version: 66.02
glider: 102
mission: 4
dive: 88
start: 11 27 107 15 8 51
data:
$ID,102
$MISSION,4
$DIVE,88
$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,-77932.297
$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,27
$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
$GPS1,145637,6144.043,-900.292,42,1.1,42,-9.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-57.9
$GPS2,150757,6143.944,-900.229,12,1.1,12,-9.3
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.082,-0.192
$KALMAN_X,91278.0,-1026.6,5469.9,-122329.6,3752.2
$KALMAN_Y,209141.9,-1533.4,-47676.7,-139870.7,41484.4
$MHEAD_RNG_PITCHd_Wd,212.3,13095,-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,-42.60,0.000,2,0.000,0.000,31,1875,2520
$GC,66,-0.95,-146.6,3.0,-3.7,2,129,11.90,2.62,-40.90,0.000,4,0.139,0.057,2283,3311,3477
$GC,381,-0.95,-146.6,26.8,-8.3,16,385,0.00,2.53,0.00,0.000,6,0.000,0.040,2283,1909,3477
$GC,709,-0.95,-146.6,49.7,-7.2,32,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1909,3477
$GC,1017,-0.95,-146.6,73.5,-7.4,47,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1909,3477
$GC,1327,-0.95,-146.6,93.0,-6.6,62,1331,0.00,2.50,0.00,0.000,4,0.000,0.044,2283,3305,3477
$GC,1375,-0.95,-146.6,96.1,-5.9,64,1379,0.00,2.53,0.00,0.000,6,0.000,0.041,2284,1893,3477
$GC,1697,-0.95,-146.6,114.1,-6.0,80,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1893,3477
$GC,2006,-0.95,-146.6,132.6,-6.3,95,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1893,3478
$GC,2314,-0.95,-146.6,153.1,-7.5,110,2319,0.00,2.55,0.00,0.000,4,0.000,0.045,2283,3312,3477
$GC,2398,-0.95,-146.6,159.3,-8.6,114,2402,0.00,2.50,0.00,0.000,6,0.000,0.040,2283,1900,3477
$GC,2723,-0.95,-146.6,184.6,-7.2,130,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3477
$GC,3032,-0.95,-146.6,207.0,-7.0,145,3036,0.00,2.50,0.00,0.000,4,0.000,0.044,2283,3307,3477
$GC,3081,-0.95,-146.6,210.5,-6.9,147,3086,0.00,2.53,0.00,0.000,6,0.000,0.041,2283,1907,3477
$GC,3402,-0.95,-146.6,233.0,-7.1,163,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1907,3477
$GC,3711,-0.95,-146.6,254.9,-6.6,178,3716,0.00,2.53,0.00,0.000,4,0.000,0.047,2283,3312,3477
$GC,3755,-0.95,-146.6,257.9,-7.4,180,3760,0.00,2.55,0.00,0.000,6,0.000,0.042,2283,1903,3477
$GC,4082,-0.95,-146.6,280.1,-7.0,196,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1902,3477
$GC,4391,-0.95,-146.6,302.2,-7.4,211,4395,0.00,2.53,0.00,0.000,4,0.000,0.047,2283,3314,3477
$GC,4439,-0.95,-146.6,306.1,-7.6,213,4444,0.00,2.55,0.00,0.000,6,0.000,0.041,2284,1898,3477
$GC,4760,-0.95,-146.6,330.5,-7.7,229,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3477
$GC,5070,-0.95,-146.6,353.6,-7.4,244,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3477
