version: 66.02
glider: 102
mission: 4
dive: 284
start: 1 15 108 1 44 56
data:
$ID,102
$MISSION,4
$DIVE,284
$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,558.0575
$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,-82008.453
$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,27
$R_STBD_OVSHOOT,38
$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
$GPS1,012326,6345.268,-1318.730,41,1.3,41,-12.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-53.7
$GPS2,014402,6345.460,-1318.978,15,1.5,15,-12.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.032,-0.235
$KALMAN_X,347910.3,-626.8,325.5,-602488.4,-1001.0
$KALMAN_Y,7500.2,-696.8,1460.6,236757.0,15701.8
$MHEAD_RNG_PITCHd_Wd,200.2,19648,-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,-146.4,0.0,0.0,0,105,0.00,0.00,-81.35,0.000,2,0.000,0.000,33,1882,2634
$GC,108,-1.23,-146.6,3.8,-2.1,4,159,11.52,2.60,-31.67,0.000,4,0.137,0.075,2223,506,3477
$GC,267,-1.23,-146.6,20.8,-10.8,11,272,0.00,2.45,0.00,0.000,6,0.000,0.041,2223,1896,3477
$GC,588,-1.23,-146.6,65.0,-12.8,27,592,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3296,3477
$GC,673,-1.23,-146.6,73.6,-11.5,31,677,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1901,3477
$GC,999,-1.23,-146.6,102.7,-9.1,47,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3477
$GC,1308,-1.23,-146.6,144.3,-15.3,62,1312,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3304,3477
$GC,1379,-1.23,-146.6,153.9,-11.6,65,1384,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1901,3477
$GC,1701,-1.23,-146.6,179.5,-8.2,81,1706,0.00,2.62,0.00,0.000,4,0.000,0.065,2223,489,3477
$GC,1751,-1.23,-146.6,185.6,-12.7,83,1755,0.00,2.47,0.00,0.000,6,0.000,0.041,2223,1904,3477
$GC,2072,-1.23,-146.6,216.8,-9.1,99,2076,0.00,2.53,0.00,0.000,4,0.000,0.050,2223,3299,3477
$GC,2134,-1.23,-146.6,221.2,-5.5,102,2138,0.00,2.53,0.00,0.000,6,0.000,0.047,2223,1899,3477
$GC,2460,-1.23,-146.6,237.7,-5.6,118,2464,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3295,3477
$GC,2522,-1.23,-146.6,242.0,-7.3,121,2527,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1894,3477
$GC,2848,-1.23,-146.6,268.5,-8.1,137,2853,0.00,2.55,0.00,0.000,4,0.000,0.050,2223,3296,3477
$GC,2892,-1.23,-146.6,272.3,-8.7,139,2896,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1895,3477
$GC,3219,-1.23,-146.6,334.3,-27.3,155,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3477
$GC,3528,-1.23,-146.6,396.8,-11.2,170,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3477
$GC,3838,-1.23,-146.6,399.6,0.4,185,3842,0.00,2.55,0.00,0.000,4,0.000,0.050,2222,3301,3477
$GC,3895,-1.23,-146.6,401.0,-3.0,187,3901,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1892,3477
$GC,4210,-1.23,-146.6,432.4,-12.1,203,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1892,3477
$GC,4519,-1.23,-146.6,469.0,-11.6,218,4523,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3294,3477
$GC,4568,-1.23,-146.6,474.9,-11.5,220,4576,0.00,2.53,0.00,0.000,6,0.000,0.047,2223,1898,3477
$GC,4892,-1.23,-146.6,509.0,-10.9,236,4896,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3300,3477
$GC,4958,-1.23,-146.6,516.2,-10.5,239,4962,0.00,2.55,0.00,0.000,6,0.000,0.048,2223,1894,3477
$GC,5279,-1.23,-146.6,551.4,-11.9,255,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1892,3477
$GC,5587,-1.23,-146.6,583.9,-9.9,270,5592,0.00,2.62,0.00,0.000,4,0.000,0.071,2223,492,3477
