version: 66.02
glider: 102
mission: 4
dive: 291
start: 1 16 108 16 8 58
data:
$ID,102
$MISSION,4
$DIVE,291
$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,-82112.477
$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,26
$R_STBD_OVSHOOT,23
$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
$GPS1,160125,6343.523,-1327.210,54,1.8,54,-12.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,2
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-57.9
$GPS2,160803,6343.516,-1327.082,12,2.0,12,-12.6
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.054,-0.231
$KALMAN_X,345465.9,1271.6,920.9,-609723.6,-2956.3
$KALMAN_Y,39527.2,-1733.9,-731.1,204466.4,8110.9
$MHEAD_RNG_PITCHd_Wd,179.4,18651,-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,22,-1.23,-146.4,0.0,0.0,0,66,0.00,0.00,-41.28,0.000,2,0.000,0.000,33,1889,2399
$GC,69,-1.23,-146.6,3.1,-2.9,2,140,11.52,2.62,-52.67,0.000,4,0.137,0.063,2225,3308,3476
$GC,259,-1.23,-146.6,20.4,-10.4,10,265,0.00,2.55,0.00,0.000,6,0.000,0.046,2225,1903,3477
$GC,574,-1.23,-146.6,54.2,-12.8,26,578,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3309,3477
$GC,606,-1.23,-146.6,58.2,-11.0,27,613,0.00,2.55,0.00,0.000,6,0.000,0.044,2225,1898,3477
$GC,924,-1.23,-146.6,92.1,-11.6,43,928,0.00,2.58,0.00,0.000,4,0.000,0.048,2225,3315,3476
$GC,956,-1.23,-146.6,96.5,-12.2,44,963,0.00,2.55,0.00,0.000,6,0.000,0.044,2225,1900,3477
$GC,1273,-1.23,-146.6,131.0,-10.0,60,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3477
$GC,1581,-1.23,-146.6,164.1,-11.1,75,1585,0.00,2.55,0.00,0.000,4,0.000,0.049,2225,3309,3476
$GC,1620,-1.23,-146.6,168.9,-12.7,77,1624,0.00,2.55,0.00,0.000,6,0.000,0.044,2225,1895,3477
$GC,1946,-1.23,-146.6,209.5,-12.7,93,1950,0.00,2.58,0.00,0.000,4,0.000,0.049,2225,3314,3477
$GC,1980,-1.23,-146.6,213.4,-11.7,94,1986,0.00,2.55,0.00,0.000,6,0.000,0.045,2225,1898,3477
$GC,2295,-1.23,-146.6,251.1,-11.8,110,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1898,3477
$GC,2604,-1.23,-146.6,288.5,-11.8,125,2609,0.00,2.58,0.00,0.000,4,0.000,0.051,2225,3314,3477
$GC,2644,-1.23,-146.6,293.4,-12.3,127,2648,0.00,2.55,0.00,0.000,6,0.000,0.045,2225,1900,3476
$GC,2970,-1.23,-146.6,332.3,-12.6,143,2974,0.00,2.62,0.00,0.000,4,0.000,0.070,2225,492,3476
$GC,2996,-1.23,-146.6,335.9,-12.9,144,3001,0.00,2.47,0.00,0.000,6,0.000,0.044,2225,1910,3477
$GC,3318,-1.23,-146.6,371.9,-10.4,160,3322,0.00,2.53,0.00,0.000,4,0.000,0.053,2225,3297,3476
$GC,3383,-1.23,-146.6,379.9,-11.4,163,3388,0.00,2.53,0.00,0.000,6,0.000,0.048,2225,1902,3476
$GC,3711,-1.23,-146.6,415.3,-9.9,179,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3477
