version: 66.02
glider: 102
mission: 4
dive: 87
start: 11 27 107 9 2 38
data:
$ID,102
$MISSION,4
$DIVE,87
$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,-77917.484
$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,23
$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
$GPS1,084337,6146.287,-857.589,35,0.9,35,-9.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-60.0
$GPS2,090144,6146.281,-857.181,14,2.0,14,-9.3
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.183,-0.101
$KALMAN_X,89544.3,45.7,3080.4,-116610.0,6422.5
$KALMAN_Y,190017.8,674.5,-28749.1,-137620.9,9893.6
$MHEAD_RNG_PITCHd_Wd,250.3,15799,-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,-146.6,0.0,0.0,0,64,0.00,0.00,-42.47,0.000,2,0.000,0.000,35,1885,2521
$GC,66,-0.95,-146.6,3.1,-3.8,2,123,11.80,2.55,-39.12,0.000,4,0.135,0.055,2286,3303,3476
$GC,194,-0.95,-146.6,13.0,-9.4,7,199,0.00,2.55,0.00,0.000,6,0.000,0.041,2286,1900,3476
$GC,521,-0.95,-146.6,37.2,-7.0,23,526,0.00,2.53,0.00,0.000,4,0.000,0.044,2286,3305,3476
$GC,587,-0.95,-146.6,42.4,-8.0,26,592,0.00,2.55,0.00,0.000,6,0.000,0.040,2286,1899,3476
$GC,915,-0.95,-146.6,65.9,-7.1,42,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3477
$GC,1224,-0.95,-146.6,87.5,-6.6,57,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3477
$GC,1533,-0.95,-146.6,109.4,-7.9,72,1537,0.00,2.53,0.00,0.000,4,0.000,0.044,2286,3311,3476
$GC,1594,-0.95,-146.6,114.5,-8.0,75,1598,0.00,2.50,0.00,0.000,6,0.000,0.039,2286,1898,3477
$GC,1919,-0.95,-146.6,140.3,-8.8,91,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3476
$GC,2228,-0.95,-146.6,166.1,-8.6,106,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3477
$GC,2537,-0.95,-146.6,189.9,-7.7,121,2542,0.00,2.50,0.00,0.000,4,0.000,0.045,2286,3305,3476
$GC,2625,-0.95,-146.6,196.8,-7.2,125,2630,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1906,3477
$GC,2952,-0.95,-146.6,223.1,-8.0,141,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3477
$GC,3262,-0.95,-146.6,246.4,-7.5,156,3266,0.00,2.50,0.00,0.000,4,0.000,0.047,2287,3305,3477
$GC,3332,-0.95,-146.6,252.1,-7.4,159,3337,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1906,3477
$GC,3653,-0.95,-146.6,276.9,-7.9,175,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,3965,-0.95,-146.6,300.5,-7.4,190,3970,0.00,2.53,0.00,0.000,4,0.000,0.048,2286,3311,3476
$GC,4037,-0.95,-146.6,306.2,-8.1,193,4041,0.00,2.55,0.00,0.000,6,0.000,0.042,2286,1898,3476
$GC,4358,-0.95,-146.6,328.0,-6.6,209,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3477
$GC,4667,-0.95,-146.6,347.6,-6.0,224,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3477
$GC,4977,-0.95,-146.6,365.2,-5.7,239,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3476
