version: 66.02
glider: 102
mission: 4
dive: 94
start: 11 29 107 2 24 15
data:
$ID,102
$MISSION,4
$DIVE,94
$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,-78061.5
$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,26
$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
$GPS1,021809,6145.498,-924.839,40,1.2,41,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-62.5
$GPS2,022321,6145.500,-924.896,14,1.5,14,-9.5
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.036,-0.206
$KALMAN_X,68267.7,-555.8,5413.4,-121520.3,-8197.3
$KALMAN_Y,150866.8,-5.1,1524.8,-129501.3,7522.7
$MHEAD_RNG_PITCHd_Wd,179.5,8724,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.95,-146.6,0.0,0.0,0,82,0.00,0.00,-61.25,0.000,2,0.000,0.000,27,1882,2640
$GC,84,-0.95,-146.6,3.4,-2.6,3,142,11.85,2.58,-39.80,0.000,4,0.137,0.077,2286,498,3474
$GC,233,-0.95,-146.6,12.2,-8.4,9,237,0.00,2.47,0.00,0.000,6,0.000,0.039,2287,1910,3475
$GC,558,-0.95,-146.6,38.5,-7.7,25,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1914,3474
$GC,868,-0.95,-146.6,56.3,-5.6,40,872,0.00,2.47,0.00,0.000,4,0.000,0.045,2287,3300,3474
$GC,916,-0.95,-146.6,59.5,-5.7,42,921,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1897,3474
$GC,1237,-0.95,-146.6,81.2,-7.7,58,1242,0.00,2.50,0.00,0.000,4,0.000,0.044,2287,3300,3474
$GC,1281,-0.95,-146.6,84.7,-7.9,60,1285,0.00,2.53,0.00,0.000,6,0.000,0.041,2286,1901,3474
$GC,1608,-0.95,-146.6,110.5,-8.4,76,1612,0.00,2.50,0.00,0.000,4,0.000,0.044,2287,3302,3475
$GC,1628,-0.95,-146.6,112.4,-9.0,77,1632,0.00,2.53,0.00,0.000,6,0.000,0.041,2287,1901,3474
$GC,1955,-0.95,-146.6,142.8,-10.2,93,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3475
$GC,2264,-0.95,-146.6,169.7,-8.3,108,2268,0.00,2.50,0.00,0.000,4,0.000,0.044,2287,3300,3474
$GC,2306,-0.95,-146.6,172.9,-7.2,110,2311,0.00,2.53,0.00,0.000,6,0.000,0.041,2287,1900,3475
$GC,2634,-0.95,-146.6,190.6,-5.3,126,2638,0.00,2.50,0.00,0.000,4,0.000,0.044,2286,3301,3475
$GC,2672,-0.95,-146.6,192.8,-5.9,128,2677,0.00,2.50,0.00,0.000,6,0.000,0.041,2286,1899,3474
$GC,2998,-0.95,-146.6,211.3,-5.4,144,3002,0.00,2.50,0.00,0.000,4,0.000,0.045,2286,3300,3474
$GC,3029,-0.95,-146.6,213.5,-6.8,145,3037,0.00,2.53,0.00,0.000,6,0.000,0.042,2286,1902,3474
$GC,3346,-0.95,-146.6,231.7,-5.7,161,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1902,3475
$GC,3655,-0.95,-146.6,249.3,-5.3,176,3659,0.00,2.50,0.00,0.000,4,0.000,0.046,2286,3298,3474
$GC,3703,-0.95,-146.6,252.0,-5.2,178,3708,0.00,2.53,0.00,0.000,6,0.000,0.043,2287,1902,3474
$GC,4024,-0.95,-146.6,272.5,-6.7,194,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3475
$GC,4334,-0.95,-146.6,290.3,-5.8,209,4338,0.00,2.50,0.00,0.000,4,0.000,0.046,2287,3298,3475
