version: 66.02
glider: 102
mission: 4
dive: 299
start: 1 17 108 23 37 27
data:
$ID,102
$MISSION,4
$DIVE,299
$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,-82246.789
$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,25
$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
$GPS1,233102,6340.682,-1249.861,38,1.3,38,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-65.7
$GPS2,233620,6340.622,-1249.797,14,1.3,14,-12.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.139,-0.193
$KALMAN_X,395223.8,-71.0,-1887.3,-622370.1,12495.4
$KALMAN_Y,59426.6,-2305.7,-2657.5,181719.3,7763.7
$MHEAD_RNG_PITCHd_Wd,228.0,23230,-14.7,-8.000
$D_GRID,590
$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,-146.5,0.0,0.0,0,85,0.00,0.00,-61.22,0.000,2,0.000,0.000,35,1884,2806
$GC,88,-1.23,-146.6,3.9,-4.0,3,130,11.60,0.00,-23.70,0.000,6,0.140,0.000,2221,1885,3476
$GC,441,-1.23,-146.6,41.3,-11.5,20,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1885,3477
$GC,749,-1.23,-146.6,76.0,-11.0,35,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1884,3477
$GC,1058,-1.23,-146.6,107.2,-9.9,50,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1885,3476
$GC,1367,-1.23,-146.6,135.4,-9.0,65,1371,0.00,2.55,0.00,0.000,4,0.000,0.049,2222,3309,3476
$GC,1433,-1.23,-146.6,141.5,-8.9,68,1437,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1901,3476
$GC,1754,-1.23,-146.6,171.9,-9.6,84,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3477
$GC,2064,-1.23,-146.6,201.3,-9.9,99,2068,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3313,3476
$GC,2142,-1.23,-146.6,209.4,-10.4,102,2148,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1898,3476
$GC,2457,-1.23,-146.6,242.5,-11.4,118,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3477
$GC,2766,-1.23,-146.6,279.5,-12.0,133,2770,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3312,3476
$GC,2816,-1.23,-146.6,285.5,-11.5,135,2820,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1895,3476
$GC,3138,-1.23,-146.6,321.3,-10.8,151,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1895,3477
$GC,3447,-1.23,-146.6,354.7,-10.7,166,3451,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3305,3476
$GC,3519,-1.23,-146.6,362.8,-11.4,169,3523,0.00,2.50,0.00,0.000,6,0.000,0.045,2221,1899,3476
$GC,3834,-1.23,-146.6,396.0,-10.2,184,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3477
$GC,4143,-1.23,-146.6,428.5,-11.4,199,4147,0.00,2.50,0.00,0.000,4,0.000,0.050,2222,3306,3477
$GC,4227,-1.23,-146.6,438.7,-12.5,202,4233,0.00,2.50,0.00,0.000,6,0.000,0.046,2222,1901,3476
$GC,4543,-1.23,-146.6,476.6,-11.7,218,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3477
$GC,4852,-1.23,-146.6,515.0,-12.8,233,4856,0.00,2.53,0.00,0.000,4,0.000,0.051,2222,3306,3477
$GC,4895,-1.23,-146.6,520.0,-11.3,235,4899,0.00,2.53,0.00,0.000,6,0.000,0.046,2222,1894,3477
$GC,5222,-1.23,-146.6,558.8,-10.6,251,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1894,3476
$GC,5532,-1.23,-146.6,589.3,-10.1,266,5536,0.00,2.60,0.00,0.000,4,0.000,0.077,2222,496,3476
$STATE,5546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5546,begin apogee
$GC,5554,-0.36,0.0,590.0,7.7,267,5680,0.90,0.00,122.82,1.167,6,0.065,0.000,2421,2108,2878
$STATE,5681,end apogee,CONTROL_FINISHED_OK
$STATE,5681,begin climb
$GC,5684,1.23,146.6,589.5,0.0,273,5812,1.52,2.75,120.62,1.140,4,0.049,0.068,2765,695,2280
$GC,6065,1.24,153.5,568.7,7.7,291,6081,0.00,2.47,6.80,1.114,6,0.000,0.044,2765,2106,2252
$GC,6390,1.24,153.5,540.0,9.9,307,6394,0.00,2.65,0.00,0.000,4,0.000,0.071,2765,692,2252
$GC,6467,1.24,153.5,532.1,10.0,310,6474,0.00,2.47,0.00,0.000,6,0.000,0.044,2765,2099,2251
