version: 66.02
glider: 102
mission: 4
dive: 200
start: 12 26 107 17 15 3
data:
$ID,102
$MISSION,4
$DIVE,200
$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,-79937.664
$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,27
$R_STBD_OVSHOOT,34
$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
$GPS1,170326,6249.770,-1307.962,37,1.5,37,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.59
$_SM_ANGLEo,-53.6
$GPS2,171409,6249.713,-1308.279,12,1.3,12,-12.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.062,0.199
$KALMAN_X,241708.1,486.7,-3448.1,-484201.8,12565.8
$KALMAN_Y,35682.3,318.6,696.5,105091.9,-12415.3
$MHEAD_RNG_PITCHd_Wd,354.7,47165,-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,20,-0.95,-146.6,0.0,0.0,0,44,0.00,0.00,-22.10,0.000,2,0.000,0.000,27,1891,1095
$GC,47,-0.95,-146.6,3.7,-0.0,1,242,11.30,2.60,-173.23,0.000,4,0.111,0.062,2287,3295,3475
$GC,254,-0.95,-146.6,4.1,-5.4,11,258,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1902,3476
$GC,580,-0.95,-146.6,31.6,-8.1,27,584,0.00,2.62,0.00,0.000,4,0.000,0.066,2287,493,3475
$GC,836,-0.95,-146.6,51.5,-8.9,38,843,0.00,2.47,0.00,0.000,6,0.000,0.041,2287,1898,3475
$GC,1154,-0.95,-146.6,73.3,-7.8,54,1158,0.00,2.60,0.00,0.000,4,0.000,0.064,2287,499,3475
$GC,1333,-0.95,-146.6,87.4,-8.2,62,1337,0.00,2.45,0.00,0.000,6,0.000,0.041,2287,1899,3476
$GC,1653,-0.95,-146.6,107.1,-8.3,78,1657,0.00,2.53,0.00,0.000,4,0.000,0.049,2287,3301,3475
$GC,1702,-0.95,-146.6,111.4,-8.1,80,1706,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1895,3476
$GC,2023,-0.95,-146.6,137.9,-8.3,96,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3475
$GC,2333,-0.95,-146.6,159.6,-6.0,111,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3476
$GC,2642,-0.95,-146.6,179.0,-6.5,126,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3476
$GC,2952,-0.95,-146.6,200.9,-7.5,141,2956,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3298,3475
$GC,3006,-0.95,-146.6,205.2,-7.5,143,3013,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1892,3475
$GC,3322,-0.95,-146.6,227.7,-6.1,159,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1892,3475
$GC,3631,-0.95,-146.6,246.4,-6.2,174,3635,0.00,2.53,0.00,0.000,4,0.000,0.049,2287,3297,3475
$GC,3679,-0.95,-146.6,249.7,-6.4,176,3684,0.00,2.50,0.00,0.000,6,0.000,0.044,2287,1900,3475
$GC,4001,-0.95,-146.6,267.6,-5.5,192,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3475
$GC,4310,-0.95,-146.6,285.4,-5.9,207,4314,0.00,2.53,0.00,0.000,4,0.000,0.049,2287,3298,3475
$GC,4365,-0.95,-146.6,289.0,-6.6,209,4372,0.00,2.50,0.00,0.000,6,0.000,0.044,2287,1900,3475
$GC,4681,-0.95,-146.6,309.7,-6.7,225,4685,0.00,2.53,0.00,0.000,4,0.000,0.049,2287,3301,3475
$GC,4729,-0.95,-146.6,313.1,-7.2,227,4734,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1898,3475
$GC,5051,-0.95,-146.6,332.2,-5.7,243,5055,0.00,2.53,0.00,0.000,4,0.000,0.050,2288,3297,3475
$GC,5113,-0.95,-146.6,336.2,-6.8,246,5117,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1894,3475
$GC,5438,-0.95,-146.6,358.5,-7.0,262,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3475
$GC,5747,-0.95,-146.6,380.0,-6.9,277,5752,0.00,2.53,0.00,0.000,4,0.000,0.051,2287,3296,3475
$GC,5813,-0.95,-146.6,385.0,-7.2,280,5818,0.00,2.50,0.00,0.000,6,0.000,0.045,2287,1902,3475
$GC,6140,-0.95,-146.6,407.6,-6.9,296,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3475
$GC,6450,-0.95,-146.6,428.8,-7.2,311,6454,0.00,2.53,0.00,0.000,4,0.000,0.051,2287,3296,3475
$GC,6521,-0.95,-146.6,434.1,-7.5,314,6525,0.00,2.53,0.00,0.000,6,0.000,0.047,2287,1898,3474
