version: 66.02
glider: 102
mission: 4
dive: 283
start: 1 14 108 20 35 4
data:
$ID,102
$MISSION,4
$DIVE,283
$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,-81990.727
$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,24
$R_STBD_OVSHOOT,33
$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
$GPS1,202702,6342.373,-1314.873,40,1.2,40,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-57.1
$GPS2,203409,6342.412,-1315.202,13,1.8,13,-12.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.127,-0.462
$KALMAN_X,349259.6,153.2,-1168.1,-599763.4,3162.4
$KALMAN_Y,-8883.5,-253.3,-619.3,249195.5,8738.4
$MHEAD_RNG_PITCHd_Wd,207.8,13727,4.3,-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,22,0.13,-146.6,0.0,0.0,0,85,0.00,0.00,-61.35,0.000,2,0.000,0.000,31,1877,2496
$GC,88,0.13,-146.6,3.5,-2.3,3,154,13.02,2.60,-46.97,0.000,4,0.134,0.060,2519,3303,3476
$GC,406,0.13,-146.6,37.3,-11.7,17,411,0.00,2.50,0.00,0.000,6,0.000,0.040,2519,1899,3476
$GC,730,0.13,-146.6,69.1,-8.2,33,734,0.00,2.55,0.00,0.000,4,0.000,0.048,2519,3304,3476
$GC,987,0.13,-146.6,92.6,-7.6,44,993,0.00,2.53,0.00,0.000,6,0.000,0.041,2518,1893,3476
$GC,1304,0.13,-146.6,119.8,-9.1,60,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1893,3476
$GC,1612,0.13,-146.6,144.8,-8.6,75,1616,0.00,2.58,0.00,0.000,4,0.000,0.064,2519,498,3476
$GC,1869,0.13,-146.6,167.9,-9.7,86,1875,0.00,2.47,0.00,0.000,6,0.000,0.040,2519,1914,3476
$GC,2185,0.13,-146.6,200.5,-10.8,102,2189,0.00,2.50,0.00,0.000,4,0.000,0.051,2519,3295,3476
$GC,2443,0.13,-146.6,229.4,-11.6,113,2449,0.00,2.50,0.00,0.000,6,0.000,0.042,2519,1898,3476
$GC,2758,0.13,-146.6,264.7,-12.2,129,2762,0.00,2.60,0.00,0.000,4,0.000,0.064,2519,493,3476
$GC,2812,0.13,-146.6,272.6,-14.3,131,2819,0.00,2.47,0.00,0.000,6,0.000,0.041,2518,1908,3476
$GC,3128,0.13,-146.6,309.5,-11.9,147,3133,0.00,2.53,0.00,0.000,4,0.000,0.051,2519,3302,3476
$GC,3308,0.13,-146.6,329.9,-10.7,155,3313,0.00,2.50,0.00,0.000,6,0.000,0.043,2518,1899,3476
$GC,3630,0.13,-146.6,365.8,-11.3,171,3634,0.00,2.53,0.00,0.000,4,0.000,0.050,2518,3297,3476
$GC,3886,0.13,-146.6,391.9,-8.0,182,3893,0.00,2.50,0.00,0.000,6,0.000,0.043,2519,1900,3476
$GC,4202,0.13,-146.6,418.7,-8.5,198,4207,0.00,2.53,0.00,0.000,4,0.000,0.051,2518,3295,3476
$GC,4460,0.13,-146.6,436.5,-6.4,209,4466,0.00,2.50,0.00,0.000,6,0.000,0.043,2519,1902,3476
$GC,4776,0.13,-146.6,456.3,-6.3,225,4780,0.00,2.53,0.00,0.000,4,0.000,0.051,2519,3296,3476
$GC,5033,0.13,-146.6,473.4,-8.1,236,5039,0.00,2.50,0.00,0.000,6,0.000,0.043,2519,1900,3476
$GC,5348,0.13,-146.6,505.9,-11.7,252,5353,0.00,2.55,0.00,0.000,4,0.000,0.051,2519,3301,3476
$GC,5605,0.13,-146.6,538.1,-12.1,263,5611,0.00,2.53,0.00,0.000,6,0.000,0.044,2519,1895,3476
