version: 66.02
glider: 102
mission: 4
dive: 281
start: 1 14 108 12 37 51
data:
$ID,102
$MISSION,4
$DIVE,281
$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,-81958.547
$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,21
$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
$GPS1,122801,6341.926,-1305.497,41,1.4,41,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-54.4
$GPS2,123657,6342.008,-1305.593,10,2.0,10,-12.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.177,-0.159
$KALMAN_X,351404.7,-2047.0,-462.0,-591922.4,8370.4
$KALMAN_Y,-17548.1,550.7,635.0,255008.9,2061.0
$MHEAD_RNG_PITCHd_Wd,240.5,15117,-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,23,-1.23,-146.6,0.0,0.0,0,51,0.00,0.00,-25.80,0.000,2,0.000,0.000,29,1895,2168
$GC,54,-1.23,-146.6,3.1,-1.2,2,137,11.48,2.58,-60.88,0.000,4,0.133,0.061,2226,3305,3476
$GC,389,-1.23,-146.6,35.4,-9.4,17,393,0.00,2.55,0.00,0.000,6,0.000,0.044,2226,1893,3476
$GC,718,-1.23,-146.6,66.7,-8.5,33,722,0.00,2.58,0.00,0.000,4,0.000,0.048,2226,3313,3476
$GC,916,-1.23,-146.6,83.9,-8.7,42,921,0.00,2.55,0.00,0.000,6,0.000,0.044,2226,1899,3476
$GC,1244,-1.23,-146.6,114.7,-8.7,58,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1899,3476
$GC,1552,-1.23,-146.6,163.9,-18.0,73,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1899,3475
$GC,1861,-1.23,-146.6,211.0,-12.7,88,1865,0.00,2.55,0.00,0.000,4,0.000,0.048,2226,3308,3476
$GC,1915,-1.23,-146.6,217.5,-11.4,90,1922,0.00,2.55,0.00,0.000,6,0.000,0.043,2226,1902,3476
$GC,2232,-1.23,-146.6,257.4,-10.7,106,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1902,3476
$GC,2541,-1.23,-146.6,292.1,-11.7,121,2545,0.00,2.55,0.00,0.000,4,0.000,0.048,2226,3313,3476
$GC,2607,-1.23,-146.6,299.6,-11.0,124,2612,0.00,2.53,0.00,0.000,6,0.000,0.041,2226,1899,3476
$GC,2933,-1.23,-146.6,333.7,-9.9,140,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1899,3476
$GC,3242,-1.23,-146.6,365.1,-9.9,155,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1899,3476
$GC,3551,-1.23,-146.6,394.8,-9.7,170,3555,0.00,2.55,0.00,0.000,4,0.000,0.048,2226,3307,3476
$GC,3651,-1.23,-146.6,404.6,-9.8,174,3657,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1900,3476
$GC,3966,-1.23,-146.6,430.8,-8.6,190,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1900,3476
$GC,4275,-1.23,-146.6,456.6,-8.2,205,4280,0.00,2.55,0.00,0.000,4,0.000,0.049,2226,3311,3475
$GC,4338,-1.23,-146.6,461.5,-7.7,208,4342,0.00,2.55,0.00,0.000,6,0.000,0.044,2226,1892,3475
$GC,4664,-1.23,-146.6,485.6,-7.3,224,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1893,3475
$GC,4974,-1.23,-146.6,508.6,-7.2,239,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1893,3475
$GC,5283,-1.23,-146.6,530.0,-7.1,254,5287,0.00,2.58,0.00,0.000,4,0.000,0.051,2226,3309,3475
$GC,5349,-1.23,-146.6,534.6,-6.5,257,5353,0.00,2.55,0.00,0.000,6,0.000,0.044,2226,1894,3475
$GC,5669,-1.23,-146.6,553.0,-5.9,273,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1894,3475
$GC,5978,-1.23,-146.6,567.1,-3.3,288,5983,0.00,2.58,0.00,0.000,4,0.000,0.053,2226,3305,3475
$GC,6073,-1.23,-146.6,570.2,-4.0,292,6078,0.00,2.53,0.00,0.000,6,0.000,0.047,2226,1901,3475
$GC,6389,-1.23,-146.6,576.9,-1.2,307,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1902,3475
$GC,6698,-1.23,-146.6,576.5,0.3,322,6702,0.00,2.55,0.00,0.000,4,0.000,0.051,2226,3306,3475
$GC,6764,-1.23,-146.6,577.1,-1.3,325,6769,0.00,2.53,0.00,0.000,6,0.000,0.046,2226,1901,3475
