version: 66.02
glider: 102
mission: 4
dive: 300
start: 1 18 108 3 16 28
data:
$ID,102
$MISSION,4
$DIVE,300
$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,-82260.633
$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,27
$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
$GPS1,030938,6337.986,-1245.431,35,1.1,35,-12.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-61.1
$GPS2,031521,6337.937,-1245.256,11,1.3,11,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.228,-0.066
$KALMAN_X,398999.4,139.2,-264.2,-623974.2,7774.0
$KALMAN_Y,53326.7,-878.8,-820.6,179564.9,1874.9
$MHEAD_RNG_PITCHd_Wd,266.0,25104,-14.7,-8.000
$D_GRID,549
$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,-61.12,0.000,2,0.000,0.000,35,1886,2808
$GC,88,-1.23,-146.6,3.9,-3.9,3,131,11.57,2.58,-23.10,0.000,4,0.138,0.063,2223,3305,3477
$GC,327,-1.23,-146.6,27.7,-9.7,13,334,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1908,3478
$GC,643,-1.23,-146.6,62.5,-11.1,29,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1908,3477
$GC,952,-1.23,-146.6,99.7,-12.4,44,956,0.00,2.50,0.00,0.000,4,0.000,0.048,2223,3305,3477
$GC,1029,-1.23,-146.6,109.4,-11.5,47,1036,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1891,3477
$GC,1347,-1.23,-146.6,147.7,-12.1,63,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1891,3477
$GC,1654,-1.23,-146.6,183.3,-11.2,78,1658,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3305,3477
$GC,1716,-1.23,-146.6,190.3,-11.3,81,1721,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1898,3477
$GC,2043,-1.23,-146.6,225.1,-10.4,97,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3477
$GC,2352,-1.23,-146.6,257.9,-10.6,112,2356,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3308,3477
$GC,2423,-1.23,-146.6,265.5,-10.6,115,2428,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1894,3477
$GC,2745,-1.23,-146.6,298.9,-9.6,131,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1893,3477
$GC,3055,-1.23,-146.6,326.5,-8.9,146,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3477
$GC,3364,-1.23,-146.6,353.5,-8.8,161,3368,0.00,2.53,0.00,0.000,4,0.000,0.050,2223,3304,3477
$GC,3470,-1.23,-146.6,363.0,-9.1,166,3475,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1894,3477
$GC,3797,-1.23,-146.6,391.1,-8.3,182,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3477
$GC,4106,-1.23,-146.6,417.9,-8.9,197,4110,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3309,3477
$GC,4167,-1.23,-146.6,423.2,-8.6,200,4171,0.00,2.53,0.00,0.000,6,0.000,0.047,2222,1894,3477
$GC,4493,-1.23,-146.6,451.8,-8.5,216,4498,0.00,2.53,0.00,0.000,4,0.000,0.051,2223,3305,3477
$GC,4571,-1.23,-146.6,458.5,-8.2,219,4577,0.00,2.53,0.00,0.000,6,0.000,0.047,2223,1895,3478
$GC,4887,-1.23,-146.6,485.9,-8.9,235,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1893,3477
$GC,5196,-1.23,-146.6,510.4,-8.1,250,5200,0.00,2.55,0.00,0.000,4,0.000,0.053,2223,3307,3477
$GC,5261,-1.23,-146.6,515.7,-8.4,253,5266,0.00,2.53,0.00,0.000,6,0.000,0.047,2223,1896,3477
$GC,5589,-1.23,-146.6,541.5,-8.2,269,5593,0.00,2.53,0.00,0.000,4,0.000,0.055,2223,3302,3477
$STATE,5680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5680,begin apogee
$GC,5688,-0.36,0.0,549.3,9.0,273,5813,0.90,0.00,121.85,1.151,6,0.089,0.000,2413,2091,2879
$STATE,5814,end apogee,CONTROL_FINISHED_OK
$STATE,5814,begin climb
