version: 66.02
glider: 102
mission: 4
dive: 209
start: 12 29 107 2 6 15
data:
$ID,102
$MISSION,4
$DIVE,209
$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,-80106.477
$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,33
$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
$GPS1,015926,6253.409,-1249.399,38,1.7,38,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.49
$_SM_ANGLEo,-50.6
$GPS2,020521,6253.382,-1249.407,12,1.8,12,-11.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.098,0.184
$KALMAN_X,260165.2,-606.2,-3321.7,-485041.7,5809.1
$KALMAN_Y,-28023.9,-493.2,24464.6,152673.6,-10646.7
$MHEAD_RNG_PITCHd_Wd,343.9,45366,-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,-146.6,0.0,0.0,0,44,0.00,0.00,-20.60,0.000,2,0.000,0.000,30,1887,1074
$GC,47,-0.95,-146.6,3.5,-0.0,1,211,11.18,0.00,-144.43,0.000,6,0.106,0.000,2288,1889,3476
$GC,521,-0.95,-146.6,28.7,-4.5,24,525,0.00,2.55,0.00,0.000,4,0.000,0.048,2288,3302,3476
$GC,605,-0.95,-146.6,31.6,-2.4,28,610,0.00,2.50,0.00,0.000,6,0.000,0.042,2288,1904,3476
$GC,932,-0.95,-146.6,61.1,-5.1,44,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3476
$GC,1241,-0.95,-146.6,72.2,-3.2,59,1245,0.00,2.50,0.00,0.000,4,0.000,0.048,2289,3300,3476
$GC,1296,-0.95,-146.6,74.3,-3.5,61,1303,0.00,2.53,0.00,0.000,6,0.000,0.045,2288,1894,3476
$GC,1613,-0.95,-146.6,87.3,-5.6,77,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3476
$GC,1921,-0.95,-146.6,110.9,-6.1,92,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3476
$GC,2230,-0.95,-146.6,128.9,-7.0,107,2235,0.00,2.53,0.00,0.000,4,0.000,0.048,2288,3300,3476
$GC,2308,-0.95,-146.6,134.8,-6.5,110,2315,0.00,2.53,0.00,0.000,6,0.000,0.044,2288,1903,3476
$GC,2624,-0.95,-146.6,156.4,-8.7,126,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1903,3476
$GC,2933,-0.95,-146.6,180.3,-8.9,141,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1903,3476
$GC,3243,-0.95,-146.6,204.3,-4.3,156,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1903,3476
$GC,3551,-0.95,-146.6,234.7,-10.9,171,3556,0.00,2.53,0.00,0.000,4,0.000,0.049,2288,3304,3476
$GC,3618,-0.95,-146.6,240.8,-8.6,174,3622,0.00,2.53,0.00,0.000,6,0.000,0.044,2288,1892,3476
$GC,3945,-0.95,-146.6,263.7,-3.6,190,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1892,3476
$GC,4254,-0.95,-146.6,280.7,-5.6,205,4258,0.00,2.53,0.00,0.000,4,0.000,0.050,2288,3299,3476
$GC,4330,-0.95,-146.6,285.7,-6.7,208,4337,0.00,2.53,0.00,0.000,6,0.000,0.046,2288,1894,3476
$GC,4646,-0.95,-146.6,310.3,-7.8,224,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3476
$GC,4955,-0.95,-146.6,330.0,-7.1,239,4959,0.00,2.55,0.00,0.000,4,0.000,0.051,2288,3304,3476
$GC,4998,-0.95,-146.6,333.2,-7.4,241,5002,0.00,2.53,0.00,0.000,6,0.000,0.045,2288,1898,3476
$GC,5325,-0.95,-146.6,359.1,-8.0,257,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3477
$GC,5634,-0.95,-146.6,384.3,-8.3,272,5638,0.00,2.55,0.00,0.000,4,0.000,0.051,2288,3304,3476
$GC,5722,-0.95,-146.6,391.9,-9.1,276,5726,0.00,2.53,0.00,0.000,6,0.000,0.046,2288,1899,3476
