version: 66.02
glider: 102
mission: 4
dive: 285
start: 1 15 108 7 9 33
data:
$ID,102
$MISSION,4
$DIVE,285
$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,-82023.578
$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,30
$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
$GPS1,064908,6346.146,-1318.251,39,1.4,39,-12.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-51.6
$GPS2,070839,6346.239,-1318.890,13,1.4,13,-12.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.000,-0.238
$KALMAN_X,349662.8,-731.9,-283.0,-603474.2,3466.6
$KALMAN_Y,17369.2,-243.7,-2432.6,231849.2,22546.4
$MHEAD_RNG_PITCHd_Wd,192.5,21060,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,128,0.00,0.00,-102.07,0.000,2,0.000,0.000,30,1873,2587
$GC,131,-1.23,-146.6,3.6,-1.3,5,186,11.52,2.62,-36.62,0.000,4,0.137,0.060,2221,3295,3477
$GC,441,-1.23,-146.6,39.2,-10.5,19,445,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1908,3477
$GC,767,-1.23,-146.6,75.3,-12.2,35,771,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3295,3477
$GC,1024,-1.23,-146.6,103.6,-11.5,46,1030,0.00,2.55,0.00,0.000,6,0.000,0.044,2222,1885,3477
$GC,1340,-1.23,-146.6,129.8,-8.3,62,1344,0.00,2.58,0.00,0.000,4,0.000,0.048,2221,3299,3477
$GC,1372,-1.23,-146.6,132.4,-6.9,63,1379,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1899,3477
$GC,1688,-1.23,-146.6,159.3,-9.4,79,1692,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3302,3477
$GC,1727,-1.23,-146.6,163.1,-9.9,81,1731,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1901,3477
$GC,2053,-1.23,-146.6,198.4,-10.7,97,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3477
$GC,2362,-1.23,-146.6,229.6,-10.8,112,2367,0.00,2.55,0.00,0.000,4,0.000,0.048,2221,3302,3477
$GC,2451,-1.23,-146.6,238.1,-9.3,116,2455,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1900,3477
$GC,2778,-1.23,-146.6,268.2,-9.1,132,2782,0.00,2.55,0.00,0.000,4,0.000,0.049,2222,3304,3477
$GC,2855,-1.23,-146.6,275.0,-8.2,135,2863,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1901,3477
$GC,3171,-1.23,-146.6,302.8,-9.1,151,3175,0.00,2.55,0.00,0.000,4,0.000,0.049,2221,3304,3477
$GC,3197,-1.23,-146.6,305.3,-9.4,152,3201,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1901,3477
$GC,3519,-1.23,-146.6,338.1,-10.8,168,3523,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3297,3477
$GC,3551,-1.23,-146.6,341.7,-10.9,169,3557,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1894,3477
$GC,3868,-1.23,-146.6,375.5,-10.1,185,3872,0.00,2.55,0.00,0.000,4,0.000,0.051,2221,3297,3477
$GC,3912,-1.23,-146.6,380.3,-10.4,187,3916,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1895,3477
$GC,4232,-1.23,-146.6,414.3,-10.5,203,4236,0.00,2.55,0.00,0.000,4,0.000,0.051,2221,3297,3477
