version: 66.02
glider: 102
mission: 4
dive: 305
start: 1 18 108 20 56 15
data:
$ID,102
$MISSION,4
$DIVE,305
$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,-82335.016
$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,30
$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,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
$GPS1,204937,6331.811,-1242.425,32,1.0,32,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-59.4
$GPS2,205508,6331.762,-1242.438,12,1.0,12,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.183,-0.152
$KALMAN_X,412821.3,-401.8,248.5,-635317.1,3430.6
$KALMAN_Y,36861.0,236.6,239.2,182344.8,-4232.9
$MHEAD_RNG_PITCHd_Wd,242.3,41236,-14.7,-8.000
$D_GRID,515
$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,-59.67,0.000,2,0.000,0.000,29,1880,2665
$GC,88,-1.23,-146.6,3.4,-3.4,3,136,11.60,2.58,-29.12,0.000,4,0.139,0.060,2226,3303,3476
$GC,264,-1.23,-146.6,22.6,-11.0,11,268,0.00,2.50,0.00,0.000,6,0.000,0.041,2226,1903,3476
$GC,592,-1.23,-146.6,52.8,-7.6,27,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1904,3476
$GC,900,-1.23,-146.6,83.0,-8.4,42,905,0.00,2.53,0.00,0.000,4,0.000,0.048,2226,3310,3476
$GC,986,-1.23,-146.6,91.5,-10.1,46,990,0.00,2.53,0.00,0.000,6,0.000,0.042,2226,1893,3476
$GC,1312,-1.23,-146.6,125.7,-10.7,62,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1893,3476
$GC,1621,-1.23,-146.6,159.8,-12.1,77,1626,0.00,2.53,0.00,0.000,4,0.000,0.048,2226,3306,3476
$GC,1683,-1.23,-146.6,167.3,-11.7,80,1687,0.00,2.50,0.00,0.000,6,0.000,0.043,2226,1899,3476
$GC,2009,-1.23,-146.6,204.1,-9.7,96,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1898,3476
$GC,2319,-1.23,-146.6,238.4,-11.1,111,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1899,3476
$GC,2628,-1.23,-146.6,273.1,-11.4,126,2632,0.00,2.53,0.00,0.000,4,0.000,0.048,2226,3308,3476
$GC,2676,-1.23,-146.6,278.6,-10.9,128,2680,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1894,3476
$GC,2998,-1.23,-146.6,312.9,-10.5,144,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1895,3476
$GC,3307,-1.23,-146.6,344.8,-10.5,159,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3476
$GC,3616,-1.23,-146.6,377.2,-10.2,174,3620,0.00,2.53,0.00,0.000,4,0.000,0.050,2226,3306,3476
$GC,3688,-1.23,-146.6,384.5,-10.1,177,3692,0.00,2.53,0.00,0.000,6,0.000,0.044,2226,1894,3476
$GC,4003,-1.23,-146.6,414.8,-9.4,192,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1894,3476
$GC,4312,-1.23,-146.6,444.6,-10.2,207,4317,0.00,2.55,0.00,0.000,4,0.000,0.051,2226,3308,3476
$GC,4413,-1.23,-146.6,455.4,-10.7,211,4419,0.00,2.53,0.00,0.000,6,0.000,0.046,2226,1897,3476
$GC,4728,-1.23,-146.6,484.6,-8.4,227,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1895,3476
$GC,5037,-1.23,-146.6,513.4,-11.8,242,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1896,3476
$STATE,5056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5056,begin apogee
$GC,5062,-0.36,0.0,515.7,11.8,243,5188,0.90,0.00,122.32,1.137,6,0.078,0.000,2418,2110,2878
$STATE,5189,end apogee,CONTROL_FINISHED_OK
$STATE,5189,begin climb
$GC,5191,1.23,146.6,521.1,0.0,249,5320,1.55,0.00,120.47,1.107,6,0.053,0.000,2762,2110,2280
