version: 66.02
glider: 102
mission: 4
dive: 85
start: 11 26 107 21 16 9
data:
$ID,102
$MISSION,4
$DIVE,85
$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,-77887.57
$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,29
$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
$GPS1,211007,6146.184,-853.031,40,1.1,40,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-60.7
$GPS2,211515,6146.219,-852.898,14,1.3,14,-9.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.189,-0.088
$KALMAN_X,107280.5,1357.4,-21824.7,-106981.4,266651.5
$KALMAN_Y,173666.2,197.1,-9731.1,-139901.9,131189.4
$MHEAD_RNG_PITCHd_Wd,254.2,19506,-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,-62.35,0.000,2,0.000,0.000,31,1879,2956
$GC,86,-0.95,-146.6,4.0,-4.5,3,116,11.95,0.00,-15.27,0.000,6,0.140,0.000,2287,1880,3477
$GC,417,-0.95,-146.6,29.7,-7.4,19,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1880,3477
$GC,725,-0.95,-146.6,52.0,-7.5,34,729,0.00,2.55,0.00,0.000,4,0.000,0.045,2287,3301,3477
$GC,812,-0.95,-146.6,59.3,-8.7,38,817,0.00,2.53,0.00,0.000,6,0.000,0.041,2287,1906,3477
$GC,1139,-0.95,-146.6,85.8,-7.6,54,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3477
$GC,1449,-0.95,-146.6,109.5,-7.0,69,1453,0.00,2.50,0.00,0.000,4,0.000,0.044,2287,3304,3478
$GC,1503,-0.95,-146.6,114.3,-9.0,71,1510,0.00,2.53,0.00,0.000,6,0.000,0.041,2287,1906,3477
$GC,1819,-0.95,-146.6,137.6,-6.1,87,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3477
$GC,2127,-0.95,-146.6,159.9,-7.6,102,2132,0.00,2.50,0.00,0.000,4,0.000,0.046,2287,3304,3478
$GC,2182,-0.95,-146.6,164.0,-7.4,104,2189,0.00,2.53,0.00,0.000,6,0.000,0.041,2287,1906,3478
$GC,2498,-0.95,-146.6,184.3,-6.3,120,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3478
$GC,2807,-0.95,-146.6,206.5,-7.2,135,2811,0.00,2.50,0.00,0.000,4,0.000,0.045,2286,3304,3477
$GC,2867,-0.95,-146.6,211.2,-7.4,138,2872,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1901,3477
$GC,3193,-0.95,-146.6,235.9,-7.5,154,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3477
$GC,3502,-0.95,-146.6,258.9,-7.2,169,3506,0.00,2.53,0.00,0.000,4,0.000,0.045,2287,3310,3478
$GC,3586,-0.95,-146.6,265.1,-7.4,173,3590,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1901,3477
$GC,3911,-0.95,-146.6,288.1,-7.3,189,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3478
$GC,4220,-0.95,-146.6,310.6,-7.4,204,4224,0.00,2.53,0.00,0.000,4,0.000,0.047,2287,3311,3477
$GC,4287,-0.95,-146.6,315.9,-8.0,207,4292,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1901,3477
$GC,4607,-0.95,-146.6,340.3,-7.8,223,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3477
$GC,4916,-0.95,-146.6,364.2,-7.7,238,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3477
$GC,5226,-0.95,-146.6,385.4,-6.5,253,5230,0.00,2.53,0.00,0.000,4,0.000,0.047,2287,3310,3477
$GC,5296,-0.95,-146.6,390.5,-8.1,256,5301,0.00,2.55,0.00,0.000,6,0.000,0.043,2287,1901,3478
$GC,5618,-0.95,-146.6,412.1,-6.5,272,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3477
$GC,5927,-0.95,-146.6,431.3,-6.6,287,5931,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3307,3477
$GC,5988,-0.95,-146.6,435.5,-7.4,290,5992,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1897,3478
$GC,6314,-0.95,-146.6,458.5,-7.1,306,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3477
$GC,6624,-0.95,-146.6,477.7,-6.1,321,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3478
