version: 66.02
glider: 102
mission: 4
dive: 222
start: 12 31 107 23 39 51
data:
$ID,102
$MISSION,4
$DIVE,222
$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,-80331.938
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,231908,6314.436,-1304.971,36,1.2,36,-12.2
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,3.43
$_SM_ANGLEo,-48.2
$GPS2,233859,6314.503,-1304.927,14,2.4,33,-12.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.105,0.181
$KALMAN_X,277068.9,-568.4,-523.2,-518441.5,11355.2
$KALMAN_Y,-18474.4,220.4,-4.8,205968.8,-6785.7
$MHEAD_RNG_PITCHd_Wd,342.1,8447,-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,-21.80,0.000,2,0.000,0.000,28,1884,1108
$GC,48,-0.95,-146.6,3.5,-0.0,1,213,10.93,2.60,-143.68,0.000,4,0.096,0.074,2289,499,3477
$GC,468,-0.95,-146.6,26.5,-5.5,20,473,0.00,2.47,0.00,0.000,6,0.000,0.041,2289,1912,3476
$GC,789,-0.95,-146.6,45.6,-4.5,36,793,0.00,2.65,0.00,0.000,4,0.000,0.064,2289,491,3476
$GC,927,-0.95,-146.6,54.6,-7.3,42,931,0.00,2.47,0.00,0.000,6,0.000,0.041,2289,1901,3477
$GC,1249,-0.95,-146.6,73.8,-6.2,58,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1904,3477
$GC,1558,-0.95,-146.6,95.1,-6.5,73,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1905,3476
$GC,1867,-0.95,-146.6,116.1,-6.6,88,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1905,3477
$GC,2177,-0.95,-146.6,136.9,-7.0,103,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1905,3477
$GC,2485,-0.95,-146.6,156.4,-6.1,118,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1904,3477
$GC,2795,-0.95,-146.6,179.3,-7.6,133,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1905,3476
$GC,3104,-0.95,-146.6,201.7,-6.6,148,3108,0.00,2.50,0.00,0.000,4,0.000,0.050,2289,3294,3476
$GC,3159,-0.95,-146.6,205.0,-5.8,150,3166,0.00,2.53,0.00,0.000,6,0.000,0.044,2289,1904,3477
$GC,3474,-0.95,-146.6,223.0,-6.7,166,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1904,3477
$GC,3784,-0.95,-146.6,240.2,-4.8,181,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1904,3477
$GC,4093,-0.95,-146.6,258.6,-5.8,196,4097,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3303,3477
$GC,4144,-0.95,-146.6,261.8,-6.5,198,4148,0.00,2.50,0.00,0.000,6,0.000,0.044,2289,1899,3477
$GC,4459,-0.95,-146.6,284.5,-7.6,213,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3477
$GC,4768,-0.95,-146.6,306.2,-7.0,228,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3476
$GC,5080,-0.95,-146.6,325.8,-6.0,243,5084,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3300,3477
$GC,5141,-0.95,-146.6,329.7,-6.7,246,5145,0.00,2.53,0.00,0.000,6,0.000,0.044,2289,1895,3476
$GC,5466,-0.95,-146.6,349.3,-6.2,262,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3477
$GC,5776,-0.95,-146.6,366.6,-5.4,277,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3476
$GC,6085,-0.95,-146.6,384.3,-5.9,292,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3476
$GC,6394,-0.95,-146.6,404.8,-7.0,307,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3476
$GC,6705,-0.95,-146.6,425.6,-7.1,322,6709,0.00,2.53,0.00,0.000,4,0.000,0.051,2289,3295,3476
$GC,6759,-0.95,-146.6,429.9,-7.8,324,6766,0.00,2.53,0.00,0.000,6,0.000,0.045,2288,1896,3476
$GC,7074,-0.95,-146.6,453.4,-7.6,340,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1896,3476
$GC,7384,-0.95,-146.6,476.7,-7.1,355,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1895,3476
$GC,7693,-0.95,-146.6,498.0,-6.7,370,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1893,3476
$GC,8002,-0.95,-146.6,519.6,-8.1,385,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3476
$GC,8312,-0.95,-146.6,541.9,-6.3,400,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3476
$GC,8621,-0.95,-146.6,559.7,-5.9,415,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3476
$GC,8930,-0.95,-146.6,579.9,-6.8,430,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3475
$GC,9244,-0.95,-146.6,600.7,-6.9,445,9248,0.00,2.58,0.00,0.000,4,0.000,0.057,2288,3301,3475
$GC,9287,-0.95,-146.6,604.1,-6.3,447,9291,0.00,2.53,0.00,0.000,6,0.000,0.048,2288,1901,3475
$GC,9614,-0.95,-146.6,625.4,-5.9,463,9615,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1900,3475
$GC,9924,-0.95,-146.6,643.4,-5.8,478,9928,0.00,2.58,0.00,0.000,4,0.000,0.059,2289,3301,3475
$GC,9995,-0.95,-146.6,648.3,-6.4,481,9999,0.00,2.55,0.00,0.000,6,0.000,0.052,2288,1901,3475
$STATE,10170,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10170,begin apogee
$GC,10176,-0.36,0.0,659.8,5.9,490,10301,0.60,0.00,122.20,1.252,6,0.073,0.000,2419,2096,2878
$STATE,10302,end apogee,CONTROL_FINISHED_OK
$STATE,10302,begin climb
$GC,10304,0.95,146.6,664.3,0.0,496,10433,1.25,2.67,120.55,1.213,4,0.049,0.061,2704,3499,2279
