version: 66.02
glider: 102
mission: 4
dive: 316
start: 1 20 108 15 52 33
data:
$ID,102
$MISSION,4
$DIVE,316
$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,-83465.766
$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,24
$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,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
$GPS1,154256,6318.705,-1309.350,38,1.5,38,-12.2
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,2
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-59.7
$GPS2,155126,6318.743,-1309.304,31,1.5,31,-12.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.133,-0.197
$KALMAN_X,407094.3,380.7,-119.9,-653735.7,2117.2
$KALMAN_Y,45673.1,208.4,-29.5,149718.0,3168.2
$MHEAD_RNG_PITCHd_Wd,226.2,8402,-14.7,-8.000
$D_GRID,720
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.23,-146.6,0.0,0.0,0,86,0.00,0.00,-61.25,0.000,2,0.000,0.000,28,1883,2865
$GC,89,-1.23,-146.6,3.5,-3.5,3,132,11.68,2.62,-20.67,0.000,4,0.141,0.060,2224,3301,3476
$GC,385,-1.23,-146.6,27.7,-7.7,16,389,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1896,3476
$GC,705,-1.23,-146.6,60.6,-10.3,32,710,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3305,3476
$GC,745,-1.23,-146.6,66.2,-14.9,34,749,0.00,2.50,0.00,0.000,6,0.000,0.044,2224,1899,3476
$GC,1072,-1.23,-146.6,99.5,-11.3,50,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3476
$GC,1380,-1.23,-146.6,135.5,-9.4,65,1385,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3305,3477
$GC,1430,-1.23,-146.6,140.4,-9.0,67,1434,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1895,3476
$GC,1746,-1.23,-146.6,172.3,-9.2,82,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3476
$GC,2056,-1.23,-146.6,201.1,-9.0,97,2060,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3304,3476
$GC,2117,-1.23,-146.6,206.4,-9.4,100,2122,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1895,3476
$GC,2445,-1.23,-146.6,233.4,-7.6,116,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3477
$GC,2754,-1.23,-146.6,258.2,-8.2,131,2758,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3304,3476
$GC,2803,-1.23,-146.6,262.5,-8.5,133,2807,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1893,3477
$GC,3119,-1.23,-146.6,292.3,-9.8,148,3123,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3309,3476
$GC,3162,-1.23,-146.6,296.4,-9.8,150,3166,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1897,3476
$GC,3484,-1.23,-146.6,324.9,-8.6,166,3489,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3310,3476
$GC,3544,-1.23,-146.6,330.2,-8.7,168,3550,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1902,3477
$GC,3860,-1.23,-146.6,358.2,-9.6,184,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3476
$GC,4169,-1.23,-146.6,387.9,-9.3,199,4173,0.00,2.53,0.00,0.000,4,0.000,0.050,2224,3304,3476
$GC,4219,-1.23,-146.6,392.4,-8.9,201,4223,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1893,3476
$GC,4540,-1.23,-146.6,420.2,-8.9,217,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1892,3476
