version: 66.02
glider: 102
mission: 4
dive: 302
start: 1 18 108 10 16 15
data:
$ID,102
$MISSION,4
$DIVE,302
$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,-82286.266
$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,35
$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
$GPS1,101002,6334.051,-1245.562,37,1.9,37,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-62.1
$GPS2,101508,6334.008,-1245.593,9,1.1,9,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.079,0.224
$KALMAN_X,407554.1,-1593.7,-1189.2,-630179.2,6637.6
$KALMAN_Y,45022.7,264.1,-380.5,178944.9,-3476.2
$MHEAD_RNG_PITCHd_Wd,352.8,24299,-14.7,-8.000
$D_GRID,550
$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,-61.25,0.000,2,0.000,0.000,33,1881,2800
$GC,88,-1.23,-146.6,3.6,-2.9,3,131,11.50,2.58,-25.12,0.000,4,0.136,0.080,2226,509,3476
$GC,339,-1.23,-146.6,29.1,-11.0,14,343,0.00,2.45,0.00,0.000,6,0.000,0.039,2226,1911,3476
$GC,660,-1.23,-146.6,70.8,-12.3,30,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1913,3476
$GC,970,-1.23,-146.6,100.5,-8.8,45,975,0.00,2.47,0.00,0.000,4,0.000,0.049,2226,3294,3476
$GC,1060,-1.23,-146.6,110.9,-11.2,49,1064,0.00,2.47,0.00,0.000,6,0.000,0.043,2226,1906,3476
$GC,1381,-1.23,-146.6,144.5,-9.2,65,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1906,3476
$GC,1689,-1.23,-146.6,174.7,-10.5,80,1694,0.00,2.50,0.00,0.000,4,0.000,0.048,2226,3301,3476
$GC,1773,-1.23,-146.6,183.8,-10.5,83,1779,0.00,2.50,0.00,0.000,6,0.000,0.043,2227,1897,3476
$GC,2088,-1.23,-146.6,215.2,-10.0,99,2092,0.00,2.50,0.00,0.000,4,0.000,0.048,2226,3296,3476
$GC,2131,-1.23,-146.6,219.8,-10.4,101,2135,0.00,2.50,0.00,0.000,6,0.000,0.044,2226,1893,3476
$GC,2459,-1.23,-146.6,251.5,-9.4,117,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1893,3476
$GC,2767,-1.23,-146.6,282.2,-10.3,132,2771,0.00,2.53,0.00,0.000,4,0.000,0.048,2226,3300,3476
$GC,2822,-1.23,-146.6,287.9,-10.3,134,2828,0.00,2.50,0.00,0.000,6,0.000,0.044,2226,1896,3476
$GC,3137,-1.23,-146.6,319.7,-10.1,150,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1896,3476
$GC,3447,-1.23,-146.6,351.2,-9.9,165,3451,0.00,2.50,0.00,0.000,4,0.000,0.049,2226,3296,3476
$GC,3509,-1.23,-146.6,357.2,-9.1,168,3514,0.00,2.50,0.00,0.000,6,0.000,0.044,2226,1896,3476
$GC,3836,-1.23,-146.6,387.2,-8.9,184,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1896,3476
$GC,4145,-1.23,-146.6,416.3,-9.7,199,4149,0.00,2.53,0.00,0.000,4,0.000,0.049,2226,3301,3476
$GC,4206,-1.23,-146.6,421.9,-8.8,202,4211,0.00,2.50,0.00,0.000,6,0.000,0.046,2226,1895,3476
$GC,4533,-1.23,-146.6,452.7,-9.2,218,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1894,3476
$GC,4842,-1.23,-146.6,481.7,-9.3,233,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1892,3476
$GC,5152,-1.23,-146.6,510.2,-8.8,248,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1892,3476
$GC,5460,-1.23,-146.6,537.5,-8.7,263,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1892,3476
$GC,5770,-1.23,-146.6,548.5,-0.1,278,5774,0.00,2.60,0.00,0.000,4,0.000,0.075,2226,496,3476
$STATE,5966,end dive,NO_VERTICAL_VELOCITY
$STATE,5966,begin apogee
$GC,5974,-0.36,0.0,548.4,0.0,287,6100,0.88,0.00,122.68,1.151,6,0.061,0.000,2422,2088,2878
$STATE,6101,end apogee,CONTROL_FINISHED_OK
$STATE,6101,begin climb
