version: 66.02
glider: 102
mission: 4
dive: 79
start: 11 25 107 6 57 41
data:
$ID,102
$MISSION,4
$DIVE,79
$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,-77754.789
$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,28
$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
$GPS1,064508,6132.584,-840.339,30,1.0,30,-9.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-56.3
$GPS2,065647,6132.601,-840.088,14,1.5,17,-9.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.181,0.104
$KALMAN_X,86738.6,-2090.9,-2057.8,-91345.2,35330.2
$KALMAN_Y,128294.3,1542.9,1533.4,-132424.3,-15280.6
$MHEAD_RNG_PITCHd_Wd,309.1,38261,-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,-146.6,0.0,0.0,0,83,0.00,0.00,-62.38,0.000,2,0.000,0.000,34,1882,2969
$GC,85,-0.95,-146.6,3.4,-3.4,3,114,12.05,0.00,-14.60,0.000,6,0.140,0.000,2283,1882,3477
$GC,412,-0.95,-146.6,41.4,-10.8,19,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1882,3477
$GC,721,-0.95,-146.6,70.3,-6.9,34,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1882,3477
$GC,1030,-0.95,-146.6,92.1,-6.7,49,1034,0.00,2.55,0.00,0.000,4,0.000,0.047,2283,3303,3477
$GC,1083,-0.95,-146.6,96.1,-6.7,51,1091,0.00,2.53,0.00,0.000,6,0.000,0.041,2283,1906,3478
$GC,1401,-0.95,-146.6,121.1,-9.1,67,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,1709,-0.95,-146.6,149.7,-8.9,82,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,2018,-0.95,-146.6,176.1,-8.0,97,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3476
$GC,2327,-0.95,-146.6,197.9,-6.8,112,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,2636,-0.95,-146.6,220.5,-7.6,127,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,2945,-0.95,-146.6,245.3,-7.8,142,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3476
$GC,3255,-0.95,-146.6,267.1,-6.9,157,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,3564,-0.95,-146.6,288.7,-6.8,172,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,3873,-0.95,-146.6,309.0,-6.5,187,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,4182,-0.95,-146.6,329.2,-6.9,202,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,4492,-0.95,-146.6,352.6,-7.6,217,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,4802,-0.95,-146.6,376.1,-7.4,232,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,5110,-0.95,-146.6,398.3,-7.2,247,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,5419,-0.95,-146.6,421.1,-7.4,262,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,5729,-0.95,-146.6,447.2,-9.1,277,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,6039,-0.95,-146.6,475.7,-8.9,292,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,6347,-0.95,-146.6,499.4,-6.8,307,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,6657,-0.95,-146.6,519.5,-6.6,322,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,6966,-0.95,-146.6,541.7,-7.3,337,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,7275,-0.95,-146.6,564.2,-7.3,352,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,7584,-0.95,-146.6,586.6,-7.4,367,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,7894,-0.95,-146.6,611.2,-8.4,382,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,8203,-0.95,-146.6,638.5,-9.0,397,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3477
$GC,8512,-0.95,-146.6,666.0,-8.5,412,8517,0.00,2.62,0.00,0.000,4,0.000,0.071,2283,498,3476
$GC,8600,-0.95,-146.6,674.2,-9.3,416,8605,0.00,2.50,0.00,0.000,6,0.000,0.048,2283,1904,3477
$GC,8927,-0.95,-146.6,698.5,-7.1,432,8928,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1905,3477
