version: 66.02
glider: 102
mission: 4
dive: 82
start: 11 26 107 2 32 24
data:
$ID,102
$MISSION,4
$DIVE,82
$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,-77818.648
$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,18
$R_STBD_OVSHOOT,32
$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
$GPS1,022302,6138.564,-843.892,41,1.2,41,-9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-64.6
$GPS2,023132,6138.602,-843.752,14,1.2,31,-9.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.203,0.047
$KALMAN_X,93275.0,1034.3,-5886.3,-100449.5,29302.1
$KALMAN_Y,143130.8,-308.1,2106.7,-134838.8,-1196.5
$MHEAD_RNG_PITCHd_Wd,292.0,29845,-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,-146.6,0.0,0.0,0,74,0.00,0.00,-52.45,0.000,2,0.000,0.000,29,1907,2628
$GC,76,-0.95,-146.6,3.1,-2.4,3,129,11.82,2.50,-34.42,0.000,4,0.137,0.057,2284,3298,3475
$GC,382,-0.95,-146.6,23.1,-6.7,17,386,0.00,2.50,0.00,0.000,6,0.000,0.040,2283,1894,3476
$GC,707,-0.95,-146.6,42.6,-6.3,33,711,0.00,2.53,0.00,0.000,4,0.000,0.044,2283,3302,3476
$GC,823,-0.95,-146.6,50.2,-7.5,38,827,0.00,2.53,0.00,0.000,6,0.000,0.040,2283,1899,3476
$GC,1144,-0.95,-146.6,71.6,-6.6,54,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3476
$GC,1454,-0.95,-146.6,95.1,-8.4,69,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3476
$GC,1763,-0.95,-146.6,121.6,-6.9,84,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3476
$GC,2072,-0.95,-146.6,141.1,-6.8,99,2076,0.00,2.60,0.00,0.000,4,0.000,0.064,2283,491,3475
$GC,2126,-0.95,-146.6,145.4,-8.6,101,2133,0.00,2.50,0.00,0.000,6,0.000,0.039,2283,1912,3476
$GC,2441,-0.95,-146.6,168.7,-7.0,117,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1912,3476
$GC,2750,-0.95,-146.6,189.0,-8.3,132,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1912,3476
$GC,3060,-0.95,-146.6,216.1,-7.9,147,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1913,3476
$GC,3369,-0.95,-146.6,240.7,-7.7,162,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1912,3476
$GC,3678,-0.95,-146.6,264.5,-7.9,177,3682,0.00,2.60,0.00,0.000,4,0.000,0.064,2283,498,3476
$GC,3739,-0.95,-146.6,269.2,-7.0,180,3744,0.00,2.45,0.00,0.000,6,0.000,0.041,2283,1896,3476
$GC,4066,-0.95,-146.6,293.6,-7.4,196,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1896,3476
$GC,4375,-0.95,-146.6,318.0,-7.8,211,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1896,3475
$GC,4684,-0.95,-146.6,340.7,-7.0,226,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1896,3476
$GC,4993,-0.95,-146.6,360.9,-7.0,241,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1896,3476
$GC,5303,-0.95,-146.6,381.2,-6.8,256,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1896,3476
$GC,5612,-0.95,-146.6,399.1,-5.7,271,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1896,3476
$GC,5921,-0.95,-146.6,420.3,-6.7,286,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1896,3476
$GC,6230,-0.95,-146.6,441.9,-7.1,301,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1896,3476
$GC,6540,-0.95,-146.6,461.7,-6.0,316,6541,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1896,3476
$GC,6849,-0.95,-146.6,482.0,-6.6,331,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1896,3476
$GC,7158,-0.95,-146.6,504.1,-7.7,346,7163,0.00,2.53,0.00,0.000,4,0.000,0.050,2283,3299,3476
$GC,7219,-0.95,-146.6,508.6,-7.1,349,7224,0.00,2.53,0.00,0.000,6,0.000,0.047,2283,1898,3476
$GC,7545,-0.95,-146.6,529.2,-7.2,365,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3476
