version: 66.02
glider: 102
mission: 4
dive: 81
start: 11 25 107 20 20 9
data:
$ID,102
$MISSION,4
$DIVE,81
$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,-77785.297
$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,33
$R_STBD_OVSHOOT,28
$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
$GPS1,201408,6138.360,-842.149,29,1.1,29,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-62.1
$GPS2,201915,6138.375,-842.007,14,1.2,14,-9.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.161,-0.133
$KALMAN_X,91006.0,-1616.6,-3435.8,-96374.4,34712.4
$KALMAN_Y,137143.8,613.3,1836.8,-129949.6,-8013.6
$MHEAD_RNG_PITCHd_Wd,239.7,31416,-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,-62.40,0.000,2,0.000,0.000,27,1876,2977
$GC,85,-0.95,-146.6,4.0,-5.0,3,117,12.00,2.55,-13.73,0.000,4,0.142,0.056,2285,3304,3475
$GC,370,-0.95,-146.6,27.0,-8.0,16,375,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1907,3476
$GC,696,-0.95,-146.6,53.0,-8.5,32,700,0.00,2.53,0.00,0.000,4,0.000,0.046,2286,3311,3476
$GC,834,-0.95,-146.6,63.8,-7.1,38,839,0.00,2.55,0.00,0.000,6,0.000,0.041,2285,1900,3476
$GC,1155,-0.95,-146.6,93.4,-9.5,54,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,1465,-0.95,-146.6,114.5,-7.7,69,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,1774,-0.95,-146.6,140.1,-9.4,84,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3476
$GC,2083,-0.95,-146.6,160.2,-7.4,99,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3475
$GC,2392,-0.95,-146.6,195.3,-10.0,114,2396,0.00,2.50,0.00,0.000,4,0.000,0.044,2285,3306,3476
$GC,2435,-0.95,-146.6,198.9,-8.6,116,2440,0.00,2.53,0.00,0.000,6,0.000,0.041,2285,1905,3476
$GC,2762,-0.95,-146.6,224.7,-7.5,132,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,3071,-0.95,-146.6,249.3,-8.0,147,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,3381,-0.95,-146.6,270.5,-6.2,162,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3475
$GC,3690,-0.95,-146.6,292.7,-6.7,177,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,4000,-0.95,-146.6,311.8,-5.9,192,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,4309,-0.95,-146.6,324.2,-3.5,207,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,4618,-0.95,-146.6,339.1,-5.5,222,4622,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3310,3476
$GC,4683,-0.95,-146.6,343.1,-5.9,225,4688,0.00,2.50,0.00,0.000,6,0.000,0.043,2285,1901,3476
$GC,5010,-0.95,-146.6,363.2,-6.6,241,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,5319,-0.95,-146.6,384.3,-7.2,256,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3476
$GC,5629,-0.95,-146.6,407.2,-7.8,271,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,5939,-0.95,-146.6,427.9,-5.9,286,5943,0.00,2.53,0.00,0.000,4,0.000,0.047,2285,3311,3476
$GC,5993,-0.95,-146.6,432.1,-8.1,288,6000,0.00,2.53,0.00,0.000,6,0.000,0.042,2286,1906,3476
$GC,6308,-0.95,-146.6,454.4,-7.2,304,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3475
$GC,6618,-0.95,-146.6,471.1,-4.7,319,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,6927,-0.95,-146.6,486.5,-5.3,334,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,7237,-0.95,-146.6,504.6,-5.8,349,7241,0.00,2.53,0.00,0.000,4,0.000,0.050,2285,3304,3476
$GC,7319,-0.95,-146.6,509.6,-6.6,353,7324,0.00,2.50,0.00,0.000,6,0.000,0.045,2286,1902,3476
