version: 66.02
glider: 102
mission: 4
dive: 296
start: 1 17 108 12 4 28
data:
$ID,102
$MISSION,4
$DIVE,296
$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,-82201.68
$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,28
$R_STBD_OVSHOOT,33
$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
$GPS1,115808,6343.480,-1303.251,33,1.5,33,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-61.9
$GPS2,120321,6343.537,-1303.164,13,1.1,13,-12.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.160,-0.176
$KALMAN_X,375874.2,-1824.2,-1267.0,-613690.7,12985.7
$KALMAN_Y,58316.8,-950.2,-1418.1,185565.8,9989.1
$MHEAD_RNG_PITCHd_Wd,234.6,18577,-14.7,-8.000
$D_GRID,692
$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,-146.6,0.0,0.0,0,105,0.00,0.00,-81.35,0.000,2,0.000,0.000,30,1882,2914
$GC,108,-1.23,-146.6,3.9,-2.8,4,143,11.60,2.60,-17.60,0.000,4,0.140,0.083,2225,496,3478
$GC,199,-1.23,-146.6,13.8,-10.0,8,204,0.00,2.45,0.00,0.000,6,0.000,0.040,2224,1908,3478
$GC,521,-1.23,-146.6,48.1,-10.8,24,525,0.00,2.47,0.00,0.000,4,0.000,0.048,2225,3297,3478
$GC,570,-1.23,-146.6,53.1,-10.0,26,574,0.00,2.47,0.00,0.000,6,0.000,0.044,2225,1905,3478
$GC,892,-1.23,-146.6,86.2,-10.6,42,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1905,3478
$GC,1201,-1.23,-146.6,118.3,-9.8,57,1205,0.00,2.50,0.00,0.000,4,0.000,0.048,2225,3302,3478
$GC,1285,-1.23,-146.6,127.0,-9.9,61,1289,0.00,2.47,0.00,0.000,6,0.000,0.043,2225,1899,3478
$GC,1611,-1.23,-146.6,158.6,-9.6,77,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3477
$GC,1920,-1.23,-146.6,189.6,-10.2,92,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3478
$GC,2229,-1.23,-146.6,221.9,-10.3,107,2233,0.00,2.50,0.00,0.000,4,0.000,0.047,2225,3300,3478
$GC,2285,-1.23,-146.6,227.9,-10.7,109,2291,0.00,2.47,0.00,0.000,6,0.000,0.044,2225,1899,3478
$GC,2601,-1.23,-146.6,263.0,-10.9,125,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3478
$GC,2910,-1.23,-146.6,296.0,-10.8,140,2914,0.00,2.50,0.00,0.000,4,0.000,0.048,2225,3302,3478
$GC,2964,-1.23,-146.6,301.9,-10.0,142,2970,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1897,3478
$GC,3279,-1.23,-146.6,331.6,-9.2,158,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1897,3478
$GC,3589,-1.23,-146.6,360.1,-9.6,173,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1897,3478
$GC,3899,-1.23,-146.6,393.2,-11.4,188,3903,0.00,2.53,0.00,0.000,4,0.000,0.049,2225,3306,3478
$GC,3947,-1.23,-146.6,398.9,-11.3,190,3952,0.00,2.50,0.00,0.000,6,0.000,0.045,2225,1901,3478
$GC,4269,-1.23,-146.6,437.8,-13.6,206,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1901,3478
$GC,4579,-1.23,-146.6,482.1,-14.0,221,4583,0.00,2.50,0.00,0.000,4,0.000,0.050,2225,3304,3477
$GC,4686,-1.23,-146.6,497.5,-14.0,226,4690,0.00,2.53,0.00,0.000,6,0.000,0.046,2225,1894,3477
$GC,5012,-1.23,-146.6,544.3,-14.4,242,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1894,3477
$GC,5321,-1.23,-146.6,583.5,-12.2,257,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1894,3477
$GC,5630,-1.23,-146.6,622.8,-12.9,272,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1894,3477
$GC,5940,-1.23,-146.6,647.5,-4.6,287,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1894,3477
$GC,6249,-1.23,-146.6,658.2,-3.8,302,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1894,3477
$GC,6558,-1.23,-146.6,665.2,-4.4,317,6562,0.00,2.58,0.00,0.000,4,0.000,0.058,2225,3302,3477
$GC,6687,-1.23,-146.6,676.1,-9.4,323,6692,0.00,2.53,0.00,0.000,6,0.000,0.052,2225,1901,3477
$STATE,6866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6866,begin apogee
$GC,6872,-0.36,0.0,692.5,9.3,332,6999,0.90,0.00,123.62,1.262,6,0.076,0.000,2418,2103,2878
$STATE,7000,end apogee,CONTROL_FINISHED_OK
$STATE,7000,begin climb
$GC,7003,1.23,146.6,697.6,0.0,338,7130,1.55,0.00,122.85,1.213,6,0.056,0.000,2761,2103,2280
$GC,7435,1.33,227.8,682.3,4.9,359,7511,0.10,2.67,67.62,1.210,4,0.055,0.061,2794,3496,1949
$GC,7634,1.33,227.8,665.3,8.8,368,7638,0.00,2.53,0.00,0.000,6,0.000,0.049,2794,2100,1949