$GC,7854,-0.95,-146.6,549.4,-6.8,380,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3476
$GC,8163,-0.95,-146.6,571.4,-6.9,395,8168,0.00,2.55,0.00,0.000,4,0.000,0.052,2283,3302,3476
$GC,8225,-0.95,-146.6,575.9,-7.8,398,8229,0.00,2.53,0.00,0.000,6,0.000,0.047,2283,1898,3475
$GC,8552,-0.95,-146.6,600.2,-7.1,414,8553,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3475
$GC,8859,-0.95,-146.6,620.5,-6.3,429,8863,0.00,2.53,0.00,0.000,4,0.000,0.054,2283,3296,3476
$GC,9011,-0.95,-146.6,630.5,-7.0,435,9017,0.00,2.53,0.00,0.000,6,0.000,0.048,2283,1894,3476
$GC,9326,-0.95,-146.6,651.0,-6.4,451,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1894,3475
$GC,9635,-0.95,-146.6,667.0,-4.5,466,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1894,3475
$GC,9945,-0.95,-146.6,681.9,-5.2,481,9949,0.00,2.55,0.00,0.000,4,0.000,0.055,2283,3295,3476
$GC,10021,-0.95,-146.6,686.8,-6.7,484,10028,0.00,2.55,0.00,0.000,6,0.000,0.048,2283,1901,3475
$GC,10336,-0.95,-146.6,707.9,-6.7,500,10338,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1901,3476
$GC,10646,-0.95,-146.6,724.3,-5.1,515,10647,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1901,3475
$GC,10955,-0.95,-146.6,742.7,-5.9,530,10960,0.00,2.55,0.00,0.000,4,0.000,0.057,2283,3295,3475
$GC,11049,-0.95,-146.6,753.6,-13.3,534,11054,0.00,2.55,0.00,0.000,6,0.000,0.050,2283,1904,3475
$GC,11370,-0.95,-146.6,776.2,-3.5,550,11375,0.00,2.58,0.00,0.000,4,0.000,0.061,2283,3302,3475
$GC,11589,-0.95,-146.6,789.8,-8.4,560,11593,0.00,2.58,0.00,0.000,6,0.000,0.057,2283,1901,3475
$GC,11915,-0.95,-146.6,810.7,-4.3,576,11919,0.00,2.58,0.00,0.000,4,0.000,0.064,2283,3295,3474
$GC,11963,-0.95,-146.6,813.4,-5.8,578,11968,0.00,2.58,0.00,0.000,6,0.000,0.058,2283,1897,3474
$GC,12284,-0.95,-146.6,838.3,-10.1,594,12285,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1897,3472
$GC,12593,-0.95,-146.6,868.4,-11.4,609,12597,0.00,2.60,0.00,0.000,4,0.000,0.067,2283,3294,3471
$GC,12642,-0.95,-146.6,872.1,-4.7,611,12647,0.00,2.58,0.00,0.000,6,0.000,0.058,2283,1902,3470
$STATE,12776,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12776,begin apogee
$GC,12782,-0.36,0.0,880.6,5.7,618,12909,0.68,0.00,124.40,1.465,6,0.113,0.000,2418,2346,2879
$STATE,12910,end apogee,CONTROL_FINISHED_OK
$STATE,12910,begin climb
$GC,12912,0.95,146.6,883.6,0.0,624,13041,1.33,0.00,123.72,1.414,6,0.062,0.000,2702,2346,2280
$GC,13351,0.95,146.6,873.5,7.3,646,13355,0.00,2.70,0.00,0.000,4,0.000,0.073,2702,931,2279
$GC,13472,0.95,146.6,867.6,6.2,651,13479,0.00,2.62,0.00,0.000,6,0.000,0.055,2702,2342,2278
$GC,13787,1.15,307.7,859.6,1.2,667,13929,0.15,0.00,135.60,1.430,6,0.048,0.000,2755,2346,1622
$GC,14237,1.15,307.7,819.4,12.2,689,14242,0.00,2.70,0.00,0.000,4,0.000,0.080,2756,938,1622
$GC,14370,1.15,307.7,806.6,9.2,695,14375,0.00,2.62,0.00,0.000,6,0.000,0.055,2756,2348,1622
$GC,14698,1.15,307.7,773.2,11.4,711,14699,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2348,1621
$GC,15007,1.15,307.7,734.1,14.2,726,15011,0.00,2.72,0.00,0.000,4,0.000,0.076,2756,932,1621
$GC,15234,1.15,307.7,716.0,9.6,736,15239,0.00,2.60,0.00,0.000,6,0.000,0.051,2755,2348,1620
$GC,15556,1.15,307.7,683.8,10.1,752,15560,0.00,2.65,0.00,0.000,4,0.000,0.069,2756,937,1619
$GC,15661,1.15,307.7,673.1,10.2,757,15666,0.00,2.55,0.00,0.000,6,0.000,0.046,2756,2359,1619
$GC,15987,1.15,307.7,640.1,10.4,773,15991,0.00,2.65,0.00,0.000,4,0.000,0.064,2756,932,1619
