version: 66.02
glider: 102
mission: 4
dive: 306
start: 1 19 108 0 10 12
data:
$ID,102
$MISSION,4
$DIVE,306
$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,-82351.938
$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,29
$R_STBD_OVSHOOT,35
$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
$GPS1,000007,6328.478,-1246.091,36,0.9,36,-12.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-62.8
$GPS2,000903,6328.398,-1246.279,14,1.1,14,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.188,-0.146
$KALMAN_X,412385.3,444.4,-1266.9,-637573.9,2868.5
$KALMAN_Y,33821.4,47.9,-797.2,180386.1,-2844.4
$MHEAD_RNG_PITCHd_Wd,244.2,34480,-14.7,-8.000
$D_GRID,535
$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,-61.60,0.000,2,0.000,0.000,33,1877,2799
$GC,88,-1.23,-146.6,3.5,-3.6,3,130,11.75,2.58,-24.00,0.000,4,0.140,0.061,2220,3296,3476
$GC,294,-1.23,-146.6,26.2,-12.5,12,300,0.00,2.47,0.00,0.000,6,0.000,0.043,2220,1907,3476
$GC,610,-1.23,-146.6,58.1,-10.5,28,614,0.00,2.50,0.00,0.000,4,0.000,0.048,2221,3297,3476
$GC,659,-1.23,-146.6,63.1,-9.1,30,663,0.00,2.50,0.00,0.000,6,0.000,0.044,2220,1898,3476
$GC,981,-1.23,-146.6,99.6,-10.9,46,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1898,3476
$GC,1292,-1.23,-146.6,132.2,-11.5,61,1296,0.00,2.50,0.00,0.000,4,0.000,0.047,2220,3297,3476
$GC,1376,-1.23,-146.6,143.3,-12.1,65,1380,0.00,2.50,0.00,0.000,6,0.000,0.044,2220,1897,3476
$GC,1703,-1.23,-146.6,178.0,-10.3,81,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1897,3476
$GC,2011,-1.23,-146.6,212.9,-10.3,96,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1897,3476
$GC,2321,-1.23,-146.6,247.6,-10.9,111,2325,0.00,2.50,0.00,0.000,4,0.000,0.048,2221,3297,3476
$GC,2382,-1.23,-146.6,254.3,-10.6,114,2387,0.00,2.50,0.00,0.000,6,0.000,0.044,2220,1896,3476
$GC,2709,-1.23,-146.6,289.0,-10.3,130,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1896,3476
$GC,3018,-1.23,-146.6,321.7,-10.4,145,3022,0.00,2.53,0.00,0.000,4,0.000,0.049,2220,3303,3475
$GC,3096,-1.23,-146.6,330.0,-10.7,148,3102,0.00,2.50,0.00,0.000,6,0.000,0.044,2220,1899,3476
$GC,3411,-1.23,-146.6,364.5,-11.0,164,3415,0.00,2.50,0.00,0.000,4,0.000,0.049,2220,3296,3476
$GC,3467,-1.23,-146.6,370.9,-11.6,166,3473,0.00,2.50,0.00,0.000,6,0.000,0.044,2220,1892,3476
$GC,3782,-1.23,-146.6,406.7,-11.5,182,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1892,3476
$GC,4091,-1.23,-146.6,440.1,-11.1,197,4095,0.00,2.53,0.00,0.000,4,0.000,0.051,2220,3296,3476
$GC,4152,-1.23,-146.6,448.1,-13.5,200,4157,0.00,2.50,0.00,0.000,6,0.000,0.046,2221,1900,3476
$GC,4480,-1.23,-146.6,485.2,-10.6,216,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1898,3476
$GC,4788,-1.23,-146.6,519.6,-11.3,231,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1899,3476
$STATE,4930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4930,begin apogee
$GC,4936,-0.36,0.0,535.6,10.8,238,5062,0.93,0.00,122.12,1.149,6,0.083,0.000,2415,2100,2878
$STATE,5063,end apogee,CONTROL_FINISHED_OK
$STATE,5063,begin climb
$GC,5065,1.23,146.6,540.8,0.0,244,5196,1.60,2.60,120.35,1.124,4,0.054,0.058,2766,3498,2280
$GC,5219,1.33,227.1,538.1,4.9,252,5294,0.00,2.55,66.62,1.101,6,0.000,0.044,2766,2098,1952
