version: 66.02
glider: 102
mission: 4
dive: 303
start: 1 18 108 13 45 22
data:
$ID,102
$MISSION,4
$DIVE,303
$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,-82302.289
$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,20
$R_STBD_OVSHOOT,28
$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
$GPS1,133907,6334.054,-1245.350,36,1.2,36,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-61.9
$GPS2,134415,6334.001,-1245.375,13,1.2,13,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.143,0.190
$KALMAN_X,409525.4,-2073.5,-1453.5,-631208.9,7894.4
$KALMAN_Y,41788.0,337.1,-318.6,182025.5,-3030.7
$MHEAD_RNG_PITCHd_Wd,335.1,24479,-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,-146.6,0.0,0.0,0,66,0.00,0.00,-41.60,0.000,2,0.000,0.000,29,1892,2449
$GC,69,-1.23,-146.6,3.0,-2.9,2,140,11.62,2.60,-53.70,0.000,4,0.140,0.078,2222,493,3476
$GC,225,-1.23,-146.6,15.0,-13.1,9,230,0.00,2.47,0.00,0.000,6,0.000,0.040,2223,1909,3477
$GC,548,-1.23,-146.6,50.7,-9.8,25,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1912,3476
$GC,856,-1.23,-146.6,78.7,-9.3,40,860,0.00,2.47,0.00,0.000,4,0.000,0.049,2223,3296,3477
$GC,920,-1.23,-146.6,83.9,-9.4,43,924,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1897,3477
$GC,1246,-1.23,-146.6,115.9,-10.6,59,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1897,3477
$GC,1555,-1.23,-146.6,153.0,-12.7,74,1559,0.00,2.50,0.00,0.000,4,0.000,0.047,2223,3299,3476
$GC,1616,-1.23,-146.6,161.5,-13.8,77,1620,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1896,3476
$GC,1942,-1.23,-146.6,196.9,-9.3,93,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1896,3476
$GC,2252,-1.23,-146.6,230.8,-10.7,108,2256,0.00,2.50,0.00,0.000,4,0.000,0.047,2223,3299,3476
$GC,2301,-1.23,-146.6,235.9,-10.0,110,2305,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1893,3477
$GC,2617,-1.23,-146.6,266.3,-9.9,125,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1893,3477
$GC,2925,-1.23,-146.6,298.7,-10.3,140,2930,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3302,3477
$GC,3020,-1.23,-146.6,308.4,-9.7,144,3024,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1898,3476
$GC,3335,-1.23,-146.6,337.9,-9.1,159,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3476
$GC,3645,-1.23,-146.6,365.9,-9.0,174,3649,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3306,3476
$GC,3707,-1.23,-146.6,371.6,-9.3,177,3711,0.00,2.50,0.00,0.000,6,0.000,0.045,2223,1902,3476
$GC,4032,-1.23,-146.6,399.9,-8.8,193,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1902,3476
$GC,4342,-1.23,-146.6,428.7,-10.0,208,4346,0.00,2.50,0.00,0.000,4,0.000,0.050,2223,3298,3477
$GC,4397,-1.23,-146.6,434.6,-10.6,210,4403,0.00,2.50,0.00,0.000,6,0.000,0.046,2222,1898,3476
$GC,4713,-1.23,-146.6,468.4,-10.4,226,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1897,3476
$GC,5022,-1.23,-146.6,498.1,-9.0,241,5026,0.00,2.53,0.00,0.000,4,0.000,0.051,2223,3302,3476
$GC,5116,-1.23,-146.6,506.7,-8.9,245,5120,0.00,2.50,0.00,0.000,6,0.000,0.047,2223,1902,3476
$GC,5438,-1.23,-146.6,534.0,-8.9,261,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1902,3476
$GC,5748,-1.23,-146.6,544.1,-0.0,276,5752,0.00,2.65,0.00,0.000,4,0.000,0.077,2223,489,3477
$STATE,5925,end dive,NO_VERTICAL_VELOCITY
$STATE,5925,begin apogee
$GC,5934,-0.36,0.0,544.2,0.0,284,6060,0.85,0.00,122.55,1.157,6,0.058,0.000,2418,2089,2878
$STATE,6060,end apogee,CONTROL_FINISHED_OK
$STATE,6060,begin climb