$GC,6842,-0.95,-146.6,458.1,-7.7,330,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3474
$GC,7152,-0.95,-146.6,481.9,-7.8,345,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3474
$GC,7461,-0.95,-146.6,505.3,-7.4,360,7465,0.00,2.53,0.00,0.000,4,0.000,0.052,2287,3296,3474
$GC,7522,-0.95,-146.6,509.9,-7.9,363,7526,0.00,2.53,0.00,0.000,6,0.000,0.047,2287,1895,3474
$GC,7848,-0.95,-146.6,532.6,-7.0,379,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3474
$GC,8157,-0.95,-146.6,553.7,-6.7,394,8161,0.00,2.55,0.00,0.000,4,0.000,0.053,2287,3298,3474
$GC,8222,-0.95,-146.6,558.1,-6.7,397,8226,0.00,2.53,0.00,0.000,6,0.000,0.047,2287,1897,3474
$GC,8549,-0.95,-146.6,580.2,-7.4,413,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3474
$GC,8858,-0.95,-146.6,605.3,-8.5,428,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1896,3473
$GC,9167,-0.95,-146.6,631.2,-8.5,443,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3473
$GC,9477,-0.95,-146.6,656.1,-7.9,458,9481,0.00,2.58,0.00,0.000,4,0.000,0.059,2286,3294,3474
$GC,9525,-0.95,-146.6,659.9,-7.9,460,9530,0.00,2.53,0.00,0.000,6,0.000,0.048,2287,1899,3473
$GC,9847,-0.95,-146.6,685.3,-8.2,476,9851,0.00,2.60,0.00,0.000,4,0.000,0.068,2287,493,3474
$GC,9919,-0.95,-146.6,691.5,-8.7,479,9923,0.00,2.47,0.00,0.000,6,0.000,0.048,2287,1899,3473
$GC,10233,-0.95,-146.6,718.2,-8.8,494,10238,0.00,2.62,0.00,0.000,4,0.000,0.071,2287,492,3473
$GC,10260,-0.95,-146.6,720.7,-9.2,495,10264,0.00,2.47,0.00,0.000,6,0.000,0.049,2286,1899,3473
$GC,10582,-0.95,-146.6,746.2,-7.3,511,10586,0.00,2.62,0.00,0.000,4,0.000,0.072,2287,492,3473
$GC,10625,-0.95,-146.6,749.3,-6.2,513,10629,0.00,2.47,0.00,0.000,6,0.000,0.050,2287,1898,3473
$GC,10951,-0.95,-146.6,770.3,-6.4,529,10953,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3473
$GC,11261,-0.95,-146.6,790.8,-6.9,544,11265,0.00,2.62,0.00,0.000,4,0.000,0.074,2287,495,3473
$GC,11287,-0.95,-146.6,792.6,-6.7,545,11291,0.00,2.53,0.00,0.000,6,0.000,0.053,2287,1904,3473
$STATE,11504,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11504,begin apogee
$GC,11509,-0.36,0.0,805.1,6.7,556,11637,0.60,0.00,124.95,1.338,6,0.069,0.000,2419,2103,2878
$STATE,11638,end apogee,CONTROL_FINISHED_OK
$STATE,11639,begin climb
$GC,11641,0.95,146.6,809.3,0.0,562,11772,1.25,2.75,124.10,1.302,4,0.052,0.074,2699,693,2280
$GC,11867,0.95,146.6,800.5,8.1,573,11874,0.00,2.58,0.00,0.000,6,0.000,0.053,2699,2086,2280
$GC,12183,0.95,147.2,783.4,6.0,589,12187,0.00,2.65,0.00,0.000,4,0.000,0.067,2699,3504,2279
$GC,12237,0.95,147.2,779.7,6.9,591,12244,0.00,2.58,0.00,0.000,6,0.000,0.057,2699,2104,2279
$GC,12553,0.95,149.8,761.2,5.9,607,12562,0.00,2.72,3.72,1.189,4,0.000,0.076,2699,688,2266
$GC,12664,0.95,149.8,754.5,6.0,612,12668,0.00,2.58,0.00,0.000,6,0.000,0.053,2699,2106,2266
$GC,12989,0.95,151.4,736.4,6.0,628,12994,0.00,2.60,0.00,0.000,4,0.000,0.065,2699,3501,2265
$GC,13089,0.95,151.4,730.7,6.3,632,13096,0.00,2.58,0.00,0.000,6,0.000,0.055,2699,2096,2265
$GC,13405,1.02,207.3,715.7,4.3,648,13455,0.00,0.00,48.50,1.318,6,0.000,0.000,2699,2096,2033
$GC,13755,1.02,207.3,694.4,7.1,665,13759,0.00,2.65,0.00,0.000,4,0.000,0.074,2699,692,2033
$GC,13820,1.02,207.3,689.4,7.3,668,13825,0.00,2.53,0.00,0.000,6,0.000,0.048,2699,2103,2033
$GC,14147,1.02,207.3,668.9,6.1,684,14148,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2104,2032
$GC,14456,1.02,207.3,650.0,6.0,699,14457,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2105,2032
$GC,14766,1.07,244.9,633.1,4.9,714,14800,0.12,0.00,32.40,1.252,6,0.048,0.000,2746,2107,1879
$GC,15095,1.07,244.9,611.2,7.0,730,15096,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2107,1879
