version: 66.02
glider: 102
mission: 4
dive: 288
start: 1 15 108 23 6 31
data:
$ID,102
$MISSION,4
$DIVE,288
$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,-82067.016
$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,24
$R_STBD_OVSHOOT,21
$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
$GPS1,225708,6346.053,-1323.241,31,1.2,31,-12.6
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-65.9
$GPS2,230537,6346.109,-1323.702,10,2.0,14,-12.6
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.039,-0.234
$KALMAN_X,347864.2,-121.4,-748.4,-606054.1,1225.1
$KALMAN_Y,31922.5,-1526.1,-2071.5,218057.5,17645.8
$MHEAD_RNG_PITCHd_Wd,183.1,21788,-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,20,begin dive
$GC,22,-1.23,-146.6,0.0,0.0,0,76,0.00,0.00,-51.45,0.000,2,0.000,0.000,31,1892,2641
$GC,79,-1.23,-146.6,3.7,-2.6,3,134,11.55,2.62,-36.62,0.000,4,0.137,0.062,2221,3303,3477
$GC,140,-1.23,-146.6,6.6,-8.2,6,145,0.00,2.55,0.00,0.000,6,0.000,0.043,2222,1894,3477
$GC,467,-1.23,-146.6,44.2,-11.1,22,471,0.00,2.58,0.00,0.000,4,0.000,0.049,2222,3310,3477
$GC,510,-1.23,-146.6,48.6,-10.4,24,514,0.00,2.55,0.00,0.000,6,0.000,0.044,2222,1896,3477
$GC,838,-1.23,-146.6,87.0,-14.0,40,842,0.00,2.58,0.00,0.000,4,0.000,0.048,2222,3315,3477
$GC,877,-1.23,-146.6,94.5,-20.1,42,881,0.00,2.55,0.00,0.000,6,0.000,0.044,2222,1899,3477
$GC,1203,-1.23,-146.6,137.0,-12.9,58,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3477
$GC,1512,-1.23,-146.6,158.4,-5.2,73,1517,0.00,2.58,0.00,0.000,4,0.000,0.050,2222,3315,3477
$GC,1613,-1.23,-146.6,165.1,-6.0,77,1619,0.00,2.55,0.00,0.000,6,0.000,0.044,2222,1898,3477
$GC,1928,-1.23,-146.6,187.3,-9.8,93,1932,0.00,2.55,0.00,0.000,4,0.000,0.049,2222,3309,3477
$GC,1990,-1.23,-146.6,193.5,-9.5,96,1995,0.00,2.55,0.00,0.000,6,0.000,0.044,2222,1895,3477
$GC,2317,-1.23,-146.6,223.2,-9.3,112,2321,0.00,2.58,0.00,0.000,4,0.000,0.050,2222,3314,3477
$GC,2360,-1.23,-146.6,228.1,-10.9,114,2364,0.00,2.55,0.00,0.000,6,0.000,0.044,2222,1894,3477
$GC,2681,-1.23,-146.6,261.3,-10.2,130,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1894,3477
$GC,2990,-1.23,-146.6,295.2,-12.1,145,2995,0.00,2.58,0.00,0.000,4,0.000,0.051,2222,3310,3477
$GC,3091,-1.23,-146.6,306.9,-11.4,149,3097,0.00,2.55,0.00,0.000,6,0.000,0.046,2222,1898,3477
$GC,3406,-1.23,-146.6,340.3,-11.0,165,3410,0.00,2.58,0.00,0.000,4,0.000,0.051,2223,3311,3477
$GC,3467,-1.23,-146.6,347.0,-10.3,168,3471,0.00,2.55,0.00,0.000,6,0.000,0.046,2221,1899,3477
$GC,3793,-1.23,-146.6,378.9,-8.5,184,3797,0.00,2.58,0.00,0.000,4,0.000,0.051,2222,3313,3477
$GC,3847,-1.23,-146.6,384.8,-10.6,186,3853,0.00,2.55,0.00,0.000,6,0.000,0.046,2222,1897,3477
$GC,4164,-1.23,-146.6,425.4,-13.4,202,4168,0.00,2.58,0.00,0.000,4,0.000,0.052,2222,3311,3477