$GC,4019,-1.23,-146.6,445.6,-9.8,194,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3476
$GC,4330,-1.23,-146.6,475.7,-9.0,209,4334,0.00,2.55,0.00,0.000,4,0.000,0.051,2225,3299,3476
$GC,4379,-1.23,-146.6,480.2,-8.5,211,4383,0.00,2.50,0.00,0.000,6,0.000,0.046,2225,1899,3476
$GC,4700,-1.23,-146.6,508.9,-8.9,227,4704,0.00,2.55,0.00,0.000,4,0.000,0.052,2225,3298,3476
$GC,4818,-1.23,-146.6,520.0,-9.8,232,4822,0.00,2.53,0.00,0.000,6,0.000,0.048,2225,1900,3476
$GC,5133,-1.23,-146.6,549.4,-9.7,247,5137,0.00,2.62,0.00,0.000,4,0.000,0.069,2225,493,3476
$GC,5154,-1.23,-146.6,551.6,-10.0,248,5158,0.00,2.50,0.00,0.000,6,0.000,0.046,2225,1908,3476
$GC,5481,-1.23,-146.6,583.6,-10.0,264,5485,0.00,2.55,0.00,0.000,4,0.000,0.057,2225,3298,3476
$GC,5575,-1.23,-146.6,593.1,-10.1,268,5579,0.00,2.55,0.00,0.000,6,0.000,0.051,2225,1899,3476
$GC,5891,-1.23,-146.6,625.3,-9.7,283,5895,0.00,2.62,0.00,0.000,4,0.000,0.074,2225,492,3476
$GC,5917,-1.23,-146.6,628.1,-9.8,284,5921,0.00,2.50,0.00,0.000,6,0.000,0.047,2225,1901,3476
$GC,6239,-1.23,-146.6,656.6,-8.7,300,6243,0.00,2.60,0.00,0.000,4,0.000,0.061,2225,3303,3476
$GC,6349,-1.23,-146.6,666.7,-9.6,305,6354,0.00,2.58,0.00,0.000,6,0.000,0.054,2225,1898,3476
$GC,6677,-1.23,-146.6,698.1,-10.7,321,6681,0.00,2.60,0.00,0.000,4,0.000,0.059,2225,3302,3476
$GC,6698,-1.23,-146.6,700.6,-11.1,322,6702,0.00,2.58,0.00,0.000,6,0.000,0.054,2225,1898,3476
$GC,7024,-1.23,-146.6,735.5,-10.4,338,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1898,3476
$GC,7334,-1.23,-146.6,765.3,-9.3,353,7338,0.00,2.60,0.00,0.000,4,0.000,0.061,2225,3301,3475
$GC,7366,-1.23,-146.6,768.5,-10.1,354,7373,0.00,2.58,0.00,0.000,6,0.000,0.054,2225,1899,3475
$GC,7682,-1.23,-146.6,798.5,-8.7,370,7686,0.00,2.65,0.00,0.000,4,0.000,0.079,2225,489,3475
$GC,7760,-1.23,-146.6,806.1,-10.0,373,7766,0.00,2.55,0.00,0.000,6,0.000,0.054,2225,1899,3475
$GC,8075,-1.23,-146.6,835.2,-9.5,389,8079,0.00,2.67,0.00,0.000,4,0.000,0.080,2225,492,3474
$GC,8131,-1.23,-146.6,841.3,-11.2,391,8137,0.00,2.55,0.00,0.000,6,0.000,0.055,2225,1900,3474
$GC,8446,-1.23,-146.6,871.5,-8.9,407,8451,0.00,2.62,0.00,0.000,4,0.000,0.067,2225,3301,3474
$GC,8615,-1.23,-146.6,888.4,-10.7,414,8621,0.00,2.60,0.00,0.000,6,0.000,0.063,2225,1903,3473
$GC,8930,-1.23,-146.6,919.4,-8.5,430,8935,0.00,2.62,0.00,0.000,4,0.000,0.067,2225,3303,3472
$GC,9188,-1.23,-146.6,921.1,0.3,441,9194,0.00,2.60,0.00,0.000,6,0.000,0.062,2225,1897,3472
$STATE,9275,end dive,NO_VERTICAL_VELOCITY
$STATE,9275,begin apogee
$GC,9281,-0.36,0.0,921.0,0.0,446,9412,0.88,0.00,127.15,1.439,6,0.058,0.000,2425,2101,2877
$STATE,9412,end apogee,CONTROL_FINISHED_OK
$STATE,9412,begin climb
