version: 66.02
glider: 102
mission: 4
dive: 83
start: 11 26 107 8 51 9
data:
$ID,102
$MISSION,4
$DIVE,83
$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,-77835.094
$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,14
$R_STBD_OVSHOOT,37
$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
$GPS1,084508,6142.859,-849.044,31,1.3,31,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-58.4
$GPS2,085015,6142.934,-848.933,14,1.3,14,-9.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.207,-0.026
$KALMAN_X,93904.0,26.1,-4749.5,-105789.7,21319.2
$KALMAN_Y,151253.4,-249.5,807.0,-133686.1,9321.9
$MHEAD_RNG_PITCHd_Wd,272.2,23168,-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,-61.78,0.000,2,0.000,0.000,31,1913,2907
$GC,84,-0.95,-146.6,3.5,-3.4,3,119,11.88,2.65,-17.58,0.000,4,0.139,0.075,2286,489,3477
$GC,253,-0.95,-146.6,18.5,-8.2,10,260,0.00,2.50,0.00,0.000,6,0.000,0.038,2287,1904,3477
$GC,570,-0.95,-146.6,42.5,-7.0,26,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1904,3477
$GC,878,-0.95,-146.6,65.4,-7.3,41,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1904,3476
$GC,1188,-0.95,-146.6,87.0,-6.6,56,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,1497,-0.95,-146.6,107.7,-6.6,71,1501,0.00,2.47,0.00,0.000,4,0.000,0.045,2287,3292,3477
$GC,1550,-0.95,-146.6,111.6,-7.3,73,1558,0.00,2.53,0.00,0.000,6,0.000,0.041,2287,1891,3476
$GC,1868,-0.95,-146.6,132.8,-6.7,89,1872,0.00,2.50,0.00,0.000,4,0.000,0.045,2287,3292,3477
$GC,1933,-0.95,-146.6,137.2,-6.3,92,1938,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1902,3476
$GC,2260,-0.95,-146.6,158.0,-6.2,108,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3477
$GC,2570,-0.95,-146.6,176.0,-5.8,123,2574,0.00,2.50,0.00,0.000,4,0.000,0.044,2287,3301,3476
$GC,2632,-0.95,-146.6,179.9,-6.1,126,2636,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1898,3477
$GC,2957,-0.95,-146.6,199.0,-6.1,142,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3477
$GC,3266,-0.95,-146.6,218.8,-6.7,157,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3476
$GC,3575,-0.95,-146.6,240.6,-7.4,172,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3477
$GC,3885,-0.95,-146.6,260.4,-6.1,187,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3477
$GC,4194,-0.95,-146.6,280.2,-6.7,202,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3477
$GC,4503,-0.95,-146.6,303.6,-7.3,217,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3477
$GC,4812,-0.95,-146.6,324.4,-6.3,232,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3477
$GC,5122,-0.95,-146.6,342.5,-5.6,247,5127,0.00,2.50,0.00,0.000,4,0.000,0.045,2287,3295,3477
$GC,5188,-0.95,-146.6,346.4,-6.0,250,5192,0.00,2.53,0.00,0.000,6,0.000,0.042,2286,1898,3476
$GC,5515,-0.95,-146.6,364.4,-5.7,266,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3477
$GC,5824,-0.95,-146.6,383.2,-6.3,281,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3477
$GC,6134,-0.95,-146.6,404.5,-7.1,296,6138,0.00,2.50,0.00,0.000,4,0.000,0.048,2287,3292,3476
$GC,6204,-0.95,-146.6,410.1,-8.5,299,6209,0.00,2.50,0.00,0.000,6,0.000,0.043,2287,1907,3476
$GC,6526,-0.95,-146.6,433.4,-6.8,315,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3477
$GC,6835,-0.95,-146.6,452.8,-5.8,330,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3476
$GC,7145,-0.95,-146.6,469.2,-5.6,345,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3476
$GC,7454,-0.95,-146.6,483.8,-4.0,360,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3476
