version: 66.02
glider: 102
mission: 4
dive: 77
start: 11 24 107 19 51 59
data:
$ID,102
$MISSION,4
$DIVE,77
$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,120
$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,300
$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,-77721.523
$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,2350
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,27
$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
$GPS1,194308,6131.491,-850.647,29,1.3,29,-9.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-57.7
$GPS2,195107,6131.407,-850.411,14,1.3,25,-9.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.172,0.118
$KALMAN_X,73538.9,-2740.6,-1066.9,-87614.5,41113.0
$KALMAN_Y,131070.9,841.0,1122.6,-136294.0,-17929.2
$MHEAD_RNG_PITCHd_Wd,313.6,33141,-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,20,-0.95,-146.6,0.0,0.0,0,103,0.00,0.00,-81.78,0.000,2,0.000,0.000,27,1892,3387
$GC,105,-0.95,-146.6,5.2,-4.7,4,125,12.02,2.60,-1.80,0.000,4,0.140,0.056,2280,3309,3477
$GC,179,-0.95,-146.6,22.1,-12.5,7,184,0.00,2.58,0.00,0.000,6,0.000,0.044,2280,1898,3478
$GC,502,-0.95,-146.6,63.2,-8.4,23,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1899,3478
$GC,810,-0.95,-146.6,92.8,-9.8,38,814,0.00,2.50,0.00,0.000,4,0.000,0.045,2280,3305,3478
$GC,864,-0.95,-146.6,99.0,-11.2,40,871,0.00,2.53,0.00,0.000,6,0.000,0.041,2280,1905,3478
$GC,1181,-0.95,-146.6,136.2,-11.7,56,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1905,3478
$GC,1489,-0.95,-146.6,169.5,-10.9,71,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1905,3478
$GC,1798,-0.95,-146.6,193.5,-9.1,86,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1905,3478
$GC,2107,-0.95,-146.6,221.2,-8.3,101,2112,0.00,2.50,0.00,0.000,4,0.000,0.047,2280,3311,3478
$GC,2178,-0.95,-146.6,227.4,-8.6,104,2183,0.00,2.55,0.00,0.000,6,0.000,0.041,2280,1897,3478
$GC,2500,-0.95,-146.6,251.6,-6.9,120,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1897,3478
$GC,2809,-0.95,-146.6,271.8,-6.1,135,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1897,3478
$GC,3119,-0.95,-146.6,287.7,-4.4,150,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1896,3478
$GC,3428,-0.95,-146.6,301.1,-4.5,165,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1897,3478
$GC,3737,-0.95,-146.6,315.4,-4.8,180,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1897,3478
$GC,4046,-0.95,-146.6,328.5,-3.8,195,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1897,3478
$GC,4356,-0.95,-146.6,341.1,-4.3,210,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1897,3478
$GC,4665,-0.95,-146.6,355.0,-5.3,225,4669,0.00,2.53,0.00,0.000,4,0.000,0.048,2280,3304,3478
$GC,4713,-0.95,-146.6,357.8,-5.7,227,4718,0.00,2.53,0.00,0.000,6,0.000,0.043,2280,1906,3478
$GC,5034,-0.95,-146.6,378.2,-6.8,243,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1906,3478
$GC,5343,-0.95,-146.6,399.2,-6.4,258,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1906,3478
$GC,5653,-0.95,-146.6,418.6,-6.6,273,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1906,3478
