version: 66.02
glider: 102
mission: 4
dive: 274
start: 1 13 108 8 9 26
data:
$ID,102
$MISSION,4
$DIVE,274
$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,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$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,-81848.828
$T_RSLEEP,57
$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,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,26
$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,5
$ALTIM_SENSITIVITY,1
$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
$GPS1,080238,6347.534,-1253.411,36,1.3,36,-12.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-53.3
$GPS2,080832,6347.504,-1253.410,13,1.7,13,-12.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,-0.122
$KALMAN_X,341569.6,-2899.7,-2317.2,-568595.1,26866.5
$KALMAN_Y,-21362.4,-700.7,-1298.8,272265.0,4275.6
$MHEAD_RNG_PITCHd_Wd,251.4,29202,-14.7,-8.000
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.23,-146.6,0.0,0.0,0,104,0.00,0.00,-80.95,0.000,2,0.000,0.000,28,1882,2249
$GC,107,-1.23,-146.6,3.1,-0.5,4,194,11.52,2.58,-68.80,0.000,4,0.136,0.061,2223,3302,3476
$GC,446,-1.23,-146.6,32.5,-10.0,19,450,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1906,3476
$GC,767,-1.23,-146.6,71.8,-12.9,35,772,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3307,3476
$GC,942,-1.23,-146.6,95.1,-9.8,43,946,0.00,2.55,0.00,0.000,6,0.000,0.043,2223,1892,3476
$GC,1268,-1.23,-146.6,127.9,-10.1,59,1272,0.00,2.58,0.00,0.000,4,0.000,0.048,2223,3312,3476
$GC,1335,-1.23,-146.6,134.3,-9.8,62,1339,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1899,3476
$GC,1655,-1.23,-146.6,171.3,-13.6,78,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3476
$GC,1964,-1.23,-146.6,206.5,-10.4,93,1968,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3307,3476
$GC,2027,-1.23,-146.6,213.6,-11.9,96,2031,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1899,3476
$GC,2352,-1.23,-146.6,249.9,-11.0,112,2360,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3309,3476
$GC,2410,-1.23,-146.6,256.0,-11.1,114,2414,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1900,3476
$GC,2731,-1.23,-146.6,290.9,-10.8,130,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3476
$GC,3040,-1.23,-146.6,323.3,-9.7,145,3044,0.00,2.55,0.00,0.000,4,0.000,0.049,2223,3311,3476
$GC,3118,-1.23,-146.6,331.4,-10.1,148,3124,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1900,3476
$GC,3433,-1.23,-146.6,361.8,-9.6,164,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3476
$GC,3742,-1.23,-146.6,390.8,-9.3,179,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3476
$GC,4052,-1.23,-146.6,420.7,-9.1,194,4056,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3304,3476
$GC,4151,-1.23,-146.6,430.9,-10.0,198,4158,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1901,3476
$GC,4467,-1.23,-146.6,463.0,-11.0,214,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3475
$GC,4776,-1.23,-146.6,499.7,-12.1,229,4781,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3305,3475
$GC,4843,-1.23,-146.6,508.2,-12.7,232,4848,0.00,2.55,0.00,0.000,6,0.000,0.047,2223,1894,3475
$GC,5169,-1.23,-146.6,542.8,-8.9,248,5174,0.00,2.58,0.00,0.000,4,0.000,0.053,2223,3304,3475
$GC,5232,-1.23,-146.6,548.1,-9.8,251,5236,0.00,2.55,0.00,0.000,6,0.000,0.048,2223,1895,3475
$GC,5557,-1.23,-146.6,580.7,-9.2,267,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3475
$GC,5867,-1.23,-146.6,613.7,-9.2,282,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3476
$GC,6177,-1.23,-146.6,641.9,-7.3,297,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1893,3475
$GC,6486,-1.23,-146.6,642.0,-0.0,312,6490,0.00,2.62,0.00,0.000,4,0.000,0.061,2223,3307,3476
$STATE,6538,end dive,NO_VERTICAL_VELOCITY
