version: 66.02
glider: 102
mission: 4
dive: 311
start: 1 19 108 18 10 10
data:
$ID,102
$MISSION,4
$DIVE,311
$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,-82443.469
$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,20
$R_STBD_OVSHOOT,29
$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
$GPS1,180332,6322.891,-1306.324,40,1.3,40,-12.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-57.4
$GPS2,180903,6322.915,-1306.285,12,1.3,12,-12.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.185,-0.149
$KALMAN_X,406916.9,744.8,-121.3,-651228.8,166.1
$KALMAN_Y,32259.2,753.5,886.4,169395.8,-3119.6
$MHEAD_RNG_PITCHd_Wd,243.3,16359,-14.7,-8.000
$D_GRID,676
$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,20,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,101,0.00,0.00,-75.07,0.000,2,0.000,0.000,36,1897,3097
$GC,104,-1.23,-146.6,3.8,-2.4,4,134,11.57,2.55,-9.75,0.000,4,0.138,0.059,2224,3306,3476
$GC,341,-1.23,-146.6,39.4,-11.5,14,348,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1892,3476
$GC,657,-1.23,-146.6,78.0,-13.0,30,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1892,3476
$GC,968,-1.23,-146.6,117.3,-8.1,45,973,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3312,3476
$GC,1046,-1.23,-146.6,126.6,-13.0,48,1053,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1900,3477
$GC,1361,-1.23,-146.6,168.1,-14.3,64,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3476
$GC,1671,-1.23,-146.6,198.3,-7.8,79,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3476
$GC,1980,-1.23,-146.6,235.8,-13.9,94,1984,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3310,3476
$GC,2064,-1.23,-146.6,246.7,-11.8,98,2068,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1895,3476
$GC,2390,-1.23,-146.6,285.5,-12.6,114,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3476
$GC,2700,-1.23,-146.6,325.9,-14.1,129,2704,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3308,3477
$GC,2772,-1.23,-146.6,336.1,-13.8,132,2776,0.00,2.50,0.00,0.000,6,0.000,0.044,2224,1900,3476
$GC,3087,-1.23,-146.6,371.6,-10.9,147,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3476
$GC,3397,-1.23,-146.6,401.4,-10.7,162,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3476
$GC,3706,-1.23,-146.6,431.7,-9.9,177,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3476
$GC,4015,-1.23,-146.6,464.6,-11.0,192,4019,0.00,2.53,0.00,0.000,4,0.000,0.051,2224,3301,3476
$GC,4081,-1.23,-146.6,471.7,-10.3,195,4085,0.00,2.53,0.00,0.000,6,0.000,0.048,2224,1895,3476
$GC,4402,-1.23,-146.6,506.3,-10.6,211,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3476
$GC,4711,-1.23,-146.6,535.5,-8.2,226,4715,0.00,2.53,0.00,0.000,4,0.000,0.052,2224,3301,3476
$GC,4762,-1.23,-146.6,539.5,-7.8,228,4766,0.00,2.53,0.00,0.000,6,0.000,0.048,2224,1894,3476
$GC,5077,-1.23,-146.6,569.3,-10.0,243,5081,0.00,2.62,0.00,0.000,4,0.000,0.075,2224,492,3476
$GC,5126,-1.23,-146.6,573.6,-8.6,245,5130,0.00,2.47,0.00,0.000,6,0.000,0.043,2224,1909,3476
$GC,5448,-1.23,-146.6,603.1,-11.0,261,5452,0.00,2.53,0.00,0.000,4,0.000,0.056,2224,3306,3476
$GC,5610,-1.23,-146.6,620.3,-9.6,268,5614,0.00,2.55,0.00,0.000,6,0.000,0.050,2224,1894,3476
$GC,5925,-1.23,-146.6,651.9,-9.3,283,5929,0.00,2.58,0.00,0.000,4,0.000,0.058,2224,3302,3476
$GC,5987,-1.23,-146.6,657.6,-9.3,286,5992,0.00,2.55,0.00,0.000,6,0.000,0.053,2224,1896,3476
$STATE,6207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6207,begin apogee
$GC,6213,-0.36,0.0,676.2,7.3,297,6341,0.88,0.00,124.45,1.236,6,0.055,0.000,2423,2105,2878
$STATE,6342,end apogee,CONTROL_FINISHED_OK
$STATE,6342,begin climb