$GC,6049,-0.95,-146.6,419.5,-8.2,292,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3476
$GC,6358,-0.95,-146.6,444.8,-8.5,307,6362,0.00,2.55,0.00,0.000,4,0.000,0.051,2287,3304,3476
$GC,6401,-0.95,-146.6,448.8,-9.1,309,6405,0.00,2.53,0.00,0.000,6,0.000,0.048,2288,1902,3476
$GC,6728,-0.95,-146.6,473.4,-6.0,325,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3476
$GC,7037,-0.95,-146.6,498.3,-7.9,340,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3475
$GC,7347,-0.95,-146.6,521.6,-7.3,355,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3475
$GC,7656,-0.95,-146.6,545.4,-7.6,370,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3475
$GC,7965,-0.95,-146.6,566.9,-6.6,385,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3475
$GC,8274,-0.95,-146.6,585.6,-6.1,400,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3475
$GC,8585,-0.95,-146.6,603.5,-5.3,415,8590,0.00,2.62,0.00,0.000,4,0.000,0.071,2288,487,3475
$GC,8685,-0.95,-146.6,609.9,-6.7,419,8692,0.00,2.47,0.00,0.000,6,0.000,0.048,2288,1896,3475
$GC,9001,-0.95,-146.6,630.1,-6.0,435,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3475
$GC,9310,-0.95,-146.6,646.7,-5.6,450,9314,0.00,2.60,0.00,0.000,4,0.000,0.065,2288,3302,3474
$GC,9387,-0.95,-146.6,649.7,-4.3,453,9394,0.00,2.58,0.00,0.000,6,0.000,0.057,2288,1898,3474
$GC,9703,-0.95,-146.6,668.6,-6.9,469,9707,0.00,2.60,0.00,0.000,4,0.000,0.064,2288,3302,3473
$GC,9774,-0.95,-146.6,673.3,-4.2,472,9778,0.00,2.58,0.00,0.000,6,0.000,0.059,2288,1901,3473
$GC,10089,-0.95,-146.6,675.9,-0.0,487,10094,0.00,2.60,0.00,0.000,4,0.000,0.064,2288,3303,3472
$STATE,10204,end dive,NO_VERTICAL_VELOCITY
$STATE,10204,begin apogee
$GC,10212,-0.36,0.0,675.6,0.0,492,10342,0.57,0.00,123.25,1.261,6,0.064,0.000,2419,2095,2877
$STATE,10343,end apogee,CONTROL_FINISHED_OK
$STATE,10343,begin climb
$GC,10345,0.95,146.6,675.1,0.0,499,10477,1.30,2.75,122.47,1.216,4,0.058,0.067,2702,3497,2280
$GC,10732,0.99,179.9,660.5,5.0,517,10767,0.00,2.58,28.58,1.226,6,0.000,0.054,2702,2099,2144
$GC,11083,0.99,184.4,636.8,5.9,534,11093,0.00,2.65,4.82,1.164,4,0.000,0.064,2702,3500,2126
$GC,11177,0.99,184.4,630.2,6.7,538,11181,0.00,2.58,0.00,0.000,6,0.000,0.054,2702,2101,2126
$GC,11498,0.99,184.4,612.4,6.1,554,11499,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2101,2125
$GC,11807,0.99,184.4,589.6,7.9,569,11811,0.00,2.67,0.00,0.000,4,0.000,0.077,2702,687,2124
$GC,11988,0.99,184.4,575.5,7.7,577,11992,0.00,2.55,0.00,0.000,6,0.000,0.050,2702,2101,2124
$GC,12307,0.99,184.4,554.6,6.1,593,12308,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2101,2124
$GC,12617,1.09,266.5,540.3,3.6,608,12693,0.12,2.67,67.35,1.190,4,0.048,0.060,2748,3498,1791
$GC,12767,1.11,277.3,532.4,5.7,615,12782,0.00,2.58,10.15,1.197,6,0.000,0.052,2748,2098,1747
$GC,13092,1.11,277.3,508.4,7.7,630,13096,0.00,2.62,0.00,0.000,4,0.000,0.072,2748,691,1747
$GC,13140,1.11,277.3,503.8,9.3,632,13145,0.00,2.53,0.00,0.000,6,0.000,0.046,2748,2107,1747
$GC,13461,1.11,277.3,471.4,9.5,648,13462,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2111,1746
