version: 66.02
glider: 102
mission: 4
dive: 95
start: 11 29 107 8 19 57
data:
$ID,102
$MISSION,4
$DIVE,95
$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,-78075.664
$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
$GPS1,081325,6143.710,-930.646,26,1.5,43,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-60.2
$GPS2,081903,6143.735,-930.698,12,1.5,12,-9.6
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.168,0.124
$KALMAN_X,54976.8,779.0,11151.7,-120412.1,17127.4
$KALMAN_Y,148261.8,109.2,7367.2,-136112.9,14250.1
$MHEAD_RNG_PITCHd_Wd,315.9,42791,-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,-61.80,0.000,2,0.000,0.000,32,1879,2437
$GC,85,-0.95,-146.6,3.2,-2.0,3,148,11.80,2.55,-45.45,0.000,4,0.136,0.055,2284,3302,3475
$GC,338,-0.95,-146.6,21.4,-10.4,14,343,0.00,2.53,0.00,0.000,6,0.000,0.041,2284,1906,3475
$GC,659,-0.95,-146.6,40.9,-6.7,30,664,0.00,2.62,0.00,0.000,4,0.000,0.065,2284,490,3475
$GC,730,-0.95,-146.6,45.7,-6.6,33,735,0.00,2.50,0.00,0.000,6,0.000,0.038,2284,1905,3475
$GC,1053,-0.95,-146.6,65.6,-6.2,49,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1906,3475
$GC,1362,-0.95,-146.6,84.4,-5.7,64,1366,0.00,2.47,0.00,0.000,4,0.000,0.045,2284,3293,3475
$GC,1427,-0.95,-146.6,87.6,-4.5,67,1432,0.00,2.50,0.00,0.000,6,0.000,0.041,2284,1891,3475
$GC,1754,-0.95,-146.6,114.0,-9.9,83,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1890,3475
$GC,2063,-0.95,-146.6,138.2,-7.1,98,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1891,3475
$GC,2372,-0.95,-146.6,161.9,-7.3,113,2376,0.00,2.53,0.00,0.000,4,0.000,0.044,2284,3302,3475
$GC,2472,-0.95,-146.6,168.4,-7.0,117,2478,0.00,2.50,0.00,0.000,6,0.000,0.042,2284,1899,3475
$GC,2786,-0.95,-146.6,191.7,-7.3,133,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1899,3475
$GC,3096,-0.95,-146.6,213.2,-8.1,148,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1899,3475
$GC,3405,-0.95,-146.6,236.5,-7.2,163,3409,0.00,2.50,0.00,0.000,4,0.000,0.045,2284,3299,3475
$GC,3470,-0.95,-146.6,241.4,-7.0,166,3475,0.00,2.53,0.00,0.000,6,0.000,0.042,2284,1901,3475
$GC,3797,-0.95,-146.6,265.4,-6.4,182,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3475
$GC,4106,-0.95,-146.6,288.6,-8.8,197,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3475
$GC,4416,-0.95,-146.6,314.3,-6.5,212,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3475
$GC,4725,-0.95,-146.6,335.3,-6.6,227,4729,0.00,2.50,0.00,0.000,4,0.000,0.047,2284,3294,3475
$GC,4779,-0.95,-146.6,338.8,-6.1,229,4786,0.00,2.50,0.00,0.000,6,0.000,0.041,2284,1902,3475
$GC,5095,-0.95,-146.6,357.1,-5.8,245,5099,0.00,2.50,0.00,0.000,4,0.000,0.047,2284,3298,3475
$GC,5149,-0.95,-146.6,360.2,-5.6,247,5154,0.00,2.50,0.00,0.000,6,0.000,0.042,2284,1900,3475
$GC,5470,-0.95,-146.6,376.8,-5.7,263,5475,0.00,2.50,0.00,0.000,4,0.000,0.048,2284,3298,3475
$GC,5525,-0.95,-146.6,379.9,-5.6,265,5532,0.00,2.50,0.00,0.000,6,0.000,0.043,2284,1900,3475
