version: 66.02
glider: 102
mission: 4
dive: 275
start: 1 13 108 12 12 19
data:
$ID,102
$MISSION,4
$DIVE,275
$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,-81869.539
$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,34
$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
$GPS1,120602,6347.086,-1251.642,40,1.1,40,-12.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-47.8
$GPS2,121127,6347.118,-1251.568,14,1.4,14,-12.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,-0.116
$KALMAN_X,344263.9,-2780.7,-512.7,-571595.4,21640.7
$KALMAN_Y,-21185.6,-829.4,698.8,269452.3,1130.7
$MHEAD_RNG_PITCHd_Wd,253.2,29605,-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,20,begin dive
$GC,22,-1.23,-146.6,0.0,0.0,0,105,0.00,0.00,-81.10,0.000,2,0.000,0.000,29,1882,2241
$GC,108,-1.23,-146.6,3.0,-0.4,4,192,11.50,2.60,-63.00,0.000,4,0.134,0.061,2226,3297,3477
$GC,444,-1.23,-146.6,34.0,-8.3,19,448,0.00,2.50,0.00,0.000,6,0.000,0.044,2226,1906,3477
$GC,771,-1.23,-146.6,62.0,-9.9,35,776,0.00,2.53,0.00,0.000,4,0.000,0.047,2226,3299,3477
$GC,1000,-1.23,-146.6,85.9,-11.1,45,1005,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1898,3477
$GC,1324,-1.23,-146.6,128.3,-12.3,61,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1899,3477
$GC,1632,-1.23,-146.6,156.0,-8.7,76,1636,0.00,2.53,0.00,0.000,4,0.000,0.048,2226,3299,3477
$GC,1715,-1.23,-146.6,162.8,-9.9,80,1720,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1896,3477
$GC,2042,-1.23,-146.6,192.4,-9.9,96,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1895,3477
$GC,2351,-1.23,-146.6,221.7,-9.6,111,2356,0.00,2.55,0.00,0.000,4,0.000,0.048,2226,3304,3477
$GC,2418,-1.23,-146.6,227.9,-8.7,114,2422,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1900,3477
$GC,2744,-1.23,-146.6,256.8,-9.7,130,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1900,3477
$GC,3054,-1.23,-146.6,288.7,-10.5,145,3058,0.00,2.55,0.00,0.000,4,0.000,0.048,2226,3304,3477
$GC,3131,-1.23,-146.6,295.9,-8.6,148,3137,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1899,3477
$GC,3447,-1.23,-146.6,320.6,-7.9,164,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1899,3477
$GC,3756,-1.23,-146.6,346.4,-8.6,179,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1899,3477
$GC,4065,-1.23,-146.6,373.1,-8.6,194,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1899,3477
$GC,4375,-1.23,-146.6,398.9,-8.2,209,4379,0.00,2.55,0.00,0.000,4,0.000,0.050,2226,3302,3477
$GC,4452,-1.23,-146.6,405.7,-9.2,212,4458,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1898,3477
$GC,4767,-1.23,-146.6,433.8,-9.2,228,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1898,3477
$GC,5077,-1.23,-146.6,462.6,-9.2,243,5081,0.00,2.55,0.00,0.000,4,0.000,0.051,2226,3301,3476
$GC,5154,-1.23,-146.6,469.7,-9.0,246,5160,0.00,2.53,0.00,0.000,6,0.000,0.046,2226,1899,3476
$GC,5469,-1.23,-146.6,496.5,-8.2,262,5473,0.00,2.55,0.00,0.000,4,0.000,0.051,2226,3300,3476
$GC,5531,-1.23,-146.6,501.7,-8.6,265,5535,0.00,2.53,0.00,0.000,6,0.000,0.047,2226,1900,3477
$GC,5857,-1.23,-146.6,529.0,-8.0,281,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1900,3476
$GC,6166,-1.23,-146.6,559.2,-11.5,296,6171,0.00,2.55,0.00,0.000,4,0.000,0.052,2226,3301,3477
$GC,6244,-1.23,-146.6,566.8,-8.9,299,6250,0.00,2.53,0.00,0.000,6,0.000,0.047,2226,1901,3477
$GC,6560,-1.23,-146.6,592.9,-7.3,315,6564,0.00,2.55,0.00,0.000,4,0.000,0.055,2226,3296,3476
$GC,6678,-1.23,-146.6,603.7,-9.4,320,6682,0.00,2.53,0.00,0.000,6,0.000,0.050,2226,1903,3476
$GC,6993,-1.23,-146.6,617.8,0.0,335,6997,0.00,2.55,0.00,0.000,4,0.000,0.058,2226,3297,3477
$STATE,7187,end dive,NO_VERTICAL_VELOCITY