$GC,4382,-0.95,-146.6,293.2,-5.8,211,4387,0.00,2.53,0.00,0.000,6,0.000,0.042,2287,1900,3475
$GC,4703,-0.95,-146.6,312.1,-5.7,227,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,5012,-0.95,-146.6,331.9,-6.1,242,5016,0.00,2.50,0.00,0.000,4,0.000,0.047,2287,3300,3474
$GC,5055,-0.95,-146.6,334.5,-6.1,244,5060,0.00,2.53,0.00,0.000,6,0.000,0.043,2287,1902,3474
$GC,5383,-0.95,-146.6,352.9,-5.1,260,5387,0.00,2.50,0.00,0.000,4,0.000,0.047,2287,3299,3474
$GC,5415,-0.95,-146.6,354.2,-4.7,261,5421,0.00,2.50,0.00,0.000,6,0.000,0.044,2287,1899,3474
$GC,5731,-0.95,-146.6,375.1,-6.6,277,5735,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3304,3474
$GC,5769,-0.95,-146.6,377.6,-7.3,279,5773,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1896,3475
$GC,6094,-0.95,-146.6,396.6,-5.3,295,6098,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3302,3474
$GC,6183,-0.95,-146.6,400.4,-3.8,299,6187,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1894,3474
$GC,6509,-0.95,-146.6,413.4,-3.8,315,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3475
$GC,6819,-0.95,-146.6,424.7,-4.5,330,6826,0.00,2.53,0.00,0.000,4,0.000,0.049,2287,3298,3474
$GC,6860,-0.95,-146.6,426.8,-5.0,331,6866,0.00,2.50,0.00,0.000,6,0.000,0.044,2287,1901,3475
$GC,7175,-0.95,-146.6,441.0,-4.0,347,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3474
$GC,7484,-0.95,-146.6,459.2,-6.7,362,7488,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3303,3474
$GC,7522,-0.95,-146.6,461.8,-7.3,364,7527,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1898,3475
$GC,7848,-0.95,-146.6,481.5,-5.5,380,7852,0.00,2.53,0.00,0.000,4,0.000,0.050,2286,3301,3474
$GC,7869,-0.95,-146.6,482.7,-6.0,381,7873,0.00,2.50,0.00,0.000,6,0.000,0.044,2287,1899,3474
$GC,8195,-0.95,-146.6,503.0,-6.9,397,8196,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1899,3474
$GC,8506,-0.95,-146.6,526.9,-9.1,412,8511,0.00,2.53,0.00,0.000,4,0.000,0.050,2287,3298,3474
$GC,8596,-0.95,-146.6,535.3,-8.5,416,8600,0.00,2.50,0.00,0.000,6,0.000,0.045,2287,1899,3474
$GC,8915,-0.95,-146.6,570.7,-12.1,432,8919,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3298,3474
$GC,8971,-0.95,-146.6,577.1,-11.4,434,8977,0.00,2.50,0.00,0.000,6,0.000,0.046,2286,1900,3474
$GC,9285,-0.95,-146.6,614.2,-13.2,450,9289,0.00,2.53,0.00,0.000,4,0.000,0.054,2286,3295,3474
$GC,9329,-0.95,-146.6,620.6,-14.1,452,9333,0.00,2.53,0.00,0.000,6,0.000,0.047,2286,1905,3474
$GC,9655,-0.95,-146.6,664.4,-12.9,468,9656,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3474
$GC,9965,-0.95,-146.6,695.5,-8.5,483,9969,0.00,2.53,0.00,0.000,4,0.000,0.055,2286,3295,3474
$GC,10086,-0.95,-146.6,704.5,-6.2,488,10093,0.00,2.55,0.00,0.000,6,0.000,0.049,2286,1900,3474
