version: 66.02
glider: 102
mission: 4
dive: 287
start: 1 15 108 17 46 38
data:
$ID,102
$MISSION,4
$DIVE,287
$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,-82050.727
$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,28
$R_STBD_OVSHOOT,39
$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
$GPS1,173938,6347.368,-1319.500,38,1.0,38,-12.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-60.6
$GPS2,174544,6347.385,-1319.653,10,1.3,10,-12.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.060,-0.230
$KALMAN_X,348039.4,428.7,634.0,-604606.0,-1683.3
$KALMAN_Y,30888.4,-2979.0,-1640.3,222391.9,23322.9
$MHEAD_RNG_PITCHd_Wd,207.0,23256,-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,20,begin dive
$GC,23,-1.23,-146.6,0.0,0.0,0,106,0.00,0.00,-81.25,0.000,2,0.000,0.000,28,1887,2532
$GC,109,-1.23,-146.6,3.6,-1.6,4,172,11.55,2.62,-40.58,0.000,4,0.136,0.079,2225,499,3476
$GC,269,-1.23,-146.6,18.6,-12.8,11,273,0.00,2.47,0.00,0.000,6,0.000,0.042,2224,1896,3476
$GC,591,-1.23,-146.6,50.8,-11.6,27,595,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3297,3476
$GC,653,-1.23,-146.6,58.5,-11.8,30,657,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1899,3476
$GC,979,-1.23,-146.6,100.5,-11.5,46,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3476
$GC,1288,-1.23,-146.6,132.0,-11.2,61,1292,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3300,3476
$GC,1343,-1.23,-146.6,137.1,-8.6,63,1349,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1898,3476
$GC,1658,-1.23,-146.6,163.9,-7.4,79,1663,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3306,3476
$GC,1691,-1.23,-146.6,165.9,-6.0,80,1698,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1902,3476
$GC,2008,-1.23,-146.6,192.4,-11.3,96,2012,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3301,3476
$GC,2057,-1.23,-146.6,197.0,-8.4,98,2061,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1892,3476
$GC,2381,-1.23,-146.6,225.1,-6.5,114,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1892,3476
$GC,2688,-1.23,-146.6,257.4,-9.6,129,2692,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3302,3476
$GC,2798,-1.23,-146.6,273.7,-14.1,134,2802,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1900,3476
$GC,3125,-1.23,-146.6,324.5,-16.0,150,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3476
$GC,3435,-1.23,-146.6,362.4,-10.6,165,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3476
$GC,3744,-1.23,-146.6,394.6,-9.2,180,3748,0.00,2.53,0.00,0.000,4,0.000,0.051,2225,3298,3476
$GC,3817,-1.23,-146.6,401.0,-7.8,183,3822,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1894,3476
$GC,4132,-1.23,-146.6,435.7,-12.4,198,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3476
$GC,4444,-1.23,-146.6,475.1,-12.9,213,4448,0.00,2.55,0.00,0.000,4,0.000,0.051,2225,3299,3476
$GC,4506,-1.23,-146.6,483.4,-11.6,216,4510,0.00,2.53,0.00,0.000,6,0.000,0.047,2224,1901,3476
$GC,4832,-1.23,-146.6,517.5,-10.8,232,4836,0.00,2.55,0.00,0.000,4,0.000,0.051,2225,3298,3476
$GC,4899,-1.23,-146.6,525.1,-11.0,235,4903,0.00,2.53,0.00,0.000,6,0.000,0.047,2225,1899,3476
$GC,5220,-1.23,-146.6,558.6,-9.6,251,5224,0.00,2.55,0.00,0.000,4,0.000,0.052,2224,3297,3476
$GC,5252,-1.23,-146.6,561.9,-9.3,252,5258,0.00,2.55,0.00,0.000,6,0.000,0.048,2225,1894,3476
$GC,5568,-1.23,-146.6,590.1,-9.1,268,5572,0.00,2.58,0.00,0.000,4,0.000,0.054,2225,3301,3476
