version: 66.02
glider: 102
mission: 4
dive: 289
start: 1 16 108 4 43 28
data:
$ID,102
$MISSION,4
$DIVE,289
$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,-82084.852
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,043602,6346.488,-1324.226,42,1.3,42,-12.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-58.2
$GPS2,044233,6346.566,-1324.324,15,1.6,15,-12.6
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.008,-0.238
$KALMAN_X,345751.9,-775.8,319.2,-604889.8,-1426.2
$KALMAN_Y,35045.4,-599.1,-291.8,213015.9,10132.0
$MHEAD_RNG_PITCHd_Wd,194.5,22757,-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,-146.5,0.0,0.0,0,66,0.00,0.00,-41.53,0.000,2,0.000,0.000,31,1883,2435
$GC,69,-1.23,-146.6,3.1,-2.7,2,140,11.55,2.60,-50.58,0.000,4,0.137,0.061,2223,3305,3475
$GC,241,-1.23,-146.6,17.0,-11.2,10,246,0.00,2.55,0.00,0.000,6,0.000,0.044,2223,1902,3475
$GC,568,-1.23,-146.6,52.3,-10.5,26,572,0.00,2.58,0.00,0.000,4,0.000,0.049,2223,3314,3475
$GC,640,-1.23,-146.6,62.2,-14.6,29,644,0.00,2.55,0.00,0.000,6,0.000,0.044,2223,1898,3475
$GC,955,-1.23,-146.6,103.5,-10.5,44,959,0.00,2.58,0.00,0.000,4,0.000,0.049,2223,3314,3475
$GC,1005,-1.23,-146.6,108.9,-11.1,46,1009,0.00,2.55,0.00,0.000,6,0.000,0.044,2223,1899,3475
$GC,1327,-1.23,-146.6,143.7,-11.4,62,1331,0.00,2.58,0.00,0.000,4,0.000,0.049,2223,3315,3475
$GC,1353,-1.23,-146.6,146.8,-11.1,63,1358,0.00,2.55,0.00,0.000,6,0.000,0.044,2223,1899,3476
$GC,1675,-1.23,-146.6,179.4,-9.6,79,1679,0.00,2.55,0.00,0.000,4,0.000,0.050,2223,3309,3475
$GC,1701,-1.23,-146.6,182.2,-10.6,80,1705,0.00,2.55,0.00,0.000,6,0.000,0.044,2223,1894,3475
$GC,2023,-1.23,-146.6,212.1,-9.4,96,2027,0.00,2.58,0.00,0.000,4,0.000,0.050,2223,3312,3475
$GC,2056,-1.23,-146.6,215.4,-9.2,97,2062,0.00,2.55,0.00,0.000,6,0.000,0.045,2223,1898,3475
$GC,2371,-1.23,-146.6,247.4,-10.4,113,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3475
$GC,2681,-1.23,-146.6,278.7,-10.1,128,2685,0.00,2.55,0.00,0.000,4,0.000,0.050,2223,3307,3475
$GC,2731,-1.23,-146.6,283.8,-10.1,130,2736,0.00,2.55,0.00,0.000,6,0.000,0.045,2223,1895,3475
$GC,3047,-1.23,-146.6,315.8,-10.2,145,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3475
$GC,3356,-1.23,-146.6,347.8,-10.2,160,3360,0.00,2.58,0.00,0.000,4,0.000,0.051,2223,3312,3475
$GC,3417,-1.23,-146.6,354.0,-10.0,163,3422,0.00,2.55,0.00,0.000,6,0.000,0.046,2223,1901,3475
$GC,3744,-1.23,-146.6,386.8,-9.9,179,3748,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3307,3475
$GC,3776,-1.23,-146.6,390.1,-9.8,180,3783,0.00,2.55,0.00,0.000,6,0.000,0.047,2223,1896,3475
$GC,4092,-1.23,-146.6,420.6,-10.2,196,4096,0.00,2.58,0.00,0.000,4,0.000,0.052,2223,3307,3475
