version: 66.02
glider: 102
mission: 4
dive: 80
start: 11 25 107 13 41 9
data:
$ID,102
$MISSION,4
$DIVE,80
$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,-77768.273
$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,37
$R_STBD_OVSHOOT,30
$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
$GPS1,133455,6134.980,-839.743,23,1.8,40,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-59.4
$GPS2,134015,6134.945,-839.639,11,1.1,11,-9.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.193,0.080
$KALMAN_X,89209.9,-2702.2,-1768.3,-93067.7,31088.2
$KALMAN_Y,132937.3,995.8,680.7,-131343.4,-7185.4
$MHEAD_RNG_PITCHd_Wd,301.6,36160,-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,-62.47,0.000,2,0.000,0.000,28,1867,2973
$GC,85,-0.95,-146.6,3.7,-4.5,3,118,12.10,2.60,-14.35,0.000,4,0.141,0.058,2282,3304,3475
$GC,212,-0.95,-146.6,16.4,-6.4,8,217,0.00,2.53,0.00,0.000,6,0.000,0.041,2282,1914,3476
$GC,541,-0.95,-146.6,40.5,-9.2,24,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1914,3476
$GC,849,-0.95,-146.6,63.1,-5.6,39,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1914,3476
$GC,1158,-0.95,-146.6,88.3,-10.1,54,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1914,3476
$GC,1467,-0.95,-146.6,127.3,-14.0,69,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1914,3476
$GC,1776,-0.95,-146.6,165.7,-13.2,84,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1914,3476
$GC,2086,-0.95,-146.6,194.0,-4.9,99,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1914,3476
$GC,2395,-0.95,-146.6,212.1,-6.5,114,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1914,3476
$GC,2704,-0.95,-146.6,235.5,-8.0,129,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1913,3476
$GC,3013,-0.95,-146.6,256.3,-6.2,144,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1914,3476
$GC,3322,-0.95,-146.6,283.7,-9.5,159,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1914,3476
$GC,3632,-0.95,-146.6,307.7,-7.4,174,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1914,3476
$GC,3941,-0.95,-146.6,336.1,-6.8,189,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1914,3476
$GC,4250,-0.95,-146.6,357.6,-6.9,204,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1914,3476
$GC,4561,-0.95,-146.6,375.1,-5.5,219,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1914,3476
$GC,4869,-0.95,-146.6,396.5,-7.0,234,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1914,3476
$GC,5178,-0.95,-146.6,418.1,-6.6,249,5182,0.00,2.50,0.00,0.000,4,0.000,0.048,2282,3305,3476
$GC,5244,-0.95,-146.6,422.9,-7.2,252,5249,0.00,2.55,0.00,0.000,6,0.000,0.044,2282,1901,3476
$GC,5571,-0.95,-146.6,443.3,-5.6,268,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1901,3476
$GC,5880,-0.95,-146.6,463.5,-7.4,283,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1901,3476
$GC,6189,-0.95,-146.6,489.8,-9.0,298,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1901,3476
$GC,6498,-0.95,-146.6,519.2,-9.1,313,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1901,3476
$GC,6808,-0.95,-146.6,543.7,-7.1,328,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1901,3476
$GC,7117,-0.95,-146.6,565.1,-6.9,343,7121,0.00,2.53,0.00,0.000,4,0.000,0.051,2282,3300,3476
$GC,7183,-0.95,-146.6,569.8,-7.2,346,7187,0.00,2.55,0.00,0.000,6,0.000,0.046,2282,1900,3476
$GC,7509,-0.95,-146.6,592.8,-7.0,362,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1900,3476
$GC,7819,-0.95,-146.6,614.7,-7.5,377,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1900,3476
$GC,8128,-0.95,-146.6,633.3,-5.9,392,8132,0.00,2.55,0.00,0.000,4,0.000,0.053,2282,3307,3476
