version: 66.02
glider: 102
mission: 4
dive: 301
start: 1 18 108 6 45 58
data:
$ID,102
$MISSION,4
$DIVE,301
$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,-82274.711
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,063955,6336.011,-1243.203,33,1.2,50,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-60.6
$GPS2,064451,6335.965,-1243.082,11,1.3,11,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.237,0.011
$KALMAN_X,404048.5,-571.3,350.1,-627033.3,5373.5
$KALMAN_Y,48405.3,-102.4,413.7,178791.2,-3400.7
$MHEAD_RNG_PITCHd_Wd,284.8,26359,-14.7,-8.000
$D_GRID,537
$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,-146.6,0.0,0.0,0,85,0.00,0.00,-61.20,0.000,2,0.000,0.000,29,1891,2773
$GC,88,-1.23,-146.6,3.7,-3.7,3,130,11.55,0.00,-25.62,0.000,6,0.137,0.000,2226,1892,3476
$GC,440,-1.23,-146.6,34.8,-9.7,20,445,0.00,2.55,0.00,0.000,4,0.000,0.049,2226,3308,3476
$GC,503,-1.23,-146.6,42.1,-11.8,23,507,0.00,2.50,0.00,0.000,6,0.000,0.043,2226,1905,3476
$GC,829,-1.23,-146.6,78.4,-11.1,39,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1905,3477
$GC,1138,-1.23,-146.6,113.3,-11.2,54,1142,0.00,2.50,0.00,0.000,4,0.000,0.048,2226,3305,3476
$GC,1201,-1.23,-146.6,120.2,-10.9,57,1205,0.00,2.50,0.00,0.000,6,0.000,0.043,2226,1900,3476
$GC,1526,-1.23,-146.6,156.7,-11.4,73,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1900,3476
$GC,1836,-1.23,-146.6,190.2,-10.6,88,1840,0.00,2.53,0.00,0.000,4,0.000,0.048,2226,3309,3476
$GC,1898,-1.23,-146.6,196.9,-11.2,91,1902,0.00,2.50,0.00,0.000,6,0.000,0.043,2226,1900,3476
$GC,2223,-1.23,-146.6,230.9,-10.7,107,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1900,3476
$GC,2533,-1.23,-146.6,263.0,-10.0,122,2537,0.00,2.53,0.00,0.000,4,0.000,0.048,2226,3306,3477
$GC,2599,-1.23,-146.6,269.9,-9.7,125,2603,0.00,2.50,0.00,0.000,6,0.000,0.044,2226,1901,3476
$GC,2926,-1.23,-146.6,302.4,-9.9,141,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1901,3476
$GC,3236,-1.23,-146.6,331.0,-9.4,156,3240,0.00,2.50,0.00,0.000,4,0.000,0.048,2226,3305,3476
$GC,3297,-1.23,-146.6,336.4,-8.6,159,3302,0.00,2.53,0.00,0.000,6,0.000,0.045,2226,1894,3476
$GC,3624,-1.23,-146.6,366.6,-9.1,175,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1894,3476
$GC,3933,-1.23,-146.6,396.5,-10.0,190,3938,0.00,2.55,0.00,0.000,4,0.000,0.050,2226,3311,3476
$GC,4028,-1.23,-146.6,405.8,-9.8,194,4032,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1895,3476
$GC,4349,-1.23,-146.6,434.9,-8.9,210,4353,0.00,2.55,0.00,0.000,4,0.000,0.051,2226,3311,3476
$GC,4433,-1.23,-146.6,443.2,-10.3,214,4437,0.00,2.53,0.00,0.000,6,0.000,0.046,2226,1900,3476
$GC,4759,-1.23,-146.6,474.8,-9.4,230,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1898,3476
$GC,5068,-1.23,-146.6,502.0,-8.5,245,5073,0.00,2.53,0.00,0.000,4,0.000,0.051,2226,3310,3476
$GC,5170,-1.23,-146.6,510.7,-8.7,249,5176,0.00,2.50,0.00,0.000,6,0.000,0.046,2226,1903,3476
$GC,5485,-1.23,-146.6,536.8,-7.8,265,5489,0.00,2.55,0.00,0.000,4,0.000,0.054,2226,3309,3476
$GC,5507,-1.23,-146.6,536.8,-0.4,266,5512,0.00,2.53,0.00,0.000,6,0.000,0.047,2226,1894,3476
$STATE,5806,end dive,NO_VERTICAL_VELOCITY
$STATE,5806,begin apogee
$GC,5812,-0.36,0.0,536.8,0.0,281,5937,0.88,0.00,121.62,1.156,6,0.066,0.000,2417,2113,2878
$STATE,5937,end apogee,CONTROL_FINISHED_OK
$STATE,5938,begin climb
