version: 66.02
glider: 102
mission: 4
dive: 78
start: 11 25 107 1 4 9
data:
$ID,102
$MISSION,4
$DIVE,78
$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,-77735.539
$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,31
$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
$GPS1,005808,6131.391,-845.688,46,1.1,46,-9.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-59.7
$GPS2,010315,6131.321,-845.547,11,1.1,11,-9.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.175,0.114
$KALMAN_X,79567.2,-2490.5,-1645.5,-89008.0,37634.7
$KALMAN_Y,128525.0,1654.2,718.2,-134307.8,-16335.8
$MHEAD_RNG_PITCHd_Wd,312.3,36171,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.95,-146.6,0.0,0.0,0,82,0.00,0.00,-61.28,0.000,2,0.000,0.000,28,1872,2939
$GC,84,-0.95,-146.6,3.6,-4.7,3,119,11.80,2.58,-14.80,0.000,4,0.137,0.059,2283,3305,3476
$GC,270,-0.95,-146.6,19.3,-10.5,11,275,0.00,2.53,0.00,0.000,6,0.000,0.043,2283,1911,3476
$GC,591,-0.95,-146.6,49.2,-8.2,27,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1911,3475
$GC,901,-0.95,-146.6,74.1,-4.0,42,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1911,3476
$GC,1210,-0.95,-146.6,90.8,-6.9,57,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1911,3476
$GC,1519,-0.95,-146.6,111.2,-6.3,72,1523,0.00,2.50,0.00,0.000,4,0.000,0.046,2283,3307,3476
$GC,1775,-0.95,-146.6,131.2,-8.2,83,1783,0.00,2.53,0.00,0.000,6,0.000,0.041,2283,1904,3476
$GC,2090,-0.95,-146.6,160.8,-10.1,99,2095,0.00,2.50,0.00,0.000,4,0.000,0.046,2283,3305,3476
$GC,2244,-0.95,-146.6,175.2,-9.2,106,2249,0.00,2.50,0.00,0.000,6,0.000,0.041,2283,1900,3476
$GC,2570,-0.95,-146.6,203.8,-7.7,122,2574,0.00,2.58,0.00,0.000,4,0.000,0.064,2283,496,3476
$GC,2826,-0.95,-146.6,225.8,-6.7,133,2833,0.00,2.50,0.00,0.000,6,0.000,0.041,2283,1910,3476
$GC,3141,-0.95,-146.6,246.5,-6.6,149,3146,0.00,2.47,0.00,0.000,4,0.000,0.049,2283,3295,3476
$GC,3398,-0.95,-146.6,266.0,-7.6,160,3406,0.00,2.50,0.00,0.000,6,0.000,0.042,2283,1904,3476
$GC,3715,-0.95,-146.6,285.0,-4.6,176,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1904,3476
$GC,4024,-0.95,-146.6,302.6,-6.0,191,4028,0.00,2.60,0.00,0.000,4,0.000,0.065,2283,492,3476
$GC,4279,-0.95,-146.6,321.9,-7.9,202,4286,0.00,2.47,0.00,0.000,6,0.000,0.041,2283,1896,3476
$GC,4595,-0.95,-146.6,343.7,-7.1,218,4599,0.00,2.58,0.00,0.000,4,0.000,0.065,2283,492,3476
$GC,4657,-0.95,-146.6,348.2,-7.1,221,4661,0.00,2.47,0.00,0.000,6,0.000,0.043,2283,1902,3476
$GC,4981,-0.95,-146.6,369.5,-6.5,237,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1905,3476
$GC,5291,-0.95,-146.6,388.9,-6.3,252,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1905,3476
$GC,5600,-0.95,-146.6,408.1,-6.3,267,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1905,3476
$GC,5910,-0.95,-146.6,425.0,-5.2,282,5914,0.00,2.50,0.00,0.000,4,0.000,0.051,2283,3298,3476
$GC,5964,-0.95,-146.6,428.1,-5.5,284,5968,0.00,2.50,0.00,0.000,6,0.000,0.047,2283,1903,3476
$GC,6285,-0.95,-146.6,445.2,-5.5,300,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1903,3476
$GC,6594,-0.95,-146.6,461.8,-5.3,315,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1903,3476
$GC,6903,-0.95,-146.6,478.0,-5.4,330,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1903,3476
$GC,7212,-0.95,-146.6,492.1,-4.7,345,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1903,3475
