version: 66.02
glider: 102
mission: 4
dive: 312
start: 1 19 108 21 55 26
data:
$ID,102
$MISSION,4
$DIVE,312
$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,-82477.859
$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,36
$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
$GPS1,214837,6322.244,-1307.248,26,1.3,26,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-54.0
$GPS2,215420,6322.246,-1307.295,15,1.3,32,-12.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.017,-0.237
$KALMAN_X,407505.8,1468.6,895.0,-654469.2,-2560.0
$KALMAN_Y,35108.9,-258.3,549.6,166638.2,-394.2
$MHEAD_RNG_PITCHd_Wd,188.0,14877,-14.7,-8.000
$D_GRID,688
$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,-146.2,0.0,0.0,0,105,0.00,0.00,-81.32,0.000,2,0.000,0.000,34,1885,2835
$GC,108,-1.23,-146.6,3.5,-2.3,4,151,11.52,2.58,-22.95,0.000,4,0.138,0.062,2221,3286,3476
$GC,403,-1.23,-146.6,34.1,-9.7,17,408,0.00,2.47,0.00,0.000,6,0.000,0.043,2221,1899,3476
$GC,725,-1.23,-146.6,65.8,-10.8,33,729,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3301,3476
$GC,757,-1.23,-146.6,69.4,-10.1,34,764,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1894,3476
$GC,1074,-1.23,-146.6,100.3,-10.2,50,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1894,3476
$GC,1382,-1.23,-146.6,129.8,-11.1,65,1387,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3300,3476
$GC,1431,-1.23,-146.6,136.0,-12.8,67,1435,0.00,2.50,0.00,0.000,6,0.000,0.043,2221,1899,3476
$GC,1753,-1.23,-146.6,171.5,-10.3,83,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3476
$GC,2062,-1.23,-146.6,203.7,-10.7,98,2066,0.00,2.50,0.00,0.000,4,0.000,0.047,2221,3296,3476
$GC,2100,-1.23,-146.6,207.5,-10.4,100,2105,0.00,2.50,0.00,0.000,6,0.000,0.042,2221,1893,3476
$GC,2428,-1.23,-146.6,239.4,-10.4,116,2432,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3299,3476
$GC,2460,-1.23,-146.6,242.9,-9.4,117,2466,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1896,3476
$GC,2776,-1.23,-146.6,274.9,-11.0,133,2781,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3302,3476
$GC,2803,-1.23,-146.6,277.7,-10.3,134,2807,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1900,3476
$GC,3123,-1.23,-146.6,311.9,-10.8,150,3127,0.00,2.50,0.00,0.000,4,0.000,0.048,2221,3296,3476
$GC,3162,-1.23,-146.6,315.7,-9.6,152,3166,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1897,3476
$GC,3488,-1.23,-146.6,346.7,-8.9,168,3492,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3300,3476
$GC,3509,-1.23,-146.6,348.6,-8.6,169,3513,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1900,3476
$GC,3836,-1.23,-146.6,379.2,-10.1,185,3840,0.00,2.50,0.00,0.000,4,0.000,0.049,2221,3295,3477
$GC,3880,-1.23,-146.6,383.7,-10.1,187,3884,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1899,3476
$GC,4200,-1.23,-146.6,411.0,-8.2,203,4204,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3300,3476
$GC,4243,-1.23,-146.6,414.9,-9.4,205,4247,0.00,2.50,0.00,0.000,6,0.000,0.045,2221,1901,3476