$GC,5921,0.13,-146.6,581.5,-14.3,279,5925,0.00,2.58,0.00,0.000,4,0.000,0.054,2519,3301,3476
$GC,6117,0.13,-146.6,603.9,-10.8,288,6121,0.00,2.53,0.00,0.000,6,0.000,0.046,2519,1901,3476
$GC,6443,0.13,-146.6,634.8,-8.6,304,6447,0.00,2.55,0.00,0.000,4,0.000,0.055,2519,3294,3476
$GC,6639,0.13,-146.6,649.8,-7.1,313,6644,0.00,2.50,0.00,0.000,6,0.000,0.045,2519,1900,3476
$GC,6971,0.13,-146.6,675.9,-8.8,329,6975,0.00,2.60,0.00,0.000,4,0.000,0.067,2518,491,3475
$GC,7082,0.13,-146.6,685.4,-8.4,334,7086,0.00,2.47,0.00,0.000,6,0.000,0.045,2519,1904,3476
$GC,7409,0.13,-146.6,719.8,-11.3,350,7413,0.00,2.55,0.00,0.000,4,0.000,0.060,2518,3302,3475
$GC,7497,0.13,-146.6,729.3,-10.3,354,7501,0.00,2.55,0.00,0.000,6,0.000,0.048,2518,1895,3475
$GC,7824,0.13,-146.6,763.2,-11.4,370,7828,0.00,2.60,0.00,0.000,4,0.000,0.060,2519,3301,3475
$GC,7834,0.13,-146.6,764.5,-11.5,370,7841,0.00,2.55,0.00,0.000,6,0.000,0.048,2519,1896,3476
$GC,8150,0.13,-146.6,798.0,-10.0,386,8155,0.00,2.60,0.00,0.000,4,0.000,0.061,2519,3298,3475
$GC,8320,0.13,-146.6,811.6,-7.3,393,8326,0.00,2.55,0.00,0.000,6,0.000,0.051,2519,1897,3475
$GC,8635,0.13,-146.6,829.5,-5.1,409,8640,0.00,2.60,0.00,0.000,4,0.000,0.062,2519,3300,3474
$GC,8765,0.13,-146.6,837.0,-6.1,415,8770,0.00,2.55,0.00,0.000,6,0.000,0.054,2518,1903,3474
$GC,9092,0.13,-146.6,857.1,-6.7,431,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1903,3474
$GC,9402,0.13,-146.6,857.2,0.1,446,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1903,3473
$STATE,9481,end dive,NO_VERTICAL_VELOCITY
$STATE,9481,begin apogee
$GC,9488,-0.36,0.0,857.1,0.0,450,9617,0.45,0.00,126.43,1.369,6,0.045,0.000,2411,2096,2878
$STATE,9618,end apogee,CONTROL_FINISHED_OK
$STATE,9618,begin climb
$GC,9620,-0.13,146.6,856.8,0.0,456,9752,0.22,2.75,125.12,1.322,4,0.053,0.072,2469,691,2280
$GC,10004,0.14,366.2,840.4,5.5,474,10199,0.25,2.55,184.43,1.309,6,0.057,0.052,2526,2100,1384
$GC,10525,0.14,366.2,796.8,9.0,500,10530,0.00,2.67,0.00,0.000,4,0.000,0.072,2526,692,1385
$GC,10707,0.14,366.2,778.9,10.7,508,10711,0.00,2.55,0.00,0.000,6,0.000,0.051,2525,2100,1384
$GC,11027,0.14,366.2,748.2,10.5,524,11031,0.00,2.67,0.00,0.000,4,0.000,0.072,2525,690,1384
$GC,11149,0.14,366.2,732.7,14.0,529,11155,0.00,2.55,0.00,0.000,6,0.000,0.050,2525,2108,1383
$GC,11465,0.14,366.2,687.8,14.4,545,11466,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2109,1383
$GC,11774,0.14,366.2,647.3,11.4,560,11778,0.00,2.67,0.00,0.000,4,0.000,0.070,2526,691,1383
$GC,11806,0.14,366.2,643.4,11.8,561,11812,0.00,2.53,0.00,0.000,6,0.000,0.048,2526,2102,1383
$GC,12122,0.24,444.4,617.2,7.1,577,12192,0.00,2.72,64.72,1.216,4,0.000,0.068,2526,691,1066
$GC,12326,0.24,444.4,600.6,8.2,586,12332,0.00,2.53,0.00,0.000,6,0.000,0.047,2525,2102,1066
