version: 66.02
glider: 102
mission: 4
dive: 315
start: 1 20 108 11 25 42
data:
$ID,102
$MISSION,4
$DIVE,315
$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,-83432.227
$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,31
$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,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
$GPS1,111507,6319.609,-1312.014,37,0.9,37,-12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-57.9
$GPS2,112433,6319.488,-1312.140,14,1.0,14,-12.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.006,-0.238
$KALMAN_X,405648.2,-1620.3,623.5,-653510.9,-594.9
$KALMAN_Y,42308.8,656.8,-177.2,154169.2,2074.4
$MHEAD_RNG_PITCHd_Wd,193.8,8646,-14.7,-8.000
$D_GRID,743
$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,-61.05,0.000,2,0.000,0.000,36,1875,2826
$GC,88,-1.23,-146.6,3.1,-2.5,3,131,11.52,2.58,-23.70,0.000,4,0.138,0.059,2222,3296,3477
$GC,384,-1.23,-146.6,36.2,-13.5,16,388,0.00,2.50,0.00,0.000,6,0.000,0.045,2222,1907,3478
$GC,705,-1.23,-146.6,65.9,-7.0,32,709,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3299,3478
$GC,896,-1.23,-146.6,81.4,-9.0,40,902,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1894,3478
$GC,1213,-1.23,-146.6,106.7,-7.9,56,1218,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3299,3477
$GC,1258,-1.23,-146.6,110.3,-7.4,58,1262,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1898,3477
$GC,1579,-1.23,-146.6,134.4,-7.7,74,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3478
$GC,1887,-1.23,-146.6,164.1,-10.5,89,1891,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3300,3478
$GC,1914,-1.23,-146.6,167.2,-12.2,90,1918,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1899,3477
$GC,2237,-1.23,-146.6,201.7,-10.4,106,2241,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3305,3477
$GC,2265,-1.23,-146.6,205.2,-11.8,107,2269,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1893,3478
$GC,2580,-1.23,-146.6,240.6,-11.1,122,2584,0.00,2.53,0.00,0.000,4,0.000,0.049,2222,3298,3478
$GC,2691,-1.23,-146.6,252.6,-11.6,127,2695,0.00,2.50,0.00,0.000,6,0.000,0.045,2222,1901,3477
$GC,3011,-1.23,-146.6,290.1,-12.0,143,3015,0.00,2.62,0.00,0.000,4,0.000,0.071,2222,493,3478
$GC,3038,-1.23,-146.6,293.5,-12.9,144,3042,0.00,2.45,0.00,0.000,6,0.000,0.041,2222,1902,3478
$GC,3359,-1.23,-146.6,329.7,-10.2,160,3363,0.00,2.50,0.00,0.000,4,0.000,0.051,2222,3296,3478
$GC,3437,-1.23,-146.6,335.9,-7.0,163,3443,0.00,2.50,0.00,0.000,6,0.000,0.047,2222,1902,3477
$GC,3752,-1.23,-146.6,363.0,-9.4,179,3756,0.00,2.53,0.00,0.000,4,0.000,0.050,2222,3304,3478
$GC,3818,-1.23,-146.6,369.8,-10.6,182,3822,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1900,3477
$GC,4139,-1.23,-146.6,407.7,-10.5,198,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3477
$GC,4449,-1.23,-146.6,437.1,-9.4,213,4453,0.00,2.53,0.00,0.000,4,0.000,0.051,2222,3299,3477
$GC,4475,-1.23,-146.6,439.6,-8.9,214,4479,0.00,2.50,0.00,0.000,6,0.000,0.048,2222,1900,3477