$GC,16074,1.15,307.7,630.8,10.7,777,16079,0.00,2.55,0.00,0.000,6,0.000,0.043,2756,2352,1619
$GC,16401,1.15,307.7,597.7,10.6,793,16405,0.00,2.62,0.00,0.000,4,0.000,0.063,2756,929,1619
$GC,16501,1.15,307.7,585.9,11.5,797,16508,0.00,2.55,0.00,0.000,6,0.000,0.041,2756,2353,1620
$GC,16816,1.15,307.7,551.1,10.8,813,16817,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2353,1621
$GC,17125,1.15,307.7,519.3,10.0,828,17130,0.00,2.60,0.00,0.000,4,0.000,0.060,2756,936,1622
$GC,17254,1.15,307.7,506.3,10.2,834,17258,0.00,2.50,0.00,0.000,6,0.000,0.040,2756,2357,1622
$GC,17579,1.15,307.7,474.1,10.0,850,17583,0.00,2.60,0.00,0.000,4,0.000,0.058,2756,935,1623
$GC,17662,1.15,307.7,465.2,11.0,854,17666,0.00,2.50,0.00,0.000,6,0.000,0.039,2756,2358,1624
$GC,17988,1.15,307.7,432.6,9.1,870,17992,0.00,2.60,0.00,0.000,4,0.000,0.054,2756,929,1624
$GC,18244,1.15,307.7,408.1,9.2,881,18251,0.00,2.53,0.00,0.000,6,0.000,0.038,2756,2351,1624
$GC,18559,1.15,307.7,380.3,9.2,897,18564,0.00,2.60,0.00,0.000,4,0.000,0.057,2756,928,1625
$GC,18816,1.15,307.7,354.8,10.5,908,18823,0.00,2.53,0.00,0.000,6,0.000,0.038,2756,2350,1625
$GC,19132,1.15,307.7,320.7,10.9,924,19136,0.00,2.60,0.00,0.000,4,0.000,0.058,2756,932,1626
$GC,19376,1.15,307.7,294.0,11.5,935,19381,0.00,2.53,0.00,0.000,6,0.000,0.038,2756,2344,1626
$GC,19704,1.15,307.7,257.6,11.3,951,19708,0.00,2.60,0.00,0.000,4,0.000,0.058,2756,934,1627
$GC,19791,1.15,307.7,247.1,13.0,955,19797,0.00,2.53,0.00,0.000,6,0.000,0.038,2756,2350,1627
$GC,20119,1.15,307.7,212.3,10.8,971,20123,0.00,2.60,0.00,0.000,4,0.000,0.057,2756,935,1627
$GC,20190,1.15,307.7,203.5,12.0,974,20194,0.00,2.53,0.00,0.000,6,0.000,0.038,2756,2349,1627
$GC,20511,1.15,307.7,170.1,10.1,990,20515,0.00,2.60,0.00,0.000,4,0.000,0.057,2756,928,1628
$GC,20594,1.15,307.7,161.4,11.7,994,20598,0.00,2.47,0.00,0.000,6,0.000,0.038,2756,2351,1628
$GC,20919,1.15,307.7,125.7,10.5,1010,20923,0.00,2.60,0.00,0.000,4,0.000,0.055,2756,934,1628
$GC,20995,1.15,307.7,117.8,9.6,1013,21003,0.00,2.50,0.00,0.000,6,0.000,0.037,2756,2353,1628
$GC,21313,1.15,307.7,86.9,10.1,1029,21317,0.00,2.60,0.00,0.000,4,0.000,0.056,2756,934,1628
$GC,21400,1.15,307.7,77.1,10.2,1033,21405,0.00,2.50,0.00,0.000,6,0.000,0.038,2757,2348,1628
$GC,21727,1.15,307.7,46.0,9.2,1049,21731,0.00,2.60,0.00,0.000,4,0.000,0.056,2756,933,1629
$GC,21811,1.15,307.7,37.5,9.9,1053,21815,0.00,2.47,0.00,0.000,6,0.000,0.038,2756,2351,1628
$GC,22136,1.15,307.7,8.2,7.8,1069,22141,0.00,2.62,0.00,0.000,4,0.000,0.058,2757,929,1629
$STATE,22197,end climb,SURFACE_DEPTH_REACHED
$STATE,22197,begin surface coast
$FINISH,1.1,1.008291
$STATE,22220,end surface coast,CONTROL_FINISHED_OK
$STATE,22220,begin surface
$SM_CCo,22300,0.00,0.000,0,0,1628,306.62
$SM_GC,1.95,11.65,0.00,0.00,0.029,0.000,0.000,31,1914,1628,-11.26,0.40,306.62
$IRIDIUM_FIX,6117.23,-838.57,261107,060646
$TT8_MAMPS,0.026845
$HUMID,2057
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.5,90.0
$24V_AH,23.2,24.086
$10V_AH,10.1,10.291
$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,25.625,153.950,383.725,0.000,0.000,77.522,55.676,200.052,7.000,0.000,0.000,32.724,1982.464,17189.660,549.663,2598.001,488.372,33.359,1780.983,0.000,2523.622,0.000,49.153
$DEVICE_MAMPS,136.526,79.768,1464.970,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,783.145,725.323,612.156,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53669,1073
$CFSIZE,260165632,253870080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,261107,084508,6142.859,-849.044,31,1.3,31,-9.2