$GC,5962,-0.95,-146.6,437.9,-6.7,288,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1905,3478
$GC,6271,-0.95,-146.6,460.2,-6.8,303,6275,0.00,2.53,0.00,0.000,4,0.000,0.051,2280,3307,3478
$GC,6333,-0.95,-146.6,464.1,-6.0,306,6337,0.00,2.53,0.00,0.000,6,0.000,0.046,2280,1901,3478
$GC,6658,-0.95,-146.6,481.8,-5.1,322,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1901,3478
$GC,6967,-0.95,-146.6,498.1,-5.1,337,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1901,3478
$GC,7277,-0.95,-146.6,514.1,-5.7,352,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1901,3478
$GC,7586,-0.95,-146.6,533.1,-6.3,367,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1901,3478
$GC,7898,-0.95,-146.6,550.4,-6.3,382,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1901,3478
$GC,8205,-0.95,-146.6,569.5,-5.1,397,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1901,3478
$GC,8514,-0.95,-146.6,586.2,-5.4,412,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1901,3478
$GC,8823,-0.95,-146.6,595.5,-5.8,427,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1901,3477
$GC,9132,-0.95,-146.6,603.8,-2.5,442,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1901,3477
$GC,9441,-0.95,-146.6,624.4,-7.4,457,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,1901,3477
$STATE,9543,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9543,begin apogee
$GC,9548,-0.36,0.0,632.5,7.8,462,9673,0.65,0.00,121.80,1.196,6,0.094,0.000,2416,2352,2878
$STATE,9674,end apogee,CONTROL_FINISHED_OK
$STATE,9674,begin climb
$GC,9675,0.95,146.6,636.0,0.0,468,9807,1.30,2.67,119.93,1.164,4,0.052,0.056,2703,938,2279
$GC,9845,0.95,146.6,628.0,8.6,476,9852,0.00,2.58,0.00,0.000,6,0.000,0.045,2703,2340,2279
$GC,10161,0.95,146.6,602.0,7.8,492,10162,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2340,2279
$GC,10470,0.95,146.6,584.8,6.3,507,10474,0.00,2.58,0.00,0.000,4,0.000,0.060,2703,936,2279
$GC,10727,0.95,146.6,567.4,8.7,518,10734,0.00,2.53,0.00,0.000,6,0.000,0.043,2704,2353,2278
$GC,11042,1.06,236.6,548.6,3.3,534,11124,0.00,2.70,73.53,1.132,4,0.000,0.058,2703,943,1913
$GC,11207,1.06,236.6,538.9,6.5,541,11214,0.00,2.55,0.00,0.000,6,0.000,0.041,2704,2351,1913
$GC,11522,1.06,236.6,522.4,6.5,557,11527,0.10,2.60,0.00,0.000,4,0.058,0.060,2743,939,1912
$GC,11610,1.06,236.6,515.7,7.3,561,11615,0.00,2.53,0.00,0.000,6,0.000,0.041,2743,2343,1913
$GC,11937,1.06,236.6,490.2,8.0,577,11941,0.00,2.58,0.00,0.000,4,0.000,0.060,2743,943,1913
$GC,11997,1.06,236.6,484.5,9.2,580,12002,0.00,2.50,0.00,0.000,6,0.000,0.041,2743,2351,1912
$GC,12323,1.06,236.6,458.7,7.0,596,12328,0.00,2.60,0.00,0.000,4,0.000,0.060,2743,940,1912
$GC,12389,1.07,249.3,454.6,5.6,599,12407,0.00,2.50,11.30,1.102,6,0.000,0.041,2743,2351,1860
$GC,12714,1.07,249.3,434.2,7.5,615,12716,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2351,1861
$GC,13024,1.07,249.3,409.6,8.9,630,13028,0.00,2.58,0.00,0.000,4,0.000,0.058,2743,941,1860
$GC,13073,1.07,249.3,404.9,9.2,632,13078,0.00,2.53,0.00,0.000,6,0.000,0.041,2743,2352,1860
$GC,13399,1.07,249.3,377.1,8.7,648,13404,0.00,2.58,0.00,0.000,4,0.000,0.058,2743,941,1860