$GC,4849,-1.23,-146.6,448.2,-9.0,232,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1893,3477
$GC,5159,-1.23,-146.6,475.2,-8.4,247,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1893,3476
$GC,5468,-1.23,-146.6,502.6,-9.2,262,5472,0.00,2.55,0.00,0.000,4,0.000,0.052,2225,3303,3476
$GC,5552,-1.23,-146.6,510.6,-9.6,266,5557,0.00,2.53,0.00,0.000,6,0.000,0.048,2225,1899,3476
$GC,5879,-1.23,-146.6,542.0,-9.7,282,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3476
$GC,6188,-1.23,-146.6,574.5,-10.6,297,6193,0.00,2.55,0.00,0.000,4,0.000,0.053,2225,3303,3476
$GC,6249,-1.23,-146.6,581.1,-10.8,299,6255,0.00,2.53,0.00,0.000,6,0.000,0.048,2225,1899,3476
$GC,6564,-1.23,-146.6,614.0,-10.6,315,6568,0.00,2.55,0.00,0.000,4,0.000,0.056,2224,3302,3476
$GC,6663,-1.23,-146.6,623.7,-9.9,319,6670,0.00,2.53,0.00,0.000,6,0.000,0.051,2225,1895,3476
$GC,6980,-1.23,-146.6,649.3,-7.3,335,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3476
$GC,7288,-1.23,-146.6,668.6,-5.8,350,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3476
$GC,7598,-1.23,-146.6,688.5,-6.4,365,7602,0.00,2.58,0.00,0.000,4,0.000,0.060,2224,3301,3476
$GC,7647,-1.23,-146.6,691.3,-4.9,367,7652,0.00,2.53,0.00,0.000,6,0.000,0.056,2224,1904,3476
$GC,7963,-1.23,-146.6,703.2,0.0,382,7967,0.00,2.60,0.00,0.000,4,0.000,0.063,2224,3308,3476
$GC,8063,-1.23,-146.6,703.2,-0.1,386,8069,0.00,2.58,0.00,0.000,6,0.000,0.054,2225,1894,3475
$STATE,8190,end dive,NO_VERTICAL_VELOCITY
$STATE,8191,begin apogee
$GC,8197,-0.36,0.0,702.8,0.0,393,8325,0.88,0.00,125.22,1.271,6,0.065,0.000,2416,2109,2878
$STATE,8326,end apogee,CONTROL_FINISHED_OK
$STATE,8326,begin climb
$GC,8329,1.23,146.6,702.4,0.0,399,8460,1.58,2.78,123.45,1.227,4,0.059,0.079,2762,694,2280
$GC,8717,1.23,146.6,691.2,8.7,417,8722,0.00,2.53,0.00,0.000,6,0.000,0.048,2762,2099,2279
$GC,9044,1.23,146.6,662.0,8.2,433,9048,0.00,2.70,0.00,0.000,4,0.000,0.077,2762,690,2278
$GC,9301,1.32,217.6,645.9,5.3,444,9369,0.00,2.55,59.55,1.239,6,0.000,0.048,2762,2106,1991
$GC,9681,1.37,257.9,621.9,6.5,463,9723,0.12,2.78,34.55,1.223,4,0.050,0.077,2800,692,1826
$GC,9746,1.37,257.9,615.8,9.4,466,9751,0.00,2.55,0.00,0.000,6,0.000,0.048,2800,2101,1827
$GC,10073,1.37,257.9,585.8,8.9,482,10077,0.00,2.60,0.00,0.000,4,0.000,0.059,2800,3506,1826
$GC,10179,1.37,257.9,576.6,9.0,487,10184,0.00,2.58,0.00,0.000,6,0.000,0.052,2800,2097,1826
$GC,10506,1.37,257.9,545.8,10.4,503,10510,0.00,2.58,0.00,0.000,4,0.000,0.055,2800,3503,1825
$GC,10545,1.37,257.9,541.4,11.1,505,10549,0.00,2.55,0.00,0.000,6,0.000,0.048,2800,2101,1825
$GC,10871,1.37,257.9,504.6,11.8,521,10875,0.00,2.55,0.00,0.000,4,0.000,0.054,2800,3503,1826
$GC,10926,1.37,257.9,497.8,12.3,523,10932,0.00,2.55,0.00,0.000,6,0.000,0.048,2800,2093,1826
$GC,11241,1.37,257.9,460.9,11.5,539,11245,0.00,2.58,0.00,0.000,4,0.000,0.054,2800,3506,1826
$GC,11296,1.37,257.9,454.4,12.0,541,11302,0.00,2.53,0.00,0.000,6,0.000,0.047,2800,2099,1826
$GC,11612,1.37,257.9,419.0,11.4,557,11616,0.00,2.55,0.00,0.000,4,0.000,0.053,2800,3504,1826