$GC,7086,-1.23,-146.6,578.3,0.0,341,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1902,3475
$STATE,7207,end dive,NO_VERTICAL_VELOCITY
$STATE,7207,begin apogee
$GC,7212,-0.36,0.0,578.0,0.0,347,7338,0.90,0.00,121.75,1.141,6,0.082,0.000,2417,2108,2878
$STATE,7338,end apogee,CONTROL_FINISHED_OK
$STATE,7338,begin climb
$GC,7341,1.23,146.6,566.1,0.0,353,7470,1.58,0.00,120.57,1.093,6,0.054,0.000,2763,2108,2280
$GC,7779,1.23,146.6,489.8,15.7,375,7783,0.00,2.55,0.00,0.000,4,0.000,0.054,2764,3499,2279
$GC,7868,1.23,146.6,476.2,15.1,379,7872,0.00,2.53,0.00,0.000,6,0.000,0.043,2764,2092,2280
$GC,8188,1.23,146.6,436.3,11.0,395,8192,0.00,2.58,0.00,0.000,4,0.000,0.053,2764,3498,2280
$GC,8276,1.23,146.6,427.6,9.0,399,8280,0.00,2.50,0.00,0.000,6,0.000,0.042,2763,2100,2280
$GC,8603,1.28,192.1,404.4,6.3,415,8648,0.00,2.67,37.58,1.039,4,0.000,0.052,2764,3502,2093
$GC,8721,1.34,232.9,397.3,6.4,420,8761,0.00,2.53,33.65,1.018,6,0.000,0.042,2764,2096,1928
$GC,9085,1.36,251.6,373.7,7.3,438,9104,0.12,0.00,15.88,1.022,6,0.054,0.000,2801,2096,1852
$GC,9412,1.38,271.9,358.0,7.2,454,9437,0.00,2.65,17.52,1.017,4,0.000,0.050,2801,3497,1768
$GC,9523,1.38,271.9,348.2,8.9,459,9527,0.00,2.53,0.00,0.000,6,0.000,0.042,2802,2094,1768
$GC,9849,1.45,329.3,325.0,5.8,475,9900,0.00,2.62,46.28,0.978,4,0.000,0.049,2801,3500,1534
$GC,9974,1.45,329.3,316.7,8.7,481,9978,0.00,2.53,0.00,0.000,6,0.000,0.044,2801,2101,1534
$GC,10300,1.45,329.3,280.0,12.4,497,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2100,1534
$GC,10609,1.45,329.3,249.6,10.3,512,10610,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2100,1534
$GC,10918,1.45,329.3,216.6,10.2,527,10919,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2100,1534
$GC,11228,1.51,377.7,191.1,6.2,542,11269,0.10,0.00,38.62,0.907,6,0.064,0.000,2834,2101,1338
$GC,11577,1.51,377.7,140.9,16.0,559,11582,0.00,2.62,0.00,0.000,4,0.000,0.064,2834,691,1338
$GC,11610,1.51,377.7,134.7,17.7,560,11617,0.00,2.53,0.00,0.000,6,0.000,0.040,2833,2099,1338
$GC,11928,1.51,377.7,89.1,14.2,576,11929,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2099,1338
$GC,12235,1.51,377.7,48.3,9.9,591,12236,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2099,1338
$GC,12544,1.51,377.7,11.9,14.8,606,12549,0.00,2.62,0.00,0.000,4,0.000,0.064,2834,690,1338
$GC,12584,1.51,377.7,5.5,15.9,608,12589,0.00,2.50,0.00,0.000,6,0.000,0.040,2834,2104,1339
$STATE,12641,end climb,SURFACE_DEPTH_REACHED
$STATE,12641,begin surface coast
$FINISH,1.8,1.027371
$STATE,12683,end surface coast,CONTROL_FINISHED_OK
$STATE,12683,begin surface
$SM_CCo,12686,107.60,0.752,5,0,603,558.06
$SM_GC,2.58,12.12,0.00,0.00,0.030,0.000,0.000,35,1890,602,-11.25,-0.25,558.30
$IRIDIUM_FIX,6317.84,-1312.76,140108,161652
$TT8_MAMPS,0.026845
$HUMID,2045
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.40
$XPDR_PINGS,2
$24V_AH,23.4,59.714
$10V_AH,10.1,29.021
$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,26.300,82.575,431.850,107.600,0.000,71.388,164.628,141.787,5.000,0.000,0.000,11.874,1133.109,9894.154,656.498,1397.932,547.501,33.374,1373.193,0.000,1371.130,0.000,30.033
$DEVICE_MAMPS,133.458,64.428,1140.529,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.487,411.964,383.964,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28530,613
$CFSIZE,260165632,241098752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,5,0
$GPS,140108,161728,6342.694,-1306.564,36,2.8,55,-12.4