$GC,6063,1.23,146.6,543.9,0.0,290,6193,1.55,2.67,120.30,1.124,4,0.051,0.061,2764,3504,2280
$GC,6449,1.29,193.7,520.3,6.2,307,6496,0.00,2.53,39.35,1.126,6,0.000,0.049,2764,2105,2088
$GC,6805,1.31,214.8,494.4,7.2,325,6830,0.00,2.67,17.83,1.125,4,0.000,0.057,2764,3506,2003
$GC,7083,1.31,214.8,471.9,8.3,337,7087,0.00,2.53,0.00,0.000,6,0.000,0.048,2764,2101,2002
$GC,7404,1.33,225.6,447.4,7.6,353,7419,0.00,2.62,10.00,1.115,4,0.000,0.054,2764,3509,1958
$GC,7520,1.33,225.6,438.0,8.3,357,7524,0.00,2.55,0.00,0.000,6,0.000,0.045,2764,2094,1957
$GC,7835,1.33,230.2,413.9,7.8,372,7842,0.00,0.00,4.90,1.099,6,0.000,0.000,2764,2093,1939
$GC,8145,1.33,230.2,389.2,8.2,387,8149,0.00,2.58,0.00,0.000,4,0.000,0.053,2764,3506,1939
$GC,8222,1.33,230.2,382.4,8.9,390,8228,0.00,2.53,0.00,0.000,6,0.000,0.044,2764,2099,1939
$GC,8538,1.33,230.8,356.8,8.0,406,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2099,1939
$GC,8847,1.33,230.8,332.3,8.0,421,8852,0.00,2.55,0.00,0.000,4,0.000,0.052,2764,3507,1939
$GC,8914,1.33,230.8,326.6,8.5,424,8918,0.00,2.50,0.00,0.000,6,0.000,0.043,2764,2094,1939
$GC,9240,1.33,230.8,300.7,8.0,440,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2094,1939
$GC,9550,1.33,230.8,273.4,9.0,455,9554,0.00,2.55,0.00,0.000,4,0.000,0.051,2764,3503,1939
$GC,9701,1.33,230.8,259.5,8.3,462,9705,0.00,2.50,0.00,0.000,6,0.000,0.042,2764,2098,1940
$GC,10027,1.33,230.8,231.0,9.2,478,10028,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2098,1939
$GC,10336,1.33,230.8,201.7,9.1,493,10341,0.00,2.55,0.00,0.000,4,0.000,0.051,2764,3507,1940
$GC,10403,1.33,230.8,195.7,9.5,496,10407,0.00,2.47,0.00,0.000,6,0.000,0.041,2764,2090,1940
$GC,10729,1.33,230.8,167.7,8.2,512,10730,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2090,1940
$GC,11038,1.33,230.8,138.5,9.7,527,11043,0.00,2.55,0.00,0.000,4,0.000,0.051,2764,3503,1940
$GC,11123,1.33,230.8,130.4,10.1,531,11127,0.00,2.50,0.00,0.000,6,0.000,0.041,2765,2095,1940
$GC,11450,1.33,230.8,98.5,9.8,547,11451,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2095,1940
$GC,11759,1.33,230.8,67.7,9.7,562,11763,0.00,2.55,0.00,0.000,4,0.000,0.049,2764,3509,1941
$GC,11847,1.33,230.8,57.2,12.3,566,11851,0.00,2.47,0.00,0.000,6,0.000,0.040,2764,2096,1941
$GC,12177,1.37,259.4,31.2,6.9,582,12203,0.12,0.00,23.85,0.874,6,0.054,0.000,2801,2096,1820
$GC,12505,1.37,259.4,3.1,11.1,598,12510,0.00,2.55,0.00,0.000,4,0.000,0.051,2801,3505,1820
$STATE,12513,end climb,SURFACE_DEPTH_REACHED
$STATE,12513,begin surface coast
$FINISH,1.2,1.027405
$STATE,12522,end surface coast,CONTROL_FINISHED_OK
$STATE,12522,begin surface
$SM_CCo,12547,36.53,0.814,4,0,1655,300.00
$SM_GC,2.26,0.00,0.00,36.53,0.000,0.000,0.814,34,1898,1655,-11.32,-0.06,300.00
$IRIDIUM_FIX,6308.26,-1254.25,180108,141459
$TT8_MAMPS,0.026845
$HUMID,2046
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,1
$24V_AH,23.3,63.329
$10V_AH,10.1,30.672
$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,26.025,97.000,338.775,36.525,0.000,40.082,36.504,127.439,4.250,0.000,0.000,15.395,1140.937,9410.191,494.344,1488.890,399.963,33.370,1244.599,0.000,1456.866,0.000,26.781
$DEVICE_MAMPS,139.594,78.234,1156.636,813.787,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.191,403.654,411.409,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28517,599
$CFSIZE,260165632,239878144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,4,0
$GPS,180108,171638,6334.788,-1244.226,35,1.1,35,-12.1