$GC,7521,-0.95,-146.6,510.1,-6.0,360,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1903,3476
$GC,7831,-0.95,-146.6,528.2,-6.6,375,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1903,3476
$GC,8140,-0.95,-146.6,548.9,-6.4,390,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1903,3476
$GC,8449,-0.95,-146.6,570.1,-7.0,405,8454,0.00,2.53,0.00,0.000,4,0.000,0.058,2283,3298,3476
$GC,8522,-0.95,-146.6,575.4,-8.8,408,8526,0.00,2.53,0.00,0.000,6,0.000,0.048,2283,1898,3476
$GC,8836,-0.95,-146.6,598.9,-7.6,423,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3476
$GC,9145,-0.95,-146.6,621.3,-7.9,438,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3475
$GC,9455,-0.95,-146.6,642.2,-6.6,453,9456,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3475
$GC,9764,-0.95,-146.6,666.2,-10.1,468,9765,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3475
$GC,10073,-0.95,-146.6,693.0,-9.1,483,10078,0.00,2.55,0.00,0.000,4,0.000,0.055,2283,3298,3474
$GC,10122,-0.95,-146.6,698.1,-10.8,485,10127,0.00,2.55,0.00,0.000,6,0.000,0.048,2283,1903,3474
$STATE,10134,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10134,begin apogee
$GC,10138,-0.36,0.0,699.0,10.1,486,10264,0.62,0.00,122.12,1.236,6,0.084,0.000,2416,2338,2878
$STATE,10265,end apogee,CONTROL_FINISHED_OK
$STATE,10265,begin climb
$GC,10266,0.95,146.6,703.9,0.0,492,10397,1.27,2.75,121.07,1.195,4,0.054,0.067,2700,3759,2280
$GC,10615,0.95,146.6,690.7,7.7,508,10620,0.00,2.55,0.00,0.000,6,0.000,0.043,2700,2355,2280
$GC,10942,0.95,146.6,668.2,8.9,524,10943,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2355,2280
$GC,11251,0.95,146.6,646.4,6.9,539,11256,0.00,2.62,0.00,0.000,4,0.000,0.062,2700,942,2280
$GC,11319,0.95,146.6,642.5,6.3,542,11323,0.00,2.53,0.00,0.000,6,0.000,0.043,2700,2352,2280
$GC,11638,0.95,146.6,614.7,8.1,558,11639,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2353,2279
$GC,11947,0.95,146.6,590.8,7.0,573,11948,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2353,2279
$GC,12257,1.00,188.3,573.8,4.8,588,12298,0.00,2.70,34.60,1.170,4,0.000,0.060,2700,934,2110
$GC,12343,1.00,188.3,568.8,6.6,592,12347,0.00,2.55,0.00,0.000,6,0.000,0.042,2700,2358,2110
$GC,12673,1.00,188.3,548.0,6.5,608,12675,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2359,2110
$GC,12983,1.00,188.3,528.2,6.3,623,12987,0.00,2.60,0.00,0.000,4,0.000,0.057,2700,941,2109
$GC,13115,1.00,189.8,519.6,6.0,629,13120,0.00,2.53,0.00,0.000,6,0.000,0.040,2700,2353,2109
$GC,13442,1.00,189.8,498.5,7.2,645,13446,0.00,2.60,0.00,0.000,4,0.000,0.058,2700,932,2109
$GC,13548,1.00,189.8,490.6,7.2,650,13552,0.00,2.50,0.00,0.000,6,0.000,0.042,2700,2350,2109
$GC,13880,1.00,189.8,466.2,7.2,666,13884,0.00,2.58,0.00,0.000,4,0.000,0.057,2700,942,2109
$GC,13973,1.00,189.8,459.1,7.9,670,13978,0.00,2.50,0.00,0.000,6,0.000,0.041,2700,2347,2109
$GC,14294,1.00,189.8,438.4,6.5,686,14299,0.00,2.60,0.00,0.000,4,0.000,0.058,2700,934,2109
$GC,14365,1.00,189.8,433.5,7.1,689,14370,0.00,2.53,0.00,0.000,6,0.000,0.041,2701,2348,2109
$GC,14687,1.00,189.8,412.7,6.2,705,14691,0.00,2.58,0.00,0.000,4,0.000,0.057,2700,939,2109
$GC,14752,1.00,189.8,408.5,6.1,708,14756,0.00,2.53,0.00,0.000,6,0.000,0.041,2700,2346,2109
