version: 66.02
glider: 102
mission: 4
dive: 218
start: 12 31 107 1 13 45
data:
$ID,102
$MISSION,4
$DIVE,218
$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,-80245.547
$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,20
$R_STBD_OVSHOOT,28
$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
$GPS1,010138,6308.684,-1300.106,26,1.2,26,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.40
$_SM_ANGLEo,-47.8
$GPS2,011251,6308.676,-1259.897,14,1.2,14,-12.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.156,0.139
$KALMAN_X,263862.0,-442.5,-98.0,-501346.3,6647.7
$KALMAN_Y,-12202.7,574.2,-549.8,189102.2,-5891.3
$MHEAD_RNG_PITCHd_Wd,323.7,17194,-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,-146.6,0.0,0.0,0,45,0.00,0.00,-21.55,0.000,2,0.000,0.000,28,1897,1098
$GC,48,-0.95,-146.6,3.3,-0.0,1,194,11.02,2.65,-127.93,0.000,4,0.100,0.073,2285,489,3477
$GC,441,-0.95,-146.6,29.6,-6.2,19,446,0.00,2.50,0.00,0.000,6,0.000,0.040,2285,1918,3476
$GC,768,-0.95,-146.6,58.6,-9.0,35,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1921,3476
$GC,1077,-0.95,-146.6,85.4,-10.2,50,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1922,3476
$GC,1386,-0.95,-146.6,110.9,-6.3,65,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1921,3477
$GC,1697,-0.95,-146.6,133.9,-8.0,80,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1921,3476
$GC,2005,-0.95,-146.6,152.7,-5.4,95,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1921,3476
$GC,2316,-0.95,-146.6,175.4,-9.1,110,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1921,3476
$GC,2623,-0.95,-146.6,203.9,-9.0,125,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1921,3476
$GC,2932,-0.95,-146.6,223.2,-6.7,140,2936,0.00,2.47,0.00,0.000,4,0.000,0.050,2285,3293,3476
$GC,2996,-0.95,-146.6,226.8,-5.7,143,3000,0.00,2.50,0.00,0.000,6,0.000,0.044,2285,1898,3476
$GC,3322,-0.95,-146.6,251.3,-7.8,159,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3476
$GC,3631,-0.95,-146.6,275.5,-7.9,174,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3476
$GC,3942,-0.95,-146.6,300.6,-7.3,189,3946,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3295,3477
$GC,3997,-0.95,-146.6,305.0,-8.2,191,4003,0.00,2.50,0.00,0.000,6,0.000,0.044,2285,1900,3476
$GC,4313,-0.95,-146.6,326.5,-6.9,207,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,4621,-0.95,-146.6,347.5,-6.6,222,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,4931,-0.95,-146.6,369.1,-7.4,237,4935,0.00,2.53,0.00,0.000,4,0.000,0.049,2285,3298,3476
$GC,4985,-0.95,-146.6,373.4,-7.8,239,4991,0.00,2.53,0.00,0.000,6,0.000,0.045,2285,1895,3476
$GC,5303,-0.95,-146.6,401.0,-9.2,255,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1895,3476
$GC,5610,-0.95,-146.6,427.1,-7.8,270,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1895,3476
$GC,5919,-0.95,-146.6,449.7,-7.4,285,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1895,3476
$GC,6228,-0.95,-146.6,474.6,-8.8,300,6236,0.00,2.55,0.00,0.000,4,0.000,0.051,2285,3299,3475
$GC,6291,-0.95,-146.6,480.2,-9.0,302,6298,0.00,2.53,0.00,0.000,6,0.000,0.046,2285,1896,3475
$GC,6607,-0.95,-146.6,503.4,-6.4,318,6608,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1896,3475
$GC,6916,-0.95,-146.6,524.6,-6.8,333,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1896,3475
$GC,7225,-0.95,-146.6,547.6,-7.6,348,7230,0.00,2.55,0.00,0.000,4,0.000,0.054,2285,3301,3474
$GC,7291,-0.95,-146.6,552.8,-8.3,351,7296,0.00,2.53,0.00,0.000,6,0.000,0.048,2284,1902,3475
$GC,7618,-0.95,-146.6,575.3,-6.3,367,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,7928,-0.95,-146.6,592.9,-5.7,382,7932,0.00,2.53,0.00,0.000,4,0.000,0.057,2285,3293,3475
$GC,8012,-0.95,-146.6,598.5,-6.6,386,8016,0.00,2.53,0.00,0.000,6,0.000,0.049,2284,1900,3475
$GC,8338,-0.95,-146.6,618.7,-5.8,402,8339,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3474
$STATE,8459,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8459,begin apogee
$GC,8465,-0.36,0.0,626.6,6.1,408,8591,0.62,0.00,122.80,1.207,6,0.071,0.000,2420,2094,2877
$STATE,8591,end apogee,CONTROL_FINISHED_OK
$STATE,8592,begin climb
$GC,8594,0.95,146.6,629.5,0.0,414,8724,1.25,2.72,120.97,1.172,4,0.055,0.064,2701,3497,2280