$GC,6933,-0.95,-146.6,498.9,-8.0,336,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3477
$GC,7242,-0.95,-146.6,524.0,-7.3,351,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3477
$GC,7552,-0.95,-146.6,541.7,-5.6,366,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3477
$GC,7861,-0.95,-146.6,561.6,-6.8,381,7865,0.00,2.55,0.00,0.000,4,0.000,0.054,2287,3302,3477
$GC,8072,-0.95,-146.6,576.0,-6.3,390,8079,0.00,2.55,0.00,0.000,6,0.000,0.047,2287,1902,3477
$GC,8388,-0.95,-146.6,594.5,-5.8,406,8392,0.00,2.55,0.00,0.000,4,0.000,0.056,2287,3303,3477
$GC,8453,-0.95,-146.6,598.6,-6.3,409,8458,0.00,2.58,0.00,0.000,6,0.000,0.048,2287,1900,3477
$GC,8780,-0.95,-146.6,617.9,-5.2,425,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3477
$GC,9089,-0.95,-146.6,636.4,-6.5,440,9093,0.00,2.62,0.00,0.000,4,0.000,0.074,2287,493,3476
$GC,9194,-0.95,-146.6,644.5,-8.1,445,9199,0.00,2.50,0.00,0.000,6,0.000,0.051,2287,1905,3476
$GC,9521,-0.95,-146.6,669.8,-6.0,461,9525,0.00,2.58,0.00,0.000,4,0.000,0.064,2286,3304,3476
$GC,9574,-0.95,-146.6,673.5,-6.8,463,9582,0.00,2.58,0.00,0.000,6,0.000,0.056,2287,1901,3475
$GC,9890,-0.95,-146.6,693.6,-6.0,479,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3474
$STATE,10157,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10157,begin apogee
$GC,10162,-0.36,0.0,708.6,6.4,492,10288,0.62,0.00,123.25,1.312,6,0.092,0.000,2418,2341,2878
$STATE,10289,end apogee,CONTROL_FINISHED_OK
$STATE,10289,begin climb
$GC,10290,0.95,146.6,714.1,0.0,498,10417,1.27,0.00,121.72,1.278,6,0.060,0.000,2696,2341,2280
$GC,10721,0.95,146.6,699.9,6.1,519,10725,0.00,2.65,0.00,0.000,4,0.000,0.069,2697,3759,2279
$GC,10792,0.95,146.6,694.7,7.6,522,10796,0.00,2.58,0.00,0.000,6,0.000,0.048,2697,2350,2278
$GC,11113,0.95,146.6,671.7,7.0,538,11117,0.00,2.67,0.00,0.000,4,0.000,0.073,2697,941,2278
$GC,11183,0.95,146.6,667.2,7.1,541,11189,0.00,2.60,0.00,0.000,6,0.000,0.051,2697,2351,2278
$GC,11505,0.96,159.4,648.4,5.6,557,11518,0.00,0.00,10.98,1.358,6,0.000,0.000,2696,2351,2228
$GC,11814,0.96,159.4,628.7,6.1,572,11819,0.00,2.67,0.00,0.000,4,0.000,0.069,2697,930,2227
$GC,11930,0.98,174.7,622.0,5.5,577,11950,0.00,2.60,13.95,1.343,6,0.000,0.051,2697,2363,2165
$GC,12271,0.98,174.7,596.5,9.6,594,12275,0.00,2.67,0.00,0.000,4,0.000,0.067,2697,939,2163
$GC,12354,1.05,227.4,589.8,4.4,598,12404,0.12,2.58,43.83,1.301,6,0.057,0.049,2733,2359,1950
$GC,12725,1.05,227.4,568.2,6.3,616,12729,0.00,2.58,0.00,0.000,4,0.000,0.061,2733,3756,1949
$GC,12830,1.05,227.4,560.1,8.4,621,12835,0.00,2.55,0.00,0.000,6,0.000,0.046,2733,2348,1949
$GC,13155,1.05,227.4,537.4,9.8,637,13160,0.00,2.58,0.00,0.000,4,0.000,0.058,2733,3751,1949
$GC,13261,1.05,227.4,527.5,7.7,642,13266,0.00,2.50,0.00,0.000,6,0.000,0.044,2733,2348,1948
$GC,13586,1.05,227.4,499.4,10.8,658,13591,0.00,2.60,0.00,0.000,4,0.000,0.064,2733,938,1949
$GC,13641,1.05,227.4,493.3,10.4,660,13648,0.00,2.53,0.00,0.000,6,0.000,0.042,2733,2343,1948
$GC,13957,1.05,227.4,462.6,9.1,676,13961,0.00,2.60,0.00,0.000,4,0.000,0.060,2733,942,1949
$GC,14022,1.05,227.4,456.5,9.2,679,14027,0.00,2.53,0.00,0.000,6,0.000,0.041,2733,2352,1949
$GC,14349,1.05,227.4,428.0,8.5,695,14353,0.00,2.58,0.00,0.000,4,0.000,0.058,2733,942,1950
$GC,14419,1.05,227.4,421.8,8.2,698,14424,0.00,2.50,0.00,0.000,6,0.000,0.040,2733,2340,1950