$GC,15404,1.07,244.9,586.7,8.1,745,15405,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2107,1879
$GC,15713,1.07,244.9,561.4,8.0,760,15714,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2107,1879
$GC,16022,1.07,244.9,538.0,7.4,775,16024,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2106,1879
$GC,16332,1.07,244.9,515.7,7.3,790,16333,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2107,1879
$GC,16641,1.07,244.9,491.5,7.9,805,16642,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2107,1879
$GC,16950,1.07,244.9,466.4,8.4,820,16951,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2107,1880
$GC,17260,1.07,244.9,440.2,8.5,835,17261,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2107,1880
$GC,17569,1.07,244.9,414.9,7.9,850,17570,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2107,1881
$GC,17878,1.07,244.9,389.3,8.7,865,17879,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2107,1881
$GC,18188,1.07,244.9,361.6,9.2,880,18189,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2107,1881
$GC,18496,1.07,244.9,333.6,9.0,895,18501,0.00,2.53,0.00,0.000,4,0.000,0.052,2746,3504,1882
$GC,18558,1.07,244.9,327.6,10.2,898,18562,0.00,2.50,0.00,0.000,6,0.000,0.043,2746,2097,1882
$GC,18883,1.07,244.9,299.2,8.6,914,18884,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2096,1882
$GC,19192,1.07,244.9,274.6,7.9,929,19194,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2096,1882
$GC,19502,1.07,244.9,251.4,7.4,944,19503,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2096,1882
$GC,19811,1.08,254.7,232.2,5.7,959,19823,0.00,0.00,9.85,0.984,6,0.000,0.000,2746,2097,1838
$GC,20120,1.08,254.7,208.9,8.2,974,20121,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2097,1838
$GC,20429,1.08,254.7,183.8,8.8,989,20434,0.00,2.58,0.00,0.000,4,0.000,0.051,2746,3509,1838
$GC,20491,1.08,254.7,178.5,8.5,992,20496,0.00,2.50,0.00,0.000,6,0.000,0.041,2746,2098,1839
$GC,20816,1.08,254.7,152.0,7.8,1008,20817,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2098,1839
$GC,21126,1.08,254.7,125.0,9.5,1023,21127,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2098,1839
$GC,21436,1.08,254.7,91.6,10.3,1038,21437,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2098,1839
$GC,21746,1.08,254.7,64.6,8.1,1053,21747,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2097,1839
$GC,22054,1.08,254.7,31.2,10.8,1068,22058,0.00,2.55,0.00,0.000,4,0.000,0.049,2746,3504,1839
$GC,22131,1.08,254.7,23.4,10.1,1071,22138,0.00,2.50,0.00,0.000,6,0.000,0.040,2746,2104,1839
$GC,22447,1.34,463.5,3.1,-0.2,1087,22557,0.17,0.00,107.90,0.779,6,0.051,0.000,2794,2099,988
$STATE,22710,end climb,NO_VERTICAL_VELOCITY
$STATE,22710,begin surface
$SM_CCo,22713,48.65,0.769,0,0,603,558.06
$SM_GC,3.55,11.82,0.00,0.00,0.025,0.000,0.000,28,1893,603,-11.27,-0.20,558.06
$IRIDIUM_FIX,6225.82,-1302.85,261207,212129
$TT8_MAMPS,0.026845
$HUMID,2032
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.80
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,725.1,89.1
$24V_AH,23.3,45.188
$10V_AH,10.1,21.750
$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,25.275,133.275,451.425,48.650,0.000,74.565,82.252,228.258,8.500,0.000,0.000,14.293,1934.964,18184.684,725.266,2286.407,693.916,33.353,1862.616,0.000,2247.054,0.000,42.766
$DEVICE_MAMPS,111.215,75.933,1338.415,769.301,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,814.836,744.037,642.865,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56878,1100
$CFSIZE,260165632,245964800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,261207,234237,6252.886,-1309.575,35,1.4,35,-12.0