version: 66.02
glider: 102
mission: 4
dive: 220
start: 12 31 107 11 51 51
data:
$ID,102
$MISSION,4
$DIVE,220
$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,-80278.367
$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,23
$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
$GPS1,113502,6311.287,-1305.806,38,1.7,38,-12.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.51
$_SM_ANGLEo,-49.0
$GPS2,115057,6311.337,-1305.542,14,1.7,14,-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,267699.1,-275.4,-109.9,-510325.9,7666.8
$KALMAN_Y,-15925.9,484.2,321.3,196955.0,-6648.3
$MHEAD_RNG_PITCHd_Wd,323.9,10401,-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,22,-0.95,-146.6,0.0,0.0,0,26,0.00,0.00,-2.58,0.000,2,0.000,0.000,27,1885,666
$GC,29,-0.95,-146.6,3.6,-0.0,0,209,11.02,2.62,-159.18,0.000,4,0.099,0.073,2288,493,3477
$GC,416,-0.95,-146.6,28.3,-8.8,18,423,0.00,2.50,0.00,0.000,6,0.000,0.041,2288,1909,3477
$GC,732,-0.95,-146.6,46.9,-6.5,34,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1909,3477
$GC,1041,-0.95,-146.6,73.5,-8.2,49,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1909,3477
$GC,1351,-0.95,-146.6,97.6,-9.2,64,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1909,3477
$GC,1661,-0.95,-146.6,119.9,-7.3,79,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1910,3477
$GC,1970,-0.95,-146.6,143.5,-8.2,94,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1909,3477
$GC,2278,-0.95,-146.6,169.7,-7.9,109,2282,0.00,2.50,0.00,0.000,4,0.000,0.049,2288,3300,3477
$GC,2327,-0.95,-146.6,175.1,-10.1,111,2332,0.00,2.50,0.00,0.000,6,0.000,0.043,2288,1900,3477
$GC,2644,-0.95,-146.6,200.9,-7.9,126,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3477
$GC,2952,-0.95,-146.6,228.3,-8.1,141,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3477
$GC,3261,-0.95,-146.6,253.3,-8.1,156,3265,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3302,3477
$GC,3332,-0.95,-146.6,259.4,-8.5,159,3337,0.00,2.53,0.00,0.000,6,0.000,0.043,2288,1894,3477
$GC,3648,-0.95,-146.6,287.8,-9.5,174,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3477
$GC,3957,-0.95,-146.6,315.4,-8.1,189,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3477
$GC,4266,-0.95,-146.6,336.3,-6.6,204,4271,0.00,2.55,0.00,0.000,4,0.000,0.048,2288,3301,3477
$GC,4328,-0.95,-146.6,340.8,-7.6,207,4332,0.00,2.53,0.00,0.000,6,0.000,0.044,2288,1898,3477
$GC,4654,-0.95,-146.6,365.3,-7.5,223,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3476
$GC,4963,-0.95,-146.6,384.3,-6.0,238,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3477
$GC,5272,-0.95,-146.6,404.8,-6.8,253,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3477
$GC,5582,-0.95,-146.6,425.4,-6.4,268,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3477
$GC,5891,-0.95,-146.6,443.3,-5.8,283,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3477
$GC,6200,-0.95,-146.6,462.2,-6.2,298,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3477
$GC,6510,-0.95,-146.6,480.4,-5.4,313,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3477
$GC,6819,-0.95,-146.6,496.3,-5.1,328,6823,0.00,2.55,0.00,0.000,4,0.000,0.051,2289,3303,3476
$GC,6884,-0.95,-146.6,499.8,-5.5,331,6890,0.00,2.53,0.00,0.000,6,0.000,0.046,2288,1896,3476
$GC,7211,-0.95,-146.6,518.3,-6.0,347,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1896,3476
$GC,7520,-0.95,-146.6,536.9,-6.4,362,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1896,3476
$GC,7829,-0.95,-146.6,557.7,-6.6,377,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1896,3476
$GC,8138,-0.95,-146.6,579.0,-7.6,392,8143,0.00,2.58,0.00,0.000,4,0.000,0.055,2288,3301,3476
$GC,8210,-0.95,-146.6,584.9,-8.4,395,8215,0.00,2.55,0.00,0.000,6,0.000,0.048,2288,1894,3476
$GC,8532,-0.95,-146.6,609.5,-6.9,411,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3476
$GC,8841,-0.95,-146.6,630.0,-6.5,426,8846,0.00,2.58,0.00,0.000,4,0.000,0.058,2288,3301,3476
$GC,8907,-0.95,-146.6,634.6,-7.4,429,8912,0.00,2.55,0.00,0.000,6,0.000,0.051,2288,1899,3476
$GC,9234,-0.95,-146.6,654.5,-5.4,445,9239,0.00,2.55,0.00,0.000,4,0.000,0.059,2288,3297,3475
$GC,9301,-0.95,-146.6,657.4,-5.0,448,9305,0.00,2.55,0.00,0.000,6,0.000,0.054,2288,1899,3475
$STATE,9475,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9476,begin apogee
$GC,9481,-0.36,0.0,668.9,6.6,457,9607,0.60,0.00,123.12,1.243,6,0.074,0.000,2418,2094,2878
$STATE,9608,end apogee,CONTROL_FINISHED_OK
$STATE,9608,begin climb
$GC,9610,0.95,146.6,669.7,0.0,463,9741,1.25,2.70,121.25,1.210,4,0.051,0.067,2702,692,2280