$GC,4571,-1.23,-146.6,440.0,-7.7,221,4575,0.00,2.50,0.00,0.000,4,0.000,0.050,2221,3295,3476
$GC,4604,-1.23,-146.6,442.6,-7.4,222,4610,0.00,2.50,0.00,0.000,6,0.000,0.045,2221,1898,3476
$GC,4920,-1.23,-146.6,463.4,-5.7,238,4924,0.00,2.53,0.00,0.000,4,0.000,0.051,2221,3298,3476
$GC,4953,-1.23,-146.6,465.4,-5.6,239,4959,0.00,2.50,0.00,0.000,6,0.000,0.047,2221,1902,3476
$GC,5268,-1.23,-146.6,487.1,-8.1,255,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1902,3476
$GC,5578,-1.23,-146.6,509.2,-7.4,270,5582,0.00,2.53,0.00,0.000,4,0.000,0.051,2221,3299,3476
$GC,5610,-1.23,-146.6,511.9,-7.7,271,5616,0.00,2.50,0.00,0.000,6,0.000,0.046,2221,1899,3476
$GC,5926,-1.23,-146.6,537.5,-7.7,287,5930,0.00,2.53,0.00,0.000,4,0.000,0.053,2221,3293,3476
$GC,5965,-1.23,-146.6,540.2,-7.0,289,5969,0.00,2.50,0.00,0.000,6,0.000,0.047,2221,1899,3476
$GC,6291,-1.23,-146.6,567.4,-8.4,305,6295,0.00,2.53,0.00,0.000,4,0.000,0.053,2221,3294,3476
$GC,6323,-1.23,-146.6,570.1,-8.2,306,6329,0.00,2.50,0.00,0.000,6,0.000,0.048,2221,1900,3476
$GC,6639,-1.23,-146.6,596.5,-9.6,322,6643,0.00,2.53,0.00,0.000,4,0.000,0.055,2221,3298,3476
$GC,6705,-1.23,-146.6,602.5,-9.4,325,6709,0.00,2.53,0.00,0.000,6,0.000,0.049,2221,1897,3476
$GC,7026,-1.23,-146.6,634.0,-9.8,341,7031,0.00,2.65,0.00,0.000,4,0.000,0.081,2221,496,3475
$GC,7082,-1.23,-146.6,639.7,-9.7,343,7088,0.00,2.47,0.00,0.000,6,0.000,0.046,2221,1900,3476
$GC,7397,-1.23,-146.6,667.0,-7.9,359,7402,0.00,2.58,0.00,0.000,4,0.000,0.062,2222,3305,3476
$GC,7441,-1.23,-146.6,671.5,-9.0,361,7446,0.00,2.58,0.00,0.000,6,0.000,0.056,2221,1900,3476
$STATE,7637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7637,begin apogee
$GC,7644,-0.36,0.0,689.6,10.1,371,7772,0.88,0.00,124.62,1.259,6,0.058,0.000,2419,2102,2878
$STATE,7772,end apogee,CONTROL_FINISHED_OK
$STATE,7772,begin climb
$GC,7775,1.23,146.6,689.3,0.0,377,7906,1.55,2.75,122.85,1.220,4,0.052,0.075,2765,685,2280
$GC,8110,1.26,168.3,676.4,7.2,392,8134,0.00,2.53,19.15,1.220,6,0.000,0.048,2765,2095,2191
$GC,8450,1.31,211.4,652.3,6.4,409,8492,0.00,0.00,36.70,1.226,6,0.000,0.000,2765,2095,2015
$GC,8801,1.31,211.4,625.1,8.8,426,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2095,2014
$GC,9110,1.31,211.4,597.4,8.5,441,9115,0.00,2.60,0.00,0.000,4,0.000,0.061,2765,3504,2014
$GC,9218,1.31,211.4,587.8,9.2,446,9222,0.00,2.55,0.00,0.000,6,0.000,0.051,2765,2099,2013
$GC,9544,1.31,211.4,561.3,8.4,462,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2099,2012
$GC,9853,1.31,211.4,533.6,8.9,477,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2099,2012
$GC,10163,1.31,211.4,506.6,8.6,492,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2099,2012
$GC,10472,1.34,233.2,483.2,7.2,507,10496,0.00,2.65,18.15,1.167,4,0.000,0.053,2765,3502,1927
$GC,10519,1.35,244.5,479.5,7.6,509,10536,0.10,2.55,10.38,1.140,6,0.058,0.044,2795,2090,1881
$GC,10845,1.38,264.0,454.0,7.3,525,10867,0.00,2.67,17.35,1.127,4,0.000,0.053,2795,3502,1801