$GC,13461,1.07,249.3,371.8,9.0,651,13466,0.00,2.50,0.00,0.000,6,0.000,0.041,2743,2356,1860
$GC,13787,1.07,249.3,344.0,8.6,667,13791,0.00,2.58,0.00,0.000,4,0.000,0.056,2743,942,1860
$GC,13863,1.07,249.3,337.2,8.5,670,13871,0.00,2.50,0.00,0.000,6,0.000,0.039,2743,2348,1860
$GC,14179,1.07,249.3,310.5,8.0,686,14183,0.00,2.58,0.00,0.000,4,0.000,0.057,2743,938,1860
$GC,14239,1.07,249.3,305.4,8.1,689,14243,0.00,2.47,0.00,0.000,6,0.000,0.040,2743,2356,1860
$GC,14570,1.07,249.3,282.0,6.5,705,14575,0.00,2.58,0.00,0.000,4,0.000,0.055,2743,939,1861
$GC,14642,1.07,249.3,277.3,6.5,708,14647,0.00,2.47,0.00,0.000,6,0.000,0.039,2743,2352,1861
$GC,14963,1.08,251.4,257.3,5.9,724,14967,0.00,2.58,0.00,0.000,4,0.000,0.056,2743,939,1861
$GC,15030,1.08,256.7,253.5,5.8,727,15046,0.00,2.50,7.03,0.994,6,0.000,0.039,2744,2354,1831
$GC,15354,1.12,289.9,236.7,5.0,743,15388,0.00,2.70,26.85,0.956,4,0.000,0.055,2743,941,1696
$GC,15466,1.13,298.7,230.7,5.7,748,15483,0.00,2.53,7.97,0.949,6,0.000,0.038,2743,2354,1660
$GC,15791,1.13,298.7,211.4,6.5,764,15795,0.00,2.58,0.00,0.000,4,0.000,0.055,2743,939,1660
$GC,15896,1.13,298.7,204.2,6.7,769,15901,0.00,2.50,0.00,0.000,6,0.000,0.039,2743,2353,1660
$GC,16222,1.13,298.7,181.8,7.8,785,16226,0.00,2.58,0.00,0.000,4,0.000,0.056,2744,941,1660
$GC,16321,1.13,298.7,174.6,7.5,789,16328,0.00,2.50,0.00,0.000,6,0.000,0.038,2743,2351,1660
$GC,16638,1.13,298.7,147.0,9.3,805,16642,0.00,2.60,0.00,0.000,4,0.000,0.056,2743,935,1660
$GC,16725,1.13,298.7,139.4,8.7,809,16730,0.00,2.53,0.00,0.000,6,0.000,0.038,2743,2352,1660
$GC,17052,1.13,298.7,107.4,10.0,825,17056,0.00,2.60,0.00,0.000,4,0.000,0.056,2743,936,1660
$GC,17122,1.13,298.7,99.4,9.0,828,17127,0.00,2.53,0.00,0.000,6,0.000,0.038,2744,2350,1660
$GC,17446,1.13,298.7,67.9,9.2,844,17450,0.00,2.58,0.00,0.000,4,0.000,0.056,2743,942,1660
$GC,17529,1.13,298.7,59.9,8.5,848,17533,0.00,2.47,0.00,0.000,6,0.000,0.038,2743,2354,1660
$GC,17854,1.13,298.7,36.4,7.5,864,17858,0.00,2.58,0.00,0.000,4,0.000,0.054,2744,941,1660
$GC,17930,1.13,298.7,29.3,9.3,867,17938,0.00,2.47,0.00,0.000,6,0.000,0.038,2744,2343,1660
$STATE,18246,end climb,SURFACE_DEPTH_REACHED
$STATE,18247,begin surface coast
$FINISH,1.0,1.021591
$STATE,18267,end surface coast,CONTROL_FINISHED_OK
$STATE,18267,begin surface
$SM_CCo,18286,1.42,0.875,0,0,1654,300.00
$SM_GC,2.66,0.00,0.00,1.42,0.000,0.000,0.875,29,1875,1654,-11.34,-0.62,300.00
$IRIDIUM_FIX,6103.81,-849.22,241107,232346
$TT8_MAMPS,0.026845
$HUMID,2057
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.4,91.5
$24V_AH,23.4,23.286
$10V_AH,10.1,9.802
$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,25.750,124.050,368.400,1.425,0.000,77.278,66.339,176.274,4.500,0.000,0.000,27.290,1599.413,14277.273,518.608,1931.093,448.842,33.368,1473.241,0.000,1884.423,0.000,31.450
$DEVICE_MAMPS,139.594,59.826,1195.753,875.147,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,651.940,596.667,499.009,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44270,884
$CFSIZE,260165632,254263296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
$GPS,251107,005808,6131.391,-845.688,46,1.1,46,-9.1