$GC,6783,1.24,153.5,503.5,8.8,326,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2099,2251
$GC,7092,1.29,196.3,478.8,6.4,341,7132,0.00,0.00,35.70,1.130,6,0.000,0.000,2765,2099,2076
$GC,7441,1.29,196.3,451.5,8.5,358,7445,0.00,2.55,0.00,0.000,4,0.000,0.058,2765,3505,2076
$GC,7485,1.29,196.3,447.4,9.6,360,7489,0.00,2.50,0.00,0.000,6,0.000,0.045,2765,2101,2076
$GC,7811,1.29,196.3,417.7,8.8,376,7816,0.00,2.53,0.00,0.000,4,0.000,0.054,2765,3500,2076
$GC,7911,1.29,196.3,407.8,10.1,380,7918,0.00,2.53,0.00,0.000,6,0.000,0.044,2765,2092,2076
$GC,8228,1.29,196.3,378.9,9.0,396,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2092,2076
$GC,8537,1.29,196.3,350.7,8.8,411,8541,0.00,2.53,0.00,0.000,4,0.000,0.053,2765,3500,2075
$GC,8591,1.29,196.3,345.5,9.0,413,8598,0.00,2.47,0.00,0.000,6,0.000,0.044,2765,2099,2076
$GC,8907,1.30,206.0,320.0,7.6,429,8921,0.00,2.60,8.45,1.052,4,0.000,0.051,2765,3503,2038
$GC,8967,1.30,206.0,315.0,8.1,431,8973,0.00,2.50,0.00,0.000,6,0.000,0.042,2765,2098,2037
$GC,9282,1.30,206.0,289.6,8.5,447,9287,0.00,2.55,0.00,0.000,4,0.000,0.051,2765,3506,2038
$GC,9349,1.30,206.0,283.4,9.3,450,9354,0.00,2.47,0.00,0.000,6,0.000,0.043,2765,2098,2037
$GC,9670,1.30,206.0,255.6,8.6,466,9674,0.00,2.53,0.00,0.000,4,0.000,0.051,2765,3500,2038
$GC,9725,1.30,206.0,250.4,9.9,468,9732,0.00,2.47,0.00,0.000,6,0.000,0.041,2765,2099,2038
$GC,10041,1.30,206.0,224.3,8.3,484,10046,0.00,2.50,0.00,0.000,4,0.000,0.051,2765,3501,2038
$GC,10108,1.30,206.0,218.8,8.9,487,10112,0.00,2.47,0.00,0.000,6,0.000,0.041,2765,2098,2038
$GC,10434,1.30,206.0,191.9,8.4,503,10439,0.00,2.53,0.00,0.000,4,0.000,0.051,2765,3506,2038
$GC,10486,1.30,206.0,187.6,8.4,505,10490,0.00,2.47,0.00,0.000,6,0.000,0.041,2765,2099,2039
$GC,10801,1.34,239.8,164.1,6.7,520,10835,0.10,2.60,27.67,0.931,4,0.058,0.050,2796,3496,1900
$GC,10868,1.34,239.8,158.1,9.7,523,10872,0.00,2.50,0.00,0.000,6,0.000,0.041,2796,2100,1899
$GC,11196,1.34,239.8,127.2,9.3,539,11200,0.00,2.55,0.00,0.000,4,0.000,0.050,2796,3508,1900
$GC,11267,1.34,239.8,120.0,10.7,542,11271,0.00,2.50,0.00,0.000,6,0.000,0.041,2796,2099,1900
$GC,11589,1.34,239.8,91.6,8.3,558,11593,0.00,2.53,0.00,0.000,4,0.000,0.050,2796,3501,1900
$GC,11644,1.34,239.8,86.8,9.3,560,11650,0.00,2.50,0.00,0.000,6,0.000,0.041,2796,2094,1900
$GC,11959,1.34,239.8,56.6,9.1,576,11963,0.00,2.55,0.00,0.000,4,0.000,0.051,2796,3506,1900
$GC,12022,1.34,239.8,50.5,9.4,579,12026,0.00,2.50,0.00,0.000,6,0.000,0.041,2796,2095,1900
$GC,12348,1.34,239.8,19.5,9.5,595,12352,0.00,2.53,0.00,0.000,4,0.000,0.050,2796,3502,1900
$GC,12420,1.34,239.8,12.2,11.0,598,12424,0.00,2.47,0.00,0.000,6,0.000,0.041,2796,2096,1900
$STATE,12535,end climb,SURFACE_DEPTH_REACHED
$STATE,12535,begin surface coast
$FINISH,1.3,1.016873
$STATE,12555,end surface coast,CONTROL_FINISHED_OK
$STATE,12555,begin surface
$SM_CCo,12578,51.20,0.798,6,0,1655,300.00
$SM_GC,2.08,0.00,0.00,51.20,0.000,0.000,0.798,34,1884,1655,-11.32,-0.45,300.00
$IRIDIUM_FIX,6317.84,-1248.04,170108,232331
$TT8_MAMPS,0.026845
$HUMID,2048
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.40
$XPDR_PINGS,1
$24V_AH,23.3,62.823
$10V_AH,10.1,30.426
$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,26.050,111.800,322.075,51.200,0.000,37.704,35.964,138.502,4.750,0.000,0.000,16.213,1131.238,9518.747,538.832,1394.078,415.981,33.366,1247.793,0.000,1369.624,0.000,30.020
$DEVICE_MAMPS,140.361,77.467,1166.607,798.447,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.989,407.167,413.072,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28594,605
$CFSIZE,260165632,240058368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,6,0
$GPS,180108,030938,6337.986,-1245.431,35,1.1,35,-12.1