$GC,6103,1.23,146.6,548.2,0.0,293,6234,1.52,2.70,120.50,1.118,4,0.051,0.070,2764,691,2280
$GC,6383,1.28,191.5,534.8,6.3,306,6427,0.00,2.53,37.72,1.113,6,0.000,0.044,2763,2105,2096
$GC,6757,1.32,222.0,509.5,6.8,324,6788,0.00,2.62,25.75,1.121,4,0.000,0.060,2763,3499,1971
$GC,6974,1.34,239.2,493.9,7.3,334,6997,0.12,2.53,14.77,1.137,6,0.054,0.048,2799,2102,1902
$GC,7305,1.34,239.2,463.6,9.5,350,7309,0.00,2.65,0.00,0.000,4,0.000,0.073,2799,688,1902
$GC,7354,1.34,239.2,458.2,11.1,352,7358,0.00,2.53,0.00,0.000,6,0.000,0.042,2799,2106,1902
$GC,7675,1.34,239.2,426.1,10.3,368,7679,0.00,2.53,0.00,0.000,4,0.000,0.054,2799,3498,1901
$GC,7814,1.34,239.2,410.8,10.9,374,7818,0.00,2.53,0.00,0.000,6,0.000,0.044,2799,2091,1901
$GC,8135,1.34,239.2,377.6,10.1,390,8139,0.00,2.55,0.00,0.000,4,0.000,0.052,2799,3499,1901
$GC,8219,1.34,239.2,368.8,11.0,394,8223,0.00,2.53,0.00,0.000,6,0.000,0.044,2799,2095,1901
$GC,8544,1.34,239.2,338.2,9.5,410,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2095,1901
$GC,8854,1.34,239.2,307.0,10.2,425,8858,0.00,2.55,0.00,0.000,4,0.000,0.051,2799,3501,1901
$GC,8965,1.34,239.2,294.9,10.5,430,8969,0.00,2.47,0.00,0.000,6,0.000,0.042,2799,2098,1901
$GC,9285,1.34,239.2,262.7,10.3,446,9286,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2098,1901
$GC,9595,1.34,239.2,234.2,8.8,461,9599,0.00,2.55,0.00,0.000,4,0.000,0.051,2799,3506,1902
$GC,9728,1.34,239.2,221.8,10.1,467,9732,0.00,2.50,0.00,0.000,6,0.000,0.041,2798,2096,1902
$GC,10055,1.34,239.2,191.8,9.9,483,10059,0.00,2.55,0.00,0.000,4,0.000,0.051,2799,3505,1902
$GC,10127,1.34,239.2,183.3,12.1,486,10131,0.00,2.50,0.00,0.000,6,0.000,0.041,2799,2095,1902
$GC,10442,1.34,239.2,152.8,10.2,501,10443,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2095,1902
$GC,10751,1.34,239.2,124.9,10.0,516,10756,0.00,2.55,0.00,0.000,4,0.000,0.051,2799,3506,1902
$GC,10874,1.34,239.2,112.3,11.0,521,10881,0.00,2.50,0.00,0.000,6,0.000,0.041,2799,2092,1902
$GC,11191,1.34,239.2,79.0,11.6,537,11193,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2092,1902
$GC,11500,1.34,239.2,45.0,10.7,552,11504,0.00,2.55,0.00,0.000,4,0.000,0.050,2799,3505,1902
$GC,11616,1.34,239.2,32.9,10.5,557,11620,0.00,2.50,0.00,0.000,6,0.000,0.041,2799,2092,1902
$GC,11939,1.34,239.2,7.7,10.0,573,11944,0.00,2.53,0.00,0.000,4,0.000,0.049,2799,3500,1903
$STATE,11992,end climb,SURFACE_DEPTH_REACHED
$STATE,11992,begin surface coast
$FINISH,1.4,1.027400
$STATE,12000,end surface coast,CONTROL_FINISHED_OK
$STATE,12000,begin surface
$SM_CCo,12024,49.33,0.814,5,0,1655,300.00
$SM_GC,2.05,0.00,0.00,49.33,0.000,0.000,0.814,30,1893,1655,-11.34,-0.20,300.00
$IRIDIUM_FIX,6313.04,-1241.18,180108,101046
$TT8_MAMPS,0.026845
$HUMID,2063
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,1
$24V_AH,23.3,63.203
$10V_AH,10.1,30.609
$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,26.000,96.800,321.425,49.325,0.000,39.806,39.812,124.372,4.250,0.000,0.000,10.919,1104.266,8975.077,495.303,1456.542,396.473,33.373,1227.703,0.000,1429.915,0.000,26.795
$DEVICE_MAMPS,135.759,79.768,1151.267,813.787,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,425.769,388.120,390.851,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28452,576
$CFSIZE,260165632,239927296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,5,0
$GPS,180108,133907,6334.054,-1245.350,36,1.2,36,-12.1