version: 66.02
glider: 102
mission: 4
dive: 210
start: 12 29 107 7 42 40
data:
$ID,102
$MISSION,4
$DIVE,210
$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,-80122.227
$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,26
$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
$GPS1,073438,6254.659,-1250.786,29,1.4,29,-11.9
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,3
$_SM_DEPTHo,3.49
$_SM_ANGLEo,-52.4
$GPS2,074145,6254.587,-1250.888,13,1.6,13,-11.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.157,0.138
$KALMAN_X,270997.6,-918.7,-12009.0,-488163.3,5970.0
$KALMAN_Y,-57740.8,900.5,49086.1,158559.8,13925.6
$MHEAD_RNG_PITCHd_Wd,323.2,42816,-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,-21.75,0.000,2,0.000,0.000,30,1878,1094
$GC,47,-0.95,-146.6,3.6,-0.0,1,201,11.27,2.58,-135.27,0.000,4,0.110,0.061,2289,3305,3477
$GC,359,-0.95,-146.6,18.9,-5.8,15,366,0.00,2.50,0.00,0.000,6,0.000,0.044,2290,1903,3477
$GC,675,-0.95,-146.6,47.3,-10.3,31,679,0.00,2.62,0.00,0.000,4,0.000,0.068,2289,493,3477
$GC,713,-0.95,-146.6,50.6,-8.4,33,718,0.00,2.47,0.00,0.000,6,0.000,0.041,2289,1907,3477
$GC,1040,-0.95,-146.6,71.7,-7.8,49,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1910,3477
$GC,1349,-0.95,-146.6,94.4,-9.3,64,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1910,3477
$GC,1660,-0.95,-146.6,115.4,-7.9,79,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1910,3477
$GC,1968,-0.95,-146.6,135.7,-8.4,94,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1910,3476
$GC,2277,-0.95,-146.6,152.3,-4.2,109,2281,0.00,2.50,0.00,0.000,4,0.000,0.050,2289,3297,3477
$GC,2354,-0.95,-146.6,154.5,-2.8,112,2360,0.00,2.50,0.00,0.000,6,0.000,0.044,2289,1900,3477
$GC,2669,-0.95,-146.6,171.4,-6.9,128,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3477
$GC,2979,-0.95,-146.6,199.1,-9.2,143,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3477
$GC,3288,-0.95,-146.6,221.2,-7.9,158,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3477
$GC,3597,-0.95,-146.6,242.9,-6.1,173,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3476
$GC,3906,-0.95,-146.6,259.9,-6.0,188,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3476
$GC,4215,-0.95,-146.6,279.0,-6.4,203,4220,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3301,3476
$GC,4287,-0.95,-146.6,284.3,-8.5,206,4291,0.00,2.53,0.00,0.000,6,0.000,0.044,2289,1895,3476
$GC,4608,-0.95,-146.6,307.6,-6.4,222,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3476
$GC,4917,-0.95,-146.6,333.5,-7.9,237,4921,0.00,2.53,0.00,0.000,4,0.000,0.050,2289,3300,3477
$GC,4989,-0.95,-146.6,338.7,-7.3,240,4993,0.00,2.53,0.00,0.000,6,0.000,0.045,2289,1895,3476
$GC,5316,-0.95,-146.6,361.3,-7.8,256,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3477
$GC,5625,-0.95,-146.6,389.0,-9.4,271,5630,0.00,2.55,0.00,0.000,4,0.000,0.051,2289,3301,3476
$GC,5714,-0.95,-146.6,397.6,-9.1,275,5718,0.00,2.53,0.00,0.000,6,0.000,0.046,2289,1900,3476
$GC,6042,-0.95,-146.6,425.3,-7.8,291,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3476
$GC,6350,-0.95,-146.6,448.0,-7.2,306,6354,0.00,2.53,0.00,0.000,4,0.000,0.051,2289,3298,3476
$GC,6434,-0.95,-146.6,454.4,-7.5,310,6438,0.00,2.53,0.00,0.000,6,0.000,0.047,2289,1899,3476
$GC,6761,-0.95,-146.6,475.6,-5.9,326,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3476
$GC,7069,-0.95,-146.6,490.5,-4.0,341,7074,0.00,2.55,0.00,0.000,4,0.000,0.052,2289,3305,3475
$GC,7147,-0.95,-146.6,493.6,-4.2,344,7153,0.00,2.53,0.00,0.000,6,0.000,0.046,2289,1900,3475
$GC,7463,-0.95,-146.6,505.4,-3.7,360,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3475
$GC,7772,-0.95,-146.6,517.7,-4.3,375,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3475
$GC,8081,-0.95,-146.6,535.2,-6.4,390,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3475
$GC,8390,-0.95,-146.6,556.9,-7.9,405,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3475
$GC,8699,-0.95,-146.6,579.6,-7.4,420,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3475
$GC,9009,-0.95,-146.6,598.2,-4.8,435,9010,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3475
$GC,9318,-0.95,-146.6,616.9,-6.7,450,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3474
$GC,9627,-0.95,-146.6,642.9,-8.4,465,9628,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3474