$GC,7763,-0.95,-146.6,497.9,-4.5,375,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3476
$GC,8072,-0.95,-146.6,509.4,-3.2,390,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3476
$GC,8381,-0.95,-146.6,526.6,-5.6,405,8386,0.00,2.50,0.00,0.000,4,0.000,0.051,2287,3293,3477
$GC,8537,-0.95,-146.6,539.1,-6.5,412,8542,0.00,2.50,0.00,0.000,6,0.000,0.045,2287,1903,3476
$GC,8864,-0.95,-146.6,563.7,-7.4,428,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1903,3477
$GC,9173,-0.95,-146.6,572.3,-15.3,443,9177,0.00,2.53,0.00,0.000,4,0.000,0.051,2287,3298,3477
$GC,9215,-0.95,-146.6,579.9,-18.9,445,9220,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1903,3476
$GC,9544,-0.95,-146.6,601.9,-7.8,461,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1903,3476
$GC,9852,-0.95,-146.6,603.5,-1.2,476,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3476
$GC,10161,-0.95,-146.6,630.7,-7.1,491,10166,0.00,2.53,0.00,0.000,4,0.000,0.057,2286,3293,3476
$GC,10278,-0.95,-146.6,635.1,-3.1,496,10282,0.00,2.50,0.00,0.000,6,0.000,0.050,2287,1902,3476
$GC,10599,-0.95,-146.6,646.8,-4.9,512,10603,0.00,2.55,0.00,0.000,4,0.000,0.059,2287,3292,3476
$GC,10647,-0.95,-146.6,649.9,-6.8,514,10656,0.00,2.55,0.00,0.000,6,0.000,0.050,2287,1900,3475
$GC,10970,-0.95,-146.6,667.1,-6.7,530,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,11279,-0.95,-146.6,685.0,-6.4,545,11280,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,11589,-0.95,-146.6,698.1,-2.9,560,11590,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3473
$GC,11898,-0.95,-146.6,712.4,-3.5,575,11902,0.00,2.58,0.00,0.000,4,0.000,0.067,2287,3290,3471
$GC,11936,-0.95,-146.6,712.7,0.7,577,11941,0.00,2.55,0.00,0.000,6,0.000,0.055,2287,1899,3471
$GC,12262,-0.95,-146.6,720.1,-2.0,593,12263,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1896,3469
$GC,12571,-0.95,-146.6,733.5,-5.2,608,12576,0.00,2.67,0.00,0.000,4,0.000,0.083,2287,488,3467
$GC,12614,-0.95,-146.6,737.0,-8.5,610,12619,0.00,2.53,0.00,0.000,6,0.000,0.055,2287,1885,3466
$GC,12942,-0.95,-146.6,751.0,-4.0,626,12943,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1887,3465
$GC,13251,-0.95,-146.6,772.7,-3.5,641,13256,0.00,2.67,0.00,0.000,4,0.000,0.084,2287,488,3464
$GC,13317,-0.95,-146.6,775.6,-2.5,644,13322,0.00,2.55,0.00,0.000,6,0.000,0.057,2287,1905,3464
$STATE,13498,end dive,NO_VERTICAL_VELOCITY
$STATE,13498,begin apogee
$GC,13503,-0.36,0.0,776.3,0.0,653,13629,0.60,0.00,123.00,1.419,6,0.073,0.000,2419,2349,2878
$STATE,13630,end apogee,CONTROL_FINISHED_OK
$STATE,13630,begin climb
$GC,13631,0.95,146.6,775.0,0.0,659,13762,1.27,2.75,123.12,1.349,4,0.059,0.072,2697,933,2280
$GC,14015,0.95,146.6,747.6,8.8,676,14022,0.00,2.60,0.00,0.000,6,0.000,0.054,2696,2348,2280
$GC,14330,0.95,146.6,714.6,6.8,692,14334,0.00,2.65,0.00,0.000,4,0.000,0.071,2696,941,2278
$GC,14486,1.14,304.7,715.1,1.3,699,14626,0.22,2.58,131.80,1.343,6,0.040,0.053,2759,2353,1635
$GC,14932,1.14,304.7,663.1,9.4,721,14937,0.00,2.70,0.00,0.000,4,0.000,0.076,2759,942,1635
$GC,14992,1.14,304.7,657.3,9.3,724,14997,0.00,2.58,0.00,0.000,6,0.000,0.052,2759,2352,1635
$GC,15318,1.14,304.7,633.0,6.4,740,15323,0.00,2.67,0.00,0.000,4,0.000,0.074,2759,942,1634
$GC,15384,1.14,304.7,628.7,6.5,743,15389,0.00,2.60,0.00,0.000,6,0.000,0.052,2759,2350,1634
$GC,15711,1.14,304.7,592.3,13.1,759,15712,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2352,1633