$GC,5940,1.23,146.6,536.8,0.0,287,6070,1.58,2.72,120.47,1.104,4,0.054,0.069,2763,691,2280
$GC,6198,1.24,156.0,528.0,7.6,299,6213,0.00,2.50,8.98,1.093,6,0.000,0.044,2763,2097,2242
$GC,6536,1.32,221.1,505.4,5.5,316,6598,0.00,2.65,53.78,1.106,4,0.000,0.060,2763,3506,1976
$GC,6794,1.32,221.1,487.3,8.1,327,6800,0.00,2.55,0.00,0.000,6,0.000,0.049,2763,2097,1975
$GC,7110,1.32,221.1,460.4,8.6,343,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2097,1974
$GC,7419,1.32,221.1,433.9,8.3,358,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2097,1973
$GC,7728,1.33,228.5,408.7,7.7,373,7742,0.00,2.62,6.65,1.087,4,0.000,0.053,2763,3509,1946
$GC,7810,1.33,228.5,401.6,8.9,376,7816,0.00,2.55,0.00,0.000,6,0.000,0.044,2763,2093,1946
$GC,8125,1.36,249.8,377.1,7.2,392,8146,0.12,0.00,18.15,1.077,6,0.054,0.000,2799,2093,1859
$GC,8455,1.36,249.8,346.7,9.2,408,8459,0.00,2.55,0.00,0.000,4,0.000,0.052,2799,3502,1859
$GC,8538,1.36,249.8,338.6,9.8,412,8543,0.00,2.53,0.00,0.000,6,0.000,0.044,2799,2099,1859
$GC,8865,1.36,249.8,310.0,8.6,428,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2099,1859
$GC,9174,1.36,249.8,282.2,9.0,443,9179,0.00,2.55,0.00,0.000,4,0.000,0.051,2799,3505,1859
$GC,9291,1.36,249.8,270.5,10.2,448,9295,0.00,2.50,0.00,0.000,6,0.000,0.042,2799,2098,1859
$GC,9612,1.36,249.8,240.9,9.2,464,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2098,1860
$GC,9922,1.36,249.8,212.8,9.1,479,9926,0.00,2.55,0.00,0.000,4,0.000,0.050,2799,3508,1860
$GC,10010,1.36,249.8,204.2,9.7,483,10014,0.00,2.50,0.00,0.000,6,0.000,0.041,2799,2100,1860
$GC,10337,1.36,249.8,173.9,9.6,499,10338,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2100,1860
$GC,10647,1.36,249.8,141.8,10.9,514,10648,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2100,1860
$GC,10956,1.36,249.8,109.7,10.6,529,10960,0.00,2.53,0.00,0.000,4,0.000,0.049,2799,3504,1860
$GC,11044,1.36,249.8,99.7,11.3,533,11048,0.00,2.50,0.00,0.000,6,0.000,0.040,2799,2092,1860
$GC,11374,1.36,249.8,69.9,9.1,549,11378,0.00,2.55,0.00,0.000,4,0.000,0.049,2799,3509,1860
$GC,11458,1.36,249.8,61.1,10.7,553,11463,0.00,2.50,0.00,0.000,6,0.000,0.039,2799,2094,1860
$GC,11785,1.36,249.8,28.9,10.4,569,11790,0.00,2.55,0.00,0.000,4,0.000,0.049,2799,3510,1861
$GC,11847,1.36,249.8,22.2,11.2,572,11852,0.00,2.50,0.00,0.000,6,0.000,0.040,2799,2097,1861
$STATE,12048,end climb,SURFACE_DEPTH_REACHED
$STATE,12048,begin surface coast
$FINISH,1.4,1.003360
$STATE,12070,end surface coast,CONTROL_FINISHED_OK
$STATE,12070,begin surface
$SM_CCo,12092,47.03,0.811,6,0,1654,300.00
$SM_GC,2.05,0.00,0.00,47.03,0.000,0.000,0.811,34,1881,1654,-11.33,-0.54,300.00
$IRIDIUM_FIX,6313.04,-1250.61,180108,070738
$TT8_MAMPS,0.026845
$HUMID,2069
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,15.30
$XPDR_PINGS,1
$24V_AH,23.3,63.077
$10V_AH,10.1,30.548
$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,26.075,92.000,329.650,47.025,0.000,36.704,33.892,122.413,4.250,0.000,0.000,13.444,1095.417,9127.526,515.276,1366.879,382.969,33.371,1204.849,0.000,1341.045,0.000,26.794
$DEVICE_MAMPS,137.293,69.030,1155.869,810.719,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.598,392.660,396.005,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28542,583
$CFSIZE,260165632,239972352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,6,0
$GPS,180108,101002,6334.051,-1245.562,37,1.9,37,-12.1