$GC,5286,-0.95,-146.6,382.2,-5.2,254,5291,0.00,2.53,0.00,0.000,4,0.000,0.047,2286,3310,3477
$GC,5370,-0.95,-146.6,386.9,-6.0,258,5375,0.00,2.53,0.00,0.000,6,0.000,0.043,2286,1896,3476
$GC,5696,-0.95,-146.6,404.8,-5.6,274,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3476
$GC,6005,-0.95,-146.6,420.8,-5.0,289,6010,0.00,2.53,0.00,0.000,4,0.000,0.050,2286,3304,3476
$GC,6060,-0.95,-146.6,423.6,-4.8,291,6067,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1898,3476
$GC,6375,-0.95,-146.6,440.7,-5.7,307,6380,0.00,2.53,0.00,0.000,4,0.000,0.050,2286,3304,3476
$GC,6436,-0.95,-146.6,444.7,-6.8,310,6441,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1898,3476
$GC,6763,-0.95,-146.6,465.2,-6.2,326,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3476
$GC,7072,-0.95,-146.6,483.1,-5.7,341,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3476
$GC,7381,-0.95,-146.6,502.3,-6.9,356,7385,0.00,2.53,0.00,0.000,4,0.000,0.050,2286,3303,3476
$GC,7464,-0.95,-146.6,508.7,-7.4,360,7468,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1894,3476
$GC,7790,-0.95,-146.6,532.5,-7.4,376,7794,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3303,3477
$GC,7873,-0.95,-146.6,538.6,-7.4,380,7878,0.00,2.53,0.00,0.000,6,0.000,0.046,2286,1902,3476
$GC,8200,-0.95,-146.6,558.8,-5.8,396,8204,0.00,2.53,0.00,0.000,4,0.000,0.054,2286,3304,3476
$GC,8260,-0.95,-146.6,562.5,-6.2,399,8264,0.00,2.53,0.00,0.000,6,0.000,0.046,2286,1896,3476
$GC,8586,-0.95,-146.6,580.8,-5.7,415,8587,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3476
$GC,8895,-0.95,-146.6,598.0,-5.6,430,8900,0.00,2.58,0.00,0.000,4,0.000,0.058,2286,3303,3476
$GC,9040,-0.95,-146.6,606.2,-5.3,436,9046,0.00,2.55,0.00,0.000,6,0.000,0.051,2286,1897,3476
$GC,9355,-0.95,-146.6,624.7,-6.1,452,9359,0.00,2.55,0.00,0.000,4,0.000,0.060,2286,3301,3475
$GC,9431,-0.95,-146.6,629.4,-6.3,455,9438,0.00,2.58,0.00,0.000,6,0.000,0.052,2286,1902,3475
$GC,9747,-0.95,-146.6,648.0,-6.3,471,9751,0.00,2.58,0.00,0.000,4,0.000,0.061,2286,3309,3474
$GC,9807,-0.95,-146.6,652.4,-8.0,474,9811,0.00,2.58,0.00,0.000,6,0.000,0.053,2286,1896,3474
$GC,10132,-0.95,-146.6,670.6,-3.6,490,10134,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1893,3473
$GC,10441,-0.95,-146.6,685.9,-6.7,505,10445,0.00,2.58,0.00,0.000,4,0.000,0.061,2286,3302,3472
$GC,10502,-0.95,-146.6,690.4,-7.4,508,10507,0.00,2.58,0.00,0.000,6,0.000,0.055,2286,1896,3472
$GC,10828,-0.95,-146.6,707.8,-4.3,524,10833,0.00,2.65,0.00,0.000,4,0.000,0.083,2286,493,3470
$GC,10912,-0.95,-146.6,715.1,-11.1,528,10916,0.00,2.53,0.00,0.000,6,0.000,0.054,2286,1907,3470
$STATE,10988,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10988,begin apogee
$GC,10993,-0.36,0.0,720.0,5.8,532,11119,0.62,0.00,122.32,1.338,6,0.087,0.000,2418,2350,2878