$GC,5589,-1.23,-146.6,592.2,-9.4,269,5594,0.00,2.55,0.00,0.000,6,0.000,0.048,2224,1896,3476
$GC,5910,-1.23,-146.6,622.5,-8.6,285,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1896,3476
$GC,6220,-1.23,-146.6,651.5,-10.1,300,6225,0.00,2.65,0.00,0.000,4,0.000,0.074,2225,489,3476
$GC,6282,-1.23,-146.6,657.2,-8.9,303,6286,0.00,2.50,0.00,0.000,6,0.000,0.047,2225,1897,3476
$GC,6607,-1.23,-146.6,687.0,-9.6,319,6612,0.00,2.58,0.00,0.000,4,0.000,0.060,2224,3301,3476
$GC,6783,-1.23,-146.6,706.7,-11.9,327,6788,0.00,2.58,0.00,0.000,6,0.000,0.054,2224,1897,3476
$GC,7110,-1.23,-146.6,743.6,-11.7,343,7114,0.00,2.60,0.00,0.000,4,0.000,0.061,2225,3304,3476
$GC,7148,-1.23,-146.6,748.2,-13.2,345,7153,0.00,2.58,0.00,0.000,6,0.000,0.054,2224,1902,3476
$GC,7475,-1.23,-146.6,785.8,-8.9,361,7480,0.00,2.65,0.00,0.000,4,0.000,0.077,2224,493,3476
$GC,7519,-1.23,-146.6,789.6,-8.6,363,7523,0.00,2.53,0.00,0.000,6,0.000,0.054,2225,1900,3476
$GC,7846,-1.23,-146.6,817.3,-9.3,379,7850,0.00,2.60,0.00,0.000,4,0.000,0.064,2224,3303,3475
$GC,7907,-1.23,-146.6,823.4,-10.4,382,7912,0.00,2.58,0.00,0.000,6,0.000,0.060,2224,1903,3475
$GC,8233,-1.23,-146.6,857.3,-10.7,398,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1903,3474
$GC,8543,-1.23,-146.6,885.4,-7.6,413,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1903,3473
$GC,8852,-1.23,-146.6,912.9,-8.7,428,8856,0.00,2.60,0.00,0.000,4,0.000,0.067,2224,3303,3474
$GC,9111,-1.23,-146.6,917.6,0.2,439,9117,0.00,2.60,0.00,0.000,6,0.000,0.061,2224,1899,3473
$STATE,9238,end dive,NO_VERTICAL_VELOCITY
$STATE,9238,begin apogee
$GC,9244,-0.36,0.0,917.5,0.0,446,9374,0.88,0.00,126.65,1.425,6,0.060,0.000,2422,2101,2878
$STATE,9375,end apogee,CONTROL_FINISHED_OK
$STATE,9375,begin climb
$GC,9377,1.23,146.6,917.2,0.0,452,9512,1.50,2.80,124.82,1.394,4,0.047,0.080,2763,690,2279
$GC,9632,1.23,146.6,902.6,8.7,464,9637,0.00,2.60,0.00,0.000,6,0.000,0.054,2764,2104,2279
$GC,9959,1.25,169.0,880.0,7.2,480,9983,0.00,2.67,19.70,1.393,4,0.000,0.068,2763,3502,2189
$GC,10079,1.25,169.0,869.8,9.0,485,10084,0.00,2.62,0.00,0.000,6,0.000,0.058,2763,2095,2188
$GC,10395,1.29,197.1,846.6,6.9,500,10425,0.00,2.70,24.73,1.394,4,0.000,0.065,2763,3503,2074
$GC,10520,1.29,197.1,836.7,8.3,505,10527,0.00,2.60,0.00,0.000,6,0.000,0.056,2764,2097,2073
$GC,10836,1.29,197.1,803.7,11.5,521,10840,0.00,2.62,0.00,0.000,4,0.000,0.064,2763,3503,2073
$GC,10862,1.29,197.1,800.3,12.7,522,10867,0.00,2.58,0.00,0.000,6,0.000,0.055,2763,2102,2073
$GC,11184,1.29,197.1,763.6,9.6,538,11185,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2102,2073
$GC,11493,1.33,229.6,735.8,6.8,553,11527,0.00,2.70,27.80,1.353,4,0.000,0.061,2764,3499,1941
$GC,11590,1.33,229.6,726.5,10.6,557,11595,0.00,2.58,0.00,0.000,6,0.000,0.053,2763,2098,1941
$GC,11905,1.33,229.6,698.0,10.3,572,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2098,1941
$GC,12214,1.33,229.6,668.3,9.2,587,12219,0.00,2.60,0.00,0.000,4,0.000,0.059,2763,3504,1940
$GC,12254,1.33,229.6,664.9,8.8,589,12259,0.00,2.58,0.00,0.000,6,0.000,0.050,2763,2093,1940
$GC,12580,1.37,265.6,641.4,6.6,605,12617,0.15,2.70,30.77,1.278,4,0.051,0.058,2804,3507,1794
$GC,12650,1.37,265.6,635.5,9.0,607,12654,0.00,2.58,0.00,0.000,6,0.000,0.050,2804,2100,1794
$GC,12966,1.37,265.6,610.1,8.8,622,12967,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2100,1794
$GC,13275,1.37,265.6,573.6,12.9,637,13279,0.00,2.60,0.00,0.000,4,0.000,0.055,2804,3510,1794
$GC,13325,1.37,265.6,566.5,14.9,639,13329,0.00,2.58,0.00,0.000,6,0.000,0.047,2804,2099,1795
