version: 66.02
glider: 102
mission: 4
dive: 286
start: 1 15 108 12 46 57
data:
$ID,102
$MISSION,4
$DIVE,286
$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,-82038.062
$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,22
$R_STBD_OVSHOOT,20
$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
$GPS1,123255,6346.492,-1320.146,40,1.6,40,-12.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-63.6
$GPS2,124603,6346.632,-1320.361,11,2.0,11,-12.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.058,-0.231
$KALMAN_X,346975.0,323.6,-388.8,-602997.3,-225.5
$KALMAN_Y,21713.0,-2172.0,198.8,227580.3,13293.3
$MHEAD_RNG_PITCHd_Wd,206.5,21992,-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,22,-1.23,-146.5,0.0,0.0,0,66,0.00,0.00,-41.80,0.000,2,0.000,0.000,30,1886,2457
$GC,68,-1.23,-146.6,3.5,-4.2,2,145,11.55,2.62,-56.45,0.000,4,0.137,0.062,2225,3314,3476
$GC,399,-1.23,-146.6,33.3,-10.9,17,403,0.00,2.55,0.00,0.000,6,0.000,0.044,2225,1901,3476
$GC,725,-1.23,-146.6,78.6,-15.3,33,729,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3309,3476
$GC,982,-1.23,-146.6,107.1,-9.2,44,988,0.00,2.55,0.00,0.000,6,0.000,0.044,2225,1905,3476
$GC,1298,-1.23,-146.6,138.9,-10.5,60,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1905,3476
$GC,1606,-1.23,-146.6,168.8,-10.5,75,1611,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3311,3476
$GC,1661,-1.23,-146.6,174.0,-9.3,77,1667,0.00,2.55,0.00,0.000,6,0.000,0.044,2225,1895,3476
$GC,1977,-1.23,-146.6,204.1,-9.4,93,1981,0.00,2.58,0.00,0.000,4,0.000,0.049,2225,3317,3476
$GC,2020,-1.23,-146.6,209.1,-11.1,95,2024,0.00,2.55,0.00,0.000,6,0.000,0.044,2225,1899,3476
$GC,2347,-1.23,-146.6,247.4,-11.3,111,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3476
$GC,2658,-1.23,-146.6,276.2,-9.3,126,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3476
$GC,2966,-1.23,-146.6,307.1,-9.5,141,2970,0.00,2.55,0.00,0.000,4,0.000,0.049,2225,3311,3476
$GC,3020,-1.23,-146.6,312.4,-9.7,143,3027,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1901,3476
$GC,3336,-1.23,-146.6,343.3,-10.4,159,3340,0.00,2.55,0.00,0.000,4,0.000,0.050,2225,3312,3476
$GC,3385,-1.23,-146.6,348.7,-10.1,161,3389,0.00,2.55,0.00,0.000,6,0.000,0.044,2225,1894,3476
$GC,3706,-1.23,-146.6,382.9,-10.1,177,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1894,3476
$GC,4016,-1.23,-146.6,414.6,-9.9,192,4020,0.00,2.58,0.00,0.000,4,0.000,0.051,2225,3311,3476
$GC,4082,-1.23,-146.6,421.3,-9.6,195,4087,0.00,2.55,0.00,0.000,6,0.000,0.045,2225,1895,3476
$GC,4403,-1.23,-146.6,449.5,-9.5,211,4408,0.00,2.58,0.00,0.000,4,0.000,0.051,2225,3315,3476
$GC,4436,-1.23,-146.6,452.7,-9.1,212,4442,0.00,2.55,0.00,0.000,6,0.000,0.046,2224,1901,3476
$GC,4751,-1.23,-146.6,481.6,-9.3,228,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3476
$GC,5061,-1.23,-146.6,512.9,-10.7,243,5065,0.00,2.58,0.00,0.000,4,0.000,0.051,2225,3315,3476
$GC,5155,-1.23,-146.6,522.9,-10.6,247,5159,0.00,2.55,0.00,0.000,6,0.000,0.045,2225,1901,3476
$GC,5476,-1.23,-146.6,554.1,-9.9,263,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1901,3476