$STATE,11120,end apogee,CONTROL_FINISHED_OK
$STATE,11120,begin climb
$GC,11121,0.95,146.6,721.1,0.0,538,11253,1.27,2.75,121.53,1.289,4,0.060,0.072,2697,3749,2280
$GC,11342,0.95,146.6,702.8,9.0,548,11347,0.00,2.58,0.00,0.000,6,0.000,0.051,2697,2355,2280
$GC,11663,1.00,189.0,686.5,4.7,564,11706,0.00,2.75,35.85,1.309,4,0.000,0.074,2697,942,2107
$GC,11812,1.00,189.0,677.0,7.8,570,11819,0.00,2.60,0.00,0.000,6,0.000,0.052,2697,2348,2106
$GC,12127,1.00,189.0,649.5,8.3,586,12132,0.00,2.67,0.00,0.000,4,0.000,0.071,2697,939,2105
$GC,12237,1.02,208.3,642.7,5.4,591,12259,0.00,2.60,16.50,1.331,6,0.000,0.051,2698,2368,2028
$GC,12579,1.02,208.3,624.6,6.1,608,12584,0.00,2.72,0.00,0.000,4,0.000,0.070,2697,936,2028
$GC,12633,1.02,208.3,620.7,7.0,610,12641,0.00,2.60,0.00,0.000,6,0.000,0.051,2698,2348,2027
$GC,12949,1.02,208.3,596.5,7.4,626,12954,0.00,2.60,0.00,0.000,4,0.000,0.067,2698,3752,2026
$GC,13049,1.02,208.3,588.8,7.3,630,13056,0.00,2.55,0.00,0.000,6,0.000,0.048,2698,2351,2026
$GC,13364,1.02,208.3,567.8,6.5,646,13369,0.00,2.65,0.00,0.000,4,0.000,0.071,2698,943,2025
$GC,13447,1.02,208.3,561.7,6.8,650,13452,0.00,2.55,0.00,0.000,6,0.000,0.048,2698,2358,2025
$GC,13774,1.04,219.1,540.6,5.7,666,13786,0.10,0.00,9.65,1.308,6,0.055,0.000,2734,2359,1984
$GC,14083,1.04,219.1,518.6,6.8,681,14087,0.00,2.60,0.00,0.000,4,0.000,0.061,2734,942,1984
$GC,14143,1.04,219.1,514.4,6.6,684,14148,0.00,2.53,0.00,0.000,6,0.000,0.043,2734,2359,1984
$GC,14469,1.04,219.1,490.4,7.9,700,14473,0.00,2.60,0.00,0.000,4,0.000,0.059,2734,942,1985
$GC,14529,1.04,219.1,485.5,8.7,703,14534,0.00,2.50,0.00,0.000,6,0.000,0.042,2734,2350,1985
$GC,14855,1.04,219.1,460.2,7.6,719,14859,0.00,2.60,0.00,0.000,4,0.000,0.059,2734,942,1985
$GC,14915,1.04,219.1,455.4,7.9,722,14920,0.00,2.50,0.00,0.000,6,0.000,0.041,2734,2355,1985
$GC,15241,1.04,219.1,430.6,7.6,738,15245,0.00,2.58,0.00,0.000,4,0.000,0.057,2734,941,1986
$GC,15370,1.04,219.1,420.4,7.8,744,15374,0.00,2.47,0.00,0.000,6,0.000,0.040,2734,2351,1987
$GC,15695,1.04,219.1,396.3,7.6,760,15699,0.00,2.58,0.00,0.000,4,0.000,0.058,2734,942,1987
$GC,15771,1.04,219.1,390.2,7.7,763,15778,0.00,2.50,0.00,0.000,6,0.000,0.041,2735,2346,1987
$GC,16087,1.04,219.1,366.6,7.6,779,16091,0.00,2.58,0.00,0.000,4,0.000,0.058,2735,940,1987
$GC,16170,1.04,219.1,359.9,8.3,783,16174,0.00,2.50,0.00,0.000,6,0.000,0.041,2734,2358,1988
$GC,16495,1.04,219.1,334.5,7.6,799,16500,0.00,2.60,0.00,0.000,4,0.000,0.056,2734,937,1989
$GC,16589,1.04,219.1,326.7,8.2,803,16594,0.00,2.50,0.00,0.000,6,0.000,0.039,2734,2345,1990
$GC,16910,1.04,219.1,302.7,7.4,819,16915,0.00,2.58,0.00,0.000,4,0.000,0.057,2734,942,1990
$GC,17004,1.04,219.1,295.6,8.5,823,17009,0.00,2.50,0.00,0.000,6,0.000,0.040,2735,2346,1990
