version: 66.02
glider: 102
mission: 4
dive: 298
start: 1 17 108 19 50 52
data:
$ID,102
$MISSION,4
$DIVE,298
$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,-82229.953
$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,37
$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
$GPS1,194437,6343.568,-1252.740,40,1.3,45,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-62.0
$GPS2,194945,6343.539,-1252.583,12,1.4,12,-12.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,-0.122
$KALMAN_X,390328.1,-1385.2,-700.0,-619818.6,12459.1
$KALMAN_Y,63967.7,-3601.5,-1299.6,182490.4,9347.8
$MHEAD_RNG_PITCHd_Wd,251.3,24315,-14.7,-8.000
$D_GRID,617
$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,-146.6,0.0,0.0,0,95,0.00,0.00,-70.97,0.000,2,0.000,0.000,35,1913,2453
$GC,98,-1.23,-146.6,3.4,-1.2,4,171,11.52,2.50,-55.20,0.000,4,0.137,0.061,2222,3294,3475
$GC,425,-1.23,-146.6,31.0,-10.8,19,430,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1896,3475
$GC,752,-1.23,-146.6,64.0,-9.0,35,756,0.00,2.50,0.00,0.000,4,0.000,0.046,2222,3296,3475
$GC,971,-1.23,-146.6,86.8,-9.7,45,975,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1897,3475
$GC,1297,-1.23,-146.6,121.0,-10.5,61,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3475
$GC,1607,-1.23,-146.6,152.2,-11.2,76,1612,0.00,2.50,0.00,0.000,4,0.000,0.046,2222,3296,3475
$GC,1662,-1.23,-146.6,158.9,-11.2,78,1668,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1893,3475
$GC,1977,-1.23,-146.6,189.5,-9.6,94,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1892,3475
$GC,2287,-1.23,-146.6,223.0,-10.5,109,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1892,3475
$GC,2597,-1.23,-146.6,251.7,-8.7,124,2601,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3294,3475
$GC,2663,-1.23,-146.6,257.9,-9.0,127,2667,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1894,3475
$GC,2990,-1.23,-146.6,286.9,-9.2,143,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1894,3475
$GC,3299,-1.23,-146.6,314.8,-9.1,158,3303,0.00,2.53,0.00,0.000,4,0.000,0.049,2222,3299,3475
$GC,3371,-1.23,-146.6,321.6,-8.7,161,3375,0.00,2.50,0.00,0.000,6,0.000,0.045,2222,1900,3475
$GC,3688,-1.23,-146.6,351.9,-10.2,176,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3475
$GC,3996,-1.23,-146.6,383.5,-10.6,191,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3475
$GC,4305,-1.23,-146.6,416.9,-10.8,206,4309,0.00,2.50,0.00,0.000,4,0.000,0.049,2222,3294,3475
$GC,4367,-1.23,-146.6,423.9,-11.9,209,4371,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1896,3475
$GC,4693,-1.23,-146.6,460.5,-11.5,225,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1894,3474
$GC,5002,-1.23,-146.6,494.2,-10.6,240,5006,0.00,2.53,0.00,0.000,4,0.000,0.050,2222,3297,3474
$GC,5124,-1.23,-146.6,508.1,-11.6,245,5130,0.00,2.50,0.00,0.000,6,0.000,0.046,2222,1899,3474
$GC,5439,-1.23,-146.6,549.5,-13.7,261,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3474
$GC,5749,-1.23,-146.6,584.1,-9.5,276,5753,0.00,2.53,0.00,0.000,4,0.000,0.055,2222,3293,3475
$GC,5815,-1.23,-146.6,590.8,-10.1,279,5819,0.00,2.50,0.00,0.000,6,0.000,0.049,2222,1903,3474
$STATE,6098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6098,begin apogee
$GC,6105,-0.36,0.0,618.0,9.1,293,6231,0.93,0.00,122.93,1.195,6,0.081,0.000,2418,2094,2878
$STATE,6232,end apogee,CONTROL_FINISHED_OK
$STATE,6232,begin climb
$GC,6234,1.23,146.6,622.0,0.0,299,6365,1.55,2.72,121.30,1.160,4,0.054,0.070,2763,694,2280
$GC,6394,1.29,194.5,617.4,6.2,306,6442,0.00,2.53,40.20,1.143,6,0.000,0.044,2763,2101,2084
$GC,6752,1.30,207.9,590.5,7.5,324,6773,0.00,2.70,11.90,1.154,4,0.000,0.061,2763,3503,2030