$GC,7646,-0.95,-146.6,529.2,-5.9,369,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,7957,-0.95,-146.6,550.5,-7.4,384,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3476
$GC,8264,-0.95,-146.6,574.9,-8.3,399,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3476
$GC,8573,-0.95,-146.6,593.7,-5.3,414,8578,0.00,2.55,0.00,0.000,4,0.000,0.054,2285,3307,3476
$GC,8622,-0.95,-146.6,596.6,-6.7,416,8627,0.00,2.55,0.00,0.000,6,0.000,0.046,2286,1904,3476
$GC,8943,-0.95,-146.6,617.5,-6.5,432,8947,0.00,2.55,0.00,0.000,4,0.000,0.054,2286,3310,3476
$GC,9043,-0.95,-146.6,624.5,-7.7,436,9050,0.00,2.55,0.00,0.000,6,0.000,0.045,2285,1902,3476
$GC,9358,-0.95,-146.6,646.0,-7.9,452,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3476
$GC,9667,-0.95,-146.6,669.2,-6.3,467,9672,0.00,2.55,0.00,0.000,4,0.000,0.055,2286,3302,3476
$GC,9896,-0.95,-146.6,683.0,-5.5,477,9901,0.00,2.55,0.00,0.000,6,0.000,0.049,2285,1907,3476
$GC,10217,-0.95,-146.6,703.0,-7.6,493,10221,0.00,2.55,0.00,0.000,4,0.000,0.057,2286,3304,3475
$GC,10356,-0.95,-146.6,713.7,-8.7,499,10360,0.00,2.58,0.00,0.000,6,0.000,0.051,2286,1901,3475
$GC,10677,-0.95,-146.6,733.7,-5.1,515,10678,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,10987,-0.95,-146.6,748.6,-4.9,530,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3475
$GC,11296,-0.95,-146.6,763.8,-5.2,545,11300,0.00,2.58,0.00,0.000,4,0.000,0.064,2286,3301,3474
$GC,11356,-0.95,-146.6,765.9,-4.1,548,11361,0.00,2.55,0.00,0.000,6,0.000,0.055,2286,1904,3474
$GC,11682,-0.95,-146.6,785.7,-5.8,564,11683,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3472
$GC,11991,-0.95,-146.6,802.4,-8.3,579,11992,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3471
$GC,12300,-0.95,-146.6,815.2,-2.7,594,12305,0.00,2.67,0.00,0.000,4,0.000,0.084,2286,493,3468
$GC,12354,-0.95,-146.6,816.7,-3.3,596,12361,0.00,2.53,0.00,0.000,6,0.000,0.058,2286,1904,3468
$GC,12669,-0.95,-146.6,838.0,-7.6,612,12670,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3466
$STATE,12771,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12771,begin apogee
$GC,12776,-0.36,0.0,846.2,6.3,617,12904,0.62,0.00,124.12,1.454,6,0.096,0.000,2415,2346,2879
$STATE,12904,end apogee,CONTROL_FINISHED_OK
$STATE,12904,begin climb
$GC,12906,0.95,146.6,853.7,0.0,623,13038,1.35,2.75,124.12,1.403,4,0.064,0.074,2704,3744,2280
$GC,13055,1.16,323.4,856.6,0.7,631,13213,0.20,2.58,148.80,1.376,6,0.041,0.052,2758,2348,1558
$GC,13527,1.16,323.4,805.6,9.6,654,13531,0.00,2.72,0.00,0.000,4,0.000,0.081,2758,939,1558
$GC,13784,1.16,323.4,775.2,14.3,665,13791,0.00,2.60,0.00,0.000,6,0.000,0.054,2758,2340,1558
$GC,14100,1.16,323.4,743.9,8.7,681,14104,0.00,2.70,0.00,0.000,4,0.000,0.077,2758,937,1557
$GC,14340,1.16,323.4,719.7,7.7,692,14344,0.00,2.58,0.00,0.000,6,0.000,0.052,2758,2350,1556
$GC,14665,1.16,323.4,689.0,10.9,708,14666,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2350,1555
$GC,14974,1.16,323.4,655.4,10.8,723,14975,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2355,1554
$GC,15283,1.16,323.4,623.9,10.7,738,15288,0.00,2.62,0.00,0.000,4,0.000,0.065,2758,937,1555
$GC,15349,1.16,323.4,616.3,10.7,741,15354,0.00,2.55,0.00,0.000,6,0.000,0.044,2758,2352,1554
$GC,15676,1.16,323.4,583.2,9.4,757,15680,0.00,2.60,0.00,0.000,4,0.000,0.062,2758,941,1555
$GC,15718,1.16,323.4,579.2,8.3,759,15723,0.00,2.53,0.00,0.000,6,0.000,0.041,2758,2348,1555
$GC,16045,1.16,323.4,547.9,8.9,775,16046,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2349,1556