$STATE,7187,begin apogee
$GC,7195,-0.36,0.0,617.8,0.0,344,7321,0.85,0.00,123.10,1.174,6,0.058,0.000,2417,2091,2878
$STATE,7322,end apogee,CONTROL_FINISHED_OK
$STATE,7322,begin climb
$GC,7324,1.23,146.6,617.5,0.0,350,7455,1.55,2.70,120.72,1.147,4,0.052,0.067,2764,694,2279
$GC,7707,1.23,146.6,598.2,8.2,367,7714,0.00,2.50,0.00,0.000,6,0.000,0.044,2764,2095,2279
$GC,8023,1.23,146.6,571.7,8.4,383,8027,0.00,2.60,0.00,0.000,4,0.000,0.064,2764,693,2279
$GC,8281,1.23,146.6,550.1,9.3,394,8287,0.00,2.53,0.00,0.000,6,0.000,0.044,2764,2103,2278
$GC,8596,1.23,146.6,522.5,11.1,410,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2103,2278
$GC,8905,1.23,146.6,489.9,9.8,425,8909,0.00,2.58,0.00,0.000,4,0.000,0.057,2764,3501,2278
$GC,9035,1.23,146.6,476.9,10.2,431,9039,0.00,2.53,0.00,0.000,6,0.000,0.046,2764,2101,2278
$GC,9361,1.24,157.7,448.1,7.6,447,9372,0.00,0.00,9.57,1.127,6,0.000,0.000,2764,2101,2235
$GC,9670,1.30,201.8,425.4,6.3,462,9713,0.00,2.65,36.62,1.080,4,0.000,0.053,2764,3496,2054
$GC,9786,1.34,236.3,416.9,6.7,467,9822,0.10,2.53,28.80,1.059,6,0.061,0.043,2793,2092,1913
$GC,10150,1.38,267.9,390.7,6.8,485,10182,0.00,2.65,26.27,1.042,4,0.000,0.052,2793,3499,1784
$GC,10233,1.41,292.3,384.6,7.1,489,10258,0.00,2.55,20.27,1.042,6,0.000,0.045,2793,2095,1686
$GC,10581,1.42,303.4,361.7,7.6,506,10593,0.00,0.00,9.77,1.037,6,0.000,0.000,2793,2095,1640
$GC,10888,1.42,303.4,335.4,9.5,521,10889,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2095,1641
$GC,11198,1.42,303.4,303.3,11.0,536,11199,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2095,1641
$GC,11507,1.42,303.4,268.8,11.1,551,11508,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2095,1641
$GC,11816,1.42,303.4,231.6,11.9,566,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2095,1642
$GC,12125,1.42,303.4,194.5,11.5,581,12127,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2095,1642
$GC,12434,1.42,303.4,161.2,9.8,596,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2095,1642
$GC,12745,1.44,321.1,135.4,7.3,611,12764,0.00,0.00,15.35,0.917,6,0.000,0.000,2793,2095,1568
$GC,13075,1.44,321.1,97.3,11.1,627,13076,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2095,1567
$GC,13383,1.44,321.1,68.3,8.1,642,13384,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2095,1567
$GC,13691,1.44,321.1,38.1,13.0,657,13696,0.00,2.60,0.00,0.000,4,0.000,0.065,2793,692,1568
$GC,13758,1.49,357.5,30.5,6.6,660,13797,0.12,2.50,28.62,0.826,6,0.054,0.039,2832,2116,1419
$GC,14108,1.75,571.8,2.2,-0.2,677,14117,0.15,0.00,6.80,0.848,2,0.059,0.000,2876,2119,1387
$STATE,14118,end climb,SURFACE_DEPTH_REACHED
$STATE,14118,begin surface coast
$FINISH,2.2,1.012986
$STATE,14376,end surface coast,NO_VERTICAL_VELOCITY
$STATE,14376,begin surface
$SM_CCo,14380,106.75,0.749,3,0,602,558.06
$SM_GC,2.77,12.30,0.00,0.00,0.029,0.000,0.000,29,1894,602,-11.27,-0.17,558.30
$IRIDIUM_FIX,6322.64,-1250.20,130108,121228
$TT8_MAMPS,0.026845
$HUMID,2043
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.40
$XPDR_PINGS,1
$24V_AH,23.3,58.759
$10V_AH,10.1,28.605
$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,26.575,86.775,425.925,106.750,0.000,37.433,34.319,144.457,5.000,0.000,0.000,20.078,1289.760,11136.140,686.745,1687.016,408.739,33.370,1532.343,0.000,1652.096,0.000,31.635
$DEVICE_MAMPS,134.225,66.729,1174.277,749.359,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,512.330,464.336,455.994,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34814,690
$CFSIZE,260165632,241364992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,3,0
$GPS,130108,162132,6346.829,-1249.459,39,1.2,39,-12.2