$GC,5379,-0.95,-146.6,376.7,-7.6,259,5383,0.00,2.53,0.00,0.000,4,0.000,0.047,2283,3307,3477
$GC,5467,-0.95,-146.6,383.9,-8.5,263,5471,0.00,2.55,0.00,0.000,6,0.000,0.044,2283,1900,3477
$GC,5793,-0.95,-146.6,410.8,-8.2,279,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3477
$GC,6103,-0.95,-146.6,434.5,-7.5,294,6107,0.00,2.53,0.00,0.000,4,0.000,0.048,2283,3304,3477
$GC,6157,-0.95,-146.6,438.7,-7.6,296,6164,0.00,2.55,0.00,0.000,6,0.000,0.044,2283,1898,3477
$GC,6472,-0.95,-146.6,461.4,-7.0,312,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3477
$GC,6782,-0.95,-146.6,482.7,-6.9,327,6786,0.00,2.55,0.00,0.000,4,0.000,0.049,2284,3311,3477
$GC,6847,-0.95,-146.6,487.2,-6.8,330,6852,0.00,2.55,0.00,0.000,6,0.000,0.044,2283,1902,3477
$GC,7174,-0.95,-146.6,509.0,-6.9,346,7178,0.00,2.53,0.00,0.000,4,0.000,0.051,2283,3304,3477
$GC,7289,-0.95,-146.6,518.2,-8.2,351,7294,0.00,2.55,0.00,0.000,6,0.000,0.046,2283,1900,3477
$GC,7610,-0.95,-146.6,546.0,-8.3,367,7615,0.00,2.53,0.00,0.000,4,0.000,0.051,2283,3310,3477
$GC,7661,-0.95,-146.6,550.0,-8.1,369,7665,0.00,2.53,0.00,0.000,6,0.000,0.045,2283,1899,3477
$GC,7980,-0.95,-146.6,569.6,-5.9,385,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3477
$GC,8290,-0.95,-146.6,587.5,-5.4,400,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1899,3477
$GC,8598,-0.95,-146.6,608.0,-7.1,415,8603,0.00,2.55,0.00,0.000,4,0.000,0.054,2283,3309,3477
$GC,8766,-0.95,-146.6,619.6,-6.0,422,8772,0.00,2.55,0.00,0.000,6,0.000,0.048,2283,1893,3477
$GC,9081,-0.95,-146.6,640.8,-7.1,438,9085,0.00,2.60,0.00,0.000,4,0.000,0.074,2283,495,3477
$GC,9130,-0.95,-146.6,644.4,-7.3,440,9134,0.00,2.50,0.00,0.000,6,0.000,0.048,2283,1907,3477
$GC,9451,-0.95,-146.6,667.3,-7.1,456,9455,0.00,2.65,0.00,0.000,4,0.000,0.071,2283,493,3477
$GC,9493,-0.95,-146.6,670.6,-7.3,458,9498,0.00,2.50,0.00,0.000,6,0.000,0.049,2283,1894,3476
$GC,9820,-0.95,-146.6,690.8,-5.9,474,9825,0.00,2.58,0.00,0.000,4,0.000,0.061,2283,3298,3475
$GC,9892,-0.95,-146.6,695.2,-6.2,477,9896,0.00,2.55,0.00,0.000,6,0.000,0.053,2283,1902,3476
$GC,10213,-0.95,-146.6,713.9,-5.4,493,10217,0.00,2.58,0.00,0.000,4,0.000,0.062,2283,3301,3475
$GC,10256,-0.95,-146.6,716.3,-5.6,495,10260,0.00,2.55,0.00,0.000,6,0.000,0.054,2283,1900,3475
$GC,10583,-0.95,-146.6,736.6,-6.6,511,10584,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3474
$GC,10893,-0.95,-146.6,756.5,-5.2,526,10897,0.00,2.60,0.00,0.000,4,0.000,0.067,2283,3301,3474
$GC,10963,-0.95,-146.6,761.8,-5.9,529,10968,0.00,2.58,0.00,0.000,6,0.000,0.060,2283,1898,3474
$GC,11284,-0.95,-146.6,787.4,-9.5,545,11285,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1897,3471
