version: 66.02
glider: 102
mission: 4
dive: 290
start: 1 16 108 10 17 45
data:
$ID,102
$MISSION,4
$DIVE,290
$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,-82097.656
$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,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
$GPS1,100708,6345.144,-1326.031,34,1.0,34,-12.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-55.8
$GPS2,101651,6345.242,-1326.201,10,1.4,10,-12.6
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.178,-0.157
$KALMAN_X,344484.8,-252.4,-413.3,-605085.4,304.9
$KALMAN_Y,39307.1,-952.7,-1254.2,207595.6,11789.7
$MHEAD_RNG_PITCHd_Wd,241.2,21095,-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,-146.5,0.0,0.0,0,86,0.00,0.00,-61.50,0.000,2,0.000,0.000,27,1878,2619
$GC,89,-1.23,-146.6,3.4,-2.1,3,151,11.60,2.58,-43.92,0.000,4,0.133,0.077,2219,496,3477
$GC,208,-1.23,-146.6,9.7,-8.1,9,212,0.00,2.50,0.00,0.000,6,0.000,0.042,2219,1901,3476
$GC,535,-1.23,-146.6,43.7,-12.5,25,539,0.00,2.53,0.00,0.000,4,0.000,0.049,2219,3297,3476
$GC,619,-1.23,-146.6,52.8,-12.2,29,624,0.00,2.53,0.00,0.000,6,0.000,0.046,2219,1904,3476
$GC,946,-1.23,-146.6,86.5,-8.6,45,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1904,3477
$GC,1254,-1.23,-146.6,114.4,-9.8,60,1259,0.00,2.53,0.00,0.000,4,0.000,0.048,2219,3297,3476
$GC,1321,-1.23,-146.6,121.1,-9.4,63,1325,0.00,2.53,0.00,0.000,6,0.000,0.045,2219,1897,3477
$GC,1649,-1.23,-146.6,151.4,-9.0,79,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1897,3476
$GC,1957,-1.23,-146.6,178.2,-8.8,94,1961,0.00,2.55,0.00,0.000,4,0.000,0.048,2220,3303,3476
$GC,2022,-1.23,-146.6,184.5,-9.5,97,2026,0.00,2.53,0.00,0.000,6,0.000,0.045,2219,1900,3476
$GC,2350,-1.23,-146.6,216.6,-10.1,113,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1900,3476
$GC,2658,-1.23,-146.6,248.9,-11.8,128,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1900,3476
$GC,2968,-1.23,-146.6,281.7,-9.9,143,2972,0.00,2.53,0.00,0.000,4,0.000,0.049,2219,3297,3476
$GC,3023,-1.23,-146.6,287.0,-9.3,145,3029,0.00,2.53,0.00,0.000,6,0.000,0.046,2219,1894,3477
$GC,3338,-1.23,-146.6,316.4,-9.9,161,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1894,3477
$GC,3650,-1.23,-146.6,350.2,-11.0,176,3654,0.00,2.55,0.00,0.000,4,0.000,0.051,2219,3297,3476
$GC,3716,-1.23,-146.6,357.4,-9.8,179,3720,0.00,2.53,0.00,0.000,6,0.000,0.047,2219,1900,3476
$GC,4036,-1.23,-146.6,390.0,-10.3,195,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1900,3476
$GC,4345,-1.23,-146.6,421.3,-10.3,210,4350,0.00,2.55,0.00,0.000,4,0.000,0.051,2219,3304,3476
$GC,4396,-1.23,-146.6,426.6,-10.1,212,4400,0.00,2.53,0.00,0.000,6,0.000,0.047,2219,1902,3476
$GC,4710,-1.23,-146.6,458.7,-10.1,227,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1898,3476
$GC,5020,-1.23,-146.6,489.1,-10.2,242,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1899,3476
$GC,5329,-1.23,-146.6,520.2,-9.7,257,5334,0.00,2.55,0.00,0.000,4,0.000,0.051,2219,3298,3476
$GC,5414,-1.23,-146.6,528.4,-10.0,261,5418,0.00,2.55,0.00,0.000,6,0.000,0.048,2219,1894,3476
$GC,5740,-1.23,-146.6,555.4,-8.2,277,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1894,3476
$GC,6049,-1.23,-146.6,579.9,-8.7,292,6053,0.00,2.58,0.00,0.000,4,0.000,0.054,2219,3298,3476
$GC,6188,-1.23,-146.6,591.8,-8.5,298,6192,0.00,2.53,0.00,0.000,6,0.000,0.050,2219,1898,3476
$GC,6504,-1.23,-146.6,623.2,-10.7,313,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1898,3476
