version: 66.02
glider: 102
mission: 4
dive: 89
start: 11 27 107 21 1 36
data:
$ID,102
$MISSION,4
$DIVE,89
$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,-77964.93
$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,31
$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
$GPS1,205510,6140.271,-904.744,26,1.6,26,-9.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-63.6
$GPS2,210044,6140.284,-904.805,12,1.9,30,-9.3
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.206,0.036
$KALMAN_X,85590.6,312.1,7995.3,-124550.9,22593.9
$KALMAN_Y,163160.4,-689.1,-6822.0,-142354.6,-16402.6
$MHEAD_RNG_PITCHd_Wd,289.1,12496,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.95,-146.6,0.0,0.0,0,83,0.00,0.00,-61.58,0.000,2,0.000,0.000,30,1871,2810
$GC,85,-0.95,-146.6,3.5,-3.3,3,128,11.88,2.60,-23.40,0.000,4,0.139,0.058,2283,3308,3476
$GC,353,-0.95,-146.6,25.0,-9.4,15,357,0.00,2.53,0.00,0.000,6,0.000,0.041,2283,1900,3476
$GC,678,-0.95,-146.6,48.0,-7.2,31,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3477
$GC,988,-0.95,-146.6,71.7,-7.9,46,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3477
$GC,1297,-0.95,-146.6,103.6,-9.8,61,1301,0.00,2.53,0.00,0.000,4,0.000,0.044,2283,3309,3476
$GC,1373,-0.95,-146.6,112.5,-11.9,64,1380,0.00,2.53,0.00,0.000,6,0.000,0.040,2283,1904,3477
$GC,1690,-0.95,-146.6,146.4,-10.9,80,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1904,3477
$GC,1998,-0.95,-146.6,176.0,-8.8,95,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1904,3477
$GC,2307,-0.95,-146.6,199.3,-7.6,110,2311,0.00,2.50,0.00,0.000,4,0.000,0.044,2284,3304,3477
$GC,2378,-0.95,-146.6,203.3,-5.7,113,2382,0.00,2.50,0.00,0.000,6,0.000,0.041,2283,1899,3476
$GC,2699,-0.95,-146.6,210.2,-0.2,129,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1899,3477
$GC,3008,-0.95,-146.6,206.7,-0.0,144,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1899,3477
$GC,3317,-0.95,-146.6,220.2,-6.9,159,3322,0.00,2.50,0.00,0.000,4,0.000,0.044,2283,3304,3477
$GC,3394,-0.95,-146.6,227.0,-9.4,162,3401,0.00,2.53,0.00,0.000,6,0.000,0.041,2283,1900,3477
$GC,3710,-0.95,-146.6,264.4,-13.4,178,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3477
$GC,4019,-0.95,-146.6,306.0,-12.8,193,4023,0.00,2.53,0.00,0.000,4,0.000,0.046,2283,3311,3477
$GC,4102,-0.95,-146.6,315.9,-11.6,197,4106,0.00,2.53,0.00,0.000,6,0.000,0.041,2283,1894,3477
$GC,4430,-0.95,-146.6,350.2,-9.6,213,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1894,3477
$GC,4737,-0.95,-146.6,378.3,-8.8,228,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1894,3477
$GC,5046,-0.95,-146.6,412.2,-12.4,243,5050,0.00,2.53,0.00,0.000,4,0.000,0.048,2283,3302,3477
$GC,5108,-0.95,-146.6,420.2,-12.8,246,5112,0.00,2.50,0.00,0.000,6,0.000,0.044,2283,1901,3477
$GC,5433,-0.95,-146.6,449.0,-6.4,262,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1901,3477
$GC,5742,-0.95,-146.6,459.5,-3.4,277,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3476
$GC,6054,-0.95,-146.6,475.5,-5.9,292,6058,0.00,2.53,0.00,0.000,4,0.000,0.048,2283,3305,3476
$GC,6119,-0.95,-146.6,479.9,-6.5,295,6124,0.00,2.55,0.00,0.000,6,0.000,0.044,2283,1903,3477