$GC,15078,1.00,189.8,386.8,6.6,724,15083,0.00,2.58,0.00,0.000,4,0.000,0.057,2700,934,2109
$GC,15133,1.00,189.8,383.0,6.9,726,15140,0.00,2.53,0.00,0.000,6,0.000,0.041,2700,2351,2109
$GC,15448,1.00,189.8,363.5,6.0,742,15453,0.00,2.58,0.00,0.000,4,0.000,0.056,2700,933,2109
$GC,15514,1.04,219.1,359.3,5.1,745,15545,0.00,2.53,25.35,1.043,6,0.000,0.041,2700,2357,1984
$GC,15860,1.04,219.1,338.5,6.0,762,15865,0.00,2.60,0.00,0.000,4,0.000,0.055,2700,934,1984
$GC,15966,1.04,219.1,331.5,6.7,767,15970,0.00,2.50,0.00,0.000,6,0.000,0.040,2700,2352,1984
$GC,16292,1.04,219.1,311.3,6.3,783,16296,0.00,2.58,0.00,0.000,4,0.000,0.056,2700,939,1984
$GC,16379,1.04,219.1,305.1,7.4,787,16384,0.00,2.50,0.00,0.000,6,0.000,0.040,2700,2343,1984
$GC,16706,1.04,219.1,282.1,7.5,803,16710,0.00,2.55,0.00,0.000,4,0.000,0.056,2700,941,1984
$GC,16812,1.04,219.1,273.4,7.9,808,16817,0.00,2.47,0.00,0.000,6,0.000,0.040,2700,2352,1984
$GC,17138,1.04,219.1,245.5,8.9,824,17142,0.00,2.55,0.00,0.000,4,0.000,0.055,2700,940,1985
$GC,17227,1.04,219.1,237.2,8.6,828,17232,0.00,2.47,0.00,0.000,6,0.000,0.040,2701,2351,1985
$GC,17553,1.04,219.1,211.9,7.0,844,17557,0.00,2.58,0.00,0.000,4,0.000,0.055,2700,935,1985
$GC,17658,1.04,219.1,204.2,6.7,849,17663,0.00,2.50,0.00,0.000,6,0.000,0.040,2700,2351,1985
$GC,17984,1.04,219.1,181.8,6.8,865,17988,0.00,2.58,0.00,0.000,4,0.000,0.055,2700,937,1985
$GC,18083,1.04,219.1,174.1,8.0,869,18088,0.00,2.50,0.00,0.000,6,0.000,0.039,2700,2350,1985
$GC,18404,1.04,219.1,151.9,6.0,885,18409,0.00,2.58,0.00,0.000,4,0.000,0.054,2701,939,1985
$GC,18498,1.04,219.1,146.3,6.0,889,18503,0.00,2.50,0.00,0.000,6,0.000,0.038,2700,2345,1985
$GC,18820,1.04,219.1,127.3,6.0,905,18824,0.00,2.58,0.00,0.000,4,0.000,0.054,2700,936,1985
$GC,18913,1.06,238.5,121.9,5.4,909,18935,0.12,2.50,16.20,0.907,6,0.052,0.039,2742,2354,1905
$GC,19250,1.06,238.5,92.5,9.4,926,19252,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2354,1905
$GC,19559,1.06,238.5,67.4,7.4,941,19564,0.00,2.58,0.00,0.000,4,0.000,0.054,2742,939,1905
$GC,19653,1.06,238.5,59.7,9.8,945,19657,0.00,2.50,0.00,0.000,6,0.000,0.038,2742,2353,1905
$GC,19974,1.06,238.5,28.8,9.2,961,19979,0.00,2.60,0.00,0.000,4,0.000,0.054,2742,931,1905
$GC,20051,1.06,238.5,20.6,9.4,964,20058,0.00,2.53,0.00,0.000,6,0.000,0.038,2742,2350,1905
$STATE,20263,end climb,SURFACE_DEPTH_REACHED
$STATE,20263,begin surface coast
$FINISH,1.2,1.027298
$STATE,20284,end surface coast,CONTROL_FINISHED_OK
$STATE,20284,begin surface
$SM_CCo,20304,55.83,0.782,7,0,1654,300.00
$SM_GC,1.76,0.00,0.00,55.83,0.000,0.000,0.782,35,1883,1654,-11.32,-0.48,300.00
$IRIDIUM_FIX,6108.28,-854.37,241107,232303
$TT8_MAMPS,0.026845
$HUMID,2024
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.0,82.4
$24V_AH,23.4,23.418
$10V_AH,10.1,9.895
$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,25.475,154.225,319.350,55.825,0.000,39.468,24.355,154.919,5.500,0.000,0.000,13.388,1826.467,15542.748,560.366,2416.874,361.131,33.376,1723.565,0.000,2370.557,0.000,39.234
$DEVICE_MAMPS,136.526,66.729,1236.404,782.340,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,711.921,661.208,586.396,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50542,976
$CFSIZE,260165632,254173184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,7,0
$GPS,251107,064508,6132.584,-840.339,30,1.0,30,-9.1