version: 66.02
glider: 102
mission: 4
dive: 280
start: 1 14 108 8 46 21
data:
$ID,102
$MISSION,4
$DIVE,280
$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,-81946.039
$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,25
$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
$GPS1,084008,6340.873,-1300.314,39,1.0,39,-12.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-55.5
$GPS2,084527,6340.864,-1300.470,10,1.9,10,-12.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.219,-0.091
$KALMAN_X,353832.0,-2453.1,-1673.9,-588172.2,14461.7
$KALMAN_Y,-21043.0,-55.8,-80.9,257743.7,522.2
$MHEAD_RNG_PITCHd_Wd,259.7,16164,-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,-146.6,0.0,0.0,0,66,0.00,0.00,-42.03,0.000,2,0.000,0.000,32,1882,2477
$GC,69,-1.23,-146.6,3.7,-4.1,2,132,11.60,2.62,-41.67,0.000,4,0.139,0.063,2225,3305,3476
$GC,384,-1.23,-146.6,44.2,-11.1,16,388,0.00,2.53,0.00,0.000,6,0.000,0.043,2225,1905,3476
$GC,713,-1.23,-146.6,73.7,-9.4,32,717,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3311,3476
$GC,904,-1.23,-146.6,98.4,-10.0,40,910,0.00,2.55,0.00,0.000,6,0.000,0.044,2225,1892,3476
$GC,1219,-1.23,-146.6,129.9,-10.4,56,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1892,3476
$GC,1528,-1.23,-146.6,166.4,-10.7,71,1532,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3306,3477
$GC,1617,-1.23,-146.6,176.7,-12.0,75,1622,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1899,3476
$GC,1939,-1.23,-146.6,216.0,-11.0,91,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3476
$GC,2248,-1.23,-146.6,248.4,-10.6,106,2253,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3311,3476
$GC,2356,-1.23,-146.6,260.8,-11.6,111,2360,0.00,2.53,0.00,0.000,6,0.000,0.043,2225,1899,3476
$GC,2681,-1.23,-146.6,297.3,-10.9,127,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3476
$GC,2991,-1.23,-146.6,330.9,-11.1,142,2995,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3309,3476
$GC,3062,-1.23,-146.6,339.0,-11.5,145,3066,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1899,3476
$GC,3384,-1.23,-146.6,372.4,-10.0,161,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3476
$GC,3693,-1.23,-146.6,399.3,-8.2,176,3698,0.00,2.55,0.00,0.000,4,0.000,0.049,2225,3309,3476
$GC,3788,-1.23,-146.6,407.1,-7.9,180,3792,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1900,3476
$GC,4104,-1.23,-146.6,433.9,-8.4,195,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3476
$GC,4412,-1.23,-146.6,462.4,-10.1,210,4417,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3309,3476
$GC,4485,-1.23,-146.6,470.5,-11.4,213,4489,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1899,3476
$GC,4800,-1.23,-146.6,507.7,-12.1,228,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3476
$GC,5109,-1.23,-146.6,545.6,-10.9,243,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3476
$GC,5418,-1.23,-146.6,581.0,-11.7,258,5423,0.00,2.55,0.00,0.000,4,0.000,0.051,2225,3305,3476
$GC,5496,-1.23,-146.6,590.8,-12.0,261,5502,0.00,2.55,0.00,0.000,6,0.000,0.046,2225,1894,3476
$GC,5811,-1.23,-146.6,630.7,-12.5,277,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1894,3476
$GC,6121,-1.23,-146.6,664.8,-11.7,292,6125,0.00,2.60,0.00,0.000,4,0.000,0.057,2225,3304,3476
$GC,6193,-1.23,-146.6,673.8,-12.2,295,6197,0.00,2.55,0.00,0.000,6,0.000,0.051,2225,1900,3476
$GC,6508,-1.23,-146.6,683.4,-0.1,310,6512,0.00,2.60,0.00,0.000,4,0.000,0.068,2225,495,3476
$STATE,6665,end dive,NO_VERTICAL_VELOCITY
$STATE,6665,begin apogee
$GC,6674,-0.36,0.0,683.7,0.0,317,6801,0.85,0.00,123.78,1.226,6,0.061,0.000,2418,2114,2878
