version: 66.02
glider: 102
mission: 4
dive: 86
start: 11 27 107 2 55 33
data:
$ID,102
$MISSION,4
$DIVE,86
$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,-77900.977
$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,30
$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
$GPS1,024938,6144.870,-854.750,37,1.2,37,-9.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-62.4
$GPS2,025439,6144.837,-854.698,11,1.2,11,-9.3
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.174,0.116
$KALMAN_X,87845.7,1194.5,185.3,-110964.2,-102.2
$KALMAN_Y,174831.2,801.6,-12281.6,-141684.8,-11595.7
$MHEAD_RNG_PITCHd_Wd,313.0,17799,-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,-146.6,0.0,0.0,0,63,0.00,0.00,-41.35,0.000,2,0.000,0.000,35,1882,2508
$GC,65,-0.95,-146.6,3.2,-4.9,2,128,11.85,2.58,-41.85,0.000,4,0.137,0.074,2284,505,3476
$GC,219,-0.95,-146.6,13.1,-7.2,9,223,0.00,2.47,0.00,0.000,6,0.000,0.040,2284,1915,3476
$GC,544,-0.95,-146.6,39.3,-8.5,25,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1917,3476
$GC,854,-0.95,-146.6,62.9,-7.0,40,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1918,3476
$GC,1163,-0.95,-146.6,86.8,-8.6,55,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1918,3476
$GC,1472,-0.95,-146.6,111.0,-7.7,70,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1918,3476
$GC,1781,-0.95,-146.6,135.9,-8.1,85,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1918,3477
$GC,2090,-0.95,-146.6,159.6,-7.7,100,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1918,3476
$GC,2400,-0.95,-146.6,185.3,-8.3,115,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1918,3477
$GC,2709,-0.95,-146.6,211.0,-8.1,130,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1918,3477
$GC,3018,-0.95,-146.6,234.2,-7.1,145,3022,0.00,2.47,0.00,0.000,4,0.000,0.046,2284,3303,3477
$GC,3084,-0.95,-146.6,239.1,-7.1,148,3089,0.00,2.53,0.00,0.000,6,0.000,0.043,2284,1907,3477
$GC,3411,-0.95,-146.6,262.3,-7.3,164,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1907,3477
$GC,3720,-0.95,-146.6,284.1,-6.8,179,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1907,3476
$GC,4029,-0.95,-146.6,305.6,-6.9,194,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1906,3477
$GC,4338,-0.95,-146.6,327.1,-6.8,209,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1907,3477
$GC,4648,-0.95,-146.6,348.8,-7.2,224,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1907,3477
$GC,4957,-0.95,-146.6,374.6,-8.5,239,4961,0.00,2.50,0.00,0.000,4,0.000,0.048,2284,3301,3477
$GC,5028,-0.95,-146.6,381.1,-8.8,242,5033,0.00,2.55,0.00,0.000,6,0.000,0.044,2284,1898,3477
$GC,5355,-0.95,-146.6,409.1,-8.3,258,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1899,3477
$GC,5664,-0.95,-146.6,433.7,-7.6,273,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3477
$GC,5974,-0.95,-146.6,455.9,-7.2,288,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1899,3477
$GC,6283,-0.95,-146.6,479.5,-7.6,303,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3477
$GC,6592,-0.95,-146.6,503.5,-8.2,318,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3477
$GC,6901,-0.95,-146.6,528.3,-7.3,333,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3477
$GC,7212,-0.95,-146.6,550.9,-7.3,348,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3476
$GC,7520,-0.95,-146.6,574.6,-7.7,363,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1898,3476