$GC,4275,-1.23,-146.6,418.9,-10.3,205,4279,0.00,2.53,0.00,0.000,6,0.000,0.045,2221,1896,3477
$GC,4603,-1.23,-146.6,453.6,-11.1,221,4607,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3297,3477
$GC,4629,-1.23,-146.6,456.9,-11.5,222,4633,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1898,3477
$GC,4950,-1.23,-146.6,490.7,-9.9,238,4955,0.00,2.55,0.00,0.000,4,0.000,0.051,2221,3297,3477
$GC,4983,-1.23,-146.6,493.9,-9.1,239,4989,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1899,3477
$GC,5298,-1.23,-146.6,523.9,-9.4,255,5303,0.00,2.55,0.00,0.000,4,0.000,0.051,2221,3298,3477
$GC,5365,-1.23,-146.6,530.2,-9.5,258,5369,0.00,2.53,0.00,0.000,6,0.000,0.046,2222,1901,3477
$GC,5692,-1.23,-146.6,561.0,-9.7,274,5696,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3302,3477
$GC,5753,-1.23,-146.6,566.9,-9.1,277,5757,0.00,2.55,0.00,0.000,6,0.000,0.047,2222,1895,3477
$GC,6079,-1.23,-146.6,591.0,-5.6,293,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1895,3477
$GC,6388,-1.23,-146.6,611.1,-6.6,308,6393,0.00,2.58,0.00,0.000,4,0.000,0.054,2222,3299,3477
$GC,6416,-1.23,-146.6,613.2,-7.7,309,6420,0.00,2.53,0.00,0.000,6,0.000,0.048,2221,1898,3476
$GC,6731,-1.23,-146.6,642.0,-11.0,324,6736,0.00,2.62,0.00,0.000,4,0.000,0.072,2221,495,3476
$GC,6764,-1.23,-146.6,646.0,-12.2,325,6771,0.00,2.50,0.00,0.000,6,0.000,0.046,2222,1899,3477
$GC,7081,-1.23,-146.6,676.3,-8.8,341,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3477
$GC,7389,-1.23,-146.6,702.2,-9.7,356,7394,0.00,2.58,0.00,0.000,4,0.000,0.059,2221,3300,3476
$GC,7512,-1.23,-146.6,715.3,-10.1,361,7518,0.00,2.55,0.00,0.000,6,0.000,0.053,2222,1903,3477
$GC,7827,-1.23,-146.6,745.5,-8.9,377,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1903,3477
$GC,8137,-1.23,-146.6,774.8,-10.9,392,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1903,3477
$GC,8446,-1.23,-146.6,805.1,-9.2,407,8450,0.00,2.60,0.00,0.000,4,0.000,0.062,2222,3301,3476
$GC,8489,-1.23,-146.6,808.7,-8.2,409,8493,0.00,2.58,0.00,0.000,6,0.000,0.055,2221,1900,3476
$GC,8816,-1.23,-146.6,837.3,-10.6,425,8821,0.00,2.67,0.00,0.000,4,0.000,0.077,2221,486,3476
$GC,8866,-1.23,-146.6,842.9,-11.3,427,8870,0.00,2.55,0.00,0.000,6,0.000,0.054,2222,1900,3475
$GC,9188,-1.23,-146.6,875.6,-9.8,443,9192,0.00,2.62,0.00,0.000,4,0.000,0.067,2222,3304,3475
$GC,9237,-1.23,-146.6,880.5,-9.9,445,9241,0.00,2.60,0.00,0.000,6,0.000,0.061,2221,1896,3475
$GC,9552,-1.23,-146.6,908.2,-8.5,460,9556,0.00,2.62,0.00,0.000,4,0.000,0.067,2222,3303,3474
$GC,9647,-1.23,-146.6,914.6,-0.4,464,9651,0.00,2.60,0.00,0.000,6,0.000,0.058,2221,1894,3474
$STATE,9960,end dive,NO_VERTICAL_VELOCITY
$STATE,9960,begin apogee
$GC,9966,-0.36,0.0,914.5,0.0,479,10096,0.90,0.00,127.22,1.406,6,0.061,0.000,2424,2105,2878
$STATE,10097,end apogee,CONTROL_FINISHED_OK