$GC,5785,-1.23,-146.6,586.0,-11.5,278,5790,0.00,2.58,0.00,0.000,4,0.000,0.053,2225,3311,3475
$GC,5818,-1.23,-146.6,590.0,-11.7,279,5824,0.00,2.55,0.00,0.000,6,0.000,0.047,2225,1899,3476
$GC,6133,-1.23,-146.6,629.9,-13.4,295,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3476
$GC,6443,-1.23,-146.6,671.6,-12.2,310,6447,0.00,2.60,0.00,0.000,4,0.000,0.055,2225,3314,3476
$GC,6498,-1.23,-146.6,680.1,-15.2,312,6504,0.00,2.55,0.00,0.000,6,0.000,0.050,2225,1903,3476
$GC,6814,-1.23,-146.6,725.8,-14.7,328,6818,0.00,2.60,0.00,0.000,4,0.000,0.058,2225,3315,3476
$GC,6863,-1.23,-146.6,732.1,-13.5,330,6867,0.00,2.58,0.00,0.000,6,0.000,0.051,2225,1899,3476
$GC,7178,-1.23,-146.6,766.3,-11.7,345,7182,0.00,2.60,0.00,0.000,4,0.000,0.061,2225,3307,3476
$GC,7267,-1.23,-146.6,781.5,-17.1,349,7271,0.00,2.58,0.00,0.000,6,0.000,0.055,2224,1902,3475
$GC,7596,-1.23,-146.6,825.1,-11.9,365,7601,0.00,2.60,0.00,0.000,4,0.000,0.062,2225,3308,3476
$GC,7696,-1.23,-146.6,836.5,-11.4,369,7703,0.00,2.60,0.00,0.000,6,0.000,0.057,2225,1899,3476
$GC,8013,-1.23,-146.6,864.6,-8.0,385,8017,0.00,2.65,0.00,0.000,4,0.000,0.079,2225,492,3476
$GC,8084,-1.23,-146.6,871.0,-9.7,388,8088,0.00,2.55,0.00,0.000,6,0.000,0.057,2225,1904,3475
$GC,8405,-1.23,-146.6,895.8,-8.2,404,8409,0.00,2.60,0.00,0.000,4,0.000,0.069,2225,3303,3474
$GC,8661,-1.23,-146.6,904.3,-0.4,415,8668,0.00,2.58,0.00,0.000,6,0.000,0.063,2225,1901,3474
$STATE,8830,end dive,NO_VERTICAL_VELOCITY
$STATE,8830,begin apogee
$GC,8836,-0.36,0.0,904.2,0.0,424,8967,0.88,0.00,127.18,1.400,6,0.064,0.000,2420,2103,2878
$STATE,8968,end apogee,CONTROL_FINISHED_OK
$STATE,8968,begin climb
$GC,8970,1.23,146.6,904.0,0.0,430,9104,1.55,2.78,125.12,1.359,4,0.058,0.074,2762,684,2279
$GC,9360,1.30,206.6,902.4,5.7,448,9422,0.00,2.58,51.60,1.367,6,0.000,0.055,2763,2100,2035
$GC,9732,1.33,231.0,873.3,7.1,466,9762,0.10,2.83,21.85,1.361,4,0.059,0.080,2792,687,1935
$GC,10014,1.33,231.0,841.4,11.2,478,10021,0.00,2.58,0.00,0.000,6,0.000,0.054,2793,2102,1935
$GC,10330,1.33,231.0,806.9,10.7,494,10335,0.00,2.62,0.00,0.000,4,0.000,0.066,2792,3508,1934
$GC,10373,1.33,231.0,801.5,12.2,496,10378,0.00,2.60,0.00,0.000,6,0.000,0.058,2793,2100,1934
$GC,10694,1.33,231.0,763.7,11.2,512,10699,0.00,2.62,0.00,0.000,4,0.000,0.062,2793,3502,1933
$GC,10721,1.33,231.0,760.8,10.5,513,10726,0.00,2.58,0.00,0.000,6,0.000,0.055,2792,2099,1933
$GC,11043,1.33,231.0,712.1,16.8,529,11047,0.00,2.62,0.00,0.000,4,0.000,0.061,2793,3504,1933
$GC,11194,1.33,231.0,683.1,17.6,536,11199,0.00,2.58,0.00,0.000,6,0.000,0.052,2792,2096,1932
$GC,11521,1.33,231.0,633.1,14.0,552,11522,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2096,1932
$GC,11830,1.33,231.0,586.2,13.2,567,11834,0.00,2.60,0.00,0.000,4,0.000,0.056,2792,3505,1932
$GC,11924,1.33,231.0,573.8,13.1,571,11928,0.00,2.55,0.00,0.000,6,0.000,0.048,2792,2090,1932
$GC,12245,1.33,231.0,531.0,13.6,587,12249,0.00,2.60,0.00,0.000,4,0.000,0.054,2792,3505,1932
$GC,12323,1.33,231.0,519.3,15.1,590,12329,0.00,2.53,0.00,0.000,6,0.000,0.047,2792,2099,1932