$GC,4186,-1.23,-146.6,428.6,-14.1,203,4190,0.00,2.55,0.00,0.000,6,0.000,0.047,2222,1898,3477
$GC,4506,-1.23,-146.6,468.3,-10.8,219,4510,0.00,2.58,0.00,0.000,4,0.000,0.052,2222,3311,3477
$GC,4568,-1.23,-146.6,475.2,-11.5,222,4573,0.00,2.55,0.00,0.000,6,0.000,0.047,2222,1900,3477
$GC,4895,-1.23,-146.6,511.3,-11.3,238,4899,0.00,2.58,0.00,0.000,4,0.000,0.053,2222,3315,3477
$GC,4928,-1.23,-146.6,515.1,-12.3,239,4934,0.00,2.58,0.00,0.000,6,0.000,0.047,2222,1894,3477
$GC,5243,-1.23,-146.6,553.2,-12.6,255,5248,0.00,2.60,0.00,0.000,4,0.000,0.054,2222,3312,3477
$GC,5287,-1.23,-146.6,558.8,-11.9,257,5292,0.00,2.55,0.00,0.000,6,0.000,0.047,2222,1895,3477
$GC,5614,-1.23,-146.6,597.4,-12.2,273,5618,0.00,2.60,0.00,0.000,4,0.000,0.057,2222,3308,3477
$GC,5653,-1.23,-146.6,602.3,-13.3,275,5657,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,1896,3477
$GC,5979,-1.23,-146.6,644.5,-13.3,291,5983,0.00,2.60,0.00,0.000,4,0.000,0.058,2222,3308,3477
$GC,6005,-1.23,-146.6,648.3,-13.7,292,6010,0.00,2.55,0.00,0.000,6,0.000,0.051,2222,1899,3477
$GC,6327,-1.23,-146.6,690.0,-12.8,308,6331,0.00,2.60,0.00,0.000,4,0.000,0.058,2222,3311,3477
$GC,6353,-1.23,-146.6,693.4,-12.4,309,6358,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,1900,3476
$GC,6674,-1.23,-146.6,734.5,-14.6,325,6679,0.00,2.65,0.00,0.000,4,0.000,0.074,2222,489,3477
$GC,6741,-1.23,-146.6,744.2,-13.4,328,6746,0.00,2.53,0.00,0.000,6,0.000,0.051,2222,1906,3477
$GC,7062,-1.23,-146.6,782.3,-10.1,344,7066,0.00,2.60,0.00,0.000,4,0.000,0.064,2222,3304,3477
$GC,7214,-1.23,-146.6,796.9,-8.6,351,7218,0.00,2.60,0.00,0.000,6,0.000,0.058,2222,1898,3477
$GC,7540,-1.23,-146.6,822.3,-7.5,367,7544,0.00,2.62,0.00,0.000,4,0.000,0.065,2222,3301,3476
$GC,7562,-1.23,-146.6,823.9,-7.3,368,7567,0.00,2.58,0.00,0.000,6,0.000,0.058,2222,1900,3476
$GC,7883,-1.23,-146.6,848.8,-8.7,384,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3476
$GC,8192,-1.23,-146.6,877.7,-9.1,399,8197,0.00,2.62,0.00,0.000,4,0.000,0.067,2223,3300,3475
$GC,8277,-1.23,-146.6,885.8,-9.6,403,8281,0.00,2.60,0.00,0.000,6,0.000,0.061,2222,1902,3475
$GC,8603,-1.23,-146.6,916.8,-8.5,419,8607,0.00,2.62,0.00,0.000,4,0.000,0.070,2222,3301,3474
$GC,8679,-1.23,-146.6,924.2,-9.7,422,8686,0.00,2.60,0.00,0.000,6,0.000,0.061,2222,1896,3474
$GC,8995,-1.23,-146.6,952.8,-9.1,438,8999,0.00,2.65,0.00,0.000,4,0.000,0.072,2222,3299,3472
$GC,9083,-1.23,-146.6,961.4,-9.7,442,9088,0.00,2.60,0.00,0.000,6,0.000,0.064,2222,1899,3472
$GC,9405,-1.23,-146.6,962.6,0.2,458,9409,0.00,2.65,0.00,0.000,4,0.000,0.071,2222,3303,3472
$STATE,9474,end dive,NO_VERTICAL_VELOCITY
$STATE,9474,begin apogee
$GC,9482,-0.36,0.0,962.6,0.0,461,9614,0.85,0.00,126.97,1.476,6,0.061,0.000,2417,2095,2878
$STATE,9614,end apogee,CONTROL_FINISHED_OK
$STATE,9614,begin climb