$GC,10402,-0.95,-146.6,717.7,-2.7,504,10403,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3474
$GC,10711,-0.95,-146.6,715.3,1.7,519,10715,0.00,2.55,0.00,0.000,4,0.000,0.057,2286,3302,3474
$GC,10754,-0.95,-146.6,715.4,-0.6,521,10758,0.00,2.53,0.00,0.000,6,0.000,0.050,2286,1901,3474
$GC,11080,-0.95,-146.6,731.5,-9.1,537,11085,0.00,2.62,0.00,0.000,4,0.000,0.073,2286,491,3474
$GC,11112,-0.95,-146.6,735.2,-11.6,538,11119,0.00,2.53,0.00,0.000,6,0.000,0.051,2286,1897,3474
$GC,11428,-0.95,-146.6,766.9,-8.7,554,11432,0.00,2.58,0.00,0.000,4,0.000,0.062,2286,3300,3473
$GC,11549,-0.95,-146.6,777.0,-8.8,559,11556,0.00,2.58,0.00,0.000,6,0.000,0.058,2286,1903,3473
$GC,11865,-0.95,-146.6,790.2,-4.3,575,11869,0.00,2.60,0.00,0.000,4,0.000,0.064,2286,3307,3472
$GC,11930,-0.95,-146.6,793.0,-6.8,578,11935,0.00,2.62,0.00,0.000,6,0.000,0.058,2286,1897,3471
$GC,12257,-0.95,-146.6,814.6,-11.1,594,12261,0.00,2.60,0.00,0.000,4,0.000,0.063,2285,3304,3470
$GC,12299,-0.95,-146.6,821.0,-13.5,596,12304,0.00,2.62,0.00,0.000,6,0.000,0.060,2286,1903,3470
$STATE,12605,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12605,begin apogee
$GC,12610,-0.36,0.0,845.4,7.9,611,12738,0.62,0.00,124.40,1.404,6,0.097,0.000,2416,2345,2878
$STATE,12739,end apogee,CONTROL_FINISHED_OK
$STATE,12739,begin climb
$GC,12740,0.95,146.6,853.9,0.0,617,12872,1.30,2.78,124.05,1.361,4,0.063,0.071,2698,931,2280
$GC,13125,0.95,146.6,846.1,8.4,635,13130,0.00,2.62,0.00,0.000,6,0.000,0.058,2698,2353,2279
$GC,13451,1.15,309.9,826.2,1.1,651,13596,0.17,2.85,136.98,1.368,4,0.048,0.078,2755,938,1614
$GC,13848,1.15,309.9,789.9,11.9,669,13853,0.00,2.62,0.00,0.000,6,0.000,0.054,2755,2344,1613
$GC,14175,1.15,309.9,748.3,11.5,685,14179,0.00,2.72,0.00,0.000,4,0.000,0.076,2755,931,1612
$GC,14235,1.15,309.9,741.0,11.3,688,14239,0.00,2.60,0.00,0.000,6,0.000,0.053,2755,2351,1612
$GC,14561,1.27,405.0,717.9,3.2,704,14646,0.00,2.78,78.65,1.333,4,0.000,0.072,2755,943,1227
$GC,14741,1.27,405.0,705.8,8.8,712,14746,0.00,2.58,0.00,0.000,6,0.000,0.048,2755,2350,1227
$GC,15063,1.27,405.0,676.2,10.1,728,15067,0.00,2.67,0.00,0.000,4,0.000,0.067,2755,936,1228
$GC,15156,1.27,405.0,666.1,9.5,732,15161,0.00,2.55,0.00,0.000,6,0.000,0.044,2755,2347,1228
$GC,15477,1.27,405.0,633.8,9.5,748,15481,0.00,2.62,0.00,0.000,4,0.000,0.065,2755,935,1229
$GC,15598,1.27,405.0,620.9,10.5,753,15605,0.00,2.55,0.00,0.000,6,0.000,0.043,2755,2350,1229
$GC,15914,1.27,405.0,587.9,10.6,769,15918,0.00,2.62,0.00,0.000,4,0.000,0.064,2755,933,1229
$GC,16057,1.27,405.0,571.6,10.8,775,16065,0.00,2.55,0.00,0.000,6,0.000,0.041,2755,2353,1230
$GC,16373,1.27,405.0,543.1,8.1,791,16378,0.00,2.65,0.00,0.000,4,0.000,0.062,2755,933,1230