$GC,9237,-0.95,-146.6,716.2,-4.9,447,9241,0.00,2.55,0.00,0.000,4,0.000,0.061,2283,3301,3477
$GC,9324,-0.95,-146.6,721.4,-7.0,451,9329,0.00,2.58,0.00,0.000,6,0.000,0.054,2283,1905,3476
$GC,9651,-0.95,-146.6,741.4,-5.9,467,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1905,3476
$GC,9960,-0.95,-146.6,759.0,-5.6,482,9962,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1905,3476
$GC,10270,-0.95,-146.6,777.6,-6.1,497,10271,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1905,3476
$GC,10579,-0.95,-146.6,796.0,-6.2,512,10580,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1905,3475
$GC,10888,-0.95,-146.6,813.6,-5.4,527,10893,0.00,2.70,0.00,0.000,4,0.000,0.084,2283,489,3474
$GC,10949,-0.95,-146.6,817.6,-6.1,530,10953,0.00,2.55,0.00,0.000,6,0.000,0.061,2283,1904,3474
$GC,11280,-0.95,-146.6,837.1,-5.6,546,11281,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1905,3472
$GC,11590,-0.95,-146.6,855.2,-5.7,561,11594,0.00,2.67,0.00,0.000,4,0.000,0.084,2283,493,3470
$GC,11633,-0.95,-146.6,858.2,-7.6,563,11637,0.00,2.58,0.00,0.000,6,0.000,0.057,2283,1923,3469
$STATE,11731,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11731,begin apogee
$GC,11736,-0.36,0.0,864.5,6.2,568,11864,0.62,0.00,124.47,1.447,6,0.088,0.000,2414,2348,2878
$STATE,11864,end apogee,CONTROL_FINISHED_OK
$STATE,11864,begin climb
$GC,11866,0.95,146.6,866.1,0.0,574,11995,1.33,0.00,124.75,1.389,6,0.058,0.000,2700,2348,2280
$GC,12303,0.96,160.0,850.1,5.6,596,12317,0.00,0.00,12.52,1.388,6,0.000,0.000,2700,2348,2225
$GC,12612,0.99,181.0,832.7,5.4,611,12632,0.00,0.00,18.77,1.388,6,0.000,0.000,2701,2348,2139
$GC,12940,0.99,181.0,812.1,6.5,627,12944,0.00,2.67,0.00,0.000,4,0.000,0.075,2701,942,2139
$GC,13024,0.99,181.0,806.6,6.8,631,13028,0.00,2.60,0.00,0.000,6,0.000,0.054,2701,2357,2138
$GC,13349,0.99,181.0,785.8,6.3,647,13353,0.00,2.70,0.00,0.000,4,0.000,0.074,2701,933,2136
$GC,13414,0.99,181.0,781.5,6.1,650,13419,0.00,2.60,0.00,0.000,6,0.000,0.053,2701,2342,2136
$GC,13741,0.99,181.0,761.7,6.0,666,13742,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2343,2135
$GC,14051,0.99,181.0,741.2,6.4,681,14055,0.00,2.67,0.00,0.000,4,0.000,0.072,2701,935,2135
$GC,14229,0.99,181.0,730.1,6.3,689,14233,0.00,2.58,0.00,0.000,6,0.000,0.051,2701,2356,2134
$GC,14549,1.02,207.7,714.7,5.2,705,14574,0.00,0.00,22.42,1.412,6,0.000,0.000,2701,2357,2031
$GC,14879,1.02,207.7,693.1,7.9,721,14880,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2358,2030
$GC,15188,1.02,207.7,670.8,6.4,736,15192,0.00,2.62,0.00,0.000,4,0.000,0.064,2701,940,2030
$GC,15275,1.02,207.7,665.1,6.7,740,15280,0.00,2.53,0.00,0.000,6,0.000,0.042,2701,2348,2030
$GC,15602,1.02,207.7,641.4,8.0,756,15607,0.00,2.62,0.00,0.000,4,0.000,0.062,2701,939,2031
$GC,15753,1.02,207.7,628.6,8.8,763,15758,0.00,2.47,0.00,0.000,6,0.000,0.041,2701,2350,2031
$GC,16079,1.02,207.7,599.9,9.4,779,16083,0.00,2.60,0.00,0.000,4,0.000,0.059,2700,931,2032
$GC,16230,1.02,207.7,585.8,9.1,786,16234,0.00,2.50,0.00,0.000,6,0.000,0.039,2701,2352,2033
$GC,16555,1.02,207.7,557.4,8.5,802,16559,0.00,2.60,0.00,0.000,4,0.000,0.058,2701,931,2033
$GC,16683,1.02,207.7,546.6,8.2,808,16687,0.00,2.47,0.00,0.000,6,0.000,0.038,2701,2350,2034
$GC,17008,1.02,207.7,521.7,7.8,824,17009,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2350,2035
$GC,17317,1.02,209.4,501.4,5.9,839,17326,0.00,2.62,3.45,1.101,4,0.000,0.058,2701,942,2025
$GC,17434,1.02,209.4,494.0,6.6,844,17439,0.00,2.47,0.00,0.000,6,0.000,0.036,2701,2350,2025
$GC,17754,1.04,225.8,475.4,5.5,860,17776,0.00,2.65,14.57,1.144,4,0.000,0.056,2701,939,1957
