version: 66.02
glider: 102
mission: 4
dive: 276
start: 1 13 108 16 31 32
data:
$ID,102
$MISSION,4
$DIVE,276
$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,-81884.188
$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,23
$R_STBD_OVSHOOT,38
$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
$GPS1,162132,6346.829,-1249.459,39,1.2,39,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-48.5
$GPS2,163038,6346.842,-1249.467,12,1.2,12,-12.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,-0.123
$KALMAN_X,349501.7,-1909.4,-1333.8,-575052.4,22622.2
$KALMAN_Y,-18359.4,6.8,-490.4,266454.2,5326.8
$MHEAD_RNG_PITCHd_Wd,251.1,30391,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.23,-146.6,0.0,0.0,0,86,0.00,0.00,-61.12,0.000,2,0.000,0.000,28,1887,1917
$GC,89,-1.23,-146.6,3.3,-1.5,3,214,11.23,2.58,-106.72,0.000,4,0.123,0.060,2221,3296,3475
$GC,467,-1.23,-146.6,37.6,-11.9,20,471,0.00,2.53,0.00,0.000,6,0.000,0.044,2220,1900,3475
$GC,788,-1.23,-146.6,76.9,-9.9,36,792,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3293,3475
$GC,899,-1.23,-146.6,87.0,-8.8,41,903,0.00,2.50,0.00,0.000,6,0.000,0.043,2221,1901,3475
$GC,1219,-1.23,-146.6,120.8,-11.5,57,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3475
$GC,1528,-1.23,-146.6,165.9,-15.5,72,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3475
$GC,1838,-1.23,-146.6,209.8,-13.5,87,1842,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3294,3475
$GC,1949,-1.23,-146.6,225.7,-12.0,92,1953,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1896,3475
$GC,2275,-1.23,-146.6,263.0,-11.5,108,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3475
$GC,2585,-1.23,-146.6,295.2,-10.7,123,2589,0.00,2.55,0.00,0.000,4,0.000,0.049,2221,3301,3475
$GC,2650,-1.23,-146.6,301.1,-9.9,126,2655,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1896,3475
$GC,2977,-1.23,-146.6,331.1,-8.9,142,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3475
$GC,3287,-1.23,-146.6,357.3,-8.9,157,3291,0.00,2.55,0.00,0.000,4,0.000,0.050,2221,3300,3475
$GC,3381,-1.23,-146.6,366.0,-9.6,161,3385,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1896,3475
$GC,3702,-1.23,-146.6,394.1,-9.2,177,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3475
$GC,4012,-1.23,-146.6,426.2,-11.4,192,4016,0.00,2.55,0.00,0.000,4,0.000,0.051,2221,3297,3475
$GC,4083,-1.23,-146.6,435.1,-12.1,195,4087,0.00,2.53,0.00,0.000,6,0.000,0.045,2221,1899,3475
$GC,4405,-1.23,-146.6,471.3,-11.3,211,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1897,3474
$GC,4714,-1.23,-146.6,506.0,-10.6,226,4718,0.00,2.53,0.00,0.000,4,0.000,0.051,2221,3294,3474
$GC,4798,-1.23,-146.6,514.8,-10.5,230,4802,0.00,2.53,0.00,0.000,6,0.000,0.046,2221,1897,3474
$GC,5125,-1.23,-146.6,547.0,-10.4,246,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3474
$GC,5434,-1.23,-146.6,576.2,-8.6,261,5438,0.00,2.55,0.00,0.000,4,0.000,0.054,2221,3296,3474
$GC,5603,-1.23,-146.6,591.6,-10.0,268,5609,0.00,2.53,0.00,0.000,6,0.000,0.049,2221,1902,3474
$GC,5919,-1.23,-146.6,618.2,-3.6,284,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3474
$GC,6228,-1.23,-146.6,618.4,-0.1,299,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3474
$STATE,6267,end dive,NO_VERTICAL_VELOCITY
$STATE,6267,begin apogee
$GC,6273,-0.36,0.0,618.4,0.0,301,6399,0.88,0.00,122.25,1.182,6,0.046,0.000,2423,2096,2878
$STATE,6400,end apogee,CONTROL_FINISHED_OK
$STATE,6400,begin climb
$GC,6402,1.23,146.6,618.1,0.0,307,6532,1.50,2.72,120.97,1.149,4,0.044,0.064,2767,690,2279
