version: 66.02
glider: 102
mission: 4
dive: 297
start: 1 17 108 16 21 28
data:
$ID,102
$MISSION,4
$DIVE,297
$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,-1
$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,-82214.984
$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,30
$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
$GPS1,161456,6343.801,-1256.007,37,1.9,37,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-62.8
$GPS2,162021,6343.839,-1255.816,11,1.3,11,-12.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.233,-0.044
$KALMAN_X,383652.1,-2395.5,543.9,-616243.8,10586.2
$KALMAN_Y,62425.7,-3357.0,131.6,182883.5,7328.6
$MHEAD_RNG_PITCHd_Wd,271.5,22756,-14.7,-8.000
$D_GRID,643
$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,-41.62,0.000,2,0.000,0.000,36,1881,2439
$GC,69,-1.23,-146.6,3.1,-3.4,2,140,11.50,2.62,-51.45,0.000,4,0.137,0.063,2224,3299,3477
$GC,392,-1.23,-146.6,33.3,-13.6,16,399,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1882,3477
$GC,709,-1.23,-146.6,69.7,-11.4,32,713,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3301,3477
$GC,862,-1.23,-146.6,88.1,-11.6,39,866,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1896,3477
$GC,1188,-1.23,-146.6,125.9,-10.7,55,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3478
$GC,1497,-1.23,-146.6,159.0,-11.2,70,1501,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3304,3477
$GC,1569,-1.23,-146.6,167.5,-11.6,73,1573,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1898,3477
$GC,1884,-1.23,-146.6,207.1,-13.8,88,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3477
$GC,2193,-1.23,-146.6,247.7,-13.1,103,2198,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3304,3477
$GC,2248,-1.23,-146.6,254.8,-12.7,105,2255,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1892,3477
$GC,2565,-1.23,-146.6,291.1,-10.5,121,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1892,3478
$GC,2874,-1.23,-146.6,324.5,-10.3,136,2879,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3308,3477
$GC,2963,-1.23,-146.6,334.1,-10.7,140,2968,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1896,3477
$GC,3290,-1.23,-146.6,371.4,-11.5,156,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3477
$GC,3600,-1.23,-146.6,403.7,-10.4,171,3604,0.00,2.53,0.00,0.000,4,0.000,0.051,2224,3301,3478
$GC,3671,-1.23,-146.6,411.9,-11.1,174,3675,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1894,3477
$GC,3992,-1.23,-146.6,441.6,-9.8,190,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1893,3477
$GC,4302,-1.23,-146.6,478.2,-13.2,205,4306,0.00,2.55,0.00,0.000,4,0.000,0.052,2224,3304,3477
$GC,4363,-1.23,-146.6,486.2,-12.6,208,4367,0.00,2.53,0.00,0.000,6,0.000,0.047,2224,1899,3477
$GC,4689,-1.23,-146.6,521.4,-9.7,224,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3477
$GC,4999,-1.23,-146.6,550.8,-8.1,239,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3477
$GC,5307,-1.23,-146.6,580.5,-9.7,254,5308,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3477
$GC,5617,-1.23,-146.6,608.2,-9.1,269,5621,0.00,2.55,0.00,0.000,4,0.000,0.056,2224,3299,3477
$GC,5734,-1.23,-146.6,619.4,-12.2,274,5738,0.00,2.50,0.00,0.000,6,0.000,0.051,2224,1900,3477
$STATE,5964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5964,begin apogee
$GC,5970,-0.36,0.0,643.7,10.9,285,6097,0.90,0.00,123.68,1.216,6,0.079,0.000,2415,2101,2878
