version: 66.02
glider: 102
mission: 4
dive: 198
start: 12 26 107 4 3 56
data:
$ID,102
$MISSION,4
$DIVE,198
$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,-79888.508
$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,30
$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
$GPS1,035638,6249.083,-1259.630,36,1.1,36,-11.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,3.50
$_SM_ANGLEo,-44.7
$GPS2,040302,6249.025,-1259.686,15,1.3,15,-11.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.207,0.025
$KALMAN_X,245564.7,637.9,-1371.1,-482705.8,8548.2
$KALMAN_Y,41020.9,773.4,-1846.3,100575.1,-6916.6
$MHEAD_RNG_PITCHd_Wd,288.7,49770,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.95,-146.5,0.0,0.0,0,27,0.00,0.00,-3.90,0.000,2,0.000,0.000,33,1884,696
$GC,30,-0.95,-146.6,3.6,-0.0,0,202,10.90,0.00,-157.68,0.000,6,0.092,0.000,2293,1887,3476
$GC,530,-0.95,-146.6,25.3,-4.2,25,534,0.00,2.55,0.00,0.000,4,0.000,0.048,2294,3296,3476
$GC,623,-0.95,-146.6,31.8,-6.7,29,628,0.00,2.50,0.00,0.000,6,0.000,0.042,2294,1901,3476
$GC,945,-0.95,-146.6,49.7,-6.8,45,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1901,3476
$GC,1255,-0.95,-146.6,77.9,-5.7,60,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1901,3476
$GC,1564,-0.95,-146.6,102.7,-7.0,75,1568,0.00,2.53,0.00,0.000,4,0.000,0.047,2294,3300,3476
$GC,1613,-0.95,-146.6,105.8,-5.7,77,1618,0.00,2.53,0.00,0.000,6,0.000,0.043,2294,1894,3476
$GC,1929,-0.95,-146.6,127.4,-8.1,92,1933,0.00,2.53,0.00,0.000,4,0.000,0.048,2294,3297,3476
$GC,1991,-0.95,-146.6,132.7,-8.0,95,1995,0.00,2.50,0.00,0.000,6,0.000,0.044,2293,1902,3476
$GC,2317,-0.95,-146.6,162.2,-7.1,111,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1902,3476
$GC,2626,-0.95,-146.6,184.6,-6.1,126,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1902,3476
$GC,2935,-0.95,-146.6,199.1,-4.8,141,2939,0.00,2.53,0.00,0.000,4,0.000,0.048,2294,3300,3476
$GC,3024,-0.95,-146.6,203.6,-4.8,145,3029,0.00,2.50,0.00,0.000,6,0.000,0.043,2293,1899,3476
$GC,3346,-0.95,-146.6,221.0,-5.8,161,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1899,3476
$GC,3655,-0.95,-146.6,237.5,-5.7,176,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1900,3476
$GC,3964,-0.95,-146.6,256.4,-6.3,191,3968,0.00,2.53,0.00,0.000,4,0.000,0.048,2293,3296,3476
$GC,4040,-0.95,-146.6,261.4,-6.2,194,4047,0.00,2.50,0.00,0.000,6,0.000,0.043,2293,1898,3476
$GC,4356,-0.95,-146.6,279.9,-5.8,210,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,1898,3476
$GC,4665,-0.95,-146.6,299.9,-6.7,225,4673,0.00,2.53,0.00,0.000,4,0.000,0.048,2293,3300,3476
$GC,4728,-0.95,-146.6,304.3,-7.4,227,4734,0.00,2.50,0.00,0.000,6,0.000,0.043,2294,1899,3476
$GC,5044,-0.95,-146.6,325.8,-6.7,243,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1900,3476
$GC,5353,-0.95,-146.6,346.7,-6.5,258,5357,0.00,2.53,0.00,0.000,4,0.000,0.049,2293,3298,3476
$GC,5414,-0.95,-146.6,350.9,-6.9,261,5418,0.00,2.53,0.00,0.000,6,0.000,0.044,2293,1894,3476
$GC,5739,-0.95,-146.6,372.3,-6.7,277,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1894,3476
$GC,6048,-0.95,-146.6,395.4,-7.9,292,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1894,3476
$GC,6358,-0.95,-146.6,418.2,-6.9,307,6362,0.00,2.53,0.00,0.000,4,0.000,0.051,2294,3295,3476
$GC,6451,-0.95,-146.6,425.0,-7.5,311,6457,0.00,2.50,0.00,0.000,6,0.000,0.045,2293,1902,3476
$GC,6772,-0.95,-146.6,447.0,-6.8,327,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1901,3476