$GC,6812,-1.23,-146.6,658.1,-11.2,328,6817,0.00,2.58,0.00,0.000,4,0.000,0.058,2219,3297,3476
$GC,6897,-1.23,-146.6,666.2,-9.4,332,6901,0.00,2.53,0.00,0.000,6,0.000,0.051,2219,1901,3476
$GC,7223,-1.23,-146.6,694.2,-8.4,348,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1901,3476
$GC,7532,-1.23,-146.6,721.4,-9.1,363,7536,0.00,2.58,0.00,0.000,4,0.000,0.058,2219,3294,3476
$GC,7581,-1.23,-146.6,726.6,-11.0,365,7585,0.00,2.55,0.00,0.000,6,0.000,0.052,2219,1902,3476
$GC,7903,-1.23,-146.6,761.6,-11.7,381,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1902,3475
$GC,8211,-1.23,-146.6,796.3,-11.0,396,8216,0.00,2.58,0.00,0.000,4,0.000,0.061,2219,3293,3475
$GC,8261,-1.23,-146.6,801.8,-10.8,398,8265,0.00,2.55,0.00,0.000,6,0.000,0.054,2219,1897,3475
$GC,8582,-1.23,-146.6,835.3,-10.5,414,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1897,3475
$GC,8891,-1.23,-146.6,864.7,-9.6,429,8896,0.00,2.62,0.00,0.000,4,0.000,0.065,2219,3301,3474
$GC,8953,-1.23,-146.6,870.7,-10.0,432,8958,0.00,2.60,0.00,0.000,6,0.000,0.058,2219,1898,3474
$GC,9280,-1.23,-146.6,902.3,-9.6,448,9284,0.00,2.62,0.00,0.000,4,0.000,0.066,2219,3300,3473
$GC,9396,-1.23,-146.6,913.3,-9.1,453,9400,0.00,2.60,0.00,0.000,6,0.000,0.060,2219,1899,3474
$GC,9712,-1.23,-146.6,940.4,-8.6,468,9713,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1899,3473
$GC,10021,-1.23,-146.6,965.1,-8.0,483,10025,0.00,2.62,0.00,0.000,4,0.000,0.068,2219,3295,3472
$GC,10105,-1.23,-146.6,972.1,-8.2,487,10110,0.00,2.60,0.00,0.000,6,0.000,0.061,2219,1901,3472
$STATE,10326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10326,begin apogee
$GC,10332,-0.36,0.0,990.7,8.4,498,10468,0.93,0.00,128.23,1.476,6,0.082,0.000,2415,2090,2878
$STATE,10469,end apogee,CONTROL_FINISHED_OK
$STATE,10469,begin climb
$GC,10471,1.23,146.6,995.1,0.0,505,10603,1.60,0.00,126.57,1.441,6,0.054,0.000,2765,2089,2280
$GC,10919,1.23,146.6,965.7,8.8,527,10924,0.00,2.67,0.00,0.000,4,0.000,0.069,2765,3501,2279
$GC,11059,1.23,146.6,952.7,8.9,533,11063,0.00,2.60,0.00,0.000,6,0.000,0.058,2765,2100,2278
$GC,11374,1.23,146.6,925.3,9.0,548,11379,0.00,2.67,0.00,0.000,4,0.000,0.067,2765,3507,2278
$GC,11631,1.23,146.6,900.6,10.2,559,11638,0.00,2.60,0.00,0.000,6,0.000,0.058,2765,2100,2278
$GC,11947,1.23,146.6,870.9,9.2,575,11951,0.00,2.65,0.00,0.000,4,0.000,0.065,2765,3508,2277
$GC,12057,1.23,146.6,861.4,8.8,580,12062,0.00,2.60,0.00,0.000,6,0.000,0.055,2765,2096,2277
$GC,12380,1.25,160.4,838.2,7.5,596,12398,0.00,0.00,12.15,1.414,6,0.000,0.000,2765,2096,2224
$GC,12707,1.27,180.5,813.0,7.2,612,12732,0.00,2.72,18.52,1.388,4,0.000,0.063,2765,3499,2141
$GC,12878,1.28,186.4,799.3,7.8,619,12890,0.00,2.58,6.03,1.325,6,0.000,0.053,2765,2098,2117
$GC,13211,1.30,206.6,775.1,7.2,636,13235,0.00,2.72,18.15,1.355,4,0.000,0.062,2765,3500,2035
$GC,13293,1.34,232.4,768.9,7.0,639,13320,0.00,2.60,22.85,1.335,6,0.000,0.053,2765,2100,1930
$GC,13629,1.36,253.7,744.6,7.2,656,13650,0.12,0.00,19.17,1.329,6,0.053,0.000,2802,2101,1843
$GC,13958,1.36,253.7,714.7,9.3,672,13962,0.00,2.60,0.00,0.000,4,0.000,0.058,2802,3501,1843
$GC,14069,1.36,253.7,703.4,10.0,677,14073,0.00,2.58,0.00,0.000,6,0.000,0.051,2802,2096,1843
$GC,14389,1.36,253.7,672.0,9.9,693,14393,0.00,2.60,0.00,0.000,4,0.000,0.058,2802,3502,1843
$GC,14478,1.36,253.7,662.4,10.1,697,14482,0.00,2.55,0.00,0.000,6,0.000,0.050,2802,2099,1843
$GC,14798,1.36,253.7,630.4,9.9,713,14802,0.00,2.60,0.00,0.000,4,0.000,0.056,2802,3509,1844