$GC,14740,1.05,227.4,395.4,8.1,714,14745,0.00,2.55,0.00,0.000,4,0.000,0.057,2733,942,1951
$GC,14806,1.05,227.4,389.9,8.1,717,14811,0.00,2.50,0.00,0.000,6,0.000,0.039,2733,2346,1952
$GC,15133,1.05,227.4,364.7,7.7,733,15137,0.00,2.58,0.00,0.000,4,0.000,0.057,2733,939,1953
$GC,15209,1.05,227.4,358.8,7.3,736,15216,0.00,2.50,0.00,0.000,6,0.000,0.038,2733,2344,1953
$GC,15525,1.05,227.4,334.6,7.9,752,15529,0.00,2.58,0.00,0.000,4,0.000,0.056,2732,942,1953
$GC,15595,1.05,227.4,328.2,8.9,755,15600,0.00,2.50,0.00,0.000,6,0.000,0.038,2733,2352,1953
$GC,15917,1.05,227.4,300.4,8.7,771,15921,0.00,2.60,0.00,0.000,4,0.000,0.055,2733,934,1954
$GC,15993,1.05,227.4,293.2,9.2,774,16000,0.00,2.53,0.00,0.000,6,0.000,0.038,2733,2351,1955
$GC,16309,1.05,227.4,266.1,8.3,790,16313,0.00,2.58,0.00,0.000,4,0.000,0.054,2732,935,1955
$GC,16407,1.05,227.4,257.6,8.9,794,16414,0.00,2.53,0.00,0.000,6,0.000,0.037,2733,2352,1955
$GC,16723,1.05,227.4,231.7,8.0,810,16727,0.00,2.55,0.00,0.000,4,0.000,0.054,2733,939,1955
$GC,16816,1.05,227.4,224.0,8.0,814,16821,0.00,2.47,0.00,0.000,6,0.000,0.037,2733,2342,1955
$GC,17137,1.05,227.4,199.7,7.6,830,17142,0.00,2.55,0.00,0.000,4,0.000,0.054,2733,941,1956
$GC,17225,1.05,227.4,192.7,7.6,834,17230,0.00,2.47,0.00,0.000,6,0.000,0.037,2733,2342,1956
$GC,17552,1.05,227.4,167.9,7.6,850,17556,0.00,2.55,0.00,0.000,4,0.000,0.054,2733,941,1956
$GC,17635,1.05,227.4,160.8,8.8,854,17639,0.00,2.45,0.00,0.000,6,0.000,0.037,2733,2351,1956
$GC,17960,1.05,227.4,135.0,8.1,870,17965,0.00,2.58,0.00,0.000,4,0.000,0.054,2733,940,1957
$GC,18037,1.05,227.4,128.4,7.8,873,18045,0.00,2.47,0.00,0.000,6,0.000,0.037,2732,2342,1958
$GC,18354,1.05,227.4,104.7,7.2,889,18359,0.00,2.55,0.00,0.000,4,0.000,0.054,2733,941,1958
$GC,18416,1.05,227.4,100.3,7.0,892,18420,0.00,2.45,0.00,0.000,6,0.000,0.038,2733,2353,1958
$GC,18741,1.05,227.4,76.7,7.9,908,18746,0.00,2.58,0.00,0.000,4,0.000,0.054,2733,940,1958
$GC,18852,1.05,227.4,68.0,7.1,913,18856,0.00,2.50,0.00,0.000,6,0.000,0.037,2733,2348,1958
$GC,19179,1.05,227.4,45.4,7.7,929,19183,0.00,2.58,0.00,0.000,4,0.000,0.054,2733,939,1958
$GC,19240,1.05,227.4,40.6,8.2,932,19244,0.00,2.47,0.00,0.000,6,0.000,0.038,2733,2353,1958
$GC,19565,1.05,227.4,16.5,6.9,948,19570,0.00,2.58,0.00,0.000,4,0.000,0.054,2733,941,1959
$GC,19614,1.05,227.4,13.2,6.8,950,19626,0.00,2.47,2.90,0.849,6,0.000,0.038,2733,2343,1950
$STATE,19788,end climb,SURFACE_DEPTH_REACHED
$STATE,19788,begin surface coast
$FINISH,1.3,1.027219
$STATE,19812,end surface coast,CONTROL_FINISHED_OK
$STATE,19812,begin surface
$SM_CCo,19831,65.12,0.781,8,0,1655,300.00
$SM_GC,1.91,0.00,0.00,65.12,0.000,0.000,0.781,35,1884,1655,-11.32,-0.48,300.00
$IRIDIUM_FIX,6121.73,-758.18,261107,181847
$TT8_MAMPS,0.026845
$HUMID,2029
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,651.4,67.1
$24V_AH,23.3,24.533
$10V_AH,10.1,10.579
$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,25.625,174.700,316.625,65.125,0.000,36.248,27.480,145.773,6.000,0.000,0.000,15.672,1788.168,15245.486,608.414,2245.045,356.797,33.379,1704.164,0.000,2198.352,0.000,40.784
$DEVICE_MAMPS,140.361,73.632,1358.357,780.806,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,705.462,649.474,596.230,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47458,960
$CFSIZE,260165632,253673472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,29,8,0
$GPS,271107,024938,6144.870,-854.750,37,1.2,37,-9.3