$STATE,6098,end apogee,CONTROL_FINISHED_OK
$STATE,6098,begin climb
$GC,6100,1.23,146.6,652.9,0.0,291,6228,1.58,0.00,122.10,1.186,6,0.054,0.000,2765,2101,2280
$GC,6538,1.33,231.2,638.4,4.8,313,6614,0.00,2.65,70.15,1.180,4,0.000,0.061,2765,3496,1935
$GC,6750,1.37,257.3,618.5,7.0,322,6780,0.12,2.55,22.62,1.168,6,0.056,0.048,2800,2101,1828
$GC,7102,1.37,257.3,584.0,9.0,339,7107,0.00,2.58,0.00,0.000,4,0.000,0.058,2800,3496,1828
$GC,7248,1.37,257.3,568.1,11.7,345,7254,0.00,2.55,0.00,0.000,6,0.000,0.048,2800,2092,1828
$GC,7563,1.37,257.3,535.6,9.6,361,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2092,1828
$GC,7873,1.37,257.3,510.9,8.2,376,7877,0.00,2.55,0.00,0.000,4,0.000,0.055,2801,3497,1828
$GC,7939,1.37,257.3,504.9,9.1,379,7943,0.00,2.53,0.00,0.000,6,0.000,0.046,2800,2097,1827
$GC,8266,1.37,257.3,471.9,10.8,395,8270,0.00,2.55,0.00,0.000,4,0.000,0.053,2800,3497,1827
$GC,8338,1.37,257.3,463.2,12.3,398,8342,0.00,2.53,0.00,0.000,6,0.000,0.044,2800,2095,1827
$GC,8653,1.37,257.3,423.8,13.0,413,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2094,1827
$GC,8962,1.37,257.3,381.6,14.5,428,8967,0.00,2.55,0.00,0.000,4,0.000,0.052,2801,3497,1827
$GC,9096,1.37,257.3,359.8,16.2,434,9101,0.00,2.50,0.00,0.000,6,0.000,0.044,2800,2098,1827
$GC,9417,1.37,257.3,309.9,14.9,450,9418,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2098,1827
$GC,9726,1.37,257.3,264.4,14.8,465,9731,0.00,2.55,0.00,0.000,4,0.000,0.051,2800,3502,1827
$GC,9811,1.37,257.3,252.3,14.6,469,9815,0.00,2.50,0.00,0.000,6,0.000,0.043,2800,2098,1827
$GC,10137,1.37,257.3,212.0,11.5,485,10138,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2098,1828
$GC,10446,1.37,257.3,180.2,10.9,500,10450,0.00,2.55,0.00,0.000,4,0.000,0.051,2800,3505,1828
$GC,10524,1.37,257.3,172.0,10.4,503,10530,0.00,2.50,0.00,0.000,6,0.000,0.041,2800,2096,1828
$GC,10839,1.37,257.3,138.2,10.9,519,10840,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2096,1828
$GC,11149,1.44,315.4,113.4,5.8,534,11200,0.00,2.60,46.05,0.890,4,0.000,0.048,2800,3499,1591
$GC,11278,1.59,439.0,109.0,3.3,540,11382,0.17,2.50,95.68,0.844,6,0.050,0.040,2849,2096,1088
$GC,11691,1.59,439.0,50.8,14.8,560,11692,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2096,1088
$GC,12000,1.59,439.0,5.0,15.0,575,12004,0.00,2.60,0.00,0.000,4,0.000,0.069,2849,697,1088
$STATE,12018,end climb,SURFACE_DEPTH_REACHED
$STATE,12018,begin surface coast
$FINISH,1.4,1.027423
$STATE,12025,end surface coast,CONTROL_FINISHED_OK
$STATE,12025,begin surface
$SM_CCo,12109,0.00,0.000,0,0,1085,439.82
$SM_GC,2.49,12.20,0.00,0.00,0.031,0.000,0.000,35,1915,1085,-11.26,0.42,439.82
$IRIDIUM_FIX,6317.84,-1303.31,170108,161601
$TT8_MAMPS,0.026845
$HUMID,2052
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,18.40
$XPDR_PINGS,1
$24V_AH,23.3,62.566
$10V_AH,10.1,30.298
$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,26.475,86.350,480.275,0.000,0.000,37.996,38.722,140.275,5.250,0.000,0.000,12.672,1074.364,9008.569,549.445,1405.070,412.873,33.363,1281.381,0.000,1381.592,0.000,33.263
$DEVICE_MAMPS,136.526,69.030,1215.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.387,387.252,373.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28558,576
$CFSIZE,260165632,240152576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,170108,194437,6343.568,-1252.740,40,1.3,45,-12.2