version: 66.02
glider: 102
mission: 4
dive: 309
start: 1 19 108 10 24 40
data:
$ID,102
$MISSION,4
$DIVE,309
$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,-82412.414
$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,32
$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
$GPS1,101425,6325.233,-1259.863,87,1.4,87,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-55.8
$GPS2,102333,6325.238,-1259.849,10,1.3,10,-12.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.142,-0.191
$KALMAN_X,408250.4,-1360.1,709.6,-645626.1,-1571.8
$KALMAN_Y,31916.6,1160.5,225.2,174276.7,-2384.6
$MHEAD_RNG_PITCHd_Wd,228.8,22783,-14.7,-8.000
$D_GRID,626
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.23,-146.5,0.0,0.0,0,87,0.00,0.00,-61.17,0.000,2,0.000,0.000,31,1885,2729
$GC,90,-1.23,-146.6,3.7,-3.8,3,131,11.73,2.55,-23.73,0.000,4,0.139,0.063,2221,3296,3478
$GC,350,-1.23,-146.6,33.9,-9.1,15,355,0.00,2.50,0.00,0.000,6,0.000,0.043,2221,1903,3478
$GC,672,-1.23,-146.6,75.8,-15.3,31,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1904,3478
$GC,981,-1.23,-146.6,115.6,-12.7,46,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1903,3478
$GC,1290,-1.23,-146.6,146.7,-9.7,61,1295,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3307,3478
$GC,1379,-1.23,-146.6,156.3,-10.6,65,1384,0.00,2.50,0.00,0.000,6,0.000,0.043,2221,1899,3478
$GC,1706,-1.23,-146.6,197.1,-12.8,81,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3478
$GC,2016,-1.23,-146.6,232.4,-10.9,96,2020,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3304,3478
$GC,2082,-1.23,-146.6,239.6,-10.8,99,2086,0.00,2.50,0.00,0.000,6,0.000,0.043,2221,1899,3478
$GC,2409,-1.23,-146.6,273.1,-10.8,115,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3478
$GC,2718,-1.23,-146.6,303.8,-10.1,130,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3478
$GC,3027,-1.23,-146.6,332.0,-8.8,145,3031,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3305,3478
$GC,3077,-1.23,-146.6,336.3,-8.6,147,3081,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1900,3478
$GC,3398,-1.23,-146.6,365.2,-9.7,163,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3478
$GC,3707,-1.23,-146.6,395.5,-9.7,178,3711,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3306,3478
$GC,3773,-1.23,-146.6,402.5,-10.5,181,3777,0.00,2.53,0.00,0.000,6,0.000,0.045,2221,1895,3478
$GC,4100,-1.23,-146.6,435.1,-9.3,197,4104,0.00,2.53,0.00,0.000,4,0.000,0.050,2221,3306,3478
$GC,4138,-1.23,-146.6,438.8,-9.0,198,4144,0.00,2.53,0.00,0.000,6,0.000,0.046,2221,1898,3478
$GC,4453,-1.23,-146.6,466.7,-8.7,214,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3477
$GC,4763,-1.23,-146.6,491.8,-8.3,229,4767,0.00,2.53,0.00,0.000,4,0.000,0.051,2222,3298,3477
$GC,4806,-1.23,-146.6,495.6,-9.3,231,4810,0.00,2.50,0.00,0.000,6,0.000,0.045,2222,1901,3477
$GC,5133,-1.23,-146.6,523.8,-9.2,247,5134,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3477
$GC,5443,-1.23,-146.6,552.2,-9.9,262,5447,0.00,2.53,0.00,0.000,4,0.000,0.052,2222,3299,3477
$GC,5559,-1.23,-146.6,563.3,-8.9,267,5564,0.00,2.53,0.00,0.000,6,0.000,0.047,2222,1896,3477
$GC,5875,-1.23,-146.6,592.3,-8.7,282,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1896,3477
$GC,6184,-1.23,-146.6,620.9,-9.5,297,6188,0.00,2.62,0.00,0.000,4,0.000,0.078,2221,495,3477
$GC,6229,-1.23,-146.6,625.2,-9.4,299,6234,0.00,2.47,0.00,0.000,6,0.000,0.044,2221,1897,3477
$STATE,6238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6239,begin apogee
$GC,6245,-0.36,0.0,626.6,10.1,300,6372,0.93,0.00,123.72,1.206,6,0.080,0.000,2417,2106,2878
$STATE,6373,end apogee,CONTROL_FINISHED_OK
$STATE,6373,begin climb
$GC,6375,1.23,146.6,630.8,0.0,306,6502,1.55,0.00,121.57,1.180,6,0.055,0.000,2761,2106,2280
$GC,6814,1.31,212.4,610.9,5.5,328,6875,0.00,2.65,55.03,1.175,4,0.000,0.061,2762,3488,2012