$GC,5841,-0.95,-146.6,398.7,-5.9,281,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3475
$GC,6150,-0.95,-146.6,419.9,-7.8,296,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1900,3475
$GC,6460,-0.95,-146.6,445.2,-8.3,311,6464,0.00,2.50,0.00,0.000,4,0.000,0.048,2284,3293,3475
$GC,6525,-0.95,-146.6,450.8,-8.2,314,6530,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1901,3475
$GC,6852,-0.95,-146.6,474.4,-7.5,330,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3475
$GC,7161,-0.95,-146.6,499.9,-9.1,345,7162,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3475
$GC,7470,-0.95,-146.6,531.7,-10.6,360,7474,0.00,2.50,0.00,0.000,4,0.000,0.052,2284,3297,3475
$GC,7542,-0.95,-146.6,539.4,-10.9,363,7546,0.00,2.53,0.00,0.000,6,0.000,0.045,2284,1905,3475
$GC,7868,-0.95,-146.6,568.6,-7.6,379,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1906,3475
$GC,8178,-0.95,-146.6,590.5,-7.6,394,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3475
$GC,8487,-0.95,-146.6,621.6,-10.7,409,8491,0.00,2.53,0.00,0.000,4,0.000,0.058,2284,3292,3475
$GC,8575,-0.95,-146.6,632.0,-11.7,413,8579,0.00,2.53,0.00,0.000,6,0.000,0.048,2284,1905,3475
$GC,8901,-0.95,-146.6,673.3,-11.4,429,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1906,3475
$GC,9211,-0.95,-146.6,696.2,-4.9,444,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3474
$GC,9520,-0.95,-146.6,711.6,-6.8,459,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1904,3474
$GC,9830,-0.95,-146.6,752.5,-14.6,474,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1904,3474
$GC,10138,-0.95,-146.6,782.8,-6.1,489,10140,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3474
$GC,10448,-0.95,-146.6,802.9,-7.9,504,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1904,3474
$GC,10757,-0.95,-146.6,834.5,-5.1,519,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3474
$STATE,11024,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11024,begin apogee
$GC,11029,-0.36,0.0,857.6,12.5,532,11157,0.62,0.00,124.70,1.365,6,0.087,0.000,2416,2330,2878
$STATE,11158,end apogee,CONTROL_FINISHED_OK
$STATE,11158,begin climb
$GC,11159,0.95,146.6,866.2,0.0,538,11291,1.27,2.75,123.35,1.325,4,0.052,0.073,2700,3758,2279
$GC,11505,0.95,146.6,824.2,12.5,554,11509,0.00,2.58,0.00,0.000,6,0.000,0.052,2699,2354,2279
$GC,11830,1.35,471.4,812.7,-3.7,570,12111,0.40,2.80,270.55,1.309,4,0.035,0.081,2800,942,955
$GC,12211,1.35,471.4,760.0,20.5,588,12216,0.00,2.62,0.00,0.000,6,0.000,0.054,2799,2352,955
$GC,12532,1.37,489.8,733.4,5.5,604,12555,0.00,2.78,16.30,1.290,4,0.000,0.074,2800,935,880
$GC,12727,1.37,489.8,714.3,6.8,612,12735,0.00,2.58,0.00,0.000,6,0.000,0.048,2800,2345,880
$GC,13043,1.37,489.8,693.3,7.8,628,13047,0.00,2.65,0.00,0.000,4,0.000,0.069,2800,941,880
$GC,13159,1.37,489.8,682.7,8.9,633,13163,0.00,2.55,0.00,0.000,6,0.000,0.044,2800,2351,879
$GC,13479,1.37,489.8,651.6,10.9,649,13484,0.00,2.65,0.00,0.000,4,0.000,0.066,2800,935,880
$GC,13663,1.37,489.8,631.2,10.5,657,13668,0.00,2.55,0.00,0.000,6,0.000,0.043,2800,2352,880