$GC,9617,1.23,146.6,962.3,0.0,468,9752,1.55,2.80,125.57,1.422,4,0.054,0.078,2761,690,2280
$GC,9940,1.25,163.7,944.8,7.3,483,9962,0.00,2.60,15.62,1.388,6,0.000,0.058,2761,2099,2210
$GC,10271,1.35,248.9,925.6,4.8,499,10354,0.12,2.75,72.80,1.405,4,0.052,0.071,2797,3502,1863
$GC,10499,1.35,248.9,901.3,12.5,509,10503,0.00,2.62,0.00,0.000,6,0.000,0.061,2797,2100,1863
$GC,10815,1.35,248.9,868.0,10.6,524,10819,0.00,2.65,0.00,0.000,4,0.000,0.066,2797,3504,1863
$GC,10910,1.35,248.9,857.6,11.4,528,10914,0.00,2.62,0.00,0.000,6,0.000,0.058,2797,2099,1863
$GC,11225,1.35,248.9,825.4,9.9,543,11229,0.00,2.65,0.00,0.000,4,0.000,0.065,2797,3506,1863
$GC,11302,1.35,248.9,817.2,10.3,546,11308,0.00,2.60,0.00,0.000,6,0.000,0.058,2797,2098,1862
$GC,11617,1.35,248.9,784.8,9.9,562,11619,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2098,1862
$GC,11927,1.35,248.9,752.6,10.0,577,11931,0.00,2.65,0.00,0.000,4,0.000,0.062,2797,3510,1862
$GC,11993,1.35,248.9,745.5,10.9,580,11997,0.00,2.62,0.00,0.000,6,0.000,0.053,2797,2089,1862
$GC,12313,1.35,248.9,713.4,10.1,596,12318,0.00,2.65,0.00,0.000,4,0.000,0.077,2797,692,1862
$GC,12324,1.35,248.9,712.1,10.1,596,12330,0.00,2.55,0.00,0.000,6,0.000,0.050,2798,2108,1862
$GC,12639,1.35,248.9,677.6,12.2,612,12644,0.00,2.58,0.00,0.000,4,0.000,0.060,2797,3505,1862
$GC,12734,1.35,248.9,664.5,14.5,616,12738,0.00,2.58,0.00,0.000,6,0.000,0.052,2797,2093,1862
$GC,13055,1.35,248.9,625.7,10.5,632,13059,0.00,2.62,0.00,0.000,4,0.000,0.058,2797,3507,1862
$GC,13110,1.35,248.9,619.4,12.2,634,13116,0.00,2.58,0.00,0.000,6,0.000,0.051,2797,2095,1862
$GC,13425,1.35,248.9,583.8,11.6,650,13429,0.00,2.60,0.00,0.000,4,0.000,0.057,2798,3503,1862
$GC,13451,1.35,248.9,580.9,11.6,651,13455,0.00,2.55,0.00,0.000,6,0.000,0.048,2797,2095,1862
$GC,13773,1.35,248.9,546.9,10.6,667,13777,0.00,2.60,0.00,0.000,4,0.000,0.055,2797,3507,1862
$GC,13873,1.35,248.9,534.4,11.4,671,13879,0.00,2.55,0.00,0.000,6,0.000,0.048,2797,2100,1862
$GC,14188,1.35,248.9,504.1,9.9,687,14190,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2100,1862
$GC,14498,1.35,248.9,472.6,9.7,702,14502,0.00,2.58,0.00,0.000,4,0.000,0.054,2797,3503,1863
$GC,14582,1.35,248.9,464.8,9.5,706,14587,0.00,2.53,0.00,0.000,6,0.000,0.046,2797,2098,1863
$GC,14908,1.35,248.9,434.3,9.9,722,14912,0.00,2.58,0.00,0.000,4,0.000,0.053,2797,3505,1863
$GC,14951,1.35,248.9,430.2,8.8,724,14955,0.00,2.53,0.00,0.000,6,0.000,0.047,2797,2099,1863
$GC,15278,1.35,248.9,401.8,8.9,740,15282,0.00,2.58,0.00,0.000,4,0.000,0.053,2797,3503,1864
$GC,15334,1.35,248.9,396.6,9.0,742,15340,0.00,2.55,0.00,0.000,6,0.000,0.046,2797,2094,1864
$GC,15649,1.35,248.9,370.4,9.1,758,15654,0.00,2.60,0.00,0.000,4,0.000,0.054,2797,3505,1864
$GC,15733,1.35,248.9,362.3,9.2,762,15738,0.00,2.53,0.00,0.000,6,0.000,0.046,2797,2099,1865