$GC,7829,-0.95,-146.6,596.7,-6.7,378,7833,0.00,2.50,0.00,0.000,4,0.000,0.055,2284,3294,3476
$GC,8002,-0.95,-146.6,608.3,-6.4,385,8009,0.00,2.55,0.00,0.000,6,0.000,0.048,2284,1883,3476
$GC,8320,-0.95,-146.6,625.2,-5.2,401,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1883,3477
$GC,8628,-0.95,-146.6,641.7,-5.8,416,8632,0.00,2.60,0.00,0.000,4,0.000,0.059,2284,3298,3476
$GC,8698,-0.95,-146.6,646.5,-6.9,419,8703,0.00,2.55,0.00,0.000,6,0.000,0.051,2284,1908,3476
$GC,9020,-0.95,-146.6,666.5,-5.5,435,9021,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1907,3476
$GC,9329,-0.95,-146.6,686.2,-6.8,450,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1907,3475
$GC,9638,-0.95,-146.6,705.3,-6.1,465,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1908,3475
$GC,9948,-0.95,-146.6,723.0,-5.3,480,9952,0.00,2.58,0.00,0.000,4,0.000,0.063,2284,3301,3472
$GC,10009,-0.95,-146.6,726.6,-5.8,483,10013,0.00,2.58,0.00,0.000,6,0.000,0.055,2284,1894,3472
$GC,10334,-0.95,-146.6,745.6,-5.8,499,10338,0.00,2.60,0.00,0.000,4,0.000,0.063,2284,3301,3471
$GC,10382,-0.95,-146.6,749.1,-8.1,501,10387,0.00,2.60,0.00,0.000,6,0.000,0.057,2284,1900,3470
$STATE,10392,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10392,begin apogee
$GC,10397,-0.36,0.0,749.7,6.5,502,10523,0.62,0.00,122.88,1.361,6,0.088,0.000,2415,2338,2878
$STATE,10524,end apogee,CONTROL_FINISHED_OK
$STATE,10524,begin climb
$GC,10525,0.95,146.6,754.4,0.0,508,10657,1.27,2.75,121.85,1.312,4,0.058,0.071,2696,3749,2280
$GC,10909,0.95,146.6,738.0,6.8,525,10916,0.00,2.58,0.00,0.000,6,0.000,0.050,2697,2351,2279
$GC,11225,0.95,146.6,717.8,6.2,541,11226,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2352,2279
$GC,11534,1.02,207.9,702.5,4.2,556,11591,0.00,2.75,50.95,1.366,4,0.000,0.072,2696,941,2029
$GC,11703,1.02,207.9,692.9,6.6,563,11707,0.00,2.60,0.00,0.000,6,0.000,0.052,2696,2359,2030
$GC,12028,1.02,207.9,674.6,6.9,579,12032,0.00,2.67,0.00,0.000,4,0.000,0.069,2696,941,2028
$GC,12126,1.02,207.9,667.2,7.8,583,12133,0.00,2.60,0.00,0.000,6,0.000,0.051,2696,2353,2028
$GC,12442,1.02,207.9,646.3,6.8,599,12446,0.00,2.65,0.00,0.000,4,0.000,0.069,2696,942,2027
$GC,12491,1.02,207.9,642.7,7.6,601,12496,0.00,2.58,0.00,0.000,6,0.000,0.050,2696,2348,2027
$GC,12812,1.02,207.9,619.5,7.8,617,12816,0.00,2.62,0.00,0.000,4,0.000,0.067,2696,942,2026
$GC,12986,1.02,207.9,607.8,6.5,625,12990,0.00,2.55,0.00,0.000,6,0.000,0.048,2696,2353,2026
$GC,13311,1.02,207.9,588.9,6.3,641,13312,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2353,2025
$GC,13621,1.02,207.9,567.4,7.0,656,13622,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2353,2025
$GC,13930,1.06,238.4,549.5,5.1,671,13961,0.12,2.70,25.27,1.266,4,0.049,0.059,2739,938,1905
$GC,14094,1.06,238.4,536.5,8.5,678,14101,0.00,2.55,0.00,0.000,6,0.000,0.042,2739,2351,1905
$GC,14410,1.06,238.4,510.1,8.4,694,14414,0.00,2.58,0.00,0.000,4,0.000,0.060,2739,942,1906
$GC,14475,1.06,238.4,504.5,8.4,697,14480,0.00,2.53,0.00,0.000,6,0.000,0.041,2739,2351,1906
$GC,14802,1.06,238.4,476.9,8.5,713,14806,0.00,2.60,0.00,0.000,4,0.000,0.060,2739,938,1906
$GC,14889,1.06,238.4,468.9,8.6,717,14894,0.00,2.53,0.00,0.000,6,0.000,0.040,2739,2348,1906
$GC,15216,1.06,238.4,442.7,7.6,733,15220,0.00,2.60,0.00,0.000,4,0.000,0.059,2739,934,1908
$GC,15282,1.06,238.4,437.2,8.1,736,15287,0.00,2.50,0.00,0.000,6,0.000,0.040,2739,2352,1908
