version: 66.02
glider: 102
mission: 4
dive: 304
start: 1 18 108 17 31 4
data:
$ID,102
$MISSION,4
$DIVE,304
$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,-82320.367
$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,23
$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,20
$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
$GPS1,171638,6334.788,-1244.226,35,1.1,35,-12.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-59.9
$GPS2,172957,6334.701,-1243.988,16,1.1,16,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.168,-0.169
$KALMAN_X,410638.5,-1679.4,149.7,-633100.2,4836.8
$KALMAN_Y,39353.2,329.9,825.1,184609.7,-4045.9
$MHEAD_RNG_PITCHd_Wd,236.9,44715,-14.7,-8.000
$D_GRID,534
$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,21,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,85,0.00,0.00,-59.45,0.000,2,0.000,0.000,34,1897,2769
$GC,89,-1.23,-146.6,3.5,-3.2,3,132,11.57,2.60,-26.35,0.000,4,0.138,0.061,2225,3306,3477
$GC,240,-1.23,-146.6,18.7,-11.5,9,246,0.00,2.53,0.00,0.000,6,0.000,0.043,2225,1892,3477
$GC,557,-1.23,-146.6,53.3,-10.0,25,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1892,3477
$GC,865,-1.23,-146.6,82.9,-10.2,40,869,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3312,3477
$GC,943,-1.23,-146.6,91.8,-10.4,43,949,0.00,2.53,0.00,0.000,6,0.000,0.043,2225,1893,3477
$GC,1259,-1.23,-146.6,131.8,-10.1,59,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1893,3477
$GC,1568,-1.23,-146.6,161.9,-9.9,74,1572,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3314,3477
$GC,1645,-1.23,-146.6,170.2,-10.5,77,1651,0.00,2.53,0.00,0.000,6,0.000,0.042,2225,1894,3477
$GC,1963,-1.23,-146.6,201.3,-10.0,93,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1894,3477
$GC,2270,-1.23,-146.6,231.7,-9.7,108,2274,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3316,3477
$GC,2343,-1.23,-146.6,239.3,-10.0,111,2347,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1895,3477
$GC,2659,-1.23,-146.6,270.2,-9.8,126,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3477
$GC,2970,-1.23,-146.6,300.6,-9.6,141,2974,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3314,3477
$GC,3020,-1.23,-146.6,305.8,-9.7,143,3024,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1897,3477
$GC,3341,-1.23,-146.6,336.2,-9.4,159,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1897,3477
$GC,3650,-1.23,-146.6,364.7,-9.3,174,3654,0.00,2.53,0.00,0.000,4,0.000,0.049,2225,3309,3477
$GC,3722,-1.23,-146.6,371.6,-9.5,177,3726,0.00,2.53,0.00,0.000,6,0.000,0.045,2225,1896,3477
$GC,4044,-1.23,-146.6,401.7,-9.6,193,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1896,3477
$GC,4352,-1.23,-146.6,431.2,-9.5,208,4356,0.00,2.53,0.00,0.000,4,0.000,0.050,2225,3312,3477
$GC,4407,-1.23,-146.6,436.6,-10.0,210,4413,0.00,2.53,0.00,0.000,6,0.000,0.046,2225,1896,3477
$GC,4723,-1.23,-146.6,469.1,-10.6,226,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1896,3477
$GC,5033,-1.23,-146.6,500.4,-9.5,241,5037,0.00,2.55,0.00,0.000,4,0.000,0.051,2225,3309,3477
$GC,5087,-1.23,-146.6,505.6,-8.9,243,5094,0.00,2.53,0.00,0.000,6,0.000,0.046,2225,1897,3477
$GC,5403,-1.23,-146.6,532.0,-8.1,259,5408,0.00,2.55,0.00,0.000,4,0.000,0.057,2225,3310,3477
$GC,5661,-1.23,-146.6,532.1,-0.1,270,5667,0.00,2.53,0.00,0.000,6,0.000,0.049,2225,1900,3477
$STATE,5727,end dive,NO_VERTICAL_VELOCITY
$STATE,5727,begin apogee
$GC,5733,-0.36,0.0,532.1,0.0,274,5859,0.88,0.00,122.80,1.144,6,0.056,0.000,2423,2110,2878