$GC,13770,1.11,277.3,445.5,8.2,663,13775,0.00,2.65,0.00,0.000,4,0.000,0.068,2748,687,1747
$GC,13815,1.11,277.3,441.7,8.7,665,13820,0.00,2.53,0.00,0.000,6,0.000,0.044,2748,2105,1747
$GC,14136,1.11,277.3,416.6,7.8,681,14137,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2107,1748
$GC,14445,1.11,277.3,392.3,8.0,696,14446,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2108,1747
$GC,14755,1.11,277.3,366.0,8.1,711,14756,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2108,1748
$GC,15064,1.11,277.3,341.7,7.8,726,15065,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2108,1748
$GC,15373,1.11,277.3,318.2,6.6,741,15377,0.00,2.62,0.00,0.000,4,0.000,0.065,2748,688,1748
$GC,15416,1.11,277.3,314.6,8.1,743,15420,0.00,2.47,0.00,0.000,6,0.000,0.042,2748,2100,1749
$GC,15742,1.11,277.3,293.1,6.7,759,15744,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2104,1749
$GC,16052,1.11,277.3,268.4,7.8,774,16053,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2104,1750
$GC,16361,1.11,277.3,242.6,7.5,789,16362,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2104,1750
$GC,16670,1.11,277.3,218.4,7.3,804,16671,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2104,1750
$GC,16980,1.11,277.3,190.5,9.8,819,16981,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2105,1750
$GC,17289,1.37,490.1,175.5,-0.3,834,17458,0.20,0.00,165.95,0.897,6,0.036,0.000,2811,2104,880
$GC,17759,1.37,490.1,128.1,8.2,857,17763,0.00,2.67,0.00,0.000,4,0.000,0.067,2811,687,880
$GC,17881,1.37,490.1,114.7,10.8,862,17888,0.00,2.55,0.00,0.000,6,0.000,0.041,2811,2108,880
$GC,18196,1.37,490.1,86.7,7.7,878,18201,0.00,2.65,0.00,0.000,4,0.000,0.066,2811,691,880
$GC,18281,1.37,490.1,77.4,15.0,882,18285,0.00,2.47,0.00,0.000,6,0.000,0.041,2811,2101,880
$GC,18607,1.37,490.1,31.1,14.1,898,18611,0.00,2.65,0.00,0.000,4,0.000,0.067,2811,691,880
$GC,18672,1.37,490.1,21.4,11.6,901,18676,0.00,2.47,0.00,0.000,6,0.000,0.041,2811,2103,880
$GC,18999,1.62,693.5,2.9,-0.1,917,19052,0.17,2.72,46.40,0.793,4,0.074,0.067,2851,684,602
$GC,19085,1.90,922.5,3.1,-0.8,921,19091,0.28,2.50,0.00,0.000,6,0.067,0.041,2913,2099,603
$STATE,19218,end climb,NO_VERTICAL_VELOCITY
$STATE,19219,begin surface
$SM_CCo,19641,0.00,0.000,0,0,603,558.06
$SM_GC,3.53,12.38,0.00,0.00,0.028,0.000,0.000,30,1883,603,-11.26,-0.48,558.06
$IRIDIUM_FIX,6225.82,-1250.14,281207,232326
$TT8_MAMPS,0.026078
$HUMID,2062
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,625.1,61.2
$24V_AH,23.3,46.802
$10V_AH,10.1,22.627
$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,26.200,118.250,568.975,0.000,0.000,31.754,46.493,170.878,6.250,0.000,0.000,13.702,1659.333,15097.815,720.998,2061.929,455.206,33.360,1766.574,0.000,2028.279,0.000,39.145
$DEVICE_MAMPS,105.846,76.700,1260.948,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,686.556,625.903,600.194,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47422,928
$CFSIZE,260165632,245383168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,291207,073438,6254.659,-1250.786,29,1.4,29,-11.9