$GC,15608,1.06,238.4,412.3,7.4,752,15613,0.00,2.60,0.00,0.000,4,0.000,0.058,2739,932,1909
$GC,15693,1.06,238.4,405.8,8.2,756,15697,0.00,2.50,0.00,0.000,6,0.000,0.040,2738,2351,1909
$GC,16017,1.06,238.4,379.3,8.3,772,16022,0.00,2.58,0.00,0.000,4,0.000,0.058,2739,940,1910
$GC,16083,1.06,238.4,373.5,8.9,775,16088,0.00,2.50,0.00,0.000,6,0.000,0.039,2739,2343,1910
$GC,16410,1.06,238.4,345.5,8.7,791,16415,0.00,2.58,0.00,0.000,4,0.000,0.057,2739,940,1911
$GC,16472,1.06,238.4,340.5,8.9,794,16476,0.00,2.50,0.00,0.000,6,0.000,0.040,2739,2356,1911
$GC,16797,1.06,238.4,312.8,8.3,810,16801,0.00,2.58,0.00,0.000,4,0.000,0.054,2738,940,1911
$GC,16884,1.06,238.4,305.5,8.3,814,16889,0.00,2.50,0.00,0.000,6,0.000,0.038,2739,2349,1911
$GC,17211,1.06,238.4,278.8,8.3,830,17215,0.00,2.58,0.00,0.000,4,0.000,0.056,2739,939,1911
$GC,17317,1.06,238.4,269.1,9.7,835,17321,0.00,2.47,0.00,0.000,6,0.000,0.039,2739,2351,1912
$GC,17642,1.06,238.4,239.7,9.3,851,17647,0.00,2.58,0.00,0.000,4,0.000,0.056,2739,941,1912
$GC,17735,1.06,238.4,231.6,8.0,855,17740,0.00,2.50,0.00,0.000,6,0.000,0.038,2738,2350,1912
$GC,18057,1.06,238.4,203.7,8.7,871,18062,0.00,2.60,0.00,0.000,4,0.000,0.055,2739,934,1913
$GC,18157,1.06,238.4,194.8,8.7,875,18164,0.00,2.53,0.00,0.000,6,0.000,0.038,2739,2349,1913
$GC,18473,1.06,238.4,168.9,8.3,891,18477,0.00,2.58,0.00,0.000,4,0.000,0.055,2739,939,1913
$GC,18538,1.06,238.4,163.4,8.8,894,18542,0.00,2.50,0.00,0.000,6,0.000,0.038,2739,2357,1913
$GC,18865,1.06,238.4,139.6,7.8,910,18869,0.00,2.60,0.00,0.000,4,0.000,0.054,2739,934,1914
$GC,18948,1.06,238.4,132.6,7.1,914,18952,0.00,2.50,0.00,0.000,6,0.000,0.038,2739,2353,1914
$GC,19273,1.06,238.4,107.6,7.5,930,19282,0.00,2.62,2.85,0.883,4,0.000,0.054,2739,936,1906
$GC,19355,1.06,238.4,101.2,6.9,933,19363,0.00,2.50,0.00,0.000,6,0.000,0.038,2739,2348,1906
$GC,19671,1.06,238.4,77.9,7.3,949,19675,0.00,2.58,0.00,0.000,4,0.000,0.055,2739,939,1906
$GC,19754,1.06,238.4,71.7,8.0,953,19759,0.00,2.47,0.00,0.000,6,0.000,0.038,2739,2354,1906
$GC,20080,1.06,238.4,46.6,8.9,969,20081,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2354,1907
$GC,20390,1.06,238.4,21.7,7.6,984,20394,0.00,2.60,0.00,0.000,4,0.000,0.055,2739,934,1907
$GC,20477,1.06,238.4,14.6,9.5,988,20482,0.00,2.50,0.00,0.000,6,0.000,0.038,2739,2350,1907
$STATE,20679,end climb,SURFACE_DEPTH_REACHED
$STATE,20679,begin surface coast
$FINISH,1.3,1.027467
$STATE,20702,end surface coast,CONTROL_FINISHED_OK
$STATE,20703,begin surface
$SM_CCo,20722,55.78,0.789,7,0,1654,300.00
$SM_GC,2.10,0.00,0.00,55.78,0.000,0.000,0.789,35,1886,1654,-11.32,-0.40,300.00
$IRIDIUM_FIX,6121.73,-858.59,271107,010154
$TT8_MAMPS,0.026845
$HUMID,2041
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.2,83.0
$24V_AH,23.3,24.680
$10V_AH,10.1,10.671
$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,25.525,145.250,323.800,55.775,0.000,37.094,27.770,145.279,5.750,0.000,0.000,12.781,1831.715,16063.858,560.525,2304.551,357.051,33.372,1681.052,0.000,2261.440,0.000,40.111
$DEVICE_MAMPS,137.293,74.399,1366.027,789.243,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,727.137,676.539,601.747,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50653,999
$CFSIZE,260165632,253603840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,7,0
$GPS,271107,084337,6146.287,-857.589,35,0.9,35,-9.3