$STATE,5860,end apogee,CONTROL_FINISHED_OK
$STATE,5860,begin climb
$GC,5863,1.23,146.6,531.9,0.0,280,5993,1.52,2.75,120.43,1.116,4,0.052,0.071,2762,691,2279
$GC,6124,1.27,179.7,519.6,6.7,292,6161,0.00,2.50,28.08,1.106,6,0.000,0.044,2762,2098,2144
$GC,6470,1.31,212.7,495.9,6.7,309,6504,0.00,2.67,27.80,1.109,4,0.000,0.060,2762,3496,2010
$GC,6566,1.31,212.7,488.6,8.2,313,6570,0.00,2.53,0.00,0.000,6,0.000,0.047,2762,2099,2010
$GC,6881,1.31,212.7,463.8,8.3,328,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2099,2010
$GC,7190,1.31,212.7,438.6,8.2,343,7195,0.00,2.58,0.00,0.000,4,0.000,0.054,2762,3506,2009
$GC,7253,1.31,212.7,433.4,8.5,346,7258,0.00,2.55,0.00,0.000,6,0.000,0.045,2762,2092,2009
$GC,7580,1.31,212.7,406.6,8.4,362,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2092,2009
$GC,7889,1.31,214.9,381.4,7.9,377,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2092,2008
$GC,8199,1.39,274.2,361.2,5.7,392,8251,0.15,0.00,49.92,1.057,6,0.048,0.000,2811,2092,1760
$GC,8549,1.39,274.2,330.0,9.5,409,8553,0.00,2.58,0.00,0.000,4,0.000,0.051,2811,3504,1760
$GC,8626,1.39,274.2,322.0,10.4,412,8632,0.00,2.53,0.00,0.000,6,0.000,0.044,2811,2099,1760
$GC,8941,1.39,274.2,290.9,9.9,428,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2099,1760
$GC,9251,1.39,274.2,257.3,11.0,443,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2099,1760
$GC,9560,1.39,274.2,223.7,10.7,458,9561,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2099,1760
$GC,9869,1.39,274.2,191.8,10.2,473,9874,0.00,2.53,0.00,0.000,4,0.000,0.050,2811,3504,1761
$GC,9920,1.39,274.2,186.5,11.0,475,9925,0.00,2.50,0.00,0.000,6,0.000,0.041,2811,2094,1760
$GC,10235,1.39,274.2,152.8,10.3,490,10236,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2094,1760
$GC,10545,1.39,274.2,116.4,11.4,505,10549,0.00,2.55,0.00,0.000,4,0.000,0.049,2811,3508,1760
$GC,10594,1.39,274.2,110.4,10.9,507,10598,0.00,2.47,0.00,0.000,6,0.000,0.041,2811,2098,1761
$GC,10916,1.45,322.3,84.1,6.2,523,10961,0.00,2.62,38.38,0.883,4,0.000,0.048,2811,3505,1564
$GC,10996,1.45,322.3,78.2,8.8,526,11002,0.00,2.53,0.00,0.000,6,0.000,0.041,2811,2101,1563
$GC,11312,1.45,322.3,50.8,10.2,542,11313,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2101,1564
$GC,11621,1.45,322.3,14.4,11.2,557,11622,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2101,1564
$STATE,11742,end climb,SURFACE_DEPTH_REACHED
$STATE,11742,begin surface coast
$FINISH,1.3,1.016192
$STATE,11764,end surface coast,CONTROL_FINISHED_OK
$STATE,11765,begin surface
$SM_CCo,11847,0.00,0.000,0,0,1563,322.32
$SM_GC,2.12,11.98,0.00,0.00,0.030,0.000,0.000,30,1885,1563,-11.26,-0.40,322.32
$IRIDIUM_FIX,6308.26,-1249.54,180108,212112
$TT8_MAMPS,0.026845
$HUMID,2065
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,15.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,18.2,999.0
$24V_AH,23.3,63.478
$10V_AH,10.1,30.736
$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,26.100,82.250,387.400,0.000,0.000,111.589,115.242,330.548,5.000,0.000,0.000,17.455,1042.380,9087.877,476.154,1296.229,762.565,33.373,1147.255,0.000,1270.819,0.000,28.466
$DEVICE_MAMPS,138.060,70.564,1144.364,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.922,379.950,387.398,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28616,564
$CFSIZE,260165632,239837184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,180108,204937,6331.811,-1242.425,32,1.0,32,-12.1