$STATE,10097,begin climb
$GC,10100,1.23,146.6,914.3,0.0,485,10236,1.52,2.83,126.07,1.364,4,0.051,0.076,2765,691,2280
$GC,10492,1.25,163.3,898.1,7.4,503,10513,0.00,2.58,15.05,1.351,6,0.000,0.054,2765,2100,2212
$GC,10822,1.26,175.1,873.7,7.5,519,10843,0.00,2.78,11.23,1.348,4,0.000,0.076,2765,688,2163
$GC,10870,1.29,192.9,870.1,7.3,521,10892,0.00,2.60,16.40,1.347,6,0.000,0.054,2765,2106,2091
$GC,11213,1.29,192.9,843.4,8.5,538,11218,0.00,2.62,0.00,0.000,4,0.000,0.066,2765,3506,2090
$GC,11263,1.29,192.9,838.3,11.0,540,11267,0.00,2.60,0.00,0.000,6,0.000,0.057,2765,2102,2090
$GC,11578,1.36,250.7,813.3,5.8,555,11634,0.12,2.70,49.08,1.355,4,0.051,0.063,2802,3506,1855
$GC,11697,1.36,250.7,803.5,9.3,560,11701,0.00,2.62,0.00,0.000,6,0.000,0.054,2801,2099,1854
$GC,12012,1.36,250.7,772.2,9.9,575,12016,0.00,2.62,0.00,0.000,4,0.000,0.060,2802,3505,1854
$GC,12141,1.36,250.7,758.2,11.8,581,12146,0.00,2.60,0.00,0.000,6,0.000,0.054,2802,2097,1854
$GC,12468,1.36,250.7,727.3,8.9,597,12472,0.00,2.62,0.00,0.000,4,0.000,0.059,2802,3505,1853
$GC,12522,1.36,250.7,722.2,9.0,599,12528,0.00,2.58,0.00,0.000,6,0.000,0.052,2802,2098,1853
$GC,12838,1.36,250.7,693.7,8.6,615,12842,0.00,2.62,0.00,0.000,4,0.000,0.057,2802,3508,1853
$GC,12876,1.36,250.7,689.8,10.6,617,12881,0.00,2.58,0.00,0.000,6,0.000,0.050,2802,2096,1853
$GC,13203,1.36,250.7,657.7,10.7,633,13207,0.00,2.60,0.00,0.000,4,0.000,0.055,2802,3509,1853
$GC,13252,1.36,250.7,652.2,11.0,635,13256,0.00,2.55,0.00,0.000,6,0.000,0.048,2802,2102,1853
$GC,13573,1.36,250.7,619.3,8.8,651,13578,0.00,2.55,0.00,0.000,4,0.000,0.054,2802,3506,1854
$GC,13629,1.37,259.0,614.6,7.7,653,13644,0.00,2.55,7.95,1.243,6,0.000,0.047,2802,2098,1821
$GC,13966,1.37,259.0,587.7,9.1,670,13970,0.00,2.58,0.00,0.000,4,0.000,0.053,2802,3506,1821
$GC,13998,1.37,259.0,584.5,9.1,671,14004,0.00,2.55,0.00,0.000,6,0.000,0.046,2802,2095,1822
$GC,14314,1.37,259.0,549.7,11.4,687,14318,0.00,2.60,0.00,0.000,4,0.000,0.054,2802,3506,1822
$GC,14458,1.37,259.0,532.7,11.3,693,14464,0.00,2.53,0.00,0.000,6,0.000,0.046,2802,2100,1823
$GC,14773,1.37,259.0,501.3,9.9,709,14778,0.00,2.55,0.00,0.000,4,0.000,0.051,2802,3509,1823
$GC,14823,1.37,259.0,495.6,11.1,711,14828,0.00,2.53,0.00,0.000,6,0.000,0.045,2802,2100,1823
$GC,15139,1.37,259.0,459.6,11.6,726,15143,0.00,2.58,0.00,0.000,4,0.000,0.051,2802,3506,1824
$GC,15193,1.37,259.0,453.4,12.2,728,15200,0.00,2.53,0.00,0.000,6,0.000,0.045,2802,2101,1823
$GC,15509,1.37,259.0,419.1,11.0,744,15514,0.00,2.55,0.00,0.000,4,0.000,0.051,2802,3507,1824
$GC,15542,1.37,259.0,415.6,10.3,745,15549,0.00,2.55,0.00,0.000,6,0.000,0.045,2802,2101,1824
$GC,15858,1.37,259.0,378.9,12.0,761,15862,0.00,2.55,0.00,0.000,4,0.000,0.051,2802,3506,1824