$GC,6447,-0.95,-146.6,499.8,-5.6,311,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1903,3477
$GC,6756,-0.95,-146.6,521.5,-8.1,326,6760,0.00,2.53,0.00,0.000,4,0.000,0.049,2283,3304,3477
$GC,6828,-0.95,-146.6,527.8,-8.4,329,6832,0.00,2.53,0.00,0.000,6,0.000,0.045,2283,1896,3477
$GC,7142,-0.95,-146.6,556.1,-8.3,344,7147,0.00,2.55,0.00,0.000,4,0.000,0.051,2283,3302,3477
$GC,7197,-0.95,-146.6,560.8,-9.2,346,7204,0.00,2.55,0.00,0.000,6,0.000,0.046,2283,1902,3477
$GC,7512,-0.95,-146.6,587.3,-8.3,362,7516,0.00,2.53,0.00,0.000,4,0.000,0.051,2283,3303,3476
$GC,7566,-0.95,-146.6,591.9,-9.2,364,7573,0.00,2.55,0.00,0.000,6,0.000,0.046,2283,1900,3476
$GC,7883,-0.95,-146.6,611.6,-4.4,380,7887,0.00,2.55,0.00,0.000,4,0.000,0.053,2283,3310,3476
$GC,7960,-0.95,-146.6,614.2,-2.8,383,7966,0.00,2.53,0.00,0.000,6,0.000,0.045,2283,1900,3476
$GC,8275,-0.95,-146.6,611.9,3.0,399,8280,0.00,2.55,0.00,0.000,4,0.000,0.053,2283,3303,3476
$GC,8382,-0.95,-146.6,612.6,-2.7,404,8386,0.00,2.53,0.00,0.000,6,0.000,0.047,2283,1900,3476
$GC,8707,-0.95,-146.6,640.5,-13.8,420,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3476
$GC,9016,-0.95,-146.6,686.4,-9.8,435,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3476
$GC,9326,-0.95,-146.6,704.1,-6.0,450,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3476
$GC,9635,-0.95,-146.6,712.5,-2.5,465,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3476
$GC,9944,-0.95,-146.6,720.2,-6.2,480,9948,0.00,2.55,0.00,0.000,4,0.000,0.056,2283,3300,3476
$GC,10089,-0.95,-146.6,734.0,-8.9,486,10095,0.00,2.55,0.00,0.000,6,0.000,0.052,2283,1902,3476
$GC,10404,-0.95,-146.6,758.8,-8.3,502,10405,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1902,3476
$GC,10713,-0.95,-146.6,794.2,-10.9,517,10717,0.00,2.58,0.00,0.000,4,0.000,0.066,2283,3305,3475
$GC,10808,-0.95,-146.6,801.7,-5.8,521,10812,0.00,2.60,0.00,0.000,6,0.000,0.058,2283,1893,3475
$STATE,10997,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10997,begin apogee
$GC,11002,-0.36,0.0,812.8,7.4,530,11130,0.62,0.00,124.93,1.371,6,0.087,0.000,2417,2350,2878
$STATE,11131,end apogee,CONTROL_FINISHED_OK
$STATE,11131,begin climb
$GC,11133,0.95,146.6,814.4,0.0,536,11263,1.27,2.72,123.47,1.333,4,0.058,0.077,2696,3748,2280
$GC,11285,1.04,220.7,810.4,3.8,544,11356,0.12,2.60,62.62,1.309,6,0.063,0.054,2732,2350,1978
$GC,11670,1.04,220.7,776.0,7.8,563,11675,0.00,2.65,0.00,0.000,4,0.000,0.071,2732,3749,1977
$GC,11776,1.04,220.7,765.9,7.0,568,11781,0.00,2.58,0.00,0.000,6,0.000,0.056,2731,2350,1976
$GC,12102,1.15,308.9,749.0,3.4,584,12184,0.00,2.80,72.82,1.379,4,0.000,0.079,2732,938,1618
$GC,12234,1.15,308.9,744.6,7.1,590,12238,0.00,2.62,0.00,0.000,6,0.000,0.055,2731,2340,1618
$GC,12561,1.15,308.9,707.7,12.7,606,12565,0.00,2.70,0.00,0.000,4,0.000,0.077,2732,941,1617
$GC,12699,1.15,308.9,694.3,7.2,612,12703,0.00,2.60,0.00,0.000,6,0.000,0.052,2732,2348,1617
$GC,13020,1.15,308.9,677.6,8.5,628,13024,0.00,2.67,0.00,0.000,4,0.000,0.071,2731,940,1615
$GC,13194,1.15,308.9,658.4,12.4,636,13198,0.00,2.55,0.00,0.000,6,0.000,0.048,2732,2354,1615