$STATE,6802,end apogee,CONTROL_FINISHED_OK
$STATE,6802,begin climb
$GC,6804,1.23,146.6,684.1,0.0,323,6935,1.58,2.75,121.65,1.193,4,0.064,0.068,2761,697,2280
$GC,7191,1.37,261.9,680.6,3.6,340,7293,0.15,2.55,95.38,1.209,6,0.048,0.048,2802,2107,1810
$GC,7603,1.37,261.9,642.8,11.2,360,7607,0.00,2.70,0.00,0.000,4,0.000,0.071,2802,688,1810
$GC,7664,1.37,261.9,635.6,12.4,363,7668,0.00,2.55,0.00,0.000,6,0.000,0.048,2803,2103,1810
$GC,7990,1.37,261.9,597.8,11.1,379,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2103,1809
$GC,8299,1.37,261.9,563.9,11.2,394,8303,0.00,2.58,0.00,0.000,4,0.000,0.057,2802,3501,1809
$GC,8443,1.37,261.9,547.3,10.7,400,8450,0.00,2.55,0.00,0.000,6,0.000,0.048,2802,2088,1809
$GC,8759,1.37,261.9,512.4,11.5,416,8760,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2088,1809
$GC,9068,1.37,261.9,474.3,12.6,431,9073,0.00,2.60,0.00,0.000,4,0.000,0.052,2802,3508,1809
$GC,9146,1.37,261.9,463.9,13.0,434,9152,0.00,2.53,0.00,0.000,6,0.000,0.045,2802,2099,1808
$GC,9462,1.37,261.9,426.1,12.2,450,9466,0.00,2.58,0.00,0.000,4,0.000,0.051,2802,3507,1809
$GC,9562,1.37,261.9,413.2,12.8,454,9568,0.00,2.53,0.00,0.000,6,0.000,0.044,2803,2098,1809
$GC,9877,1.37,261.9,372.0,12.8,470,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2098,1809
$GC,10187,1.37,261.9,333.0,12.4,485,10191,0.00,2.55,0.00,0.000,4,0.000,0.051,2802,3501,1809
$GC,10297,1.37,261.9,318.1,12.9,490,10301,0.00,2.50,0.00,0.000,6,0.000,0.044,2802,2099,1809
$GC,10625,1.37,261.9,278.9,10.6,506,10629,0.00,2.55,0.00,0.000,4,0.000,0.050,2802,3505,1810
$GC,10690,1.37,261.9,272.2,9.7,509,10695,0.00,2.50,0.00,0.000,6,0.000,0.042,2802,2096,1810
$GC,11017,1.37,261.9,233.5,11.6,525,11018,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2096,1810
$GC,11327,1.37,261.9,195.4,14.1,540,11331,0.00,2.58,0.00,0.000,4,0.000,0.050,2802,3507,1810
$GC,11415,1.37,261.9,184.1,12.7,544,11419,0.00,2.50,0.00,0.000,6,0.000,0.041,2802,2099,1810
$GC,11742,1.37,261.9,144.6,11.9,560,11743,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2099,1810
$GC,12052,1.37,261.9,108.3,10.1,575,12053,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2099,1810
$GC,12361,1.37,261.9,73.2,12.4,590,12362,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2099,1810
$GC,12671,1.37,261.9,45.8,9.1,605,12676,0.00,2.55,0.00,0.000,4,0.000,0.049,2802,3501,1811
$GC,12783,1.37,261.9,32.7,10.7,610,12787,0.00,2.50,0.00,0.000,6,0.000,0.040,2802,2088,1811
$GC,13111,1.37,261.9,2.3,8.1,626,13115,0.00,2.58,0.00,0.000,4,0.000,0.049,2802,3506,1811
$STATE,13119,end climb,SURFACE_DEPTH_REACHED
$STATE,13119,begin surface coast
$FINISH,2.0,1.027468
$STATE,13142,end surface coast,CONTROL_FINISHED_OK
$STATE,13143,begin surface
$SM_CCo,13167,34.83,0.809,4,0,1654,300.00
$SM_GC,2.63,0.00,0.00,34.83,0.000,0.000,0.809,30,1895,1654,-11.34,-0.17,300.00
$IRIDIUM_FIX,6317.84,-1248.04,140108,080842
$TT8_MAMPS,0.026845
$HUMID,2053
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,18.60
$XPDR_PINGS,1
$24V_AH,23.3,59.544
$10V_AH,10.1,28.956
$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,26.150,103.050,340.800,34.825,0.000,38.726,36.927,144.619,5.750,0.000,0.000,11.428,1194.671,9869.089,490.854,1591.758,404.219,33.371,1289.725,0.000,1560.085,0.000,36.483
$DEVICE_MAMPS,138.827,71.331,1226.433,809.185,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,462.965,422.365,397.755,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31715,627
$CFSIZE,260165632,241135616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,4,0
$GPS,140108,122801,6341.926,-1305.497,41,1.4,41,-12.4