$GC,6818,1.30,207.9,585.0,9.0,327,6823,0.00,2.58,0.00,0.000,6,0.000,0.049,2763,2098,2029
$GC,7145,1.34,238.9,561.6,6.8,343,7174,0.10,0.00,26.42,1.164,6,0.059,0.000,2793,2098,1903
$GC,7474,1.34,238.9,534.6,8.5,359,7478,0.00,2.58,0.00,0.000,4,0.000,0.055,2794,3509,1902
$GC,7551,1.34,238.9,527.4,9.3,362,7557,0.00,2.55,0.00,0.000,6,0.000,0.046,2794,2099,1902
$GC,7867,1.34,238.9,497.7,9.4,378,7871,0.00,2.55,0.00,0.000,4,0.000,0.054,2794,3502,1901
$GC,7995,1.34,238.9,484.1,11.0,384,8000,0.00,2.53,0.00,0.000,6,0.000,0.044,2794,2099,1901
$GC,8322,1.34,238.9,450.4,10.3,400,8326,0.00,2.55,0.00,0.000,4,0.000,0.053,2794,3505,1901
$GC,8410,1.34,238.9,440.8,11.0,404,8414,0.00,2.53,0.00,0.000,6,0.000,0.045,2794,2099,1901
$GC,8737,1.34,238.9,408.5,10.0,420,8741,0.00,2.58,0.00,0.000,4,0.000,0.053,2794,3509,1901
$GC,8837,1.34,238.9,398.2,11.1,424,8843,0.00,2.50,0.00,0.000,6,0.000,0.044,2794,2098,1901
$GC,9152,1.34,238.9,365.5,10.4,440,9156,0.00,2.55,0.00,0.000,4,0.000,0.052,2794,3504,1901
$GC,9213,1.34,238.9,359.0,10.7,443,9217,0.00,2.53,0.00,0.000,6,0.000,0.044,2794,2096,1901
$GC,9539,1.34,238.9,326.0,10.1,459,9543,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3506,1901
$GC,9616,1.34,238.9,318.0,10.3,462,9622,0.00,2.53,0.00,0.000,6,0.000,0.043,2794,2095,1901
$GC,9931,1.34,238.9,287.5,9.6,478,9932,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2095,1901
$GC,10241,1.34,238.9,259.4,8.9,493,10245,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3505,1901
$GC,10347,1.34,238.9,249.5,9.5,498,10352,0.00,2.53,0.00,0.000,6,0.000,0.042,2794,2089,1901
$GC,10673,1.34,238.9,221.2,8.7,514,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2089,1901
$GC,10982,1.34,238.9,193.9,8.8,529,10986,0.00,2.58,0.00,0.000,4,0.000,0.051,2794,3510,1901
$GC,11076,1.34,238.9,184.7,9.9,533,11080,0.00,2.53,0.00,0.000,6,0.000,0.041,2793,2091,1902
$GC,11397,1.34,238.9,156.3,9.1,549,11402,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3503,1902
$GC,11459,1.34,238.9,150.3,9.6,552,11463,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2098,1902
$GC,11785,1.34,238.9,118.8,10.1,568,11787,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2098,1902
$GC,12095,1.34,238.9,88.5,9.7,583,12099,0.00,2.53,0.00,0.000,4,0.000,0.050,2794,3503,1902
$GC,12179,1.34,238.9,79.6,10.6,587,12183,0.00,2.47,0.00,0.000,6,0.000,0.041,2794,2100,1902
$GC,12505,1.34,238.9,47.1,9.9,603,12506,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2100,1902
$GC,12815,1.34,238.9,17.6,10.2,618,12819,0.00,2.53,0.00,0.000,4,0.000,0.051,2794,3503,1903
$GC,12886,1.34,238.9,10.9,8.4,621,12890,0.00,2.47,0.00,0.000,6,0.000,0.041,2794,2100,1903
$STATE,13001,end climb,SURFACE_DEPTH_REACHED
$STATE,13001,begin surface coast
$FINISH,1.6,1.009205
$STATE,13022,end surface coast,CONTROL_FINISHED_OK
$STATE,13022,begin surface
$SM_CCo,13044,55.60,0.805,7,0,1655,300.00
$SM_GC,2.07,0.00,0.00,55.60,0.000,0.000,0.805,35,1886,1655,-11.32,-0.40,300.00
$IRIDIUM_FIX,6317.84,-1258.59,170108,202052
$TT8_MAMPS,0.026845
$HUMID,2036
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,1
$24V_AH,23.3,62.697
$10V_AH,10.1,30.363
$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,26.075,107.000,322.750,55.600,0.000,37.840,40.084,128.076,5.000,0.000,0.000,14.337,1180.852,9773.681,555.875,1548.257,406.414,33.365,1335.222,0.000,1513.166,0.000,31.637
$DEVICE_MAMPS,137.293,69.797,1194.986,805.350,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,458.925,422.993,421.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31694,628
$CFSIZE,260165632,240095232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,7,0
$GPS,170108,233102,6340.682,-1249.861,38,1.3,38,-12.2