$GC,8245,-0.95,-146.6,640.2,-6.0,397,8249,0.00,2.55,0.00,0.000,6,0.000,0.046,2282,1883,3476
$GC,8566,-0.95,-146.6,659.0,-5.9,413,8567,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1884,3476
$GC,8875,-0.95,-146.6,678.1,-5.7,428,8879,0.00,2.58,0.00,0.000,4,0.000,0.054,2282,3299,3477
$GC,8958,-0.95,-146.6,683.0,-5.6,432,8963,0.00,2.53,0.00,0.000,6,0.000,0.049,2282,1902,3476
$GC,9284,-0.95,-146.6,701.8,-5.7,448,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1902,3476
$GC,9593,-0.95,-146.6,719.6,-6.6,463,9597,0.00,2.58,0.00,0.000,4,0.000,0.069,2282,492,3475
$GC,9678,-0.95,-146.6,725.7,-7.9,467,9682,0.00,2.50,0.00,0.000,6,0.000,0.050,2282,1906,3475
$GC,10002,-0.95,-146.6,748.8,-8.1,483,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1907,3475
$GC,10312,-0.95,-146.6,765.3,-3.6,498,10314,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1907,3475
$GC,10621,-0.95,-146.6,782.7,-5.6,513,10626,0.00,2.58,0.00,0.000,4,0.000,0.064,2282,3304,3475
$GC,10709,-0.95,-146.6,789.1,-8.5,517,10714,0.00,2.60,0.00,0.000,6,0.000,0.056,2282,1904,3475
$GC,11037,-0.95,-146.6,806.2,-5.1,533,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1903,3474
$GC,11346,-0.95,-146.6,824.7,-6.0,548,11347,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1903,3473
$GC,11655,-0.95,-146.6,841.9,-6.4,563,11656,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1903,3472
$GC,11964,-0.95,-146.6,860.1,-6.8,578,11965,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,1903,3470
$STATE,12107,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12107,begin apogee
$GC,12112,-0.36,0.0,869.8,7.0,585,12240,0.65,0.00,124.95,1.440,6,0.089,0.000,2420,2342,2878
$STATE,12241,end apogee,CONTROL_FINISHED_OK
$STATE,12241,begin climb
$GC,12242,0.95,146.6,873.7,0.0,591,12375,1.27,2.75,124.10,1.388,4,0.058,0.073,2700,3758,2280
$GC,12503,0.95,146.6,866.2,8.2,603,12508,0.00,2.60,0.00,0.000,6,0.000,0.053,2699,2351,2280
$GC,12825,0.95,152.1,849.0,5.8,619,12835,0.00,2.72,5.88,1.355,4,0.000,0.077,2700,944,2257
$GC,12936,0.95,152.1,840.7,8.3,624,12941,0.00,2.60,0.00,0.000,6,0.000,0.055,2700,2348,2256
$GC,13256,0.97,162.9,822.4,5.7,640,13268,0.00,0.00,10.02,1.377,6,0.000,0.000,2700,2348,2213
$GC,13565,0.97,162.9,795.8,7.2,655,13566,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2348,2212
$GC,13874,1.04,225.4,781.0,4.1,670,13937,0.10,2.80,53.10,1.408,4,0.060,0.075,2735,941,1959
$GC,14054,1.04,225.4,767.2,7.6,678,14058,0.00,2.60,0.00,0.000,6,0.000,0.053,2735,2344,1959
$GC,14380,1.04,225.4,739.2,8.5,694,14385,0.00,2.67,0.00,0.000,4,0.000,0.073,2735,936,1958
$GC,14442,1.04,225.4,733.3,9.8,697,14446,0.00,2.58,0.00,0.000,6,0.000,0.051,2735,2352,1958
$GC,14766,1.04,225.4,707.6,7.3,713,14771,0.00,2.65,0.00,0.000,4,0.000,0.067,2735,941,1958
$GC,14899,1.04,225.4,696.2,8.9,719,14904,0.00,2.55,0.00,0.000,6,0.000,0.046,2735,2347,1957
$GC,15226,1.04,225.4,671.5,7.0,735,15227,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2348,1957
$GC,15535,1.04,225.4,648.7,7.6,750,15539,0.00,2.60,0.00,0.000,4,0.000,0.064,2735,942,1958
$GC,15675,1.04,225.4,636.4,8.9,756,15680,0.00,2.50,0.00,0.000,6,0.000,0.042,2735,2352,1958
$GC,15990,1.04,225.4,609.8,8.7,771,15994,0.00,2.60,0.00,0.000,4,0.000,0.060,2735,942,1959
$GC,16055,1.04,225.4,603.7,9.1,774,16059,0.00,2.50,0.00,0.000,6,0.000,0.041,2735,2344,1959
$GC,16382,1.04,225.4,572.0,9.7,790,16383,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2345,1959
$GC,16691,1.04,225.4,543.9,9.1,805,16695,0.00,2.58,0.00,0.000,4,0.000,0.060,2735,942,1961
$GC,16761,1.04,225.4,537.4,8.3,808,16766,0.00,2.50,0.00,0.000,6,0.000,0.039,2735,2344,1961