$GC,4796,-1.23,-146.6,472.4,-10.5,230,4801,0.00,2.53,0.00,0.000,4,0.000,0.051,2222,3299,3477
$GC,4891,-1.23,-146.6,482.8,-12.2,234,4895,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1897,3477
$GC,5206,-1.23,-146.6,516.3,-11.0,249,5211,0.00,2.55,0.00,0.000,4,0.000,0.053,2222,3304,3477
$GC,5233,-1.23,-146.6,519.2,-10.9,250,5238,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1900,3477
$GC,5556,-1.23,-146.6,552.1,-10.8,266,5560,0.00,2.62,0.00,0.000,4,0.000,0.074,2222,494,3477
$GC,5583,-1.23,-146.6,555.1,-10.7,267,5587,0.00,2.45,0.00,0.000,6,0.000,0.044,2222,1900,3477
$GC,5904,-1.23,-146.6,585.4,-8.8,283,5908,0.00,2.53,0.00,0.000,4,0.000,0.057,2222,3296,3477
$GC,6010,-1.23,-146.6,595.2,-9.3,288,6015,0.00,2.53,0.00,0.000,6,0.000,0.051,2222,1901,3477
$GC,6339,-1.23,-146.6,625.2,-9.1,304,6343,0.00,2.58,0.00,0.000,4,0.000,0.058,2222,3305,3477
$GC,6378,-1.23,-146.6,628.9,-9.5,306,6382,0.00,2.55,0.00,0.000,6,0.000,0.051,2222,1900,3477
$GC,6704,-1.23,-146.6,658.0,-8.3,322,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3477
$GC,7013,-1.23,-146.6,685.2,-9.2,337,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3477
$GC,7323,-1.23,-146.6,711.5,-8.8,352,7327,0.00,2.58,0.00,0.000,4,0.000,0.060,2222,3300,3476
$GC,7580,-1.23,-146.6,711.6,-0.6,363,7586,0.00,2.58,0.00,0.000,6,0.000,0.057,2222,1896,3476
$STATE,7645,end dive,NO_VERTICAL_VELOCITY
$STATE,7646,begin apogee
$GC,7652,-0.36,0.0,711.5,0.0,367,7781,0.90,0.00,125.60,1.279,6,0.064,0.000,2423,2106,2878
$STATE,7782,end apogee,CONTROL_FINISHED_OK
$STATE,7782,begin climb
$GC,7784,1.23,146.6,711.1,0.0,373,7916,1.52,2.67,123.85,1.236,4,0.054,0.064,2760,3500,2280
$GC,8171,1.23,147.7,685.6,8.0,391,8175,0.00,2.55,0.00,0.000,6,0.000,0.052,2760,2102,2279
$GC,8497,1.24,160.9,662.1,7.5,407,8518,0.00,2.78,12.88,1.246,4,0.000,0.077,2760,696,2221
$GC,8552,1.25,166.1,657.7,7.8,409,8563,0.00,2.55,5.78,1.183,6,0.000,0.048,2760,2099,2200
$GC,8872,1.27,178.8,633.1,7.5,425,8893,0.00,2.70,11.55,1.242,4,0.000,0.062,2760,3506,2149
$GC,8926,1.29,195.7,628.8,7.4,427,8947,0.00,2.58,15.48,1.220,6,0.000,0.051,2760,2098,2080
$GC,9263,1.30,206.5,603.1,7.6,444,9275,0.00,0.00,10.05,1.229,6,0.000,0.000,2760,2098,2037
$GC,9572,1.33,232.1,580.4,7.0,459,9602,0.12,2.78,22.40,1.216,4,0.054,0.077,2798,693,1931
$GC,9855,1.33,232.1,555.0,8.9,471,9861,0.00,2.50,0.00,0.000,6,0.000,0.044,2797,2102,1930
$GC,10171,1.33,232.1,528.8,9.1,487,10175,0.00,2.67,0.00,0.000,4,0.000,0.074,2797,686,1930
$GC,10220,1.33,232.1,523.9,10.1,489,10224,0.00,2.50,0.00,0.000,6,0.000,0.044,2797,2099,1930
$GC,10535,1.33,232.1,495.3,9.1,504,10539,0.00,2.55,0.00,0.000,4,0.000,0.055,2798,3499,1930
$GC,10664,1.33,232.1,482.4,10.9,510,10668,0.00,2.55,0.00,0.000,6,0.000,0.048,2797,2095,1930
$GC,10991,1.33,232.1,454.2,9.1,526,10995,0.00,2.55,0.00,0.000,4,0.000,0.054,2797,3500,1930
$GC,11090,1.33,232.1,443.8,11.3,530,11097,0.00,2.50,0.00,0.000,6,0.000,0.045,2797,2098,1930