$GC,5614,-1.23,-146.6,586.6,-10.8,271,5618,0.00,2.47,0.00,0.000,6,0.000,0.045,2223,1892,3477
$GC,5936,-1.23,-146.6,616.2,-9.4,287,5940,0.00,2.58,0.00,0.000,4,0.000,0.057,2223,3299,3477
$GC,5979,-1.23,-146.6,620.3,-8.9,289,5983,0.00,2.53,0.00,0.000,6,0.000,0.051,2223,1901,3477
$GC,6306,-1.23,-146.6,648.7,-8.7,305,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3477
$GC,6616,-1.23,-146.6,675.5,-9.2,320,6620,0.00,2.58,0.00,0.000,4,0.000,0.057,2223,3302,3477
$GC,6648,-1.23,-146.6,678.8,-9.5,321,6654,0.00,2.55,0.00,0.000,6,0.000,0.051,2223,1901,3477
$GC,6964,-1.23,-146.6,705.1,-8.1,337,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1902,3477
$GC,7273,-1.23,-146.6,731.3,-7.8,352,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3477
$GC,7582,-1.23,-146.6,755.1,-7.9,367,7587,0.00,2.60,0.00,0.000,4,0.000,0.059,2223,3304,3477
$GC,7690,-1.23,-146.6,763.3,-7.0,372,7694,0.00,2.58,0.00,0.000,6,0.000,0.054,2223,1903,3477
$GC,8016,-1.23,-146.6,787.7,-6.9,388,8020,0.00,2.60,0.00,0.000,4,0.000,0.061,2223,3305,3476
$GC,8149,-1.23,-146.6,797.9,-8.0,394,8153,0.00,2.60,0.00,0.000,6,0.000,0.056,2223,1895,3476
$GC,8470,-1.23,-146.6,824.7,-11.4,410,8475,0.00,2.60,0.00,0.000,4,0.000,0.064,2223,3299,3476
$GC,8508,-1.23,-146.6,829.1,-11.8,411,8514,0.00,2.58,0.00,0.000,6,0.000,0.058,2223,1896,3476
$GC,8824,-1.23,-146.6,856.9,-7.8,427,8828,0.00,2.65,0.00,0.000,4,0.000,0.081,2223,492,3475
$GC,8908,-1.23,-146.6,864.4,-10.2,431,8913,0.00,2.55,0.00,0.000,6,0.000,0.056,2223,1902,3475
$GC,9234,-1.23,-146.6,888.0,-1.9,447,9238,0.00,2.62,0.00,0.000,4,0.000,0.069,2223,3307,3474
$GC,9306,-1.23,-146.6,888.0,-0.5,450,9311,0.00,2.60,0.00,0.000,6,0.000,0.061,2223,1901,3474
$STATE,9557,end dive,NO_VERTICAL_VELOCITY
$STATE,9557,begin apogee
$GC,9563,-0.36,0.0,888.0,0.0,462,9693,0.90,0.00,126.65,1.398,6,0.064,0.000,2423,2102,2878
$STATE,9694,end apogee,CONTROL_FINISHED_OK
$STATE,9694,begin climb
$GC,9697,1.23,146.6,887.7,0.0,468,9833,1.52,2.83,125.32,1.352,4,0.054,0.077,2761,691,2280
$GC,9923,1.24,156.6,875.9,7.6,479,9937,0.00,2.58,9.38,1.311,6,0.000,0.054,2761,2096,2240
$GC,10266,1.37,260.5,861.2,4.0,496,10361,0.15,2.70,88.45,1.350,4,0.049,0.067,2808,3503,1815
$GC,10496,1.37,263.1,842.9,7.9,506,10506,0.00,2.62,3.62,1.175,6,0.000,0.059,2807,2103,1803
$GC,10833,1.37,263.1,804.1,12.5,523,10838,0.00,2.72,0.00,0.000,4,0.000,0.081,2807,682,1804
$GC,10860,1.37,263.1,801.2,10.0,524,10864,0.00,2.58,0.00,0.000,6,0.000,0.051,2808,2103,1804
$GC,11181,1.37,263.1,763.1,12.2,540,11185,0.00,2.60,0.00,0.000,4,0.000,0.063,2808,3501,1803
$GC,11269,1.37,263.1,752.9,11.4,544,11274,0.00,2.60,0.00,0.000,6,0.000,0.056,2807,2094,1803
$GC,11590,1.37,263.1,718.3,9.5,560,11595,0.00,2.62,0.00,0.000,4,0.000,0.060,2807,3503,1803
$GC,11634,1.37,263.1,713.6,9.8,562,11639,0.00,2.58,0.00,0.000,6,0.000,0.053,2807,2096,1802
$GC,11955,1.37,263.1,679.0,11.5,578,11960,0.00,2.58,0.00,0.000,4,0.000,0.058,2808,3503,1802
$GC,12112,1.37,263.1,657.2,14.4,585,12116,0.00,2.58,0.00,0.000,6,0.000,0.051,2807,2098,1802
$GC,12432,1.37,263.1,613.7,12.6,601,12434,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2097,1802
$GC,12742,1.37,263.1,575.0,11.8,616,12746,0.00,2.60,0.00,0.000,4,0.000,0.054,2808,3510,1802
$GC,12826,1.37,263.1,565.2,11.3,620,12830,0.00,2.55,0.00,0.000,6,0.000,0.047,2807,2096,1802