$GC,4147,-1.23,-146.6,426.5,-10.8,198,4153,0.00,2.55,0.00,0.000,6,0.000,0.048,2222,1898,3475
$GC,4462,-1.23,-146.6,460.9,-11.1,214,4466,0.00,2.55,0.00,0.000,4,0.000,0.052,2223,3307,3476
$GC,4488,-1.23,-146.6,464.1,-11.7,215,4493,0.00,2.55,0.00,0.000,6,0.000,0.048,2223,1895,3476
$GC,4810,-1.23,-146.6,504.6,-13.7,231,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3476
$GC,5120,-1.23,-146.6,551.3,-14.6,246,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3476
$GC,5429,-1.23,-146.6,588.9,-11.1,261,5433,0.00,2.60,0.00,0.000,4,0.000,0.057,2223,3313,3476
$GC,5472,-1.23,-146.6,593.9,-11.2,263,5477,0.00,2.58,0.00,0.000,6,0.000,0.048,2223,1898,3475
$GC,5793,-1.23,-146.6,627.5,-10.5,279,5797,0.00,2.65,0.00,0.000,4,0.000,0.074,2223,489,3476
$GC,5819,-1.23,-146.6,630.5,-11.0,280,5824,0.00,2.50,0.00,0.000,6,0.000,0.047,2223,1906,3476
$GC,6142,-1.23,-146.6,661.7,-9.7,296,6146,0.00,2.58,0.00,0.000,4,0.000,0.061,2223,3300,3476
$GC,6207,-1.23,-146.6,668.4,-9.5,299,6212,0.00,2.55,0.00,0.000,6,0.000,0.054,2223,1903,3476
$GC,6534,-1.23,-146.6,698.9,-8.9,315,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1903,3476
$GC,6844,-1.23,-146.6,727.2,-9.2,330,6848,0.00,2.58,0.00,0.000,4,0.000,0.060,2223,3301,3475
$GC,6898,-1.23,-146.6,732.7,-10.2,332,6905,0.00,2.58,0.00,0.000,6,0.000,0.054,2223,1900,3475
$GC,7214,-1.23,-146.6,760.3,-8.7,348,7218,0.00,2.60,0.00,0.000,4,0.000,0.061,2223,3304,3475
$GC,7246,-1.23,-146.6,763.2,-9.2,349,7252,0.00,2.60,0.00,0.000,6,0.000,0.055,2223,1893,3475
$GC,7561,-1.23,-146.6,789.7,-8.4,365,7566,0.00,2.62,0.00,0.000,4,0.000,0.062,2223,3304,3475
$GC,7623,-1.23,-146.6,795.1,-8.3,368,7627,0.00,2.60,0.00,0.000,6,0.000,0.057,2223,1897,3475
$GC,7949,-1.23,-146.6,820.3,-7.7,384,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1897,3474
$GC,8258,-1.23,-146.6,845.8,-7.7,399,8259,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1897,3473
$GC,8567,-1.23,-146.6,871.1,-9.1,414,8572,0.00,2.62,0.00,0.000,4,0.000,0.067,2223,3300,3473
$GC,8629,-1.23,-146.6,876.3,-8.5,417,8634,0.00,2.58,0.00,0.000,6,0.000,0.060,2223,1901,3473
$GC,8956,-1.23,-146.6,908.5,-10.1,433,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3473
$GC,9265,-1.23,-146.6,939.0,-10.1,448,9270,0.00,2.60,0.00,0.000,4,0.000,0.068,2223,3297,3472
$GC,9332,-1.23,-146.6,945.3,-9.5,451,9336,0.00,2.58,0.00,0.000,6,0.000,0.062,2223,1901,3471
$GC,9659,-1.23,-146.6,961.8,-0.0,467,9663,0.00,2.70,0.00,0.000,4,0.000,0.085,2223,489,3470
$STATE,9875,end dive,NO_VERTICAL_VELOCITY
$STATE,9875,begin apogee
$GC,9884,-0.36,0.0,961.8,0.0,477,10018,0.88,0.00,127.30,1.467,6,0.054,0.000,2424,2090,2878