$GC,16355,1.16,323.4,516.6,9.9,790,16359,0.00,2.60,0.00,0.000,4,0.000,0.061,2758,938,1557
$GC,16464,1.16,323.4,505.2,10.8,795,16469,0.00,2.53,0.00,0.000,6,0.000,0.041,2758,2351,1557
$GC,16792,1.16,323.4,474.1,9.6,811,16796,0.00,2.60,0.00,0.000,4,0.000,0.060,2758,940,1558
$GC,16840,1.16,323.4,469.1,9.1,813,16845,0.00,2.50,0.00,0.000,6,0.000,0.039,2758,2348,1558
$GC,17161,1.16,323.4,440.8,8.2,829,17165,0.00,2.58,0.00,0.000,4,0.000,0.059,2758,938,1560
$GC,17254,1.16,323.4,433.0,8.4,833,17259,0.00,2.50,0.00,0.000,6,0.000,0.038,2758,2341,1559
$GC,17575,1.16,323.4,407.5,8.9,849,17579,0.00,2.58,0.00,0.000,4,0.000,0.058,2758,940,1560
$GC,17652,1.16,323.4,400.5,8.6,852,17659,0.00,2.50,0.00,0.000,6,0.000,0.038,2758,2350,1560
$GC,17968,1.16,323.4,369.7,10.6,868,17969,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2350,1561
$GC,18277,1.16,323.4,339.6,9.7,883,18281,0.00,2.58,0.00,0.000,4,0.000,0.058,2758,941,1562
$GC,18376,1.16,323.4,328.7,11.2,887,18383,0.00,2.50,0.00,0.000,6,0.000,0.038,2758,2352,1562
$GC,18691,1.16,323.4,296.8,9.6,903,18696,0.00,2.58,0.00,0.000,4,0.000,0.058,2758,941,1563
$GC,18775,1.16,323.4,288.7,10.5,907,18779,0.00,2.50,0.00,0.000,6,0.000,0.038,2758,2354,1563
$GC,19100,1.16,323.4,255.7,11.5,923,19104,0.00,2.58,0.00,0.000,4,0.000,0.055,2758,941,1563
$GC,19210,1.16,323.4,244.5,9.7,928,19215,0.00,2.50,0.00,0.000,6,0.000,0.037,2758,2353,1563
$GC,19537,1.16,323.4,211.7,9.8,944,19541,0.00,2.58,0.00,0.000,4,0.000,0.055,2758,937,1564
$GC,19602,1.16,323.4,204.5,11.4,947,19607,0.00,2.50,0.00,0.000,6,0.000,0.038,2758,2352,1563
$GC,19928,1.16,323.4,175.2,8.8,963,19933,0.00,2.58,0.00,0.000,4,0.000,0.057,2758,941,1564
$GC,20012,1.16,323.4,168.0,8.3,967,20016,0.00,2.47,0.00,0.000,6,0.000,0.038,2758,2358,1563
$GC,20338,1.16,323.4,140.4,7.9,983,20343,0.00,2.60,0.00,0.000,4,0.000,0.054,2758,939,1564
$GC,20445,1.16,323.4,131.6,7.4,988,20449,0.00,2.47,0.00,0.000,6,0.000,0.038,2758,2350,1564
$GC,20770,1.16,323.4,104.9,11.0,1004,20774,0.00,2.60,0.00,0.000,4,0.000,0.057,2758,938,1565
$GC,20831,1.16,323.4,98.1,11.5,1007,20835,0.00,2.47,0.00,0.000,6,0.000,0.038,2758,2351,1564
$GC,21156,1.16,323.4,58.4,13.6,1023,21160,0.00,2.60,0.00,0.000,4,0.000,0.056,2758,937,1565
$GC,21249,1.16,323.4,45.9,13.1,1027,21254,0.00,2.50,0.00,0.000,6,0.000,0.038,2758,2350,1565
$GC,21571,1.16,323.4,4.8,11.8,1043,21575,0.00,2.60,0.00,0.000,4,0.000,0.056,2758,936,1565
$STATE,21595,end climb,SURFACE_DEPTH_REACHED
$STATE,21595,begin surface coast
$FINISH,1.2,1.014598
$STATE,21619,end surface coast,CONTROL_FINISHED_OK
$STATE,21619,begin surface
$SM_CCo,21699,0.00,0.000,0,0,1564,322.32
$SM_GC,2.02,11.75,0.00,0.00,0.032,0.000,0.000,30,1907,1564,-11.27,0.20,322.32
$IRIDIUM_FIX,6112.75,-842.36,251107,171744
$TT8_MAMPS,0.026845
$HUMID,2050
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.9,104.0
$24V_AH,23.2,23.912
$10V_AH,10.1,10.190
$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,25.925,153.300,397.050,0.000,0.000,39.107,25.254,146.114,6.500,0.000,0.000,16.396,1913.439,16774.102,543.468,2414.580,359.325,33.355,1714.352,0.000,2368.474,0.000,44.430
$DEVICE_MAMPS,141.895,83.603,1454.232,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,770.592,706.397,576.156,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53621,1045
$CFSIZE,260165632,253943808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,261107,022302,6138.564,-843.892,41,1.2,41,-9.1