$GC,13984,1.37,489.8,598.6,7.7,673,13989,0.00,2.65,0.00,0.000,4,0.000,0.066,2800,935,880
$GC,14146,1.37,489.8,588.4,7.1,680,14151,0.00,2.50,0.00,0.000,6,0.000,0.041,2800,2352,880
$GC,14461,1.37,489.8,561.6,9.6,695,14465,0.00,2.62,0.00,0.000,4,0.000,0.064,2800,939,881
$GC,14635,1.37,489.8,542.4,11.6,703,14639,0.00,2.50,0.00,0.000,6,0.000,0.040,2800,2351,881
$GC,14960,1.37,489.8,505.7,12.1,719,14964,0.00,2.62,0.00,0.000,4,0.000,0.063,2800,940,881
$GC,15115,1.37,489.8,486.3,14.1,726,15120,0.00,2.50,0.00,0.000,6,0.000,0.038,2799,2345,881
$GC,15442,1.37,489.8,440.2,14.6,742,15446,0.00,2.62,0.00,0.000,4,0.000,0.063,2800,933,882
$GC,15592,1.37,489.8,417.4,13.9,749,15596,0.00,2.53,0.00,0.000,6,0.000,0.039,2800,2358,882
$GC,15918,1.37,489.8,372.3,13.9,765,15922,0.00,2.62,0.00,0.000,4,0.000,0.061,2800,936,883
$GC,16061,1.37,489.8,350.9,15.4,771,16068,0.00,2.50,0.00,0.000,6,0.000,0.038,2800,2343,883
$GC,16377,1.37,489.8,297.6,16.1,787,16381,0.00,2.60,0.00,0.000,4,0.000,0.061,2799,933,883
$GC,16510,1.37,489.8,275.3,15.0,793,16515,0.00,2.53,0.00,0.000,6,0.000,0.038,2800,2354,883
$GC,16837,1.37,489.8,228.8,12.6,809,16841,0.00,2.62,0.00,0.000,4,0.000,0.061,2800,940,883
$GC,17010,1.37,489.8,213.3,8.8,817,17015,0.00,2.47,0.00,0.000,6,0.000,0.038,2800,2350,883
$GC,17336,1.37,489.8,183.8,10.8,833,17340,0.00,2.62,0.00,0.000,4,0.000,0.061,2800,939,883
$GC,17474,1.37,489.8,166.1,14.4,839,17479,0.00,2.50,0.00,0.000,6,0.000,0.037,2800,2352,884
$GC,17795,1.37,489.8,125.3,12.2,855,17800,0.00,2.62,0.00,0.000,4,0.000,0.059,2800,936,884
$GC,17946,1.37,489.8,108.2,12.6,862,17951,0.00,2.50,0.00,0.000,6,0.000,0.038,2800,2356,884
$GC,18272,1.37,489.8,65.8,12.0,878,18277,0.00,2.62,0.00,0.000,4,0.000,0.058,2800,936,884
$GC,18417,1.37,489.8,45.9,14.3,884,18423,0.00,2.47,0.00,0.000,6,0.000,0.037,2799,2340,884
$GC,18732,1.37,489.8,2.2,14.6,900,18736,0.00,2.15,0.00,0.000,3,0.000,0.057,2800,1164,884
$STATE,18737,end climb,SURFACE_DEPTH_REACHED
$STATE,18737,begin surface coast
$FINISH,1.9,1.027286
$STATE,18742,end surface coast,CONTROL_FINISHED_OK
$STATE,18742,begin surface
$SM_CCo,18822,0.00,0.000,0,0,883,489.37
$SM_GC,2.65,11.80,0.00,0.00,0.027,0.000,0.000,29,1911,883,-11.27,0.31,489.37
$IRIDIUM_FIX,6117.23,-929.98,291107,060656
$TT8_MAMPS,0.026078
$HUMID,2064
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,776.0,91.4
$24V_AH,23.3,26.285
$10V_AH,10.1,11.528
$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,25.900,137.300,534.900,0.000,0.000,39.107,27.055,180.205,6.750,0.000,0.000,13.537,1667.602,14186.567,686.101,2233.445,385.466,33.358,1771.244,0.000,2185.931,0.000,46.003
$DEVICE_MAMPS,135.759,81.302,1365.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,657.988,607.340,527.697,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44397,900
$CFSIZE,260165632,252989440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,291107,133438,6148.455,-939.625,26,2.0,26,-9.7