$GC,7081,-0.95,-146.6,467.7,-6.3,342,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1902,3476
$GC,7390,-0.95,-146.6,486.5,-6.3,357,7395,0.00,2.53,0.00,0.000,4,0.000,0.052,2294,3294,3476
$GC,7519,-0.95,-146.6,495.4,-7.4,363,7524,0.00,2.53,0.00,0.000,6,0.000,0.047,2294,1894,3476
$GC,7845,-0.95,-146.6,518.3,-6.9,379,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1891,3475
$GC,8154,-0.95,-146.6,539.4,-7.0,394,8159,0.00,2.55,0.00,0.000,4,0.000,0.052,2293,3297,3475
$GC,8243,-0.95,-146.6,546.3,-8.4,398,8247,0.00,2.53,0.00,0.000,6,0.000,0.047,2293,1897,3475
$GC,8570,-0.95,-146.6,570.8,-7.7,414,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1897,3475
$GC,8879,-0.95,-146.6,594.3,-7.4,429,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1897,3475
$GC,9188,-0.95,-146.6,615.2,-6.1,444,9192,0.00,2.55,0.00,0.000,4,0.000,0.057,2293,3298,3475
$GC,9276,-0.95,-146.6,621.0,-6.5,448,9280,0.00,2.53,0.00,0.000,6,0.000,0.048,2293,1900,3475
$GC,9603,-0.95,-146.6,642.1,-6.4,464,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1900,3475
$GC,9912,-0.95,-146.6,663.3,-6.7,479,9916,0.00,2.58,0.00,0.000,4,0.000,0.058,2293,3301,3475
$GC,10006,-0.95,-146.6,670.1,-6.4,483,10010,0.00,2.55,0.00,0.000,6,0.000,0.050,2293,1897,3475
$GC,10326,-0.95,-146.6,690.4,-6.1,499,10331,0.00,2.55,0.00,0.000,4,0.000,0.058,2293,3294,3475
$GC,10381,-0.95,-146.6,693.9,-6.2,501,10388,0.00,2.53,0.00,0.000,6,0.000,0.049,2293,1898,3475
$GC,10697,-0.95,-146.6,712.8,-5.5,517,10702,0.00,2.58,0.00,0.000,4,0.000,0.059,2293,3301,3474
$GC,10814,-0.95,-146.6,720.0,-6.5,522,10818,0.00,2.55,0.00,0.000,6,0.000,0.052,2293,1895,3474
$GC,11135,-0.95,-146.6,741.3,-6.8,538,11136,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1896,3474
$GC,11444,-0.95,-146.6,760.9,-6.1,553,11445,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1895,3473
$GC,11754,-0.95,-146.6,776.1,-4.1,568,11755,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1896,3473
$GC,12063,-0.95,-146.6,793.4,-6.4,583,12064,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1895,3474
$STATE,12082,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12082,begin apogee
$GC,12087,-0.36,0.0,794.4,6.3,584,12215,0.57,0.00,125.25,1.340,6,0.067,0.000,2418,2089,2878
$STATE,12216,end apogee,CONTROL_FINISHED_OK
$STATE,12217,begin climb
$GC,12219,0.95,146.6,799.6,0.0,590,12351,1.25,2.72,124.78,1.309,4,0.053,0.066,2701,3502,2280
$GC,12413,0.95,146.6,794.5,7.8,600,12418,0.00,2.60,0.00,0.000,6,0.000,0.055,2701,2104,2279
$GC,12733,0.95,146.6,772.1,8.3,616,12734,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2104,2278
$GC,13043,0.95,146.6,749.1,7.1,631,13044,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2104,2277
$GC,13352,0.98,175.4,731.3,5.1,646,13382,0.00,2.67,24.38,1.328,4,0.000,0.063,2701,3500,2163
$GC,13556,1.03,212.2,720.8,4.9,655,13593,0.00,2.58,31.60,1.325,6,0.000,0.054,2701,2096,2013
$GC,13915,1.03,216.3,700.6,5.9,673,13922,0.00,0.00,4.90,1.259,6,0.000,0.000,2701,2097,1996
$GC,14224,1.10,272.9,686.2,4.3,688,14274,0.15,0.00,48.12,1.305,6,0.045,0.000,2749,2097,1765
$GC,14572,1.10,272.9,656.6,9.3,705,14573,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2096,1765
$GC,14882,1.10,272.9,627.7,9.5,720,14883,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2097,1765
$GC,15191,1.10,272.9,603.3,7.2,735,15192,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2096,1765
$GC,15500,1.10,272.9,579.8,7.7,750,15504,0.00,2.58,0.00,0.000,4,0.000,0.054,2750,3507,1766
$GC,15561,1.10,272.9,574.6,8.9,753,15565,0.00,2.55,0.00,0.000,6,0.000,0.048,2749,2102,1765