$GC,12642,0.24,444.4,571.4,10.3,602,12646,0.00,2.65,0.00,0.000,4,0.000,0.067,2525,687,1066
$GC,12882,0.24,444.4,545.7,11.4,613,12887,0.00,2.53,0.00,0.000,6,0.000,0.045,2526,2097,1066
$GC,13208,0.24,444.4,500.6,14.9,629,13213,0.00,2.62,0.00,0.000,4,0.000,0.065,2525,690,1066
$GC,13287,0.24,444.4,488.8,14.9,632,13294,0.00,2.53,0.00,0.000,6,0.000,0.044,2526,2106,1066
$GC,13603,0.24,444.4,444.0,13.8,648,13607,0.00,2.62,0.00,0.000,4,0.000,0.064,2526,690,1066
$GC,13754,0.24,444.4,424.2,12.8,655,13759,0.00,2.53,0.00,0.000,6,0.000,0.043,2525,2107,1066
$GC,14080,0.24,444.4,380.1,15.1,671,14085,0.00,2.65,0.00,0.000,4,0.000,0.064,2525,690,1067
$GC,14119,0.24,444.4,374.2,15.1,673,14123,0.00,2.50,0.00,0.000,6,0.000,0.042,2526,2099,1067
$GC,14445,0.24,444.4,328.8,13.3,689,14450,0.00,2.62,0.00,0.000,4,0.000,0.062,2526,688,1067
$GC,14703,0.24,444.4,294.2,12.9,700,14710,0.00,2.53,0.00,0.000,6,0.000,0.041,2526,2103,1067
$GC,15019,0.24,444.4,253.7,12.6,716,15023,0.00,2.60,0.00,0.000,4,0.000,0.061,2526,689,1067
$GC,15170,0.24,444.4,236.7,10.8,723,15174,0.00,2.50,0.00,0.000,6,0.000,0.041,2525,2102,1067
$GC,15496,0.24,444.4,206.8,8.2,739,15497,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2105,1068
$GC,15805,0.24,444.4,174.8,11.7,754,15809,0.00,2.53,0.00,0.000,4,0.000,0.051,2526,3496,1068
$GC,15826,0.24,444.4,171.8,13.7,755,15830,0.00,2.47,0.00,0.000,6,0.000,0.041,2526,2092,1068
$GC,16147,0.24,444.4,137.2,11.4,771,16151,0.00,2.58,0.00,0.000,4,0.000,0.062,2526,691,1068
$GC,16376,0.24,444.4,109.2,10.8,781,16381,0.00,2.45,0.00,0.000,6,0.000,0.040,2526,2097,1068
$GC,16698,0.24,444.4,63.8,16.8,797,16703,0.00,2.60,0.00,0.000,4,0.000,0.061,2525,691,1068
$GC,16955,0.24,444.4,22.4,14.4,808,16963,0.00,2.50,0.00,0.000,6,0.000,0.041,2525,2105,1069
$STATE,17126,end climb,SURFACE_DEPTH_REACHED
$STATE,17126,begin surface coast
$FINISH,1.8,1.027547
$STATE,17147,end surface coast,CONTROL_FINISHED_OK
$STATE,17147,begin surface
$SM_CCo,17227,0.00,0.000,0,0,1068,443.99
$SM_GC,2.70,10.70,0.00,0.00,0.029,0.000,0.000,34,1888,1068,-11.26,-0.37,443.99
$IRIDIUM_FIX,6317.84,-1304.41,140108,202018
$TT8_MAMPS,0.026845
$HUMID,2076
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,16.40
$XPDR_PINGS,1
$24V_AH,23.2,60.085
$10V_AH,10.1,29.180
$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,24.650,159.175,500.700,0.000,0.000,37.650,33.688,249.753,7.500,0.000,0.000,15.371,1633.731,12286.361,621.206,2553.979,564.704,33.372,1873.352,0.000,2489.845,0.000,47.810
$DEVICE_MAMPS,134.225,72.098,1369.095,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,599.052,558.243,459.571,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41139,818
$CFSIZE,260165632,240943104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,150108,012326,6345.268,-1318.730,41,1.3,41,-12.5