$GC,16060,1.35,248.9,330.9,9.4,778,16064,0.00,2.58,0.00,0.000,4,0.000,0.052,2798,3504,1865
$GC,16166,1.35,248.9,320.7,9.9,783,16170,0.00,2.53,0.00,0.000,6,0.000,0.045,2797,2094,1865
$GC,16491,1.35,248.9,288.3,10.3,799,16496,0.00,2.58,0.00,0.000,4,0.000,0.053,2798,3505,1865
$GC,16569,1.35,248.9,279.6,11.0,802,16575,0.00,2.50,0.00,0.000,6,0.000,0.044,2797,2099,1865
$GC,16884,1.35,248.9,247.5,9.5,818,16889,0.00,2.58,0.00,0.000,4,0.000,0.051,2797,3506,1865
$GC,16969,1.35,248.9,240.6,8.0,822,16973,0.00,2.53,0.00,0.000,6,0.000,0.044,2797,2093,1866
$GC,17294,1.35,248.9,212.5,8.7,838,17299,0.00,2.60,0.00,0.000,4,0.000,0.052,2797,3509,1865
$GC,17434,1.35,248.9,199.1,9.4,844,17438,0.00,2.53,0.00,0.000,6,0.000,0.043,2797,2098,1866
$GC,17750,1.35,248.9,169.6,9.3,859,17754,0.00,2.58,0.00,0.000,4,0.000,0.051,2797,3506,1866
$GC,17821,1.35,248.9,162.1,11.1,862,17825,0.00,2.50,0.00,0.000,6,0.000,0.042,2797,2099,1866
$GC,18144,1.35,248.9,131.1,9.2,878,18148,0.00,2.55,0.00,0.000,4,0.000,0.051,2797,3504,1866
$GC,18183,1.35,248.9,127.1,10.5,880,18188,0.00,2.50,0.00,0.000,6,0.000,0.042,2797,2098,1866
$GC,18510,1.35,248.9,96.6,9.9,896,18515,0.00,2.58,0.00,0.000,4,0.000,0.051,2797,3508,1867
$GC,18537,1.35,248.9,93.8,9.2,897,18542,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2098,1867
$GC,18853,1.35,248.9,65.1,9.3,912,18858,0.00,2.58,0.00,0.000,4,0.000,0.051,2797,3509,1867
$GC,18947,1.35,248.9,55.9,8.3,916,18952,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2097,1867
$GC,19269,1.35,248.9,30.6,10.4,932,19273,0.00,2.55,0.00,0.000,4,0.000,0.050,2798,3505,1867
$GC,19318,1.35,248.9,25.7,9.3,934,19322,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2096,1867
$STATE,19569,end climb,SURFACE_DEPTH_REACHED
$STATE,19570,begin surface coast
$FINISH,1.7,1.017414
$STATE,19591,end surface coast,CONTROL_FINISHED_OK
$STATE,19592,begin surface
$SM_CCo,19613,48.22,0.813,6,0,1655,300.00
$SM_GC,2.44,0.00,0.00,48.22,0.000,0.000,0.813,31,1883,1655,-11.33,-0.48,300.00
$IRIDIUM_FIX,6322.64,-1320.84,150108,212143
$TT8_MAMPS,0.026845
$HUMID,2038
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.40
$XPDR_PINGS,1
$24V_AH,23.1,61.035
$10V_AH,10.1,29.637
$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,26.000,237.350,340.975,48.225,0.000,67.858,67.329,192.408,8.500,0.000,0.000,15.660,1819.702,14837.382,607.496,2337.388,600.660,33.367,1796.229,0.000,2274.376,0.000,54.263
$DEVICE_MAMPS,136.526,78.234,1476.475,813.020,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,693.413,639.261,521.214,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47444,947
$CFSIZE,260165632,240574464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,6,0
$GPS,160108,043602,6346.488,-1324.226,42,1.3,42,-12.6