$GC,6344,1.23,146.6,675.8,0.0,303,6472,1.52,0.00,122.35,1.200,6,0.051,0.000,2764,2105,2280
$GC,6783,1.29,197.9,650.6,6.1,325,6833,0.00,2.67,43.40,1.203,4,0.000,0.062,2763,3497,2071
$GC,6974,1.29,197.9,635.1,8.7,333,6980,0.00,2.55,0.00,0.000,6,0.000,0.051,2764,2097,2071
$GC,7289,1.29,197.9,608.1,8.6,349,7293,0.00,2.60,0.00,0.000,4,0.000,0.060,2764,3500,2069
$GC,7350,1.29,197.9,602.0,10.2,352,7355,0.00,2.55,0.00,0.000,6,0.000,0.050,2764,2096,2069
$GC,7677,1.30,203.2,576.2,7.8,368,7684,0.00,0.00,5.10,1.170,6,0.000,0.000,2764,2096,2050
$GC,7986,1.31,212.2,553.4,7.7,383,8000,0.00,2.65,8.68,1.197,4,0.000,0.056,2764,3500,2012
$GC,8068,1.31,212.2,546.4,8.5,386,8075,0.00,2.53,0.00,0.000,6,0.000,0.045,2764,2096,2012
$GC,8384,1.31,212.2,517.0,9.7,402,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2096,2011
$GC,8693,1.31,212.2,481.6,11.7,417,8697,0.00,2.58,0.00,0.000,4,0.000,0.054,2764,3502,2011
$GC,8777,1.31,212.2,471.9,11.7,421,8781,0.00,2.50,0.00,0.000,6,0.000,0.044,2764,2100,2011
$GC,9103,1.31,212.2,437.3,10.1,437,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2100,2011
$GC,9412,1.31,212.2,406.7,9.7,452,9416,0.00,2.55,0.00,0.000,4,0.000,0.052,2764,3503,2012
$GC,9478,1.31,212.2,400.0,9.0,455,9482,0.00,2.50,0.00,0.000,6,0.000,0.044,2764,2093,2011
$GC,9800,1.34,236.5,375.5,7.1,471,9823,0.10,0.00,20.85,1.081,6,0.058,0.000,2795,2093,1913
$GC,10128,1.34,236.5,347.5,8.9,487,10133,0.00,2.55,0.00,0.000,4,0.000,0.052,2795,3499,1913
$GC,10180,1.34,236.5,342.5,10.0,489,10184,0.00,2.50,0.00,0.000,6,0.000,0.043,2795,2100,1913
$GC,10495,1.34,236.5,310.4,11.1,504,10499,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3503,1913
$GC,10594,1.34,236.5,302.0,8.2,508,10601,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2098,1913
$GC,10910,1.38,268.7,283.3,6.8,524,10944,0.00,2.62,26.67,1.002,4,0.000,0.051,2794,3502,1782
$GC,11006,1.53,391.8,279.2,3.3,528,11112,0.15,2.53,97.62,0.960,6,0.048,0.041,2840,2096,1280
$GC,11428,1.53,391.8,224.3,13.6,549,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2096,1280
$GC,11737,1.53,391.8,176.5,17.4,564,11741,0.00,2.62,0.00,0.000,4,0.000,0.070,2840,694,1280
$GC,11769,1.53,391.8,171.4,14.6,565,11776,0.00,2.45,0.00,0.000,6,0.000,0.039,2840,2105,1280
$GC,12085,1.53,391.8,125.6,13.6,581,12086,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2109,1280
$GC,12396,1.53,391.8,86.6,11.1,596,12397,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2108,1281
$GC,12704,1.53,391.8,39.8,16.0,611,12708,0.00,2.62,0.00,0.000,4,0.000,0.068,2840,696,1281
$GC,12747,1.53,391.8,32.3,17.1,613,12752,0.00,2.47,0.00,0.000,6,0.000,0.040,2840,2110,1280
$STATE,12943,end climb,SURFACE_DEPTH_REACHED
$STATE,12943,begin surface coast
$FINISH,1.4,1.027415
$STATE,12965,end surface coast,CONTROL_FINISHED_OK
$STATE,12965,begin surface
$SM_CCo,13047,0.00,0.000,0,0,1281,391.99
$SM_GC,2.10,12.05,0.00,0.00,0.028,0.000,0.000,34,1886,1281,-11.26,-0.40,391.99
$IRIDIUM_FIX,6239.86,-518.54,190108,181801
$TT8_MAMPS,0.026078
$HUMID,2077
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.2,64.439
$10V_AH,10.1,31.167
$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,26.275,97.450,449.125,0.000,0.000,36.949,35.855,155.247,6.000,0.000,0.000,14.300,1158.759,9829.510,531.417,1448.090,427.822,33.368,1284.220,0.000,1410.833,0.000,38.154
$DEVICE_MAMPS,138.060,75.166,1235.637,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.470,419.713,363.457,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31716,624
$CFSIZE,260165632,239517696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,190108,214837,6322.244,-1307.248,26,1.3,26,-12.2