$GC,12639,1.33,231.0,475.7,13.3,606,12643,0.00,2.58,0.00,0.000,4,0.000,0.053,2792,3503,1932
$GC,12756,1.33,231.0,460.0,14.7,611,12760,0.00,2.53,0.00,0.000,6,0.000,0.045,2793,2095,1932
$GC,13071,1.33,231.0,417.8,14.1,626,13075,0.00,2.58,0.00,0.000,4,0.000,0.052,2793,3505,1933
$GC,13155,1.33,231.0,405.3,14.3,630,13159,0.00,2.53,0.00,0.000,6,0.000,0.045,2793,2098,1933
$GC,13481,1.33,231.0,370.1,9.2,646,13485,0.00,2.55,0.00,0.000,4,0.000,0.052,2793,3504,1934
$GC,13537,1.33,231.0,364.8,9.4,648,13543,0.00,2.53,0.00,0.000,6,0.000,0.044,2793,2095,1934
$GC,13852,1.33,231.0,340.4,8.5,664,13856,0.00,2.58,0.00,0.000,4,0.000,0.052,2793,3508,1934
$GC,13879,1.36,252.6,338.3,7.2,665,13903,0.00,2.53,17.98,1.053,6,0.000,0.043,2793,2092,1848
$GC,14220,1.36,252.6,307.9,10.0,682,14224,0.00,2.58,0.00,0.000,4,0.000,0.053,2793,3503,1847
$GC,14247,1.36,252.6,305.3,9.3,683,14251,0.00,2.53,0.00,0.000,6,0.000,0.044,2792,2093,1848
$GC,14568,1.40,284.3,278.0,6.8,699,14602,0.00,2.67,26.67,0.996,4,0.000,0.052,2793,3507,1718
$GC,14647,1.40,284.3,269.6,10.5,702,14654,0.00,2.55,0.00,0.000,6,0.000,0.044,2792,2093,1718
$GC,14963,1.45,323.8,241.8,6.5,718,14997,0.00,0.00,32.25,0.958,6,0.000,0.000,2793,2093,1557
$GC,15291,1.45,323.8,216.6,9.3,734,15293,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2092,1557
$GC,15601,1.55,406.9,196.6,4.8,749,15669,0.17,0.00,65.47,0.914,6,0.048,0.000,2842,2092,1219
$GC,15991,1.55,406.9,148.8,9.5,768,15993,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2092,1218
$GC,16301,1.55,406.9,119.3,8.3,783,16305,0.00,2.60,0.00,0.000,4,0.000,0.049,2843,3508,1219
$GC,16318,1.55,406.9,117.5,10.4,784,16323,0.00,2.55,0.00,0.000,6,0.000,0.044,2842,2094,1219
$GC,16645,1.56,417.8,97.4,7.6,800,16660,0.00,2.65,9.95,0.897,4,0.000,0.066,2842,694,1174
$GC,16688,1.62,466.3,94.3,6.2,801,16733,0.00,2.53,38.38,0.842,6,0.000,0.041,2842,2123,976
$GC,17058,1.62,466.3,47.3,13.4,819,17062,0.00,2.70,0.00,0.000,4,0.000,0.068,2842,692,976
$GC,17112,1.62,466.3,39.4,13.6,821,17119,0.00,2.50,0.00,0.000,6,0.000,0.041,2842,2115,976
$STATE,17385,end climb,SURFACE_DEPTH_REACHED
$STATE,17385,begin surface coast
$FINISH,1.9,1.008996
$STATE,17406,end surface coast,CONTROL_FINISHED_OK
$STATE,17407,begin surface
$SM_CCo,17489,0.00,0.000,0,0,976,466.56
$SM_GC,2.61,12.10,0.00,0.00,0.028,0.000,0.000,28,1893,976,-11.27,-0.20,466.56
$IRIDIUM_FIX,6317.84,-1324.45,150108,161659
$TT8_MAMPS,0.026845
$HUMID,2064
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.30
$XPDR_PINGS,3
$24V_AH,23.1,60.703
$10V_AH,10.1,29.459
$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,26.350,165.850,516.450,0.000,0.000,109.927,116.886,310.682,8.500,0.000,0.000,13.851,1569.513,13159.482,645.196,2109.574,789.621,33.361,1724.263,0.000,2058.656,0.000,51.027
$DEVICE_MAMPS,136.526,79.768,1399.775,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,611.127,562.656,471.657,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41091,836
$CFSIZE,260165632,240730112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,150108,173938,6347.368,-1319.500,38,1.0,38,-12.5