$STATE,10019,end apogee,CONTROL_FINISHED_OK
$STATE,10019,begin climb
$GC,10021,1.23,146.6,961.5,0.0,484,10155,1.52,2.78,125.53,1.434,4,0.045,0.077,2768,689,2279
$GC,10341,1.23,146.6,942.9,8.6,498,10346,0.00,2.60,0.00,0.000,6,0.000,0.056,2767,2102,2279
$GC,10669,1.30,204.2,917.9,5.8,514,10724,0.00,2.72,49.72,1.414,4,0.000,0.071,2767,3507,2045
$GC,10853,1.36,254.8,905.0,6.1,521,10904,0.12,2.62,43.92,1.392,6,0.054,0.059,2804,2100,1839
$GC,11230,1.36,254.8,867.3,10.6,540,11234,0.00,2.65,0.00,0.000,4,0.000,0.065,2804,3503,1838
$GC,11314,1.36,254.8,858.3,10.8,544,11318,0.00,2.62,0.00,0.000,6,0.000,0.058,2804,2093,1838
$GC,11640,1.36,254.8,824.0,10.9,560,11644,0.00,2.65,0.00,0.000,4,0.000,0.064,2804,3503,1839
$GC,11683,1.36,254.8,818.7,12.2,562,11687,0.00,2.60,0.00,0.000,6,0.000,0.057,2804,2099,1838
$GC,12010,1.36,254.8,785.1,10.2,578,12014,0.00,2.65,0.00,0.000,4,0.000,0.063,2804,3508,1838
$GC,12053,1.36,254.8,780.3,10.5,580,12058,0.00,2.60,0.00,0.000,6,0.000,0.055,2804,2099,1838
$GC,12374,1.36,254.8,748.0,8.8,596,12379,0.00,2.62,0.00,0.000,4,0.000,0.061,2804,3504,1838
$GC,12458,1.36,254.8,740.8,8.1,600,12463,0.00,2.60,0.00,0.000,6,0.000,0.054,2804,2093,1837
$GC,12786,1.40,285.3,716.8,6.8,616,12819,0.00,2.75,26.55,1.335,4,0.000,0.061,2804,3505,1713
$GC,12899,1.40,285.3,707.9,8.5,621,12903,0.00,2.60,0.00,0.000,6,0.000,0.054,2804,2095,1713
$GC,13219,1.40,285.3,682.8,8.2,637,13221,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2095,1713
$GC,13528,1.40,285.3,656.7,8.6,652,13533,0.00,2.62,0.00,0.000,4,0.000,0.058,2804,3510,1713
$GC,13556,1.40,285.3,654.4,8.7,653,13560,0.00,2.58,0.00,0.000,6,0.000,0.050,2804,2097,1713
$GC,13872,1.43,309.2,631.2,7.1,668,13897,0.00,2.67,20.75,1.263,4,0.000,0.056,2804,3503,1617
$GC,13914,1.48,349.6,628.1,6.5,670,13954,0.00,2.58,34.40,1.226,6,0.000,0.049,2804,2102,1451
$GC,14282,1.48,349.6,596.3,9.0,688,14287,0.00,2.67,0.00,0.000,4,0.000,0.074,2804,692,1452
$GC,14310,1.48,349.6,593.3,10.4,689,14314,0.00,2.53,0.00,0.000,6,0.000,0.046,2804,2106,1452
$GC,14625,1.48,349.6,563.4,9.8,704,14626,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2110,1452
$GC,14934,1.48,349.6,533.6,9.3,719,14935,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2111,1452
$GC,15244,1.48,349.6,503.3,10.2,734,15248,0.00,2.70,0.00,0.000,4,0.000,0.071,2804,685,1453
$GC,15264,1.48,349.6,500.9,10.7,735,15269,0.00,2.53,0.00,0.000,6,0.000,0.044,2804,2106,1453
$GC,15592,1.48,349.6,461.5,13.3,751,15596,0.00,2.67,0.00,0.000,4,0.000,0.069,2804,691,1453
$GC,15618,1.48,349.6,457.7,13.4,752,15623,0.00,2.50,0.00,0.000,6,0.000,0.044,2804,2104,1453
$GC,15934,1.48,349.6,420.0,12.3,767,15935,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2108,1453