$GC,11406,1.33,232.1,416.3,8.8,546,11411,0.00,2.55,0.00,0.000,4,0.000,0.052,2797,3500,1930
$GC,11501,1.33,232.1,407.1,10.2,550,11505,0.00,2.50,0.00,0.000,6,0.000,0.044,2797,2100,1930
$GC,11817,1.33,232.1,377.8,9.2,565,11821,0.00,2.55,0.00,0.000,4,0.000,0.053,2798,3500,1931
$GC,11950,1.33,232.1,363.0,11.2,571,11954,0.00,2.50,0.00,0.000,6,0.000,0.044,2798,2094,1931
$GC,12271,1.33,232.1,328.1,10.8,587,12275,0.00,2.55,0.00,0.000,4,0.000,0.053,2798,3507,1931
$GC,12360,1.33,232.1,316.3,12.4,591,12364,0.00,2.53,0.00,0.000,6,0.000,0.044,2797,2099,1931
$GC,12680,1.33,232.1,279.9,11.2,607,12684,0.00,2.55,0.00,0.000,4,0.000,0.051,2797,3502,1932
$GC,12729,1.33,232.1,274.1,11.7,609,12733,0.00,2.50,0.00,0.000,6,0.000,0.043,2797,2098,1932
$GC,13045,1.33,232.1,239.3,11.2,624,13049,0.00,2.55,0.00,0.000,4,0.000,0.051,2798,3503,1932
$GC,13101,1.33,232.1,232.8,12.8,626,13107,0.00,2.50,0.00,0.000,6,0.000,0.042,2798,2098,1932
$GC,13416,1.33,232.1,195.5,11.0,642,13420,0.00,2.55,0.00,0.000,4,0.000,0.051,2798,3505,1932
$GC,13455,1.33,232.1,191.2,10.6,644,13459,0.00,2.50,0.00,0.000,6,0.000,0.042,2798,2100,1932
$GC,13781,1.34,235.2,165.5,7.9,660,13790,0.00,2.55,4.05,0.946,4,0.000,0.051,2798,3502,1919
$GC,13886,1.36,255.0,156.4,7.2,664,13912,0.00,2.50,16.65,0.943,6,0.000,0.041,2797,2098,1838
$GC,14221,1.36,255.0,119.2,13.2,681,14225,0.00,2.55,0.00,0.000,4,0.000,0.051,2797,3502,1838
$GC,14298,1.36,255.0,109.1,12.5,684,14305,0.00,2.53,0.00,0.000,6,0.000,0.041,2797,2102,1838
$GC,14614,1.36,255.0,72.5,12.5,700,14619,0.00,2.55,0.00,0.000,4,0.000,0.049,2798,3506,1838
$GC,14647,1.36,255.0,68.5,11.6,701,14654,0.00,2.50,0.00,0.000,6,0.000,0.041,2798,2093,1838
$GC,14965,1.36,255.0,32.2,12.3,717,14969,0.00,2.55,0.00,0.000,4,0.000,0.050,2798,3500,1838
$GC,15004,1.36,255.0,27.1,13.0,719,15009,0.00,2.50,0.00,0.000,6,0.000,0.042,2798,2098,1838
$STATE,15248,end climb,SURFACE_DEPTH_REACHED
$STATE,15248,begin surface coast
$FINISH,1.3,1.026090
$STATE,15268,end surface coast,CONTROL_FINISHED_OK
$STATE,15268,begin surface
$SM_CCo,15290,42.03,0.808,5,0,1654,300.00
$SM_GC,2.09,0.00,0.00,42.03,0.000,0.000,0.808,29,1883,1654,-11.34,-0.51,300.00
$IRIDIUM_FIX,6258.74,-1313.33,200108,151512
$TT8_MAMPS,0.026845
$HUMID,2057
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.0,999.0
$24V_AH,23.2,65.063
$10V_AH,10.1,31.493
$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,26.000,168.625,348.275,42.025,0.000,78.240,69.571,236.088,6.500,0.000,0.000,15.488,1434.597,11373.990,569.502,1926.873,638.681,33.359,1541.911,0.000,1877.927,0.000,39.775
$DEVICE_MAMPS,138.060,77.467,1279.356,808.418,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,537.028,493.472,452.633,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37970,732
$CFSIZE,260165632,239255552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,16,5,0
$GPS,200108,154256,6318.705,-1309.350,38,1.5,38,-12.2