190.1,475.9,7.2,604,12511,0.00,2.58,0.00,0.000,4,0.000,0.055,2704,3502,2099
$GC,12584,1.00,190.1,470.2,7.3,607,12590,0.00,2.53,0.00,0.000,6,0.000,0.046,2704,2095,2099
$GC,12899,1.00,190.1,448.9,6.7,623,12901,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2095,2099
$GC,13208,1.00,190.1,428.1,7.0,638,13213,0.00,2.58,0.00,0.000,4,0.000,0.054,2704,3504,2099
$GC,13320,1.00,190.1,419.3,8.4,643,13324,0.00,2.50,0.00,0.000,6,0.000,0.044,2704,2094,2099
$GC,13645,1.00,190.1,393.6,7.9,659,13647,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2094,2099
$GC,13955,1.00,190.1,371.6,6.9,674,13956,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2094,2100
$GC,14264,1.00,190.1,352.6,6.2,689,14265,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2094,2100
$GC,14573,1.00,190.1,333.4,6.2,704,14578,0.00,2.60,0.00,0.000,4,0.000,0.053,2704,3509,2100
$GC,14657,1.00,190.1,327.5,6.7,708,14662,0.00,2.53,0.00,0.000,6,0.000,0.042,2704,2089,2100
$GC,14983,1.00,190.1,305.6,6.5,724,14985,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2089,2100
$GC,15292,1.00,190.1,286.1,6.4,739,15297,0.00,2.60,0.00,0.000,4,0.000,0.052,2704,3510,2100
$GC,15370,1.00,190.1,280.5,6.4,742,15376,0.00,2.50,0.00,0.000,6,0.000,0.042,2704,2101,2101
$GC,15685,1.00,190.1,259.6,7.1,758,15687,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2101,2101
$GC,15994,1.00,190.1,239.7,6.1,773,15996,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2101,2101
$GC,16304,1.04,224.8,223.3,5.0,788,16338,0.00,2.65,28.02,0.959,4,0.000,0.051,2704,3502,1961
$GC,16422,1.04,224.8,216.5,6.4,793,16427,0.00,2.50,0.00,0.000,6,0.000,0.040,2704,2099,1960
$GC,16737,1.04,224.8,197.4,6.9,808,16739,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2099,1961
$GC,17047,1.04,224.8,178.0,6.1,823,17048,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2099,1960
$GC,17356,1.04,224.8,156.0,7.8,838,17357,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2099,1960
$GC,17666,1.17,331.7,143.4,2.8,853,17753,0.20,0.00,84.07,0.876,6,0.036,0.000,2768,2099,1525
$GC,18057,1.17,331.7,111.0,9.2,872,18058,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2099,1524
$GC,18365,1.17,331.7,83.6,9.8,887,18366,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2099,1524
$GC,18674,1.17,331.7,49.4,10.7,902,18675,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2099,1524
$GC,18983,1.17,331.7,20.4,8.5,917,18984,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2099,1524
$GC,19292,1.42,534.8,2.9,-0.1,932,19405,0.17,0.00,109.28,0.776,6,0.051,0.000,2815,2095,697
$STATE,19579,end climb,NO_VERTICAL_VELOCITY
$STATE,19579,begin surface
$SM_CCo,19582,13.32,0.799,0,0,603,558.06
$SM_GC,3.67,11.90,0.00,0.00,0.025,0.000,0.000,29,1893,603,-11.27,-0.20,558.06
$IRIDIUM_FIX,6249.28,-1300.75,311207,212116
$TT8_MAMPS,0.027612
$HUMID,2052
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.60
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,600.2,67.2
$24V_AH,23.3,48.897
$10V_AH,10.1,23.661
$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,25.250,97.725,503.800,13.325,0.000,111.709,117.741,355.747,6.500,0.000,0.000,16.587,1663.584,15697.259,671.918,1999.805,815.452,33.368,1677.230,0.000,1970.549,0.000,37.552
$DEVICE_MAMPS,102.778,73.632,1231.035,799.214,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,704.095,638.613,601.729,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47485,946
$CFSIZE,260165632,244695040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,311207,231908,6314.436,-1304.971,36,1.2,36,-12.2