$GC,13640,1.37,265.6,526.7,11.4,654,13645,0.00,2.58,0.00,0.000,4,0.000,0.054,2804,3506,1795
$GC,13695,1.37,265.6,519.9,11.9,656,13703,0.00,2.55,0.00,0.000,6,0.000,0.048,2805,2095,1795
$GC,14011,1.37,265.6,483.2,11.7,672,14016,0.00,2.60,0.00,0.000,4,0.000,0.054,2804,3506,1796
$GC,14061,1.37,265.6,477.0,11.8,674,14065,0.00,2.53,0.00,0.000,6,0.000,0.046,2804,2101,1796
$GC,14382,1.37,265.6,438.0,12.8,690,14386,0.00,2.60,0.00,0.000,4,0.000,0.054,2805,3510,1796
$GC,14436,1.37,265.6,431.3,11.8,692,14443,0.00,2.55,0.00,0.000,6,0.000,0.047,2804,2096,1796
$GC,14752,1.37,265.6,397.3,10.5,708,14757,0.00,2.60,0.00,0.000,4,0.000,0.054,2804,3509,1796
$GC,14815,1.37,265.6,390.7,10.0,711,14819,0.00,2.55,0.00,0.000,6,0.000,0.046,2804,2096,1797
$GC,15141,1.37,265.6,353.4,11.7,727,15145,0.00,2.60,0.00,0.000,4,0.000,0.052,2804,3512,1797
$GC,15161,1.37,265.6,350.8,11.6,728,15166,0.00,2.53,0.00,0.000,6,0.000,0.044,2804,2099,1797
$GC,15488,1.37,265.6,317.8,9.4,744,15489,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2099,1797
$GC,15797,1.37,265.6,282.6,12.1,759,15802,0.00,2.58,0.00,0.000,4,0.000,0.051,2804,3507,1797
$GC,15839,1.37,265.6,277.8,11.4,761,15844,0.00,2.53,0.00,0.000,6,0.000,0.043,2804,2095,1798
$GC,16165,1.37,265.6,243.4,9.1,777,16170,0.00,2.58,0.00,0.000,4,0.000,0.051,2804,3506,1798
$GC,16266,1.37,265.6,233.0,12.1,781,16272,0.00,2.50,0.00,0.000,6,0.000,0.043,2805,2100,1798
$GC,16581,1.37,265.6,202.7,9.8,797,16585,0.00,2.55,0.00,0.000,4,0.000,0.051,2805,3507,1798
$GC,16665,1.37,265.6,193.9,11.3,801,16669,0.00,2.53,0.00,0.000,6,0.000,0.043,2804,2092,1798
$GC,16991,1.37,265.6,162.6,10.5,817,16995,0.00,2.58,0.00,0.000,4,0.000,0.051,2805,3506,1798
$GC,17057,1.37,265.6,154.6,11.0,820,17061,0.00,2.50,0.00,0.000,6,0.000,0.042,2804,2098,1798
$GC,17386,1.37,265.6,118.2,11.3,836,17387,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2098,1799
$GC,17694,1.37,265.6,88.9,11.7,851,17698,0.00,2.58,0.00,0.000,4,0.000,0.050,2804,3510,1799
$GC,17726,1.37,265.6,85.0,11.3,852,17733,0.00,2.50,0.00,0.000,6,0.000,0.040,2804,2098,1799
$GC,18042,1.37,265.6,49.4,11.2,868,18046,0.00,2.55,0.00,0.000,4,0.000,0.049,2804,3506,1799
$GC,18097,1.37,265.6,44.1,9.4,870,18103,0.00,2.50,0.00,0.000,6,0.000,0.041,2804,2095,1799
$GC,18412,1.37,265.6,8.9,9.8,886,18417,0.00,2.58,0.00,0.000,4,0.000,0.049,2804,3512,1799
$STATE,18477,end climb,SURFACE_DEPTH_REACHED
$STATE,18477,begin surface coast
$FINISH,1.8,1.027412
$STATE,18483,end surface coast,CONTROL_FINISHED_OK
$STATE,18483,begin surface
$SM_CCo,18508,32.97,0.841,4,0,1654,300.00
$SM_GC,2.50,0.00,0.00,32.97,0.000,0.000,0.841,31,1893,1654,-11.33,-0.20,300.00
$IRIDIUM_FIX,6322.64,-1340.92,150108,161635
$TT8_MAMPS,0.026078
$HUMID,2074
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,18.50
$XPDR_PINGS,1
$24V_AH,23.1,60.866
$10V_AH,10.1,29.544
$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,26.025,190.950,354.475,32.975,0.000,38.072,35.513,180.362,8.000,0.000,0.000,12.037,1678.312,14035.449,595.156,2101.773,519.304,33.366,1674.153,0.000,2056.094,0.000,51.029
$DEVICE_MAMPS,135.759,79.768,1425.086,841.399,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,656.693,600.359,492.223,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44217,889
$CFSIZE,260165632,240656384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,4,0
$GPS,150108,225708,6346.053,-1323.241,31,1.2,31,-12.6