$GC,17083,1.04,225.4,513.8,7.0,824,17084,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2344,1962
$GC,17392,1.04,225.4,490.9,7.6,839,17396,0.00,2.58,0.00,0.000,4,0.000,0.058,2735,941,1962
$GC,17479,1.04,225.4,483.2,8.3,843,17484,0.00,2.50,0.00,0.000,6,0.000,0.038,2735,2351,1962
$GC,17806,1.04,225.4,455.9,8.6,859,17807,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2351,1963
$GC,18115,1.04,225.4,429.3,8.4,874,18120,0.00,2.58,0.00,0.000,4,0.000,0.058,2735,935,1964
$GC,18221,1.04,225.4,419.4,9.5,879,18226,0.00,2.50,0.00,0.000,6,0.000,0.038,2735,2352,1964
$GC,18547,1.04,225.4,395.2,6.5,895,18551,0.00,2.58,0.00,0.000,4,0.000,0.056,2735,939,1965
$GC,18596,1.04,225.4,391.5,6.9,897,18601,0.00,2.50,0.00,0.000,6,0.000,0.038,2735,2349,1965
$GC,18917,1.04,225.4,369.1,7.6,913,18921,0.00,2.58,0.00,0.000,4,0.000,0.057,2735,940,1966
$GC,19000,1.04,225.4,364.2,7.5,917,19004,0.00,2.50,0.00,0.000,6,0.000,0.038,2735,2356,1966
$GC,19325,1.05,226.6,344.8,6.0,933,19331,0.00,0.00,3.62,1.010,6,0.000,0.000,2735,2356,1954
$GC,19634,1.05,226.6,324.5,6.2,948,19639,0.00,2.60,0.00,0.000,4,0.000,0.056,2735,932,1955
$GC,19745,1.05,226.6,316.5,6.6,953,19750,0.00,2.53,0.00,0.000,6,0.000,0.039,2735,2350,1954
$GC,20072,1.05,226.6,294.7,8.7,969,20073,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2351,1955
$GC,20381,1.05,226.6,270.7,8.6,984,20385,0.00,2.58,0.00,0.000,4,0.000,0.057,2735,938,1956
$GC,20474,1.05,226.6,261.5,9.7,988,20479,0.00,2.50,0.00,0.000,6,0.000,0.039,2735,2350,1956
$GC,20801,1.05,226.6,233.6,7.8,1004,20802,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2351,1956
$GC,21110,1.05,226.6,211.6,6.7,1019,21114,0.00,2.58,0.00,0.000,4,0.000,0.056,2735,939,1956
$GC,21221,1.05,226.6,203.5,9.8,1024,21226,0.00,2.50,0.00,0.000,6,0.000,0.038,2735,2351,1956
$GC,21548,1.05,226.6,172.9,10.0,1040,21552,0.00,2.58,0.00,0.000,4,0.000,0.055,2735,933,1956
$GC,21624,1.05,226.6,162.1,14.1,1043,21631,0.00,2.53,0.00,0.000,6,0.000,0.038,2735,2351,1956
$GC,21940,1.05,226.6,124.3,14.1,1059,21941,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2350,1957
$GC,22249,1.09,266.4,108.6,4.8,1074,22284,0.00,0.00,32.17,0.879,6,0.000,0.000,2735,2350,1791
$GC,22579,1.09,266.4,82.7,10.2,1090,22584,0.00,2.60,0.00,0.000,4,0.000,0.056,2735,940,1791
$GC,22645,1.09,266.4,76.2,9.8,1093,22650,0.00,2.50,0.00,0.000,6,0.000,0.038,2735,2344,1791
$GC,22972,1.09,266.4,42.3,8.7,1109,22976,0.00,2.60,0.00,0.000,4,0.000,0.056,2735,936,1791
$GC,23093,1.09,266.4,31.2,7.3,1114,23101,0.00,2.50,0.00,0.000,6,0.000,0.038,2735,2344,1791
$GC,23409,1.09,266.4,2.7,8.3,1130,23410,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2343,1791
$STATE,23428,end climb,SURFACE_DEPTH_REACHED
$STATE,23428,begin surface coast
$FINISH,1.1,1.003717
$STATE,23450,end surface coast,CONTROL_FINISHED_OK
$STATE,23450,begin surface
$SM_CCo,23470,29.27,0.811,3,0,1655,300.00
$SM_GC,1.72,0.00,0.00,29.27,0.000,0.000,0.811,27,1877,1655,-11.35,-0.65,300.00
$IRIDIUM_FIX,6108.28,-840.31,251107,101023
$TT8_MAMPS,0.026845
$HUMID,2051
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.9,52.7
$24V_AH,23.2,23.742
$10V_AH,10.1,10.096
$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,25.775,130.025,353.850,29.275,0.000,40.264,33.781,150.696,7.500,0.000,0.000,12.863,2039.216,18459.119,541.742,2415.311,379.661,33.358,1701.708,0.000,2371.094,0.000,52.057
$DEVICE_MAMPS,141.128,76.700,1440.426,810.719,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,836.069,767.113,608.823,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56799,1132
$CFSIZE,260165632,254017536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,3,0
$GPS,251107,201408,6138.360,-842.149,29,1.1,29,-9.1