$GC,16511,1.27,405.0,531.0,9.4,797,16516,0.00,2.53,0.00,0.000,6,0.000,0.041,2755,2342,1231
$GC,16832,1.27,405.0,496.4,12.3,813,16837,0.00,2.62,0.00,0.000,4,0.000,0.063,2755,929,1231
$GC,16976,1.27,405.0,474.1,15.7,819,16984,0.00,2.53,0.00,0.000,6,0.000,0.040,2755,2348,1232
$GC,17292,1.27,405.0,417.2,17.8,835,17296,0.00,2.60,0.00,0.000,4,0.000,0.061,2755,935,1232
$GC,17404,1.27,405.0,398.0,17.9,840,17409,0.00,2.53,0.00,0.000,6,0.000,0.040,2755,2356,1231
$GC,17724,1.27,405.0,343.3,16.9,856,17729,0.00,2.65,0.00,0.000,4,0.000,0.060,2755,930,1232
$GC,17836,1.27,405.0,324.4,14.3,861,17841,0.00,2.53,0.00,0.000,6,0.000,0.040,2755,2354,1233
$GC,18156,1.27,405.0,278.5,13.3,877,18161,0.00,2.62,0.00,0.000,4,0.000,0.059,2755,928,1233
$GC,18280,1.27,405.0,262.5,9.6,882,18286,0.00,2.53,0.00,0.000,6,0.000,0.039,2755,2354,1233
$GC,18594,1.27,405.0,227.1,12.2,898,18598,0.00,2.62,0.00,0.000,4,0.000,0.059,2755,929,1234
$GC,18717,1.27,405.0,210.9,12.2,903,18723,0.00,2.53,0.00,0.000,6,0.000,0.039,2755,2359,1234
$GC,19031,1.27,405.0,177.0,9.8,919,19035,0.00,2.60,0.00,0.000,4,0.000,0.058,2755,933,1234
$GC,19152,1.27,405.0,165.2,7.9,924,19159,0.00,2.53,0.00,0.000,6,0.000,0.038,2755,2346,1234
$GC,19468,1.27,405.0,137.4,8.1,940,19472,0.00,2.62,0.00,0.000,4,0.000,0.058,2755,929,1235
$GC,19596,1.27,405.0,126.0,9.6,946,19601,0.00,2.50,0.00,0.000,6,0.000,0.038,2755,2353,1235
$GC,19922,1.27,405.0,86.6,11.0,962,19927,0.00,2.62,0.00,0.000,4,0.000,0.058,2755,932,1235
$GC,20055,1.27,405.0,71.4,13.6,968,20059,0.00,2.53,0.00,0.000,6,0.000,0.038,2755,2350,1235
$GC,20382,1.27,405.0,37.0,10.2,984,20386,0.00,2.62,0.00,0.000,4,0.000,0.058,2755,930,1235
$GC,20510,1.27,405.0,24.4,9.3,990,20515,0.00,2.50,0.00,0.000,6,0.000,0.038,2755,2353,1235
$STATE,20773,end climb,SURFACE_DEPTH_REACHED
$STATE,20773,begin surface coast
$FINISH,1.7,1.003361
$STATE,20795,end surface coast,CONTROL_FINISHED_OK
$STATE,20795,begin surface
$SM_CCo,20874,0.00,0.000,0,0,1235,403.27
$SM_GC,2.52,11.65,0.00,0.00,0.029,0.000,0.000,32,1886,1235,-11.26,-0.40,403.27
$IRIDIUM_FIX,6121.73,-921.02,291107,000026
$TT8_MAMPS,0.026845
$HUMID,2070
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.5,78.2
$24V_AH,23.2,26.071
$10V_AH,10.1,11.441
$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,25.600,216.675,464.075,0.000,0.000,37.574,26.846,149.215,6.750,0.000,0.000,16.395,1911.562,15707.234,631.267,2560.059,374.033,33.345,1921.076,0.000,2499.306,0.000,45.983
$DEVICE_MAMPS,137.293,78.234,1403.610,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,731.797,678.030,574.340,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50606,1004
$CFSIZE,260165632,253026304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,291107,081325,6143.710,-930.646,26,1.5,43,-9.6