$GC,7960,1.33,227.8,635.9,9.9,384,7965,0.00,2.55,0.00,0.000,4,0.000,0.058,2795,3496,1948
$GC,8072,1.33,227.8,626.6,13.0,389,8076,0.00,2.53,0.00,0.000,6,0.000,0.048,2795,2098,1948
$GC,8399,1.33,227.8,598.5,8.7,405,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2098,1947
$GC,8708,1.33,227.8,571.9,9.0,420,8712,0.00,2.58,0.00,0.000,4,0.000,0.056,2795,3499,1947
$GC,8859,1.33,227.8,557.1,11.0,427,8863,0.00,2.53,0.00,0.000,6,0.000,0.047,2795,2093,1947
$GC,9184,1.33,227.8,523.3,10.9,443,9189,0.00,2.55,0.00,0.000,4,0.000,0.054,2794,3496,1947
$GC,9296,1.33,227.8,510.6,11.0,448,9300,0.00,2.50,0.00,0.000,6,0.000,0.044,2794,2093,1946
$GC,9623,1.33,227.8,474.9,10.8,464,9627,0.00,2.55,0.00,0.000,4,0.000,0.054,2794,3499,1947
$GC,9706,1.33,227.8,465.3,11.4,468,9711,0.00,2.53,0.00,0.000,6,0.000,0.045,2795,2094,1947
$GC,10033,1.33,227.8,430.8,10.7,484,10037,0.00,2.55,0.00,0.000,4,0.000,0.053,2795,3497,1947
$GC,10121,1.33,227.8,420.7,11.4,488,10125,0.00,2.50,0.00,0.000,6,0.000,0.044,2795,2100,1947
$GC,10448,1.33,227.8,384.9,10.4,504,10452,0.00,2.55,0.00,0.000,4,0.000,0.052,2795,3504,1946
$GC,10565,1.33,227.8,373.4,9.7,509,10569,0.00,2.50,0.00,0.000,6,0.000,0.044,2794,2093,1947
$GC,10880,1.33,232.8,347.5,7.8,524,10890,0.00,2.58,4.85,1.051,4,0.000,0.053,2795,3504,1928
$GC,10934,1.33,232.8,343.0,8.2,526,10941,0.00,2.50,0.00,0.000,6,0.000,0.044,2795,2099,1929
$GC,11250,1.36,253.6,320.1,7.2,542,11273,0.00,2.62,17.35,1.050,4,0.000,0.051,2794,3497,1844
$GC,11363,1.36,253.6,311.1,8.4,547,11367,0.00,2.53,0.00,0.000,6,0.000,0.043,2795,2093,1844
$GC,11689,1.36,256.2,286.4,7.9,563,11698,0.00,2.60,3.65,0.996,4,0.000,0.051,2795,3500,1832
$GC,11738,1.36,256.2,282.1,8.1,565,11742,0.00,2.50,0.00,0.000,6,0.000,0.043,2795,2096,1832
$GC,12065,1.36,256.2,255.8,8.3,581,12069,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3502,1833
$GC,12137,1.36,256.2,249.5,8.4,584,12141,0.00,2.50,0.00,0.000,6,0.000,0.042,2795,2097,1833
$GC,12452,1.38,270.5,224.6,7.5,599,12473,0.00,2.62,12.23,0.996,4,0.000,0.050,2794,3499,1775
$GC,12513,1.39,273.8,219.6,7.9,601,12522,0.00,2.50,4.03,0.957,6,0.000,0.041,2795,2102,1761
$GC,12849,1.39,273.8,190.8,8.8,618,12850,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2102,1760
$GC,13158,1.39,273.8,162.7,9.1,633,13162,0.00,2.53,0.00,0.000,4,0.000,0.050,2794,3498,1761
$GC,13198,1.39,273.8,159.0,9.4,635,13202,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2093,1761
$GC,13524,1.39,273.8,129.6,9.2,651,13525,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2092,1761
$GC,13834,1.39,273.8,102.4,8.8,666,13838,0.00,2.55,0.00,0.000,4,0.000,0.049,2795,3503,1761
$GC,13883,1.39,273.8,97.8,8.9,668,13887,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2094,1761
$GC,14199,1.39,273.8,70.2,9.3,683,14200,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2094,1761
$GC,14508,1.39,273.8,38.8,10.2,698,14512,0.00,2.53,0.00,0.000,4,0.000,0.049,2794,3499,1761
$GC,14557,1.39,273.8,33.7,9.4,700,14562,0.00,2.47,0.00,0.000,6,0.000,0.041,2795,2098,1761
$STATE,14871,end climb,SURFACE_DEPTH_REACHED
$STATE,14871,begin surface coast
$FINISH,1.5,1.026815
$STATE,14892,end surface coast,CONTROL_FINISHED_OK
$STATE,14893,begin surface
$SM_CCo,14914,24.38,0.827,3,0,1655,300.00
$SM_GC,2.19,0.00,0.00,24.38,0.000,0.000,0.827,36,1881,1655,-11.31,-0.57,300.00
$IRIDIUM_FIX,6317.84,-1308.04,170108,121236
$TT8_MAMPS,0.026845
$HUMID,2084
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,1
$24V_AH,23.2,62.406
$10V_AH,10.1,30.237
$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,26.000,116.975,356.200,24.375,0.000,37.530,39.470,130.654,5.750,0.000,0.000,14.762,1335.027,11340.554,535.540,1645.854,431.779,33.372,1354.165,0.000,1618.850,0.000,36.480
$DEVICE_MAMPS,139.594,82.836,1262.482,826.826,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,529.197,482.834,449.080,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34955,716
$CFSIZE,260165632,240177152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,3,0
$GPS,170108,161456,6343.801,-1256.007,37,1.9,37,-12.3