$GC,11594,-0.95,-146.6,808.6,-5.6,560,11598,0.00,2.65,0.00,0.000,4,0.000,0.084,2283,493,3470
$GC,11632,-0.95,-146.6,810.0,-5.8,562,11637,0.00,2.55,0.00,0.000,6,0.000,0.059,2283,1902,3470
$STATE,11647,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11647,begin apogee
$GC,11652,-0.36,0.0,810.9,5.3,563,11779,0.65,0.00,124.28,1.402,6,0.094,0.000,2419,2348,2878
$STATE,11780,end apogee,CONTROL_FINISHED_OK
$STATE,11780,begin climb
$GC,11782,0.95,146.6,814.1,0.0,569,11912,1.27,2.75,122.50,1.372,4,0.058,0.072,2699,942,2280
$GC,11939,0.95,146.6,811.2,6.3,576,11946,0.00,2.62,0.00,0.000,6,0.000,0.057,2699,2348,2280
$GC,12255,1.06,240.0,786.9,3.2,592,12340,0.12,2.75,78.25,1.367,4,0.051,0.073,2739,3752,1899
$GC,12395,1.06,240.0,775.7,10.9,598,12402,0.00,2.62,0.00,0.000,6,0.000,0.055,2739,2351,1899
$GC,12711,1.06,240.0,747.1,10.3,614,12715,0.00,2.70,0.00,0.000,4,0.000,0.077,2739,939,1898
$GC,12742,1.06,240.0,743.5,10.0,615,12750,0.00,2.62,0.00,0.000,6,0.000,0.054,2739,2350,1898
$GC,13058,1.06,240.0,712.1,10.1,631,13062,0.00,2.70,0.00,0.000,4,0.000,0.075,2739,941,1897
$GC,13100,1.06,240.0,707.4,10.6,633,13105,0.00,2.60,0.00,0.000,6,0.000,0.054,2739,2346,1897
$GC,13428,1.10,271.5,684.7,5.1,649,13456,0.00,0.00,26.42,1.354,6,0.000,0.000,2739,2346,1770
$GC,13779,1.10,271.5,663.9,6.5,666,13783,0.00,2.65,0.00,0.000,4,0.000,0.069,2739,941,1769
$GC,13889,1.10,271.5,655.5,8.7,671,13893,0.00,2.58,0.00,0.000,6,0.000,0.048,2739,2350,1769
$GC,14215,1.10,271.5,625.3,10.5,687,14220,0.00,2.62,0.00,0.000,4,0.000,0.066,2740,941,1769
$GC,14270,1.10,271.5,619.2,11.4,689,14277,0.00,2.55,0.00,0.000,6,0.000,0.046,2740,2346,1769
$GC,14585,1.10,271.5,591.5,6.6,705,14590,0.00,2.62,0.00,0.000,4,0.000,0.064,2739,938,1769
$GC,14662,1.12,289.9,586.9,5.5,708,14683,0.00,2.55,15.82,1.283,6,0.000,0.044,2739,2352,1696
$GC,14998,1.12,289.9,564.3,7.8,725,15002,0.00,2.65,0.00,0.000,4,0.000,0.062,2739,933,1697
$GC,15029,1.12,289.9,561.5,8.8,726,15036,0.00,2.55,0.00,0.000,6,0.000,0.041,2740,2351,1697
$GC,15345,1.12,289.9,532.6,9.8,742,15349,0.00,2.60,0.00,0.000,4,0.000,0.062,2740,941,1698
$GC,15438,1.12,289.9,523.2,9.4,746,15443,0.00,2.53,0.00,0.000,6,0.000,0.041,2740,2351,1698
$GC,15759,1.12,289.9,493.2,9.1,762,15763,0.00,2.60,0.00,0.000,4,0.000,0.061,2740,940,1700
$GC,15843,1.12,289.9,485.4,9.0,766,15847,0.00,2.50,0.00,0.000,6,0.000,0.041,2740,2352,1699
$GC,16168,1.12,289.9,453.9,10.0,782,16172,0.00,2.62,0.00,0.000,4,0.000,0.060,2740,940,1700
$GC,16244,1.12,289.9,445.9,9.9,785,16252,0.00,2.50,0.00,0.000,6,0.000,0.040,2740,2340,1700
$GC,16560,1.12,289.9,412.3,11.2,801,16564,0.00,2.60,0.00,0.000,4,0.000,0.059,2740,936,1701
$GC,16659,1.12,289.9,400.4,12.6,805,16666,0.00,2.53,0.00,0.000,6,0.000,0.041,2740,2351,1701