$GC,14864,1.36,253.7,623.0,10.7,716,14868,0.00,2.55,0.00,0.000,6,0.000,0.048,2802,2099,1843
$GC,15191,1.36,253.7,588.1,10.8,732,15192,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2099,1844
$GC,15500,1.36,253.7,554.5,10.7,747,15504,0.00,2.58,0.00,0.000,4,0.000,0.054,2802,3505,1844
$GC,15554,1.36,253.7,548.3,10.3,749,15560,0.00,2.53,0.00,0.000,6,0.000,0.047,2802,2099,1844
$GC,15870,1.36,253.7,515.9,10.2,765,15874,0.00,2.55,0.00,0.000,4,0.000,0.054,2802,3503,1845
$GC,15964,1.36,253.7,505.5,11.1,769,15968,0.00,2.53,0.00,0.000,6,0.000,0.046,2802,2092,1845
$GC,16285,1.36,253.7,471.1,10.6,785,16290,0.00,2.60,0.00,0.000,4,0.000,0.054,2802,3503,1845
$GC,16353,1.36,253.7,463.3,11.8,788,16357,0.00,2.55,0.00,0.000,6,0.000,0.046,2802,2098,1845
$GC,16673,1.36,253.7,428.5,11.1,804,16674,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2098,1845
$GC,16983,1.36,253.7,393.8,11.4,819,16987,0.00,2.58,0.00,0.000,4,0.000,0.052,2802,3502,1845
$GC,17071,1.36,253.7,383.1,12.3,823,17075,0.00,2.53,0.00,0.000,6,0.000,0.045,2802,2097,1846
$GC,17398,1.36,253.7,346.6,11.1,839,17402,0.00,2.58,0.00,0.000,4,0.000,0.052,2802,3504,1846
$GC,17464,1.36,253.7,338.3,14.5,842,17468,0.00,2.53,0.00,0.000,6,0.000,0.044,2802,2091,1846
$GC,17784,1.36,253.7,300.9,10.9,858,17788,0.00,2.60,0.00,0.000,4,0.000,0.052,2802,3506,1847
$GC,17846,1.36,253.7,293.6,11.7,861,17850,0.00,2.53,0.00,0.000,6,0.000,0.043,2803,2095,1847
$GC,18172,1.36,253.7,256.2,12.1,877,18176,0.00,2.58,0.00,0.000,4,0.000,0.052,2802,3504,1847
$GC,18227,1.36,253.7,249.4,12.7,879,18233,0.00,2.50,0.00,0.000,6,0.000,0.043,2802,2099,1847
$GC,18542,1.36,253.7,212.8,10.6,895,18546,0.00,2.58,0.00,0.000,4,0.000,0.051,2802,3508,1848
$GC,18614,1.36,253.7,205.2,10.2,898,18618,0.00,2.50,0.00,0.000,6,0.000,0.042,2802,2098,1848
$GC,18929,1.43,308.4,184.0,5.9,913,18979,0.00,2.62,44.70,0.930,4,0.000,0.051,2802,3503,1619
$GC,19041,1.43,308.4,174.1,9.7,918,19045,0.00,2.53,0.00,0.000,6,0.000,0.043,2802,2100,1619
$GC,19358,1.43,308.4,143.2,8.1,933,19359,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2100,1619
$GC,19666,1.43,308.4,107.2,14.0,948,19667,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2100,1619
$GC,19975,1.43,308.4,62.3,12.4,963,19980,0.00,2.58,0.00,0.000,4,0.000,0.050,2802,3507,1619
$GC,20025,1.43,308.4,56.7,9.8,965,20029,0.00,2.53,0.00,0.000,6,0.000,0.041,2802,2089,1619
$GC,20346,1.43,308.4,12.6,13.4,981,20347,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2089,1620
$STATE,20426,end climb,SURFACE_DEPTH_REACHED
$STATE,20427,begin surface coast
$FINISH,1.8,1.027420
$STATE,20449,end surface coast,CONTROL_FINISHED_OK
$STATE,20449,begin surface
$SM_CCo,20531,0.00,0.000,0,0,1619,308.83
$SM_GC,2.60,11.90,0.00,0.00,0.029,0.000,0.000,33,1896,1619,-11.26,-0.11,308.83
$IRIDIUM_FIX,6322.64,-1316.10,160108,141421
$TT8_MAMPS,0.026078
$HUMID,2075
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,14.90
$XPDR_PINGS,2
$24V_AH,23.1,61.398
$10V_AH,10.1,29.818
$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,26.150,170.300,396.375,0.000,0.000,79.049,87.020,236.340,9.000,0.000,0.000,12.177,1819.989,15776.604,553.769,2282.008,680.316,33.371,1695.908,0.000,2240.637,0.000,55.881
$DEVICE_MAMPS,133.458,76.700,1475.708,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,738.447,669.146,522.638,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50561,986
$CFSIZE,260165632,240435200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,160108,160125,6343.523,-1327.210,54,1.8,54,-12.6