$GC,5629,1.29,198.4,502.8,6.0,271,5674,0.00,0.00,43.28,1.101,6,0.000,0.000,2762,2110,2069
$GC,5978,1.30,203.2,476.5,7.8,288,5985,0.00,0.00,5.10,1.059,6,0.000,0.000,2762,2110,2048
$GC,6288,1.32,217.4,452.9,7.5,303,6306,0.00,0.00,12.73,1.097,6,0.000,0.000,2762,2110,1990
$GC,6616,1.37,262.3,430.7,6.3,319,6659,0.15,2.65,37.17,1.082,4,0.048,0.054,2805,3495,1808
$GC,6709,1.37,262.3,422.2,10.3,323,6714,0.00,2.53,0.00,0.000,6,0.000,0.046,2805,2103,1808
$GC,7031,1.37,262.3,393.5,9.1,339,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2103,1808
$GC,7340,1.37,262.3,365.4,9.1,354,7344,0.00,2.53,0.00,0.000,4,0.000,0.051,2805,3496,1808
$GC,7413,1.37,262.3,358.3,9.5,357,7417,0.00,2.50,0.00,0.000,6,0.000,0.043,2805,2098,1808
$GC,7728,1.37,262.3,328.0,10.1,372,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2098,1808
$GC,8037,1.37,262.3,295.8,10.6,387,8041,0.00,2.53,0.00,0.000,4,0.000,0.051,2805,3493,1808
$GC,8091,1.37,262.3,289.8,10.7,389,8098,0.00,2.47,0.00,0.000,6,0.000,0.041,2805,2098,1808
$GC,8407,1.37,262.3,257.9,9.5,405,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2098,1808
$GC,8716,1.40,283.1,232.7,7.2,420,8739,0.00,2.62,17.73,0.984,4,0.000,0.050,2805,3495,1723
$GC,8789,1.40,283.1,226.1,9.3,423,8793,0.00,2.50,0.00,0.000,6,0.000,0.041,2805,2098,1723
$GC,9116,1.40,283.1,192.0,11.4,439,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2098,1723
$GC,9425,1.40,283.1,159.2,10.5,454,9429,0.00,2.53,0.00,0.000,4,0.000,0.049,2805,3496,1723
$GC,9468,1.40,283.1,154.1,11.8,456,9472,0.00,2.47,0.00,0.000,6,0.000,0.040,2805,2100,1723
$GC,9797,1.40,283.1,122.8,9.5,472,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2100,1723
$GC,10105,1.40,283.1,88.4,11.8,487,10109,0.00,2.53,0.00,0.000,4,0.000,0.048,2805,3500,1723
$GC,10183,1.40,283.1,79.7,9.6,490,10189,0.00,2.50,0.00,0.000,6,0.000,0.041,2805,2094,1723
$GC,10501,1.40,283.1,44.0,10.4,506,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2094,1723
$GC,10808,1.40,283.1,9.7,9.4,521,10812,0.00,2.53,0.00,0.000,4,0.000,0.048,2805,3498,1724
$GC,10857,1.40,283.1,4.5,10.7,523,10861,0.00,2.47,0.00,0.000,6,0.000,0.040,2805,2099,1723
$STATE,10887,end climb,SURFACE_DEPTH_REACHED
$STATE,10888,begin surface coast
$FINISH,1.4,1.016967
$STATE,10911,end surface coast,CONTROL_FINISHED_OK
$STATE,10911,begin surface
$SM_CCo,10933,14.82,0.853,2,0,1655,300.00
$SM_GC,1.82,0.00,0.00,14.82,0.000,0.000,0.853,34,1880,1655,-11.32,-0.57,300.00
$IRIDIUM_FIX,6308.26,-1240.12,180108,212101
$TT8_MAMPS,0.026845
$HUMID,2074
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,999.0
$24V_AH,23.3,63.606
$10V_AH,10.1,30.790
$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,26.100,66.375,358.800,14.825,0.000,36.941,36.053,155.926,4.250,0.000,0.000,14.021,969.287,8319.326,479.896,1137.255,406.548,33.369,1063.394,0.000,1119.089,0.000,26.842
$DEVICE_MAMPS,138.827,59.826,1137.461,852.904,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,390.518,353.487,375.365,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25411,526
$CFSIZE,260165632,239804416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$GPS,190108,000007,6328.478,-1246.091,36,0.9,36,-12.1