version: 66.02
glider: 102
mission: 4
dive: 279
start: 1 14 108 5 2 57
data:
$ID,102
$MISSION,4
$DIVE,279
$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,-81933.984
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,045208,6342.266,-1252.730,40,1.0,40,-12.2
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-52.4
$GPS2,050203,6342.215,-1252.915,14,1.1,14,-12.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.217,-0.096
$KALMAN_X,357405.5,-2521.9,-1624.9,-585096.1,19530.5
$KALMAN_Y,-19200.2,-816.7,-614.8,259679.3,3991.7
$MHEAD_RNG_PITCHd_Wd,258.3,22576,-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,21,-1.23,-146.6,0.0,0.0,0,125,0.00,0.00,-101.22,0.000,2,0.000,0.000,29,1876,2598
$GC,128,-1.23,-146.6,3.6,-1.0,5,191,11.62,2.62,-41.75,0.000,4,0.140,0.059,2223,3293,3477
$GC,443,-1.23,-146.6,33.3,-14.4,19,447,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1909,3477
$GC,772,-1.23,-146.6,74.6,-13.1,35,776,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3304,3477
$GC,857,-1.23,-146.6,86.5,-12.4,39,861,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1900,3477
$GC,1183,-1.23,-146.6,125.4,-10.6,55,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3477
$GC,1492,-1.23,-146.6,154.4,-8.6,70,1496,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3302,3477
$GC,1585,-1.23,-146.6,163.8,-10.0,74,1589,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1901,3477
$GC,1907,-1.23,-146.6,191.8,-9.4,90,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3477
$GC,2216,-1.23,-146.6,227.6,-12.1,105,2220,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3311,3477
$GC,2270,-1.23,-146.6,234.1,-11.8,107,2277,0.00,2.55,0.00,0.000,6,0.000,0.044,2223,1894,3477
$GC,2586,-1.23,-146.6,269.6,-11.4,123,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3477
$GC,2895,-1.23,-146.6,305.1,-11.8,138,2899,0.00,2.55,0.00,0.000,4,0.000,0.049,2223,3303,3477
$GC,2972,-1.23,-146.6,314.5,-11.7,141,2978,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1898,3477
$GC,3290,-1.23,-146.6,351.9,-12.3,157,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3477
$GC,3597,-1.23,-146.6,387.3,-11.1,172,3601,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3303,3477
$GC,3662,-1.23,-146.6,394.6,-11.1,175,3666,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1898,3477
$GC,3990,-1.23,-146.6,427.2,-9.0,191,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3477
$GC,4299,-1.23,-146.6,455.0,-9.3,206,4303,0.00,2.55,0.00,0.000,4,0.000,0.050,2223,3310,3476
$GC,4382,-1.23,-146.6,463.2,-9.6,210,4387,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1900,3476
$GC,4709,-1.23,-146.6,493.6,-9.1,226,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3476
$GC,5018,-1.23,-146.6,523.8,-10.6,241,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3476
$GC,5328,-1.23,-146.6,557.7,-10.1,256,5332,0.00,2.58,0.00,0.000,4,0.000,0.052,2223,3306,3476
$GC,5438,-1.23,-146.6,569.3,-11.1,261,5443,0.00,2.55,0.00,0.000,6,0.000,0.047,2223,1899,3476
$GC,5766,-1.23,-146.6,598.3,-7.0,277,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3477
$GC,6075,-1.23,-146.6,622.0,-8.9,292,6079,0.00,2.58,0.00,0.000,4,0.000,0.056,2223,3301,3476
$GC,6293,-1.23,-146.6,647.4,-12.3,302,6297,0.00,2.53,0.00,0.000,6,0.000,0.051,2223,1902,3477
$GC,6619,-1.23,-146.6,658.8,-0.0,318,6623,0.00,2.62,0.00,0.000,4,0.000,0.072,2223,489,3476
$STATE,6774,end dive,NO_VERTICAL_VELOCITY
$STATE,6774,begin apogee