$GC,13519,1.15,308.9,614.8,11.9,652,13523,0.00,2.65,0.00,0.000,4,0.000,0.064,2732,938,1615
$GC,13630,1.26,403.9,607.1,3.2,657,13716,0.17,2.53,77.07,1.289,6,0.042,0.044,2785,2351,1231
$GC,14036,1.26,403.9,565.3,11.8,677,14040,0.00,2.65,0.00,0.000,4,0.000,0.064,2785,933,1232
$GC,14120,1.26,403.9,554.2,14.1,681,14124,0.00,2.55,0.00,0.000,6,0.000,0.042,2785,2360,1232
$GC,14445,1.26,403.9,509.7,12.7,697,14449,0.00,2.67,0.00,0.000,4,0.000,0.063,2785,932,1233
$GC,14550,1.26,403.9,497.8,10.8,702,14554,0.00,2.50,0.00,0.000,6,0.000,0.041,2785,2352,1234
$GC,14881,1.26,403.9,468.1,9.2,718,14886,0.00,2.62,0.00,0.000,4,0.000,0.062,2785,936,1234
$GC,14981,1.26,403.9,458.8,9.4,722,14988,0.00,2.53,0.00,0.000,6,0.000,0.039,2785,2350,1234
$GC,15296,1.26,403.9,422.6,13.8,738,15300,0.00,2.62,0.00,0.000,4,0.000,0.063,2785,930,1235
$GC,15407,1.26,403.9,405.4,15.7,743,15411,0.00,2.53,0.00,0.000,6,0.000,0.039,2785,2349,1235
$GC,15733,1.26,403.9,348.1,16.5,759,15738,0.00,2.62,0.00,0.000,4,0.000,0.061,2785,931,1236
$GC,15845,1.26,403.9,330.9,13.3,764,15850,0.00,2.53,0.00,0.000,6,0.000,0.039,2785,2355,1236
$GC,16165,1.26,403.9,281.5,16.3,780,16170,0.00,2.62,0.00,0.000,4,0.000,0.060,2785,933,1237
$GC,16295,1.26,403.9,260.5,15.5,786,16299,0.00,2.50,0.00,0.000,6,0.000,0.039,2785,2354,1237
$GC,16620,1.26,403.9,219.3,12.8,802,16624,0.00,2.62,0.00,0.000,4,0.000,0.059,2785,930,1237
$GC,16736,1.26,403.9,202.4,13.5,807,16740,0.00,2.53,0.00,0.000,6,0.000,0.038,2785,2350,1237
$GC,17056,1.26,403.9,166.4,10.6,823,17061,0.00,2.60,0.00,0.000,4,0.000,0.060,2785,936,1238
$GC,17173,1.26,403.9,152.5,12.6,828,17177,0.00,2.50,0.00,0.000,6,0.000,0.038,2785,2351,1237
$GC,17496,1.26,403.9,114.5,12.0,844,17500,0.00,2.62,0.00,0.000,4,0.000,0.058,2785,930,1238
$GC,17606,1.26,403.9,100.7,11.6,849,17610,0.00,2.50,0.00,0.000,6,0.000,0.038,2785,2345,1238
$GC,17934,1.26,403.9,64.9,10.4,865,17938,0.00,2.60,0.00,0.000,4,0.000,0.058,2785,938,1239
$GC,18044,1.26,403.9,52.1,10.9,870,18049,0.00,2.50,0.00,0.000,6,0.000,0.038,2785,2350,1238
$GC,18373,1.26,403.9,15.2,12.0,886,18377,0.00,2.62,0.00,0.000,4,0.000,0.058,2786,931,1239
$STATE,18481,end climb,SURFACE_DEPTH_REACHED
$STATE,18481,begin surface coast
$FINISH,1.5,1.027284
$STATE,18488,end surface coast,CONTROL_FINISHED_OK
$STATE,18488,begin surface
$SM_CCo,18568,0.00,0.000,0,0,1238,402.29
$SM_GC,2.41,11.82,0.00,0.00,0.030,0.000,0.000,28,1913,1238,-11.27,0.37,402.29
$IRIDIUM_FIX,6117.23,-902.37,271107,191940
$TT8_MAMPS,0.026845
$HUMID,2065
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.5,96.6
$24V_AH,23.3,25.210
$10V_AH,10.1,10.958
$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,25.900,159.300,460.925,0.000,0.000,37.852,31.556,153.721,6.250,0.000,0.000,32.005,1685.943,14028.411,602.236,2219.077,363.384,33.355,1694.284,0.000,2153.101,0.000,43.119
$DEVICE_MAMPS,138.827,79.001,1379.066,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,656.295,601.555,500.657,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44240,891
$CFSIZE,260165632,253415424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,281107,021225,6142.183,-915.160,48,1.7,48,-9.4