$GC,9901,0.95,146.6,665.2,7.4,476,9905,0.00,2.55,0.00,0.000,6,0.000,0.049,2702,2095,2280
$GC,10216,0.95,146.6,645.1,6.5,491,10220,0.00,2.62,0.00,0.000,4,0.000,0.063,2702,3504,2279
$GC,10367,0.95,146.6,634.9,6.8,498,10371,0.00,2.58,0.00,0.000,6,0.000,0.053,2702,2101,2279
$GC,10692,0.96,153.3,613.6,5.8,514,10706,0.00,2.70,6.45,1.233,4,0.000,0.061,2701,3508,2251
$GC,10784,0.96,153.3,606.7,7.4,518,10788,0.00,2.58,0.00,0.000,6,0.000,0.052,2701,2101,2251
$GC,11111,0.96,153.3,586.0,6.1,534,11116,0.00,2.60,0.00,0.000,4,0.000,0.059,2703,3508,2250
$GC,11279,0.96,153.3,575.7,6.1,541,11285,0.00,2.58,0.00,0.000,6,0.000,0.050,2702,2096,2250
$GC,11594,1.00,189.0,558.4,4.9,557,11626,0.00,0.00,29.95,1.226,6,0.000,0.000,2702,2097,2107
$GC,11923,1.01,200.3,539.4,5.7,573,11939,0.00,2.67,10.45,1.205,4,0.000,0.069,2701,692,2060
$GC,12017,1.01,200.3,533.3,6.9,576,12021,0.00,2.53,0.00,0.000,6,0.000,0.044,2702,2111,2060
$GC,12338,1.01,201.3,512.9,6.0,592,12339,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2111,2060
$GC,12647,1.02,207.4,495.1,5.8,607,12656,0.00,0.00,6.88,1.158,6,0.000,0.000,2702,2111,2032
$GC,12956,1.02,207.4,474.7,6.8,622,12957,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2112,2032
$GC,13266,1.02,207.4,451.7,7.5,637,13267,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2112,2032
$GC,13575,1.02,207.4,430.1,6.9,652,13576,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2112,2033
$GC,13884,1.02,207.4,408.0,7.9,667,13885,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2113,2033
$GC,14194,1.02,207.4,381.2,9.0,682,14195,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2113,2033
$GC,14502,1.02,207.4,353.7,9.3,697,14504,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2114,2033
$GC,14812,1.02,207.4,325.7,8.5,712,14813,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2115,2034
$GC,15121,1.02,207.4,301.3,6.8,727,15122,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2115,2034
$GC,15430,1.02,207.4,279.8,7.2,742,15435,0.00,2.62,0.00,0.000,4,0.000,0.061,2702,691,2034
$GC,15496,1.02,207.4,274.3,8.7,745,15501,0.00,2.47,0.00,0.000,6,0.000,0.039,2702,2111,2034
$GC,15824,1.03,213.6,250.2,5.8,761,15833,0.00,0.00,6.88,1.003,6,0.000,0.000,2702,2115,2007
$GC,16133,1.03,213.6,228.3,7.2,776,16134,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2115,2007
$GC,16442,1.03,213.6,205.0,8.0,791,16443,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2115,2007
$GC,16752,1.03,213.6,182.6,7.0,806,16756,0.00,2.62,0.00,0.000,4,0.000,0.060,2702,687,2007
$GC,16823,1.03,213.6,177.7,7.3,809,16827,0.00,2.50,0.00,0.000,6,0.000,0.040,2702,2106,2007
$GC,17144,1.03,213.6,156.4,6.6,825,17145,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2110,2007
$GC,17454,1.05,233.9,138.8,5.4,840,17475,0.10,0.00,17.10,0.927,6,0.053,0.000,2747,2110,1924
$GC,17784,1.05,233.9,113.7,8.7,856,17786,0.12,0.00,0.00,0.000,6,0.081,0.000,2722,2110,1924
$GC,18092,1.05,233.9,88.7,8.4,871,18093,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2110,1924
$GC,18401,1.05,233.9,63.8,7.4,886,18403,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2110,1924
$GC,18710,1.05,233.9,47.2,7.5,901,18712,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2110,1924
$GC,19020,1.05,233.9,28.1,6.7,916,19021,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2110,1924
$GC,19330,1.12,286.2,6.3,4.4,931,19372,0.00,0.00,40.75,0.817,6,0.000,0.000,2721,2110,1711
$GC,19681,1.36,486.0,2.9,0.0,948,19764,0.28,0.00,80.60,0.765,2,0.051,0.000,2791,2113,1063
$STATE,19765,end climb,NO_VERTICAL_VELOCITY
$STATE,19765,begin surface
$SM_CCo,19768,58.50,0.741,0,0,603,558.06
$SM_CCo,20189,0.40,1.084,0,0,603,558.06
$SM_GC,3.75,0.00,0.00,0.40,0.000,0.000,1.084,30,1887,603,-11.34,-0.34,558.06
$IRIDIUM_FIX,6244.56,-1312.52,311207,151534
$TT8_MAMPS,0.026845
$HUMID,2054
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,15.30
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,575.9,101.8
$24V_AH,23.3,48.714
$10V_AH,10.1,23.568
$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,25.275,77.725,443.425,58.900,0.000,154.387,200.157,299.952,6.250,0.000,0.000,15.500,1678.519,15982.936,632.917,1980.462,876.416,33.367,1618.967,0.000,1951.856,0.000,33.110
$DEVICE_MAMPS,98.943,72.865,1243.307,1083.771,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,709.713,643.637,627.456,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47495,952
$CFSIZE,260165632,244760576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,311207,172937,6313.771,-1304.072,40,1.3,40,-12.1