$GC,16020,1.14,304.7,555.2,10.8,774,16024,0.00,2.55,0.00,0.000,4,0.000,0.061,2759,3756,1633
$GC,16187,1.14,304.7,536.5,10.7,781,16193,0.00,2.55,0.00,0.000,6,0.000,0.046,2759,2348,1633
$GC,16502,1.14,304.7,499.1,12.4,797,16506,0.00,2.62,0.00,0.000,4,0.000,0.065,2759,932,1634
$GC,16572,1.14,304.7,489.9,12.6,800,16577,0.00,2.55,0.00,0.000,6,0.000,0.041,2759,2356,1633
$GC,16894,1.14,304.7,449.0,12.0,816,16898,0.00,2.62,0.00,0.000,4,0.000,0.061,2759,931,1634
$GC,16987,1.14,304.7,437.8,12.0,820,16992,0.00,2.55,0.00,0.000,6,0.000,0.040,2759,2352,1635
$GC,17309,1.14,304.7,404.8,9.6,836,17313,0.00,2.62,0.00,0.000,4,0.000,0.060,2759,936,1636
$GC,17391,1.14,304.7,397.0,9.0,840,17396,0.00,2.50,0.00,0.000,6,0.000,0.039,2759,2356,1637
$GC,17717,1.14,304.7,368.1,9.3,856,17722,0.00,2.60,0.00,0.000,4,0.000,0.057,2759,939,1638
$GC,17794,1.14,304.7,360.4,8.7,859,17801,0.00,2.50,0.00,0.000,6,0.000,0.038,2759,2351,1638
$GC,18110,1.14,304.7,331.4,8.8,875,18114,0.00,2.60,0.00,0.000,4,0.000,0.058,2759,932,1639
$GC,18175,1.14,304.7,325.6,8.3,878,18180,0.00,2.53,0.00,0.000,6,0.000,0.038,2759,2346,1640
$GC,18502,1.14,304.7,297.7,9.1,894,18506,0.00,2.58,0.00,0.000,4,0.000,0.058,2759,940,1640
$GC,18600,1.14,304.7,288.0,9.4,898,18607,0.00,2.50,0.00,0.000,6,0.000,0.038,2759,2353,1640
$GC,18916,1.14,304.7,257.6,10.1,914,18920,0.00,2.60,0.00,0.000,4,0.000,0.056,2759,931,1640
$GC,19021,1.14,304.7,246.1,11.2,919,19026,0.00,2.50,0.00,0.000,6,0.000,0.038,2759,2352,1640
$GC,19353,1.14,304.7,210.5,10.6,935,19357,0.00,2.58,0.00,0.000,4,0.000,0.056,2760,939,1641
$GC,19451,1.14,304.7,200.3,10.5,939,19458,0.00,2.47,0.00,0.000,6,0.000,0.036,2759,2342,1642
$GC,19767,1.14,304.7,170.1,9.8,955,19771,0.00,2.55,0.00,0.000,4,0.000,0.056,2759,938,1642
$GC,19860,1.14,304.7,160.2,9.8,959,19865,0.00,2.47,0.00,0.000,6,0.000,0.036,2759,2346,1642
$GC,20182,1.14,304.7,128.6,9.6,975,20186,0.00,2.60,0.00,0.000,4,0.000,0.056,2760,932,1642
$GC,20269,1.14,304.7,119.2,9.7,979,20274,0.00,2.50,0.00,0.000,6,0.000,0.037,2759,2351,1642
$GC,20598,1.14,304.7,87.9,9.8,995,20602,0.00,2.60,0.00,0.000,4,0.000,0.056,2760,936,1643
$GC,20681,1.14,304.7,79.9,9.1,999,20685,0.00,2.47,0.00,0.000,6,0.000,0.038,2758,2351,1643
$GC,21006,1.14,304.7,47.3,9.8,1015,21011,0.00,2.60,0.00,0.000,4,0.000,0.057,2759,938,1644
$GC,21128,1.14,304.7,35.0,10.4,1020,21135,0.00,2.47,0.00,0.000,6,0.000,0.037,2759,2342,1644
$GC,21445,1.14,304.7,3.9,8.6,1036,21450,0.00,2.58,0.00,0.000,4,0.000,0.054,2759,931,1644
$STATE,21472,end climb,SURFACE_DEPTH_REACHED
$STATE,21472,begin surface coast
$FINISH,1.2,1.018923
$STATE,21494,end surface coast,CONTROL_FINISHED_OK
$STATE,21494,begin surface
$SM_CCo,21574,0.00,0.000,0,0,1643,302.95
$SM_GC,1.98,11.80,0.00,0.00,0.035,0.000,0.000,28,1917,1643,-11.28,0.48,302.95
$IRIDIUM_FIX,6112.75,-900.24,261107,060652
$TT8_MAMPS,0.026845
$HUMID,2077
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.4,66.1
$24V_AH,23.2,24.245
$10V_AH,10.1,10.386
$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,25.775,158.425,377.925,0.000,0.000,37.564,27.028,147.271,6.250,0.000,0.000,15.821,1908.742,16695.383,521.633,2393.264,361.543,33.353,1696.080,0.000,2344.794,0.000,42.718
$DEVICE_MAMPS,138.827,84.370,1418.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,762.158,702.122,595.106,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53646,1038
$CFSIZE,260165632,253804544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,261107,145156,6145.322,-857.366,40,1.0,40,-9.3