$GC,5610,1.33,227.1,508.4,8.4,271,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2098,1951
$GC,5920,1.33,227.1,482.2,8.1,286,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2098,1950
$GC,6230,1.35,242.7,458.9,7.4,301,6249,0.10,0.00,13.55,1.104,6,0.058,0.000,2799,2098,1888
$GC,6558,1.35,242.7,427.6,9.6,317,6562,0.00,2.55,0.00,0.000,4,0.000,0.052,2800,3499,1887
$GC,6601,1.35,242.7,422.9,11.4,319,6605,0.00,2.53,0.00,0.000,6,0.000,0.044,2800,2095,1887
$GC,6928,1.35,242.7,388.2,10.7,335,6933,0.00,2.53,0.00,0.000,4,0.000,0.052,2800,3494,1887
$GC,6990,1.35,242.7,381.8,10.2,338,6994,0.00,2.50,0.00,0.000,6,0.000,0.044,2800,2099,1887
$GC,7316,1.35,242.7,345.1,11.1,354,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2099,1887
$GC,7625,1.35,242.7,316.8,10.4,369,7630,0.00,2.53,0.00,0.000,4,0.000,0.051,2800,3492,1887
$GC,7738,1.35,242.7,303.2,12.8,374,7743,0.00,2.50,0.00,0.000,6,0.000,0.042,2800,2089,1887
$GC,8059,1.38,268.6,273.3,7.0,390,8088,0.00,2.60,21.70,1.007,4,0.000,0.050,2800,3494,1781
$GC,8139,1.38,268.6,265.9,9.4,393,8145,0.00,2.50,0.00,0.000,6,0.000,0.041,2800,2099,1781
$GC,8454,1.38,268.6,239.1,8.4,409,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2099,1781
$GC,8764,1.38,268.6,207.2,9.5,424,8768,0.00,2.53,0.00,0.000,4,0.000,0.050,2800,3494,1781
$GC,8830,1.38,268.6,199.7,10.9,427,8834,0.00,2.47,0.00,0.000,6,0.000,0.040,2800,2096,1781
$GC,9150,1.38,268.6,168.3,10.1,443,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2096,1781
$GC,9460,1.38,268.6,132.9,11.1,458,9464,0.00,2.53,0.00,0.000,4,0.000,0.049,2800,3496,1781
$GC,9544,1.38,268.6,123.8,9.8,462,9549,0.00,2.47,0.00,0.000,6,0.000,0.041,2800,2099,1781
$GC,9871,1.38,272.9,99.1,7.8,478,9877,0.00,0.00,4.40,0.924,6,0.000,0.000,2800,2099,1765
$GC,10182,1.38,272.9,71.8,8.6,493,10186,0.00,2.53,0.00,0.000,4,0.000,0.049,2800,3496,1765
$GC,10237,1.38,272.9,65.6,12.0,495,10243,0.00,2.47,0.00,0.000,6,0.000,0.040,2800,2100,1765
$GC,10554,1.41,291.2,34.9,7.3,511,10576,0.00,2.58,15.73,0.864,4,0.000,0.048,2799,3500,1689
$GC,10677,1.41,291.2,25.4,8.8,516,10681,0.00,2.50,0.00,0.000,6,0.000,0.040,2799,2095,1689
$STATE,10929,end climb,SURFACE_DEPTH_REACHED
$STATE,10929,begin surface coast
$FINISH,1.4,1.007467
$STATE,10951,end surface coast,CONTROL_FINISHED_OK
$STATE,10951,begin surface
$SM_CCo,10973,6.85,0.873,0,0,1655,300.00
$SM_GC,3.29,0.00,0.00,6.85,0.000,0.000,0.873,33,1889,1655,-11.33,-0.31,300.00
$IRIDIUM_FIX,6303.50,-1252.10,190108,040457
$TT8_MAMPS,0.026845
$HUMID,2059
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,15.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.5,999.0
$24V_AH,23.3,63.741
$10V_AH,10.1,30.848
$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,26.375,81.200,364.475,6.850,0.000,78.104,72.358,217.858,4.750,0.000,0.000,16.292,987.595,8317.440,478.801,1202.807,556.403,33.369,1092.349,0.000,1180.619,0.000,28.457
$DEVICE_MAMPS,140.361,60.593,1148.966,872.846,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.070,355.543,383.945,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25424,529
$CFSIZE,260165632,239767552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,190108,031426,6326.441,-1251.851,36,1.4,36,-12.1