$GC,10551,0.97,162.5,656.5,5.5,507,10571,0.00,2.55,14.07,1.193,6,0.000,0.052,2704,2104,2214
$GC,10887,1.03,216.6,639.2,4.4,524,10937,0.00,2.67,45.17,1.210,4,0.000,0.060,2704,3500,1994
$GC,10998,1.03,216.6,631.6,7.0,529,11003,0.00,2.58,0.00,0.000,6,0.000,0.052,2704,2098,1994
$GC,11320,1.03,216.6,609.5,6.8,545,11321,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2097,1994
$GC,11629,1.03,216.6,588.3,6.4,560,11630,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2097,1992
$GC,11938,1.03,216.6,567.3,7.0,575,11939,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2097,1992
$GC,12247,1.03,216.6,546.3,6.9,590,12248,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2097,1991
$GC,12556,1.03,216.6,524.1,7.7,605,12561,0.00,2.62,0.00,0.000,4,0.000,0.071,2704,690,1991
$GC,12645,1.03,216.6,517.5,7.3,609,12649,0.00,2.50,0.00,0.000,6,0.000,0.044,2704,2105,1991
$GC,12972,1.03,216.6,493.6,6.5,625,12973,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2106,1990
$GC,13281,1.03,216.6,474.6,6.0,640,13282,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2106,1991
$GC,13590,1.03,216.6,455.8,6.3,655,13592,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2106,1991
$GC,13899,1.03,216.6,434.5,7.4,670,13901,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2106,1991
$GC,14209,1.03,216.6,410.0,8.1,685,14213,0.00,2.65,0.00,0.000,4,0.000,0.063,2704,685,1991
$GC,14257,1.03,216.6,405.7,8.1,687,14262,0.00,2.53,0.00,0.000,6,0.000,0.041,2703,2104,1991
$GC,14578,1.03,216.6,380.3,7.4,703,14579,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2108,1991
$GC,14887,1.03,216.6,359.8,6.7,718,14891,0.00,2.65,0.00,0.000,4,0.000,0.062,2704,680,1992
$GC,14948,1.03,216.6,355.3,7.5,721,14953,0.00,2.50,0.00,0.000,6,0.000,0.041,2704,2104,1992
$GC,15274,1.03,216.6,332.0,7.5,737,15276,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2106,1992
$GC,15584,1.03,216.6,307.3,8.2,752,15585,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2106,1992
$GC,15893,1.03,216.6,285.3,6.3,767,15894,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2106,1992
$GC,16202,1.07,246.8,268.9,5.1,782,16233,0.10,2.70,24.58,0.994,4,0.052,0.063,2750,685,1870
$GC,16299,1.07,246.8,261.5,8.8,786,16306,0.00,2.50,0.00,0.000,6,0.000,0.041,2750,2098,1870
$GC,16615,1.07,246.8,235.4,8.1,802,16617,0.12,0.00,0.00,0.000,6,0.083,0.000,2724,2102,1870
$GC,16924,1.07,246.8,211.6,7.7,817,16925,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2102,1870
$GC,17233,1.07,246.8,189.8,7.5,832,17234,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2102,1870
$GC,17543,1.07,246.8,164.2,9.1,847,17544,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2102,1871
$GC,17852,1.07,246.8,139.6,8.0,862,17853,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2102,1871
$GC,18163,1.07,246.8,114.5,8.7,877,18167,0.00,2.60,0.00,0.000,4,0.000,0.061,2724,689,1871
$GC,18212,1.07,246.8,110.0,8.2,879,18216,0.00,2.50,0.00,0.000,6,0.000,0.039,2724,2111,1871
$GC,18533,1.07,246.8,79.4,10.4,895,18534,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2115,1871
$GC,18843,1.12,286.3,55.4,4.8,910,18884,0.00,2.72,31.80,0.849,4,0.000,0.058,2724,687,1709
$GC,18934,1.12,286.3,51.1,6.3,914,18938,0.00,2.53,0.00,0.000,6,0.000,0.039,2724,2108,1709
$GC,19262,1.12,286.3,30.2,7.1,930,19267,0.00,2.50,0.00,0.000,4,0.000,0.048,2724,3495,1709
$GC,19283,1.12,286.3,27.9,9.7,931,19288,0.00,2.50,0.00,0.000,6,0.000,0.038,2724,2096,1709
$GC,19611,1.12,286.3,2.8,6.7,947,19612,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2094,1709
$GC,19920,1.37,487.8,2.9,-0.0,962,19971,0.28,0.00,47.33,0.792,2,0.071,0.000,2788,2093,1374
$STATE,19971,end climb,NO_VERTICAL_VELOCITY
$STATE,19971,begin surface
$SM_CCo,19974,96.28,0.744,0,0,602,558.06
$SM_GC,3.44,11.88,0.00,0.00,0.028,0.000,0.000,31,1894,602,-11.27,-0.14,558.30
$IRIDIUM_FIX,6249.28,-1300.75,010108,030308
$TT8_MAMPS,0.026845
$HUMID,2036
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.70
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,600.7,69.1
$24V_AH,23.3,49.084
$10V_AH,10.1,23.759
$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,25.150,87.725,405.700,96.275,0.000,190.094,249.580,342.715,7.000,0.000,0.000,35.728,1690.121,16315.246,636.799,2013.860,1026.672,33.376,1636.194,0.000,1962.738,0.000,34.628
$DEVICE_MAMPS,95.875,74.399,1251.744,743.990,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,710.729,651.346,634.441,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47402,964
$CFSIZE,260165632,244617216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,010108,052238,6316.151,-1302.269,40,1.6,40,-12.1