$GC,6917,1.31,212.4,603.8,8.0,333,6921,0.00,2.55,0.00,0.000,6,0.000,0.050,2761,2104,2011
$GC,7243,1.33,228.8,579.8,7.4,349,7263,0.10,0.00,14.52,1.200,6,0.058,0.000,2793,2104,1945
$GC,7574,1.33,228.8,549.9,9.2,365,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2104,1944
$GC,7881,1.33,228.8,520.1,10.3,380,7885,0.00,2.55,0.00,0.000,4,0.000,0.054,2793,3498,1943
$GC,7952,1.33,228.8,511.9,11.5,383,7957,0.00,2.53,0.00,0.000,6,0.000,0.046,2793,2098,1943
$GC,8268,1.33,228.8,477.7,10.6,398,8273,0.00,2.55,0.00,0.000,4,0.000,0.054,2793,3498,1943
$GC,8319,1.33,228.8,472.1,11.1,400,8324,0.00,2.53,0.00,0.000,6,0.000,0.044,2793,2093,1943
$GC,8634,1.33,228.8,442.2,8.8,415,8639,0.00,2.55,0.00,0.000,4,0.000,0.053,2793,3498,1943
$GC,8735,1.33,228.8,432.8,9.1,419,8741,0.00,2.53,0.00,0.000,6,0.000,0.045,2793,2093,1943
$GC,9050,1.33,228.8,403.3,9.8,435,9054,0.00,2.53,0.00,0.000,4,0.000,0.053,2793,3499,1943
$GC,9127,1.33,228.8,394.9,10.6,438,9133,0.00,2.50,0.00,0.000,6,0.000,0.044,2793,2100,1943
$GC,9443,1.33,228.8,362.5,10.8,454,9447,0.00,2.53,0.00,0.000,4,0.000,0.051,2793,3499,1943
$GC,9527,1.33,228.8,352.6,12.5,458,9531,0.00,2.50,0.00,0.000,6,0.000,0.042,2793,2099,1942
$GC,9853,1.33,228.8,319.0,9.7,474,9857,0.00,2.55,0.00,0.000,4,0.000,0.051,2793,3505,1943
$GC,9908,1.33,228.8,313.4,10.6,476,9914,0.00,2.53,0.00,0.000,6,0.000,0.043,2793,2089,1943
$GC,10223,1.33,228.8,281.7,9.9,492,10227,0.00,2.55,0.00,0.000,4,0.000,0.051,2793,3499,1943
$GC,10307,1.33,228.8,273.2,10.5,496,10311,0.00,2.50,0.00,0.000,6,0.000,0.042,2793,2097,1943
$GC,10633,1.33,228.8,243.7,8.8,512,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2097,1943
$GC,10942,1.33,228.8,216.3,9.0,527,10946,0.00,2.55,0.00,0.000,4,0.000,0.051,2793,3499,1943
$GC,11042,1.33,228.8,206.6,9.1,531,11048,0.00,2.50,0.00,0.000,6,0.000,0.041,2793,2093,1944
$GC,11357,1.33,228.8,177.3,9.2,547,11361,0.00,2.55,0.00,0.000,4,0.000,0.051,2793,3499,1944
$GC,11434,1.33,228.8,170.2,9.4,550,11441,0.00,2.50,0.00,0.000,6,0.000,0.041,2793,2092,1944
$GC,11750,1.33,228.8,142.2,8.4,566,11755,0.00,2.55,0.00,0.000,4,0.000,0.051,2793,3501,1945
$GC,11795,1.38,269.8,139.0,6.4,568,11832,0.00,2.47,32.45,0.942,6,0.000,0.041,2793,2099,1778
$GC,12142,1.38,269.8,109.8,8.4,585,12147,0.00,2.55,0.00,0.000,4,0.000,0.048,2793,3506,1777
$GC,12232,1.38,269.8,101.5,8.9,589,12236,0.00,2.50,0.00,0.000,6,0.000,0.041,2793,2099,1777
$GC,12553,1.38,269.8,69.1,9.5,605,12557,0.00,2.53,0.00,0.000,4,0.000,0.048,2793,3500,1778
$GC,12592,1.38,269.8,64.6,12.2,607,12596,0.00,2.50,0.00,0.000,6,0.000,0.040,2793,2095,1777
$GC,12918,1.38,269.8,31.0,9.2,623,12923,0.00,2.55,0.00,0.000,4,0.000,0.049,2793,3505,1777
$GC,12958,1.38,269.8,26.6,11.5,625,12963,0.00,2.50,0.00,0.000,6,0.000,0.040,2793,2096,1778
$STATE,13243,end climb,SURFACE_DEPTH_REACHED
$STATE,13243,begin surface coast
$FINISH,1.4,1.017984
$STATE,13263,end surface coast,CONTROL_FINISHED_OK
$STATE,13263,begin surface
$SM_CCo,13286,27.50,0.847,3,0,1655,300.00
$SM_GC,1.94,0.00,0.00,27.50,0.000,0.000,0.847,33,1885,1655,-11.33,-0.40,300.00
$IRIDIUM_FIX,6258.74,-1248.89,190108,141421
$TT8_MAMPS,0.026078
$HUMID,2066
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.5,999.0
$24V_AH,23.3,64.147
$10V_AH,10.1,31.037
$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,26.250,116.925,347.300,27.500,0.000,77.807,93.126,206.544,5.750,0.000,0.000,12.161,1201.582,10097.421,529.277,1471.542,600.337,33.372,1269.352,0.000,1442.976,0.000,34.927
$DEVICE_MAMPS,138.827,78.234,1205.724,846.768,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.134,430.691,413.118,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31636,640
$CFSIZE,260165632,239607808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,3,0
$GPS,190108,140807,6323.455,-1303.182,36,1.4,41,-12.2