$GC,17325,1.04,219.1,272.4,7.1,839,17329,0.00,2.58,0.00,0.000,4,0.000,0.058,2735,935,1991
$GC,17441,1.04,219.1,263.8,7.7,844,17445,0.00,2.47,0.00,0.000,6,0.000,0.039,2735,2350,1991
$GC,17762,1.04,219.1,241.7,6.7,860,17766,0.00,2.58,0.00,0.000,4,0.000,0.056,2735,939,1991
$GC,17833,1.04,219.1,236.7,6.7,863,17837,0.00,2.50,0.00,0.000,6,0.000,0.039,2735,2346,1991
$GC,18154,1.04,219.1,213.3,7.4,879,18158,0.00,2.58,0.00,0.000,4,0.000,0.056,2735,940,1992
$GC,18202,1.04,219.1,209.5,7.2,881,18206,0.00,2.50,0.00,0.000,6,0.000,0.039,2735,2349,1992
$GC,18523,1.04,219.1,186.3,7.4,897,18527,0.00,2.58,0.00,0.000,4,0.000,0.055,2735,940,1992
$GC,18593,1.04,219.1,180.5,8.7,900,18598,0.00,2.47,0.00,0.000,6,0.000,0.038,2734,2342,1992
$GC,18915,1.04,219.1,156.0,7.5,916,18919,0.00,2.58,0.00,0.000,4,0.000,0.054,2735,935,1992
$GC,19008,1.04,219.1,148.3,7.6,920,19013,0.00,2.50,0.00,0.000,6,0.000,0.038,2735,2351,1992
$GC,19329,1.04,219.1,126.8,7.4,936,19334,0.00,2.58,0.00,0.000,4,0.000,0.054,2735,940,1993
$GC,19400,1.04,219.1,121.1,7.5,939,19405,0.00,2.50,0.00,0.000,6,0.000,0.038,2735,2353,1992
$GC,19722,1.04,219.1,94.8,8.3,955,19727,0.00,2.58,0.00,0.000,4,0.000,0.054,2735,940,1993
$GC,19833,1.04,219.1,85.9,8.8,960,19842,0.00,2.47,3.20,0.894,6,0.000,0.037,2735,2345,1983
$GC,20159,1.04,219.1,62.8,6.8,976,20163,0.00,2.58,0.00,0.000,4,0.000,0.055,2735,939,1984
$GC,20213,1.05,228.8,59.3,5.7,978,20228,0.00,2.50,8.18,0.907,6,0.000,0.038,2735,2352,1945
$GC,20549,1.05,228.8,34.8,9.7,995,20554,0.00,2.60,0.00,0.000,4,0.000,0.054,2735,932,1945
$GC,20611,1.05,228.8,28.6,10.6,998,20615,0.00,2.50,0.00,0.000,6,0.000,0.038,2735,2356,1945
$GC,20936,1.05,228.8,7.2,8.1,1014,20937,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2357,1945
$STATE,21017,end climb,SURFACE_DEPTH_REACHED
$STATE,21017,begin surface coast
$FINISH,1.5,1.016418
$STATE,21039,end surface coast,CONTROL_FINISHED_OK
$STATE,21039,begin surface
$SM_CCo,21058,63.70,0.794,8,0,1655,300.00
$SM_GC,2.00,0.00,0.00,63.70,0.000,0.000,0.794,31,1876,1655,-11.33,-0.68,300.00
$IRIDIUM_FIX,6121.73,-853.40,271107,121212
$TT8_MAMPS,0.026845
$HUMID,2019
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.4,79.2
$24V_AH,23.3,24.849
$10V_AH,10.1,10.775
$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,25.425,205.975,317.225,63.700,0.000,186.186,145.403,390.195,5.500,0.000,0.000,15.880,1924.914,16348.880,601.159,2462.428,914.992,33.357,1820.637,0.000,2415.176,0.000,37.895
$DEVICE_MAMPS,134.992,82.836,1337.648,793.845,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,751.782,690.198,617.175,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50596,1019
$CFSIZE,260165632,253517824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,8,0
$GPS,271107,145637,6144.043,-900.292,42,1.1,42,-9.3