$GC,9415,1.23,146.6,921.0,0.0,452,9550,1.50,2.83,125.78,1.382,4,0.050,0.077,2761,687,2281
$GC,9807,1.23,146.6,898.8,10.1,470,9812,0.00,2.60,0.00,0.000,6,0.000,0.054,2761,2103,2280
$GC,10134,1.23,146.6,867.7,11.1,486,10138,0.00,2.72,0.00,0.000,4,0.000,0.078,2761,690,2279
$GC,10311,1.31,211.0,853.8,5.5,494,10373,0.00,2.58,55.38,1.374,6,0.000,0.054,2761,2101,2017
$GC,10685,1.31,211.0,817.8,9.9,512,10690,0.00,2.65,0.00,0.000,4,0.000,0.067,2761,3506,2017
$GC,10740,1.31,211.0,812.5,8.1,514,10747,0.00,2.62,0.00,0.000,6,0.000,0.058,2761,2094,2017
$GC,11056,1.35,240.6,787.2,6.9,530,11088,0.12,2.78,25.88,1.359,4,0.054,0.080,2798,685,1896
$GC,11127,1.35,240.6,780.0,12.0,533,11132,0.00,2.60,0.00,0.000,6,0.000,0.053,2798,2103,1897
$GC,11442,1.35,240.6,748.8,9.5,548,11447,0.00,2.70,0.00,0.000,4,0.000,0.077,2798,690,1896
$GC,11481,1.35,240.6,744.8,10.2,550,11485,0.00,2.55,0.00,0.000,6,0.000,0.052,2798,2101,1896
$GC,11807,1.35,240.6,711.6,10.4,566,11812,0.00,2.60,0.00,0.000,4,0.000,0.063,2797,3500,1895
$GC,11971,1.35,240.6,693.1,10.8,573,11975,0.00,2.58,0.00,0.000,6,0.000,0.054,2797,2097,1895
$GC,12286,1.35,240.6,661.0,9.8,588,12290,0.00,2.62,0.00,0.000,4,0.000,0.060,2797,3507,1895
$GC,12313,1.35,240.6,658.2,10.3,589,12317,0.00,2.58,0.00,0.000,6,0.000,0.051,2798,2097,1895
$GC,12628,1.35,240.6,628.3,9.9,604,12632,0.00,2.62,0.00,0.000,4,0.000,0.059,2797,3507,1894
$GC,12694,1.35,240.6,621.3,11.1,607,12698,0.00,2.58,0.00,0.000,6,0.000,0.051,2798,2095,1895
$GC,13014,1.35,240.6,590.7,9.3,623,13018,0.00,2.62,0.00,0.000,4,0.000,0.058,2798,3508,1895
$GC,13085,1.35,240.6,583.6,10.3,626,13089,0.00,2.55,0.00,0.000,6,0.000,0.050,2798,2100,1894
$GC,13407,1.35,240.6,554.0,9.3,642,13411,0.00,2.60,0.00,0.000,4,0.000,0.056,2798,3504,1895
$GC,13428,1.35,240.6,551.6,11.2,643,13432,0.00,2.55,0.00,0.000,6,0.000,0.048,2798,2092,1895
$GC,13755,1.35,240.6,515.1,11.2,659,13759,0.00,2.60,0.00,0.000,4,0.000,0.055,2798,3501,1895
$GC,13817,1.35,240.6,507.8,11.4,662,13821,0.00,2.53,0.00,0.000,6,0.000,0.048,2798,2100,1895
$GC,14142,1.35,240.6,472.5,10.5,678,14147,0.00,2.58,0.00,0.000,4,0.000,0.054,2798,3502,1895
$GC,14231,1.35,240.6,462.6,10.1,682,14235,0.00,2.53,0.00,0.000,6,0.000,0.047,2798,2098,1895
$GC,14553,1.35,240.6,429.3,10.4,698,14557,0.00,2.58,0.00,0.000,4,0.000,0.054,2798,3503,1896
$GC,14596,1.35,240.6,424.3,11.7,700,14600,0.00,2.53,0.00,0.000,6,0.000,0.045,2798,2098,1896
$GC,14923,1.35,240.6,388.7,11.0,716,14927,0.00,2.58,0.00,0.000,4,0.000,0.054,2798,3508,1896
$GC,15000,1.35,240.6,379.6,10.5,719,15006,0.00,2.55,0.00,0.000,6,0.000,0.046,2798,2092,1897
$GC,15315,1.35,240.6,346.1,10.3,735,15320,0.00,2.58,0.00,0.000,4,0.000,0.054,2798,3506,1897