$GC,5816,1.23,146.6,553.8,0.0,279,5943,1.58,0.00,120.50,1.124,6,0.054,0.000,2763,2092,2280
$GC,6253,1.29,200.0,532.4,6.0,301,6303,0.00,2.67,44.60,1.117,4,0.000,0.060,2763,3505,2061
$GC,6494,1.31,215.9,516.2,7.4,312,6513,0.00,2.55,13.95,1.121,6,0.000,0.048,2763,2102,1997
$GC,6840,1.35,242.2,492.5,7.0,329,6870,0.12,2.67,22.08,1.126,4,0.052,0.056,2800,3506,1890
$GC,6954,1.35,242.2,482.5,8.8,334,6959,0.00,2.58,0.00,0.000,6,0.000,0.048,2800,2091,1890
$GC,7275,1.35,242.2,455.3,8.0,350,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2091,1890
$GC,7584,1.35,242.2,430.2,8.0,365,7589,0.00,2.58,0.00,0.000,4,0.000,0.054,2800,3500,1889
$GC,7760,1.35,242.2,414.7,9.2,373,7765,0.00,2.50,0.00,0.000,6,0.000,0.045,2800,2098,1888
$GC,8087,1.35,242.2,386.2,9.3,389,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2098,1889
$GC,8396,1.35,242.2,358.0,9.6,404,8400,0.00,2.55,0.00,0.000,4,0.000,0.052,2800,3502,1888
$GC,8525,1.35,242.2,344.1,11.3,410,8530,0.00,2.53,0.00,0.000,6,0.000,0.044,2800,2091,1888
$GC,8852,1.35,242.2,308.3,11.1,426,8856,0.00,2.55,0.00,0.000,4,0.000,0.051,2800,3503,1888
$GC,8929,1.35,242.2,299.2,11.3,429,8935,0.00,2.50,0.00,0.000,6,0.000,0.043,2801,2098,1888
$GC,9245,1.35,242.2,266.8,10.3,445,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2098,1888
$GC,9554,1.35,242.2,235.9,9.3,460,9558,0.00,2.53,0.00,0.000,4,0.000,0.051,2800,3501,1888
$GC,9666,1.35,242.2,225.1,9.8,465,9671,0.00,2.47,0.00,0.000,6,0.000,0.041,2800,2098,1889
$GC,9987,1.35,242.2,195.0,9.5,481,9992,0.00,2.53,0.00,0.000,4,0.000,0.051,2800,3500,1889
$GC,10043,1.35,242.2,189.3,10.2,483,10049,0.00,2.45,0.00,0.000,6,0.000,0.041,2800,2098,1889
$GC,10358,1.35,242.2,159.9,9.1,499,10360,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2098,1889
$GC,10668,1.35,242.2,131.9,9.2,514,10672,0.00,2.53,0.00,0.000,4,0.000,0.050,2800,3500,1890
$GC,10753,1.35,242.2,123.5,10.5,518,10757,0.00,2.47,0.00,0.000,6,0.000,0.041,2800,2094,1889
$GC,11079,1.35,242.2,93.8,9.0,534,11080,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2094,1889
$GC,11390,1.35,242.2,62.6,9.8,549,11394,0.00,2.53,0.00,0.000,4,0.000,0.049,2800,3502,1890
$GC,11602,1.42,305.3,45.1,5.6,558,11658,0.00,2.50,49.65,0.838,6,0.000,0.040,2800,2100,1632
$GC,11982,1.42,305.3,6.3,10.3,577,11983,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2100,1632
$STATE,12019,end climb,SURFACE_DEPTH_REACHED
$STATE,12019,begin surface coast
$FINISH,1.7,1.017603
$STATE,12041,end surface coast,CONTROL_FINISHED_OK
$STATE,12041,begin surface
$SM_CCo,12123,0.00,0.000,0,0,1629,306.13
$SM_GC,2.47,11.93,0.00,0.00,0.028,0.000,0.000,30,1893,1629,-11.27,-0.20,306.13
$IRIDIUM_FIX,6313.04,-1302.22,180108,030354
$TT8_MAMPS,0.026845
$HUMID,2058
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.60
$XPDR_PINGS,1
$24V_AH,23.3,62.952
$10V_AH,10.1,30.487
$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,26.100,91.175,372.625,0.000,0.000,40.097,40.098,158.568,4.250,0.000,0.000,13.209,1096.499,9041.987,480.781,1435.038,430.512,33.363,1198.323,0.000,1410.360,0.000,26.786
$DEVICE_MAMPS,138.060,62.894,1151.267,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.898,390.487,389.074,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28562,580
$CFSIZE,260165632,240021504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,180108,063955,6336.011,-1243.203,33,1.2,50,-12.1