$STATE,9914,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9914,begin apogee
$GC,9920,-0.36,0.0,661.5,5.9,479,10046,0.60,0.00,122.62,1.256,6,0.071,0.000,2419,2093,2878
$STATE,10046,end apogee,CONTROL_FINISHED_OK
$STATE,10046,begin climb
$GC,10048,0.95,146.6,666.7,0.0,485,10179,1.27,2.70,122.43,1.203,4,0.050,0.065,2703,3499,2279
$GC,10226,1.01,193.7,666.1,4.6,494,10271,0.00,2.58,39.78,1.188,6,0.000,0.051,2703,2102,2088
$GC,10594,1.03,211.8,645.7,5.5,512,10613,0.00,0.00,15.90,1.202,6,0.000,0.000,2703,2102,2014
$GC,10922,1.03,211.8,623.4,7.0,528,10923,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2102,2013
$GC,11231,1.03,211.8,601.7,6.9,543,11232,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2102,2013
$GC,11540,1.03,211.8,577.7,8.7,558,11544,0.00,2.65,0.00,0.000,4,0.000,0.073,2703,688,2012
$GC,11602,1.03,211.8,572.2,9.4,561,11606,0.00,2.55,0.00,0.000,6,0.000,0.050,2703,2105,2012
$GC,11927,1.08,250.8,553.1,4.8,577,11969,0.12,2.65,32.38,1.206,4,0.048,0.060,2749,3496,1855
$GC,12025,1.08,250.8,545.5,8.3,581,12029,0.00,2.55,0.00,0.000,6,0.000,0.051,2749,2101,1855
$GC,12346,1.08,250.8,517.7,9.2,597,12347,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2101,1854
$GC,12655,1.08,250.8,489.5,9.3,612,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2101,1855
$GC,12964,1.08,250.8,460.5,9.4,627,12965,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2101,1854
$GC,13274,1.08,250.8,433.9,8.2,642,13275,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2101,1855
$GC,13583,1.08,250.8,409.8,7.9,657,13584,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2101,1855
$GC,13892,1.08,250.8,384.4,8.1,672,13893,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2101,1855
$GC,14201,1.08,250.8,358.9,8.3,687,14202,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2101,1855
$GC,14510,1.08,250.8,333.8,8.4,702,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2101,1856
$GC,14820,1.08,250.8,305.4,9.5,717,14821,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2100,1856
$GC,15129,1.08,250.8,277.8,8.8,732,15130,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2101,1856
$GC,15438,1.08,250.8,248.8,9.9,747,15442,0.00,2.53,0.00,0.000,4,0.000,0.050,2749,3501,1857
$GC,15526,1.08,250.8,240.9,8.3,751,15530,0.00,2.50,0.00,0.000,6,0.000,0.042,2749,2087,1857
$GC,15853,1.08,250.8,215.5,8.2,767,15854,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2087,1857
$GC,16162,1.08,250.8,190.2,8.4,782,16163,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2086,1858
$GC,16471,1.08,250.8,166.2,8.3,797,16475,0.00,2.58,0.00,0.000,4,0.000,0.049,2749,3507,1858
$GC,16526,1.08,250.8,161.9,8.3,799,16533,0.00,2.47,0.00,0.000,6,0.000,0.041,2749,2101,1858
$GC,16842,1.08,250.8,139.6,7.0,815,16843,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2101,1858
$GC,17151,1.12,286.8,121.8,4.9,830,17183,0.00,0.00,30.30,0.894,6,0.000,0.000,2749,2101,1707
$GC,17482,1.12,286.8,99.1,7.4,846,17483,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2101,1707
$GC,17790,1.12,286.8,73.4,9.4,861,17791,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2101,1707
$GC,18099,1.12,286.8,47.1,8.4,876,18100,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2101,1707
$GC,18408,1.12,286.8,23.4,6.5,891,18410,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2100,1707
$GC,18718,1.37,490.3,3.2,-0.1,906,18829,0.20,0.00,108.10,0.767,6,0.051,0.000,2800,2094,878
$STATE,19018,end climb,NO_VERTICAL_VELOCITY
$STATE,19019,begin surface
$SM_CCo,19022,35.62,0.769,0,0,602,558.06
$SM_GC,3.62,11.90,0.00,0.00,0.027,0.000,0.000,35,1890,603,-11.26,-0.25,558.06
$IRIDIUM_FIX,6230.49,-1245.54,291207,060630
$TT8_MAMPS,0.026078
$HUMID,2057
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,576.2,94.5
$24V_AH,23.3,46.973
$10V_AH,10.1,22.713
$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,25.375,66.925,471.500,35.625,0.000,39.149,44.578,235.444,5.250,0.000,0.000,15.118,1589.673,15344.418,649.502,1813.359,511.947,33.359,1544.998,0.000,1792.228,0.000,33.076
$DEVICE_MAMPS,110.448,72.865,1255.579,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,685.935,621.636,615.390,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47519,921
$CFSIZE,260165632,245334016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,291207,130832,6257.003,-1253.876,39,1.4,39,-11.9