$GC,6699,1.23,149.5,603.8,7.9,321,6711,0.00,2.53,3.60,1.037,6,0.000,0.044,2767,2094,2267
$GC,7020,1.26,173.7,581.6,7.1,337,7042,0.00,0.00,20.70,1.149,6,0.000,0.000,2767,2094,2169
$GC,7350,1.28,188.6,556.4,7.4,353,7371,0.00,2.67,13.10,1.147,4,0.000,0.058,2767,3500,2109
$GC,7432,1.31,212.7,550.1,7.1,356,7459,0.00,2.55,20.48,1.133,6,0.000,0.046,2767,2095,2011
$GC,7768,1.33,225.5,524.6,7.5,373,7789,0.00,2.70,11.50,1.127,4,0.000,0.054,2768,3506,1958
$GC,7879,1.33,225.5,514.8,9.3,378,7884,0.00,2.55,0.00,0.000,6,0.000,0.046,2767,2101,1958
$GC,8205,1.34,235.8,489.4,7.6,394,8217,0.00,0.00,9.77,1.115,6,0.000,0.000,2767,2101,1916
$GC,8515,1.38,265.8,467.4,6.9,409,8545,0.12,2.65,24.92,1.097,4,0.051,0.052,2807,3506,1794
$GC,8601,1.38,265.8,459.8,8.9,413,8605,0.00,2.55,0.00,0.000,6,0.000,0.044,2806,2098,1793
$GC,8928,1.38,265.8,429.8,9.8,429,8932,0.00,2.58,0.00,0.000,4,0.000,0.051,2806,3507,1793
$GC,8984,1.38,265.8,423.3,11.8,431,8990,0.00,2.55,0.00,0.000,6,0.000,0.045,2806,2099,1793
$GC,9299,1.38,265.8,383.8,13.0,447,9300,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2099,1793
$GC,9608,1.38,265.8,344.2,13.2,462,9613,0.00,2.58,0.00,0.000,4,0.000,0.051,2806,3506,1793
$GC,9680,1.38,265.8,334.9,11.0,465,9684,0.00,2.53,0.00,0.000,6,0.000,0.044,2806,2098,1793
$GC,10002,1.38,265.8,307.4,8.6,481,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2098,1793
$GC,10311,1.38,265.8,273.5,11.4,496,10316,0.00,2.58,0.00,0.000,4,0.000,0.051,2806,3505,1793
$GC,10423,1.38,265.8,261.6,10.2,501,10427,0.00,2.50,0.00,0.000,6,0.000,0.043,2807,2098,1793
$GC,10749,1.38,265.8,233.5,11.5,517,10751,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2098,1793
$GC,11059,1.38,265.8,203.0,9.2,532,11063,0.00,2.58,0.00,0.000,4,0.000,0.051,2806,3508,1794
$GC,11136,1.38,265.8,195.2,9.1,535,11143,0.00,2.53,0.00,0.000,6,0.000,0.041,2806,2104,1794
$GC,11452,1.38,265.8,160.1,11.2,551,11453,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2105,1794
$GC,11762,1.38,265.8,125.4,11.3,566,11766,0.00,2.55,0.00,0.000,4,0.000,0.048,2806,3506,1794
$GC,11850,1.38,265.8,114.8,11.6,570,11855,0.00,2.47,0.00,0.000,6,0.000,0.040,2806,2099,1794
$GC,12177,1.38,265.8,82.8,9.1,586,12178,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2099,1794
$GC,12486,1.38,265.8,45.3,11.8,601,12488,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2099,1794
$GC,12797,1.38,265.8,8.3,11.6,616,12798,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2099,1794
$STATE,12999,end climb,SURFACE_DEPTH_REACHED
$STATE,12999,begin surface coast
$FINISH,2.5,1.027364
$STATE,13248,end surface coast,NO_VERTICAL_VELOCITY
$STATE,13248,begin surface
$SM_CCo,13251,155.80,0.752,3,0,602,558.06
$SM_GC,2.63,12.10,0.00,0.00,0.030,0.000,0.000,27,1890,602,-11.27,-0.28,558.30
$IRIDIUM_FIX,6322.64,-1251.28,130108,202022
$TT8_MAMPS,0.026845
$HUMID,2026
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.50
$XPDR_PINGS,2
$24V_AH,23.3,58.925
$10V_AH,10.1,28.674
$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,25.825,87.600,347.300,155.800,0.000,74.232,78.474,224.646,5.250,0.000,0.000,14.023,1182.021,10145.473,681.507,1510.629,567.055,33.372,1448.862,0.000,1488.735,0.000,31.630
$DEVICE_MAMPS,122.720,64.428,1181.947,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,477.633,429.566,423.460,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31736,638
$CFSIZE,260165632,241324032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,3,0
$GPS,130108,201808,6344.468,-1250.881,26,1.9,26,-12.2