$GC,16243,1.48,349.6,383.6,12.1,782,16247,0.00,2.65,0.00,0.000,4,0.000,0.068,2804,691,1453
$GC,16269,1.48,349.6,380.1,12.6,783,16274,0.00,2.50,0.00,0.000,6,0.000,0.043,2804,2106,1453
$GC,16585,1.48,349.6,341.7,12.5,798,16589,0.00,2.53,0.00,0.000,4,0.000,0.051,2804,3497,1453
$GC,16611,1.48,349.6,338.1,12.5,799,16615,0.00,2.50,0.00,0.000,6,0.000,0.045,2804,2095,1453
$GC,16933,1.48,349.6,298.4,12.3,815,16937,0.00,2.62,0.00,0.000,4,0.000,0.068,2804,690,1453
$GC,16959,1.48,349.6,294.7,12.7,816,16963,0.00,2.47,0.00,0.000,6,0.000,0.042,2804,2100,1454
$GC,17280,1.48,349.6,254.1,12.6,832,17281,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2104,1454
$GC,17590,1.48,349.6,215.7,12.5,847,17594,0.00,2.65,0.00,0.000,4,0.000,0.067,2804,687,1454
$GC,17606,1.48,349.6,213.6,12.3,848,17610,0.00,2.53,0.00,0.000,6,0.000,0.042,2804,2107,1454
$GC,17931,1.48,349.6,173.1,12.7,864,17936,0.00,2.65,0.00,0.000,4,0.000,0.065,2804,691,1455
$GC,17958,1.48,349.6,169.5,12.6,865,17962,0.00,2.47,0.00,0.000,6,0.000,0.041,2804,2100,1454
$GC,18281,1.48,349.6,128.4,12.8,881,18286,0.00,2.62,0.00,0.000,4,0.000,0.065,2804,692,1455
$GC,18299,1.48,349.6,125.8,13.3,882,18303,0.00,2.47,0.00,0.000,6,0.000,0.042,2804,2102,1454
$GC,18625,1.48,349.6,85.0,12.9,898,18629,0.00,2.62,0.00,0.000,4,0.000,0.065,2804,692,1455
$GC,18646,1.48,349.6,81.8,15.3,899,18650,0.00,2.50,0.00,0.000,6,0.000,0.041,2804,2107,1455
$GC,18967,1.48,349.6,38.2,13.0,915,18971,0.00,2.62,0.00,0.000,4,0.000,0.064,2804,693,1455
$GC,18989,1.48,349.6,35.2,12.2,916,18994,0.00,2.47,0.00,0.000,6,0.000,0.041,2804,2101,1455
$STATE,19246,end climb,SURFACE_DEPTH_REACHED
$STATE,19246,begin surface coast
$FINISH,1.8,1.007056
$STATE,19268,end surface coast,CONTROL_FINISHED_OK
$STATE,19269,begin surface
$SM_CCo,19351,0.00,0.000,0,0,1454,349.55
$SM_GC,2.59,11.88,0.00,0.00,0.028,0.000,0.000,28,1881,1454,-11.27,-0.54,349.55
$IRIDIUM_FIX,6322.64,-1325.58,160108,030314
$TT8_MAMPS,0.026845
$HUMID,2071
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,15.10
$XPDR_PINGS,1
$24V_AH,23.1,61.222
$10V_AH,10.1,29.724
$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,25.950,207.775,428.175,0.000,0.000,38.750,34.325,195.254,8.500,0.000,0.000,17.204,1731.018,14772.031,567.334,2124.868,544.482,33.372,1675.370,0.000,2071.561,0.000,54.263
$DEVICE_MAMPS,137.293,85.137,1467.271,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,685.055,629.438,486.878,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47425,930
$CFSIZE,260165632,240513024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,160108,100708,6345.144,-1326.031,34,1.0,34,-12.6