$STATE,6538,begin apogee
$GC,6546,-0.36,0.0,642.1,0.0,314,6673,0.85,0.00,123.12,1.193,6,0.054,0.000,2420,2081,2878
$STATE,6674,end apogee,CONTROL_FINISHED_OK
$STATE,6674,begin climb
$GC,6676,1.23,146.6,641.5,0.0,321,6807,1.55,2.70,121.40,1.162,4,0.058,0.067,2761,692,2279
$GC,7061,1.30,202.1,625.8,5.9,338,7113,0.00,2.53,46.20,1.157,6,0.000,0.045,2761,2098,2054
$GC,7436,1.32,221.3,598.5,7.3,357,7458,0.00,2.72,16.70,1.154,4,0.000,0.067,2761,691,1975
$GC,7575,1.37,263.3,587.5,6.4,363,7617,0.15,2.53,35.25,1.142,6,0.047,0.044,2804,2103,1804
$GC,7938,1.37,263.3,552.6,10.1,381,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2103,1804
$GC,8247,1.37,263.3,520.9,10.2,396,8252,0.00,2.58,0.00,0.000,4,0.000,0.056,2805,3502,1803
$GC,8319,1.37,263.3,513.1,11.0,399,8324,0.00,2.53,0.00,0.000,6,0.000,0.048,2804,2102,1803
$GC,8635,1.37,263.3,480.7,10.2,414,8636,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2102,1803
$GC,8944,1.37,263.3,445.9,11.9,429,8948,0.00,2.55,0.00,0.000,4,0.000,0.052,2804,3500,1803
$GC,9015,1.37,263.3,436.5,14.0,432,9019,0.00,2.53,0.00,0.000,6,0.000,0.045,2805,2094,1803
$GC,9337,1.37,263.3,397.2,11.5,448,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2093,1803
$GC,9645,1.37,263.3,363.8,10.0,463,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2093,1803
$GC,9955,1.39,276.5,336.8,7.5,478,9976,0.00,2.67,11.48,1.040,4,0.000,0.051,2804,3502,1750
$GC,10044,1.39,276.5,329.5,8.8,482,10048,0.00,2.53,0.00,0.000,6,0.000,0.044,2805,2100,1750
$GC,10369,1.39,276.5,300.2,10.1,498,10370,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2101,1749
$GC,10679,1.42,300.5,276.9,7.1,513,10704,0.00,2.62,20.20,0.985,4,0.000,0.050,2804,3500,1651
$GC,10777,1.44,319.0,269.7,7.3,517,10798,0.00,2.55,15.48,0.968,6,0.000,0.043,2805,2092,1576
$GC,11107,1.44,319.0,237.4,12.8,533,11108,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2092,1577
$GC,11417,1.44,319.0,202.8,10.4,548,11418,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2092,1577
$GC,11725,1.44,319.0,170.9,9.6,563,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2092,1577
$GC,12035,1.44,319.0,137.8,10.9,578,12036,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2092,1577
$GC,12345,1.44,319.0,100.3,12.1,593,12346,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2092,1577
$GC,12655,1.44,319.0,65.0,10.8,608,12659,0.00,2.60,0.00,0.000,4,0.000,0.064,2804,688,1577
$GC,12688,1.44,319.0,60.1,13.6,609,12695,0.00,2.53,0.00,0.000,6,0.000,0.041,2805,2102,1577
$GC,13004,1.44,319.0,25.2,10.0,625,13005,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2104,1577
$GC,13315,1.70,525.6,2.3,0.1,640,13335,0.28,0.00,17.10,0.827,2,0.051,0.000,2871,2106,1487
$STATE,13335,end climb,SURFACE_DEPTH_REACHED
$STATE,13335,begin surface coast
$FINISH,2.1,1.027406
$STATE,13621,end surface coast,NO_VERTICAL_VELOCITY
$STATE,13621,begin surface
$SM_CCo,13624,109.10,0.753,0,0,603,558.06
$SM_GC,2.64,12.30,0.00,0.00,0.031,0.000,0.000,30,1886,602,-11.27,-0.40,558.30
$IRIDIUM_FIX,6322.64,-1251.28,130108,080856
$TT8_MAMPS,0.026845
$HUMID,2037
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.60
$XPDR_PINGS,1
$24V_AH,23.3,58.593
$10V_AH,10.1,28.533
$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,26.650,87.200,406.925,109.100,0.000,37.256,36.964,179.231,5.250,0.000,0.000,14.929,1212.763,10651.615,642.716,1546.313,428.678,33.368,1439.615,0.000,1513.501,0.000,33.271
$DEVICE_MAMPS,135.759,66.729,1193.452,753.194,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.239,440.586,433.774,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31759,655
$CFSIZE,260165632,241422336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,130108,120602,6347.086,-1251.642,40,1.1,40,-12.3