$GC,8979,0.95,146.6,612.7,6.1,431,8986,0.00,2.55,0.00,0.000,6,0.000,0.051,2701,2099,2279
$GC,9294,0.99,181.4,595.9,5.0,447,9326,0.00,0.00,29.58,1.197,6,0.000,0.000,2701,2099,2138
$GC,9623,1.04,224.3,578.4,4.7,463,9665,0.00,2.67,36.20,1.187,4,0.000,0.059,2701,3497,1963
$GC,9737,1.04,224.3,571.0,7.9,468,9742,0.00,2.55,0.00,0.000,6,0.000,0.050,2701,2102,1961
$GC,10064,1.04,224.3,549.0,6.3,484,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2102,1961
$GC,10373,1.04,224.3,529.0,6.7,499,10378,0.00,2.58,0.00,0.000,4,0.000,0.056,2701,3499,1961
$GC,10475,1.04,224.3,522.1,6.9,503,10481,0.00,2.55,0.00,0.000,6,0.000,0.048,2701,2098,1961
$GC,10790,1.05,233.3,504.3,5.7,519,10800,0.10,0.00,7.88,1.179,6,0.058,0.000,2736,2098,1927
$GC,11099,1.05,233.3,481.7,7.6,534,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2098,1926
$GC,11408,1.05,233.3,458.2,7.4,549,11409,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2098,1926
$GC,11717,1.05,233.3,434.4,8.1,564,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2098,1926
$GC,12027,1.05,233.3,407.5,8.6,579,12031,0.00,2.55,0.00,0.000,4,0.000,0.052,2736,3500,1926
$GC,12128,1.05,233.3,398.6,9.2,583,12134,0.00,2.53,0.00,0.000,6,0.000,0.044,2736,2094,1927
$GC,12443,1.05,233.3,374.3,6.7,599,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2094,1927
$GC,12752,1.05,233.3,352.9,6.9,614,12753,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2094,1928
$GC,13061,1.05,233.3,330.4,7.7,629,13063,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2094,1928
$GC,13370,1.05,233.3,307.2,7.0,644,13372,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2094,1928
$GC,13680,1.05,233.3,285.3,7.4,659,13684,0.00,2.58,0.00,0.000,4,0.000,0.051,2736,3508,1928
$GC,13773,1.05,233.3,277.4,8.4,663,13778,0.00,2.50,0.00,0.000,6,0.000,0.041,2736,2099,1928
$GC,14094,1.05,233.3,251.1,8.9,679,14095,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2099,1929
$GC,14404,1.05,233.3,225.2,8.4,694,14405,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2099,1929
$GC,14713,1.05,233.3,203.0,6.3,709,14717,0.00,2.55,0.00,0.000,4,0.000,0.050,2736,3501,1930
$GC,14819,1.05,233.3,195.8,6.2,714,14823,0.00,2.50,0.00,0.000,6,0.000,0.041,2736,2094,1930
$GC,15144,1.05,233.3,172.5,7.5,730,15146,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2094,1929
$GC,15453,1.05,233.3,151.2,8.0,745,15458,0.00,2.58,0.00,0.000,4,0.000,0.051,2736,3505,1930
$GC,15538,1.05,233.3,142.7,10.9,749,15542,0.00,2.50,0.00,0.000,6,0.000,0.041,2736,2095,1931
$GC,15864,1.05,233.3,110.5,9.3,765,15865,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2095,1931
$GC,16173,1.06,234.5,87.4,6.0,780,16178,0.00,0.00,3.30,0.884,6,0.000,0.000,2736,2095,1920
$GC,16484,1.06,234.5,64.6,8.9,795,16488,0.00,2.55,0.00,0.000,4,0.000,0.049,2736,3500,1920
$GC,16617,1.06,234.5,52.3,9.1,801,16621,0.00,2.47,0.00,0.000,6,0.000,0.040,2736,2099,1920
$GC,16944,1.06,234.5,27.6,9.0,817,16945,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2098,1920
$GC,17253,1.10,267.4,5.4,5.0,832,17281,0.00,0.00,26.23,0.818,6,0.000,0.000,2736,2098,1786
$GC,17584,1.34,469.8,3.0,-0.0,848,17690,0.20,0.00,102.88,0.762,6,0.058,0.000,2794,2093,962
$STATE,17935,end climb,NO_VERTICAL_VELOCITY
$STATE,17935,begin surface
$SM_CCo,17938,45.70,0.762,0,0,602,558.06
$SM_CCo,18347,0.00,0.000,0,0,603,558.06
$SM_GC,3.63,0.00,0.00,0.00,0.000,0.000,0.000,30,1883,603,-11.34,-0.45,558.06
$IRIDIUM_FIX,6244.56,-1311.44,311207,050541
$TT8_MAMPS,0.026845
$HUMID,2038
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.70
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,526.1,110.2
$24V_AH,23.3,48.354
$10V_AH,10.1,23.390
$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,25.100,77.025,449.825,45.700,0.000,80.128,79.906,338.069,6.250,0.000,0.000,16.260,1540.181,14297.913,620.122,1869.438,697.571,33.383,1549.994,0.000,1836.971,0.000,29.897
$DEVICE_MAMPS,100.477,72.865,1207.258,762.398,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,639.911,582.962,588.349,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44372,865
$CFSIZE,260165632,244883456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,311207,062038,6309.964,-1302.449,30,1.6,30,-12.1