$GC,15901,1.37,259.0,373.3,12.0,763,15906,0.00,2.53,0.00,0.000,6,0.000,0.044,2802,2098,1824
$GC,16222,1.37,259.0,337.3,10.4,779,16226,0.00,2.58,0.00,0.000,4,0.000,0.051,2802,3511,1824
$GC,16278,1.37,259.0,330.7,11.6,781,16283,0.00,2.55,0.00,0.000,6,0.000,0.043,2802,2095,1824
$GC,16593,1.37,259.0,297.5,10.8,797,16597,0.00,2.58,0.00,0.000,4,0.000,0.051,2802,3506,1824
$GC,16625,1.37,259.0,293.7,10.7,798,16631,0.00,2.53,0.00,0.000,6,0.000,0.044,2802,2093,1824
$GC,16940,1.37,259.0,262.0,9.9,814,16945,0.00,2.60,0.00,0.000,4,0.000,0.051,2802,3510,1825
$GC,17003,1.37,259.0,255.3,12.0,817,17007,0.00,2.53,0.00,0.000,6,0.000,0.043,2802,2098,1825
$GC,17329,1.37,259.0,220.4,10.3,833,17333,0.00,2.58,0.00,0.000,4,0.000,0.051,2802,3506,1825
$GC,17361,1.37,259.0,217.0,9.7,834,17367,0.00,2.50,0.00,0.000,6,0.000,0.043,2802,2099,1826
$GC,17677,1.37,259.0,183.1,11.4,850,17681,0.00,2.55,0.00,0.000,4,0.000,0.050,2802,3507,1826
$GC,17720,1.37,259.0,177.4,13.3,852,17724,0.00,2.50,0.00,0.000,6,0.000,0.042,2802,2095,1826
$GC,18047,1.37,259.0,135.0,13.6,868,18051,0.00,2.58,0.00,0.000,4,0.000,0.050,2802,3509,1826
$GC,18102,1.37,259.0,127.3,14.1,870,18108,0.00,2.50,0.00,0.000,6,0.000,0.041,2802,2099,1826
$GC,18417,1.37,259.0,87.3,13.0,886,18422,0.00,2.55,0.00,0.000,4,0.000,0.049,2802,3507,1826
$GC,18457,1.37,259.0,82.4,14.2,888,18461,0.00,2.47,0.00,0.000,6,0.000,0.041,2802,2099,1826
$GC,18784,1.37,259.0,47.1,10.0,904,18788,0.00,2.55,0.00,0.000,4,0.000,0.049,2802,3507,1826
$GC,18810,1.37,259.0,44.2,10.3,905,18814,0.00,2.50,0.00,0.000,6,0.000,0.041,2802,2093,1826
$GC,19132,1.37,263.5,12.7,7.8,921,19143,0.00,2.60,5.85,0.874,4,0.000,0.049,2802,3510,1802
$GC,19182,1.37,263.5,6.9,10.9,923,19186,0.00,2.53,0.00,0.000,6,0.000,0.041,2802,2098,1802
$STATE,19228,end climb,SURFACE_DEPTH_REACHED
$STATE,19228,begin surface coast
$FINISH,1.9,1.021284
$STATE,19249,end surface coast,CONTROL_FINISHED_OK
$STATE,19249,begin surface
$SM_CCo,19271,33.30,0.808,4,0,1655,300.00
$SM_GC,2.63,0.00,0.00,33.30,0.000,0.000,0.808,30,1887,1655,-11.33,-0.37,300.00
$IRIDIUM_FIX,6322.64,-1316.10,150108,111109
$TT8_MAMPS,0.026845
$HUMID,2061
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.50
$XPDR_PINGS,4
$24V_AH,23.1,60.498
$10V_AH,10.1,29.371
$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,26.025,231.650,358.850,33.300,0.000,148.964,148.439,547.603,8.750,0.000,0.000,14.494,1760.908,14665.823,648.674,2270.552,1151.403,33.362,1820.267,0.000,2212.862,0.000,51.038
$DEVICE_MAMPS,136.526,77.467,1405.911,808.418,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,675.470,624.355,507.593,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47422,926
$CFSIZE,260165632,240771072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,4,0
$GPS,150108,123255,6346.492,-1320.146,40,1.6,40,-12.5