$GC,15886,1.10,272.9,546.2,8.9,769,15888,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2102,1765
$GC,16195,1.10,272.9,520.2,8.3,784,16200,0.00,2.62,0.00,0.000,4,0.000,0.068,2750,691,1766
$GC,16244,1.10,272.9,515.5,8.4,786,16249,0.00,2.47,0.00,0.000,6,0.000,0.043,2749,2103,1766
$GC,16566,1.10,272.9,488.5,8.6,802,16567,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2108,1766
$GC,16875,1.10,272.9,461.8,8.7,817,16876,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2107,1766
$GC,17184,1.10,272.9,433.4,9.5,832,17185,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2107,1766
$GC,17494,1.10,272.9,405.1,9.1,847,17498,0.00,2.65,0.00,0.000,4,0.000,0.064,2749,685,1767
$GC,17565,1.10,272.9,398.4,9.3,850,17569,0.00,2.50,0.00,0.000,6,0.000,0.042,2750,2105,1767
$GC,17887,1.10,272.9,369.5,8.9,866,17888,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2108,1767
$GC,18196,1.10,272.9,341.9,9.0,881,18200,0.00,2.62,0.00,0.000,4,0.000,0.064,2750,690,1768
$GC,18250,1.10,272.9,336.7,9.6,883,18257,0.00,2.50,0.00,0.000,6,0.000,0.041,2750,2106,1768
$GC,18566,1.10,272.9,308.4,9.1,899,18567,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2108,1768
$GC,18875,1.10,272.9,280.6,9.2,914,18880,0.00,2.62,0.00,0.000,4,0.000,0.062,2749,682,1769
$GC,18930,1.10,272.9,275.3,10.0,916,18937,0.00,2.50,0.00,0.000,6,0.000,0.041,2750,2100,1769
$GC,19245,1.10,272.9,248.2,8.5,932,19247,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2103,1769
$GC,19555,1.10,272.9,223.5,7.6,947,19556,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2104,1769
$GC,19864,1.10,272.9,199.8,7.9,962,19865,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2104,1769
$GC,20173,1.10,272.9,171.0,9.6,977,20174,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2103,1770
$GC,20483,1.10,272.9,140.8,8.3,992,20484,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2103,1770
$GC,20793,1.23,375.8,121.4,2.9,1007,20876,0.00,0.00,81.55,0.881,6,0.000,0.000,2750,2103,1346
$GC,21183,1.23,375.8,89.9,9.6,1026,21188,0.00,2.65,0.00,0.000,4,0.000,0.064,2750,688,1345
$GC,21247,1.23,375.8,82.8,11.1,1029,21251,0.00,2.50,0.00,0.000,6,0.000,0.039,2750,2108,1345
$GC,21573,1.23,375.8,44.8,10.2,1045,21578,0.00,2.65,0.00,0.000,4,0.000,0.063,2750,688,1345
$GC,21617,1.23,375.8,40.4,9.9,1047,21621,0.00,2.47,0.00,0.000,6,0.000,0.039,2750,2106,1345
$GC,21944,1.23,375.8,9.7,10.1,1063,21949,0.00,2.65,0.00,0.000,4,0.000,0.065,2750,687,1346
$GC,22010,1.25,390.2,3.1,5.6,1066,22028,0.00,2.50,12.02,0.837,6,0.000,0.041,2750,2103,1287
$STATE,22335,end climb,NO_VERTICAL_VELOCITY
$STATE,22335,begin surface
$SM_CCo,22339,91.47,0.777,2,0,603,558.06
$SM_GC,3.87,11.70,0.00,0.00,0.028,0.000,0.000,29,1881,603,-11.27,-0.54,558.06
$IRIDIUM_FIX,6225.82,-1303.91,261207,010105
$TT8_MAMPS,0.026845
$HUMID,2035
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,700.8,103.4
$24V_AH,23.2,44.816
$10V_AH,10.1,21.541
$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,24.575,123.175,452.600,91.475,0.000,37.477,41.363,197.022,7.000,0.000,0.000,16.914,1917.132,17828.498,756.288,2236.875,507.196,33.359,1851.991,0.000,2205.690,0.000,41.208
$DEVICE_MAMPS,92.040,68.263,1339.949,776.971,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,801.802,731.635,644.673,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53747,1082
$CFSIZE,260165632,246104064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
$GPS,261207,102608,6249.437,-1310.074,36,1.4,36,-12.0