$GC,15393,1.35,240.6,337.7,10.4,738,15399,0.00,2.53,0.00,0.000,6,0.000,0.044,2798,2095,1897
$GC,15709,1.35,240.6,304.6,10.4,754,15713,0.00,2.58,0.00,0.000,4,0.000,0.053,2798,3509,1898
$GC,15758,1.35,240.6,299.1,11.0,756,15762,0.00,2.53,0.00,0.000,6,0.000,0.044,2798,2100,1897
$GC,16079,1.35,240.6,266.1,9.9,772,16083,0.00,2.58,0.00,0.000,4,0.000,0.053,2798,3506,1898
$GC,16150,1.35,240.6,259.0,9.6,775,16155,0.00,2.53,0.00,0.000,6,0.000,0.044,2798,2092,1898
$GC,16472,1.35,240.6,227.3,9.7,791,16476,0.00,2.58,0.00,0.000,4,0.000,0.052,2798,3503,1898
$GC,16521,1.35,240.6,222.1,9.6,793,16526,0.00,2.50,0.00,0.000,6,0.000,0.043,2798,2097,1897
$GC,16836,1.35,240.6,191.1,9.4,808,16841,0.00,2.55,0.00,0.000,4,0.000,0.051,2798,3504,1898
$GC,16887,1.35,240.6,186.2,9.6,810,16892,0.00,2.53,0.00,0.000,6,0.000,0.043,2798,2095,1898
$GC,17203,1.35,240.6,155.7,9.9,825,17207,0.00,2.58,0.00,0.000,4,0.000,0.051,2798,3506,1898
$GC,17274,1.35,240.6,148.1,9.6,828,17278,0.00,2.50,0.00,0.000,6,0.000,0.042,2798,2099,1898
$GC,17597,1.35,240.6,116.3,10.1,844,17601,0.00,2.58,0.00,0.000,4,0.000,0.051,2798,3509,1899
$GC,17653,1.35,240.6,110.1,10.9,846,17659,0.00,2.53,0.00,0.000,6,0.000,0.043,2798,2092,1899
$GC,17970,1.38,271.5,84.7,6.8,862,18001,0.00,2.65,25.73,0.885,4,0.000,0.051,2798,3505,1770
$GC,18056,1.38,271.5,75.8,10.5,866,18061,0.00,2.53,0.00,0.000,6,0.000,0.042,2798,2101,1770
$GC,18384,1.38,271.5,34.9,11.7,882,18388,0.00,2.58,0.00,0.000,4,0.000,0.049,2798,3505,1770
$GC,18472,1.38,271.5,24.4,9.9,886,18476,0.00,2.50,0.00,0.000,6,0.000,0.041,2798,2098,1770
$STATE,18715,end climb,SURFACE_DEPTH_REACHED
$STATE,18715,begin surface coast
$FINISH,1.8,1.027423
$STATE,18737,end surface coast,CONTROL_FINISHED_OK
$STATE,18737,begin surface
$SM_CCo,18759,26.00,0.822,3,0,1655,300.00
$SM_GC,2.26,0.00,0.00,26.00,0.000,0.000,0.822,29,1884,1655,-11.34,-0.45,300.00
$IRIDIUM_FIX,6317.84,-1333.90,160108,141429
$TT8_MAMPS,0.026845
$HUMID,2063
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.20
$XPDR_PINGS,1
$24V_AH,23.1,61.560
$10V_AH,10.1,29.907
$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,25.950,222.350,359.900,26.000,0.000,39.961,34.071,204.814,8.000,0.000,0.000,14.184,1740.298,14068.921,573.516,2250.245,566.099,33.367,1735.126,0.000,2202.031,0.000,51.030
$DEVICE_MAMPS,136.526,79.768,1438.892,822.224,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,673.831,607.101,500.572,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47513,899
$CFSIZE,260165632,240369664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,3,0
$GPS,160108,212402,6341.937,-1319.326,66,0.9,66,-12.5