$GC,16974,1.12,289.9,363.9,10.9,821,16979,0.00,2.60,0.00,0.000,4,0.000,0.060,2740,931,1702
$GC,17058,1.12,289.9,354.7,10.5,825,17062,0.00,2.53,0.00,0.000,6,0.000,0.041,2740,2353,1702
$GC,17383,1.12,289.9,318.0,11.1,841,17388,0.00,2.62,0.00,0.000,4,0.000,0.058,2740,931,1702
$GC,17489,1.12,289.9,306.1,10.2,846,17494,0.00,2.50,0.00,0.000,6,0.000,0.039,2740,2353,1703
$GC,17815,1.12,289.9,272.0,10.7,862,17819,0.00,2.60,0.00,0.000,4,0.000,0.057,2740,941,1703
$GC,17925,1.12,289.9,259.4,10.3,867,17929,0.00,2.50,0.00,0.000,6,0.000,0.038,2740,2351,1703
$GC,18252,1.12,289.9,224.7,10.1,883,18256,0.00,2.60,0.00,0.000,4,0.000,0.058,2740,939,1704
$GC,18361,1.12,289.9,212.7,10.6,888,18366,0.00,2.50,0.00,0.000,6,0.000,0.038,2740,2351,1704
$GC,18688,1.12,289.9,178.2,9.5,904,18697,0.00,2.62,2.95,0.920,4,0.000,0.057,2740,944,1696
$GC,18793,1.12,289.9,167.4,10.5,908,18800,0.00,2.50,0.00,0.000,6,0.000,0.038,2740,2352,1696
$GC,19108,1.12,289.9,135.2,10.9,924,19113,0.00,2.60,0.00,0.000,4,0.000,0.056,2740,938,1697
$GC,19208,1.12,289.9,125.7,9.3,928,19215,0.00,2.50,0.00,0.000,6,0.000,0.038,2740,2351,1697
$GC,19525,1.12,289.9,96.5,8.1,944,19529,0.00,2.60,0.00,0.000,4,0.000,0.056,2740,936,1697
$GC,19624,1.16,323.5,91.1,5.0,948,19656,0.00,2.53,26.62,0.868,6,0.000,0.038,2740,2353,1559
$GC,19976,1.16,323.5,62.9,9.1,966,19981,0.00,2.62,0.00,0.000,4,0.000,0.057,2740,934,1559
$GC,20084,1.16,323.5,53.5,9.1,971,20088,0.00,2.50,0.00,0.000,6,0.000,0.038,2740,2351,1559
$GC,20410,1.16,323.5,21.3,9.8,987,20414,0.00,2.60,0.00,0.000,4,0.000,0.056,2740,939,1559
$GC,20519,1.16,323.5,9.6,10.8,992,20524,0.00,2.47,0.00,0.000,6,0.000,0.038,2739,2340,1559
$STATE,20618,end climb,SURFACE_DEPTH_REACHED
$STATE,20618,begin surface coast
$FINISH,1.5,1.014154
$STATE,20641,end surface coast,CONTROL_FINISHED_OK
$STATE,20641,begin surface
$SM_CCo,20720,0.00,0.000,0,0,1558,323.55
$SM_GC,2.24,11.62,0.00,0.00,0.030,0.000,0.000,30,1875,1558,-11.26,-0.71,323.55
$IRIDIUM_FIX,6121.73,-903.08,271107,191934
$TT8_MAMPS,0.026845
$HUMID,2065
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.1,95.7
$24V_AH,23.3,25.023
$10V_AH,10.1,10.873
$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,25.575,202.025,396.850,0.000,0.000,114.424,84.908,254.706,6.250,0.000,0.000,14.186,1871.561,15906.873,567.942,2420.746,631.243,33.353,1781.128,0.000,2371.815,0.000,42.789
$DEVICE_MAMPS,138.827,84.370,1402.076,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,734.451,674.599,599.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50556,998
$CFSIZE,260165632,253448192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
$GPS,271107,205510,6140.271,-904.744,26,1.6,26,-9.3