$GC,11666,1.37,257.9,412.1,12.0,559,11673,0.00,2.53,0.00,0.000,6,0.000,0.046,2800,2094,1826
$GC,11982,1.37,257.9,376.7,11.3,575,11983,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2094,1826
$GC,12291,1.37,257.9,342.0,10.8,590,12296,0.00,2.55,0.00,0.000,4,0.000,0.052,2800,3503,1827
$GC,12393,1.37,257.9,331.0,8.1,594,12399,0.00,2.53,0.00,0.000,6,0.000,0.044,2800,2095,1827
$GC,12708,1.37,257.9,300.5,10.4,610,12712,0.00,2.58,0.00,0.000,4,0.000,0.051,2800,3508,1827
$GC,12752,1.37,257.9,295.7,10.0,612,12756,0.00,2.50,0.00,0.000,6,0.000,0.043,2800,2100,1827
$GC,13072,1.37,257.9,261.0,11.6,628,13077,0.00,2.55,0.00,0.000,4,0.000,0.051,2800,3505,1828
$GC,13122,1.37,257.9,255.0,11.8,630,13126,0.00,2.53,0.00,0.000,6,0.000,0.042,2800,2091,1828
$GC,13438,1.37,257.9,220.0,11.5,645,13442,0.00,2.58,0.00,0.000,4,0.000,0.051,2800,3505,1828
$GC,13504,1.37,260.9,214.0,7.9,648,13513,0.00,2.53,4.15,0.968,6,0.000,0.042,2800,2094,1814
$GC,13830,1.37,260.9,187.7,8.2,664,13834,0.00,2.58,0.00,0.000,4,0.000,0.051,2800,3509,1814
$GC,13873,1.37,260.9,183.9,8.3,666,13877,0.00,2.53,0.00,0.000,6,0.000,0.042,2800,2093,1814
$GC,14194,1.37,260.9,155.7,8.4,682,14198,0.00,2.58,0.00,0.000,4,0.000,0.050,2800,3510,1814
$GC,14249,1.37,260.9,150.1,10.1,684,14255,0.00,2.53,0.00,0.000,6,0.000,0.041,2800,2092,1814
$GC,14565,1.37,260.9,121.6,9.0,700,14566,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2091,1814
$GC,14874,1.37,260.9,89.4,11.2,715,14878,0.00,2.58,0.00,0.000,4,0.000,0.050,2800,3509,1815
$GC,14928,1.37,260.9,83.2,10.9,717,14935,0.00,2.53,0.00,0.000,6,0.000,0.040,2800,2091,1815
$GC,15245,1.37,260.9,51.2,10.8,733,15249,0.00,2.58,0.00,0.000,4,0.000,0.050,2800,3512,1815
$GC,15294,1.37,260.9,45.1,12.8,735,15298,0.00,2.50,0.00,0.000,6,0.000,0.041,2800,2098,1815
$GC,15610,1.37,260.9,13.5,11.1,750,15615,0.00,2.55,0.00,0.000,4,0.000,0.050,2800,3507,1815
$GC,15628,1.37,260.9,11.2,12.2,751,15632,0.00,2.50,0.00,0.000,6,0.000,0.041,2800,2096,1815
$STATE,15727,end climb,SURFACE_DEPTH_REACHED
$STATE,15727,begin surface coast
$FINISH,1.4,1.003824
$STATE,15747,end surface coast,CONTROL_FINISHED_OK
$STATE,15747,begin surface
$SM_CCo,15769,36.22,0.814,4,0,1654,300.00
$SM_GC,2.11,0.00,0.00,36.22,0.000,0.000,0.814,36,1887,1654,-11.31,-0.37,300.00
$IRIDIUM_FIX,6254.00,-1307.57,200108,151555
$TT8_MAMPS,0.026845
$HUMID,2072
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.6,999.0
$24V_AH,23.2,65.214
$10V_AH,10.1,31.571
$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,26.200,153.925,346.925,36.225,0.000,39.670,35.762,270.933,6.250,0.000,0.000,32.912,1429.730,11903.835,541.193,1849.632,629.127,33.375,1472.855,0.000,1792.002,0.000,39.791
$DEVICE_MAMPS,141.128,79.001,1270.919,813.787,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,557.936,510.447,455.988,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38000,757
$CFSIZE,260165632,239198208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,17,4,0
$GPS,200108,201733,6319.756,-1305.864,35,1.5,36,-12.2