$GC,10906,1.38,264.0,449.3,8.3,527,10913,0.00,2.53,0.00,0.000,6,0.000,0.044,2795,2101,1801
$GC,11222,1.38,264.0,416.9,11.0,543,11226,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3509,1801
$GC,11299,1.38,264.0,407.0,12.9,546,11305,0.00,2.55,0.00,0.000,6,0.000,0.045,2795,2099,1801
$GC,11614,1.38,264.0,369.6,11.4,562,11618,0.00,2.53,0.00,0.000,4,0.000,0.051,2795,3503,1802
$GC,11665,1.38,264.0,363.5,11.4,564,11669,0.00,2.53,0.00,0.000,6,0.000,0.044,2795,2098,1802
$GC,11980,1.38,264.0,326.5,10.8,579,11984,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3508,1802
$GC,12019,1.38,264.0,322.2,11.2,581,12024,0.00,2.53,0.00,0.000,6,0.000,0.044,2795,2098,1802
$GC,12346,1.38,264.0,288.4,8.9,597,12347,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2098,1802
$GC,12655,1.38,264.0,254.0,11.3,612,12659,0.00,2.55,0.00,0.000,4,0.000,0.050,2795,3503,1803
$GC,12698,1.38,264.0,248.5,11.2,614,12703,0.00,2.53,0.00,0.000,6,0.000,0.042,2796,2089,1803
$GC,13020,1.38,264.0,211.6,10.9,630,13021,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2089,1803
$GC,13328,1.38,264.0,185.1,8.9,645,13333,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3509,1803
$GC,13413,1.38,264.0,177.1,9.5,649,13417,0.00,2.53,0.00,0.000,6,0.000,0.041,2795,2092,1803
$GC,13739,1.38,264.0,139.3,12.1,665,13744,0.00,2.55,0.00,0.000,4,0.000,0.050,2796,3504,1803
$GC,13789,1.38,264.0,133.5,10.7,667,13793,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2100,1803
$GC,14110,1.38,264.0,99.4,10.6,683,14111,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2100,1804
$GC,14422,1.38,267.0,68.3,7.9,698,14430,0.00,0.00,4.20,0.904,6,0.000,0.000,2795,2100,1788
$GC,14753,1.38,267.0,42.3,9.7,714,14757,0.00,2.55,0.00,0.000,4,0.000,0.049,2795,3509,1789
$GC,14824,1.38,267.0,32.7,12.9,717,14828,0.00,2.53,0.00,0.000,6,0.000,0.041,2795,2092,1789
$GC,15147,1.40,280.2,5.9,7.5,733,15168,0.00,2.60,11.30,0.863,4,0.000,0.049,2795,3505,1735
$STATE,15176,end climb,SURFACE_DEPTH_REACHED
$STATE,15176,begin surface coast
$FINISH,1.2,1.027426
$STATE,15183,end surface coast,CONTROL_FINISHED_OK
$STATE,15183,begin surface
$SM_CCo,15207,18.50,0.816,2,0,1655,300.00
$SM_GC,2.05,0.00,0.00,18.50,0.000,0.000,0.816,35,1892,1655,-11.31,-0.20,300.00
$IRIDIUM_FIX,6258.74,-1255.71,190108,222226
$TT8_MAMPS,0.026078
$HUMID,2072
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,18.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.2,64.581
$10V_AH,10.1,31.239
$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,26.050,152.900,364.700,18.500,0.000,36.381,34.981,146.803,6.000,0.000,0.000,33.758,1371.118,11519.680,550.948,1702.663,455.875,33.365,1423.373,0.000,1651.063,0.000,38.164
$DEVICE_MAMPS,138.060,80.535,1258.647,816.088,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,541.448,493.791,456.039,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37949,734
$CFSIZE,260165632,239443968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,12,2,0
$GPS,200108,021056,6320.828,-1308.776,56,1.3,56,-12.2