$GC,6783,-0.36,0.0,658.8,0.0,325,6910,0.82,0.00,123.12,1.202,6,0.047,0.000,2422,2101,2878
$STATE,6911,end apogee,CONTROL_FINISHED_OK
$STATE,6911,begin climb
$GC,6913,1.23,146.6,658.8,0.0,331,7044,1.50,2.72,120.85,1.180,4,0.046,0.064,2764,690,2280
$GC,7298,1.30,206.8,639.5,5.7,348,7354,0.00,2.55,50.12,1.164,6,0.000,0.045,2763,2103,2035
$GC,7671,1.37,262.6,611.4,5.9,367,7720,0.15,0.00,47.05,1.157,6,0.045,0.000,2808,2102,1807
$GC,8019,1.37,262.6,577.9,13.7,384,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2102,1806
$GC,8328,1.37,262.6,529.5,16.7,399,8332,0.00,2.60,0.00,0.000,4,0.000,0.057,2808,3506,1806
$GC,8393,1.37,262.6,517.7,18.5,402,8398,0.00,2.55,0.00,0.000,6,0.000,0.048,2808,2102,1806
$GC,8720,1.37,262.6,470.2,11.5,418,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2101,1806
$GC,9029,1.37,262.6,441.6,8.8,433,9034,0.00,2.58,0.00,0.000,4,0.000,0.052,2808,3504,1806
$GC,9146,1.37,262.6,429.3,10.8,438,9151,0.00,2.53,0.00,0.000,6,0.000,0.045,2808,2097,1806
$GC,9462,1.37,262.6,396.6,11.0,453,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2097,1806
$GC,9771,1.37,262.6,360.6,12.1,468,9775,0.00,2.58,0.00,0.000,4,0.000,0.051,2808,3503,1806
$GC,9848,1.37,262.6,350.7,12.3,471,9854,0.00,2.53,0.00,0.000,6,0.000,0.044,2808,2093,1805
$GC,10163,1.37,262.6,311.0,13.0,487,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2092,1806
$GC,10472,1.37,262.6,272.6,12.2,502,10477,0.00,2.58,0.00,0.000,4,0.000,0.051,2809,3504,1806
$GC,10528,1.37,262.6,265.7,11.6,504,10534,0.00,2.53,0.00,0.000,6,0.000,0.043,2808,2095,1806
$GC,10843,1.37,262.6,227.1,12.5,520,10844,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2095,1806
$GC,11152,1.37,262.6,188.3,12.6,535,11156,0.00,2.58,0.00,0.000,4,0.000,0.051,2808,3507,1806
$GC,11286,1.37,262.6,171.2,12.6,541,11290,0.00,2.50,0.00,0.000,6,0.000,0.041,2808,2098,1807
$GC,11606,1.37,262.6,135.3,10.4,557,11610,0.00,2.55,0.00,0.000,4,0.000,0.049,2809,3501,1807
$GC,11691,1.37,262.6,124.9,13.4,561,11696,0.00,2.50,0.00,0.000,6,0.000,0.041,2808,2092,1807
$GC,12018,1.39,280.6,90.9,7.3,577,12038,0.00,0.00,14.95,0.890,6,0.000,0.000,2808,2091,1733
$GC,12348,1.39,280.6,61.5,11.8,593,12353,0.00,2.58,0.00,0.000,4,0.000,0.049,2808,3504,1733
$GC,12482,1.39,280.6,43.0,13.8,599,12486,0.00,2.50,0.00,0.000,6,0.000,0.041,2809,2096,1733
$GC,12802,1.39,280.6,10.2,10.9,615,12804,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2096,1733
$STATE,12883,end climb,SURFACE_DEPTH_REACHED
$STATE,12883,begin surface coast
$FINISH,2.0,1.013463
$STATE,12905,end surface coast,CONTROL_FINISHED_OK
$STATE,12905,begin surface
$SM_CCo,12927,17.83,0.821,2,0,1655,300.00
$SM_GC,2.79,0.00,0.00,17.83,0.000,0.000,0.821,32,1883,1655,-11.33,-0.48,300.00
$IRIDIUM_FIX,6317.84,-1257.50,140108,080800
$TT8_MAMPS,0.026845
$HUMID,2078
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,15.30
$XPDR_PINGS,2
$24V_AH,23.3,59.407
$10V_AH,10.1,28.891
$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,26.025,92.600,356.100,17.825,0.000,76.435,68.384,278.108,5.750,0.000,0.000,15.838,1169.375,9692.700,535.595,1553.787,605.447,33.364,1309.089,0.000,1515.398,0.000,34.864
$DEVICE_MAMPS,140.361,72.098,1201.889,821.457,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.748,417.079,401.180,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31617,620
$CFSIZE,260165632,241184768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,2,0
$GPS,140108,084008,6340.873,-1300.314,39,1.0,39,-12.3