$GC,17848,1.06,237.8,470.1,5.6,864,17866,0.08,2.50,11.00,1.124,6,0.040,0.036,2737,2349,1908
$GC,18174,1.06,237.8,444.5,8.2,880,18178,0.00,2.60,0.00,0.000,4,0.000,0.057,2737,937,1908
$GC,18279,1.06,237.8,435.6,7.9,885,18283,0.00,2.47,0.00,0.000,6,0.000,0.037,2737,2350,1908
$GC,18605,1.06,237.8,410.0,7.9,901,18609,0.00,2.60,0.00,0.000,4,0.000,0.056,2737,938,1909
$GC,18698,1.06,237.8,401.6,8.5,905,18703,0.00,2.50,0.00,0.000,6,0.000,0.038,2737,2344,1908
$GC,19020,1.06,237.8,375.6,7.5,921,19024,0.00,2.58,0.00,0.000,4,0.000,0.058,2738,939,1910
$GC,19074,1.06,237.8,371.0,9.4,923,19081,0.00,2.50,0.00,0.000,6,0.000,0.038,2737,2350,1910
$GC,19389,1.06,237.8,343.9,8.9,939,19393,0.00,2.58,0.00,0.000,4,0.000,0.058,2737,939,1910
$GC,19466,1.06,237.8,337.0,8.3,942,19473,0.00,2.50,0.00,0.000,6,0.000,0.038,2737,2348,1910
$GC,19782,1.06,237.8,308.7,8.5,958,19786,0.00,2.60,0.00,0.000,4,0.000,0.058,2738,929,1911
$GC,19846,1.06,237.8,302.7,9.9,961,19851,0.00,2.53,0.00,0.000,6,0.000,0.040,2737,2350,1911
$GC,20173,1.06,237.8,277.6,6.0,977,20178,0.00,2.60,0.00,0.000,4,0.000,0.057,2738,935,1911
$GC,20250,1.06,237.8,272.2,6.4,980,20257,0.00,2.50,0.00,0.000,6,0.000,0.039,2738,2348,1911
$GC,20566,1.06,237.8,252.5,6.5,996,20570,0.00,2.60,0.00,0.000,4,0.000,0.056,2738,932,1912
$GC,20642,1.06,237.8,247.4,6.1,999,20649,0.00,2.53,0.00,0.000,6,0.000,0.039,2737,2344,1911
$GC,20958,1.09,260.4,228.3,5.3,1015,20982,0.00,2.62,19.42,0.965,4,0.000,0.056,2738,935,1816
$GC,21049,1.09,260.4,222.3,6.9,1019,21054,0.00,2.53,0.00,0.000,6,0.000,0.039,2737,2348,1815
$GC,21376,1.09,260.4,197.0,7.7,1035,21381,0.00,2.58,0.00,0.000,4,0.000,0.056,2738,939,1816
$GC,21448,1.09,260.4,191.6,7.9,1038,21452,0.00,2.50,0.00,0.000,6,0.000,0.038,2738,2344,1816
$GC,21769,1.09,260.4,166.1,9.8,1054,21773,0.00,2.58,0.00,0.000,4,0.000,0.056,2738,931,1816
$GC,21834,1.09,260.4,159.8,8.7,1057,21839,0.00,2.55,0.00,0.000,6,0.000,0.039,2738,2353,1816
$GC,22163,1.09,260.4,132.9,9.6,1073,22167,0.00,2.60,0.00,0.000,4,0.000,0.055,2738,936,1816
$GC,22216,1.09,260.4,127.9,9.0,1075,22224,0.00,2.50,0.00,0.000,6,0.000,0.038,2738,2351,1816
$GC,22534,1.09,260.4,99.3,9.5,1091,22538,0.00,2.60,0.00,0.000,4,0.000,0.055,2738,934,1817
$GC,22662,1.09,260.4,86.8,8.7,1097,22666,0.00,2.50,0.00,0.000,6,0.000,0.038,2738,2352,1816
$GC,22987,1.09,260.4,60.1,8.1,1113,22992,0.00,2.58,0.00,0.000,4,0.000,0.053,2738,938,1817
$GC,23049,1.09,260.4,56.3,7.9,1116,23053,0.00,2.47,0.00,0.000,6,0.000,0.038,2738,2351,1817
$GC,23374,1.09,260.4,22.4,11.4,1132,23375,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2350,1817
$STATE,23661,end climb,SURFACE_DEPTH_REACHED
$STATE,23661,begin surface coast
$FINISH,1.1,1.027328
$STATE,23683,end surface coast,CONTROL_FINISHED_OK
$STATE,23683,begin surface
$SM_CCo,23703,35.55,0.802,4,0,1655,300.00
$SM_GC,1.61,0.00,0.00,35.55,0.000,0.000,0.802,28,1869,1655,-11.35,-0.90,300.00
$IRIDIUM_FIX,6112.75,-841.68,251107,101010
$TT8_MAMPS,0.026845
$HUMID,2066
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,775.2,99.0
$24V_AH,23.2,23.586
$10V_AH,10.1,9.998
$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,25.725,140.225,351.400,35.550,0.000,111.661,91.394,266.482,7.000,0.000,0.000,18.628,2053.837,18757.967,595.381,2410.451,643.405,33.395,1739.018,0.000,2368.353,0.000,46.019
$DEVICE_MAMPS,140.361,84.370,1447.329,801.515,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,849.263,777.057,620.751,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56855,1147
$CFSIZE,260165632,254087168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,4,0
$GPS,251107,133455,6134.980,-839.743,23,1.8,40,-9.1