$GC,13152,1.37,263.1,530.8,10.6,636,13156,0.00,2.60,0.00,0.000,4,0.000,0.053,2807,3510,1802
$GC,13223,1.37,263.1,522.2,11.8,639,13227,0.00,2.53,0.00,0.000,6,0.000,0.044,2808,2100,1802
$GC,13545,1.37,263.1,485.9,11.6,655,13549,0.00,2.58,0.00,0.000,4,0.000,0.052,2808,3505,1804
$GC,13561,1.37,263.1,483.9,11.7,656,13566,0.00,2.53,0.00,0.000,6,0.000,0.044,2808,2094,1803
$GC,13887,1.37,263.1,448.2,10.2,672,13892,0.00,2.60,0.00,0.000,4,0.000,0.052,2807,3507,1804
$GC,13932,1.37,263.1,443.3,11.2,674,13936,0.00,2.53,0.00,0.000,6,0.000,0.045,2808,2100,1803
$GC,14252,1.37,263.1,410.3,10.2,690,14257,0.00,2.58,0.00,0.000,4,0.000,0.051,2807,3506,1804
$GC,14279,1.37,263.1,407.3,10.7,691,14284,0.00,2.53,0.00,0.000,6,0.000,0.044,2808,2100,1805
$GC,14596,1.37,263.1,374.6,10.0,706,14600,0.00,2.58,0.00,0.000,4,0.000,0.051,2808,3506,1805
$GC,14651,1.37,263.1,368.6,11.1,708,14657,0.00,2.53,0.00,0.000,6,0.000,0.044,2808,2098,1805
$GC,14966,1.37,263.1,335.7,10.5,724,14970,0.00,2.53,0.00,0.000,4,0.000,0.051,2808,3505,1805
$GC,15050,1.37,263.1,326.6,11.5,728,15055,0.00,2.53,0.00,0.000,6,0.000,0.044,2808,2092,1805
$GC,15376,1.37,263.1,289.4,11.6,744,15380,0.00,2.58,0.00,0.000,4,0.000,0.051,2808,3505,1805
$GC,15430,1.37,263.1,282.7,12.5,746,15436,0.00,2.50,0.00,0.000,6,0.000,0.044,2808,2101,1805
$GC,15746,1.37,263.1,243.6,13.0,762,15750,0.00,2.55,0.00,0.000,4,0.000,0.050,2807,3504,1806
$GC,15789,1.37,263.1,237.6,13.6,764,15794,0.00,2.47,0.00,0.000,6,0.000,0.043,2808,2100,1806
$GC,16116,1.37,263.1,197.9,10.8,780,16120,0.00,2.55,0.00,0.000,4,0.000,0.050,2808,3506,1806
$GC,16222,1.37,263.1,186.9,10.3,785,16227,0.00,2.50,0.00,0.000,6,0.000,0.042,2808,2099,1806
$GC,16549,1.45,325.6,160.6,5.6,801,16604,0.00,2.62,49.50,0.911,4,0.000,0.050,2808,3507,1550
$GC,16621,1.45,325.6,153.6,11.1,803,16627,0.00,2.55,0.00,0.000,6,0.000,0.044,2808,2102,1550
$GC,16936,1.45,325.6,112.5,11.5,819,16938,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2102,1550
$GC,17246,1.45,325.6,77.2,12.2,834,17250,0.00,2.62,0.00,0.000,4,0.000,0.064,2808,690,1550
$GC,17263,1.45,325.6,75.7,10.2,835,17267,0.00,2.53,0.00,0.000,6,0.000,0.041,2808,2112,1549
$GC,17589,1.45,325.6,44.4,12.9,851,17590,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2115,1549
$GC,17898,1.45,325.6,4.9,12.2,866,17899,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2115,1550
$STATE,17937,end climb,SURFACE_DEPTH_REACHED
$STATE,17938,begin surface coast
$FINISH,2.0,1.012855
$STATE,17959,end surface coast,CONTROL_FINISHED_OK
$STATE,17959,begin surface
$SM_CCo,17981,148.15,0.763,9,0,603,558.06
$SM_GC,2.13,0.00,0.00,148.15,0.000,0.000,0.763,32,1874,603,-11.33,-0.74,558.06
$IRIDIUM_FIX,6322.64,-1320.84,150108,050554
$TT8_MAMPS,0.026845
$HUMID,1991
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.40
$XPDR_PINGS,5
$24V_AH,23.2,60.304
$10V_AH,10.1,29.273
$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,26.075,185.575,402.925,148.150,0.000,180.841,281.678,314.783,8.750,0.000,0.000,17.097,1633.521,13844.312,752.524,2053.050,1129.168,33.369,1814.096,0.000,2000.375,0.000,49.434
$DEVICE_MAMPS,137.293,80.535,1398.241,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,643.913,586.307,475.044,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44250,869
$CFSIZE,260165632,240852992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,9,0
$GPS,150108,064908,6346.146,-1318.251,39,1.4,39,-12.5