version: 66.02
glider: 102
mission: 4
dive: 317
start: 1 20 108 20 24 28
data:
$ID,102
$MISSION,4
$DIVE,317
$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,-83480.586
$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,32
$R_STBD_OVSHOOT,24
$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
$GPS1,201733,6319.756,-1305.864,35,1.5,36,-12.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-59.6
$GPS2,202321,6319.812,-1305.801,12,1.0,12,-12.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.051,-0.232
$KALMAN_X,409705.4,2626.0,628.0,-656251.5,-83.9
$KALMAN_Y,50738.2,-121.1,841.4,146082.5,2907.9
$MHEAD_RNG_PITCHd_Wd,204.6,11757,-14.7,-8.000
$D_GRID,682
$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,-146.6,0.0,0.0,0,87,0.00,0.00,-61.38,0.000,2,0.000,0.000,36,1884,2885
$GC,90,-1.23,-146.6,4.0,-4.3,3,125,11.57,2.60,-17.05,0.000,4,0.139,0.061,2221,3296,3477
$GC,379,-1.23,-146.6,36.1,-9.9,16,384,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1903,3477
$GC,706,-1.23,-146.6,73.6,-13.7,32,710,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3308,3478
$GC,862,-1.23,-146.6,90.7,-9.8,39,866,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1898,3477
$GC,1183,-1.23,-146.6,122.4,-10.4,55,1187,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3308,3477
$GC,1215,-1.23,-146.6,126.1,-10.9,56,1221,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1898,3477
$GC,1531,-1.23,-146.6,159.4,-10.7,72,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1898,3477
$GC,1840,-1.23,-146.6,187.4,-9.7,87,1844,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3309,3477
$GC,1883,-1.23,-146.6,191.4,-8.9,89,1887,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1896,3478
$GC,2210,-1.23,-146.6,224.5,-10.9,105,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1896,3477
$GC,2522,-1.23,-146.6,251.1,-7.9,120,2526,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3311,3477
$GC,2565,-1.23,-146.6,254.7,-7.7,122,2570,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1900,3477
$GC,2886,-1.23,-146.6,279.8,-7.6,138,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3477
$GC,3195,-1.23,-146.6,305.0,-8.4,153,3200,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3307,3477
$GC,3251,-1.23,-146.6,310.2,-9.6,155,3257,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1898,3477
$GC,3567,-1.23,-146.6,343.4,-10.4,171,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3477
$GC,3876,-1.23,-146.6,373.1,-9.7,186,3880,0.00,2.53,0.00,0.000,4,0.000,0.049,2222,3308,3477
$GC,3919,-1.23,-146.6,377.7,-10.1,188,3924,0.00,2.53,0.00,0.000,6,0.000,0.045,2221,1898,3477
$GC,4240,-1.23,-146.6,409.6,-9.9,204,4245,0.00,2.55,0.00,0.000,4,0.000,0.050,2222,3309,3477
$GC,4280,-1.23,-146.6,413.4,-9.6,206,4285,0.00,2.53,0.00,0.000,6,0.000,0.046,2221,1902,3477
$GC,4606,-1.23,-146.6,444.8,-9.6,222,4610,0.00,2.55,0.00,0.000,4,0.000,0.051,2221,3313,3477
$GC,4634,-1.23,-146.6,447.5,-10.0,223,4638,0.00,2.53,0.00,0.000,6,0.000,0.045,2221,1899,3477
$GC,4950,-1.23,-146.6,475.8,-9.2,238,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3478
$GC,5259,-1.23,-146.6,504.9,-9.5,253,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3477
$GC,5567,-1.23,-146.6,535.4,-10.1,268,5572,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3306,3477
$GC,5645,-1.23,-146.6,543.6,-10.6,271,5651,0.00,2.53,0.00,0.000,6,0.000,0.047,2222,1899,3477
$GC,5961,-1.23,-146.6,574.7,-10.0,287,5969,0.00,2.55,0.00,0.000,4,0.000,0.053,2222,3307,3477
$GC,6064,-1.23,-146.6,584.1,-9.0,291,6068,0.00,2.55,0.00,0.000,6,0.000,0.048,2222,1895,3477
$GC,6380,-1.23,-146.6,614.0,-10.7,306,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1895,3477
$GC,6689,-1.23,-146.6,643.7,-9.0,321,6693,0.00,2.58,0.00,0.000,4,0.000,0.061,2222,3305,3478
$GC,6946,-1.23,-146.6,653.9,0.0,332,6952,0.00,2.55,0.00,0.000,6,0.000,0.054,2222,1902,3477
$STATE,7115,end dive,NO_VERTICAL_VELOCITY
$STATE,7115,begin apogee
$GC,7121,-0.36,0.0,653.9,0.0,341,7249,0.93,0.00,124.80,1.224,6,0.079,0.000,2419,2109,2878
$STATE,7250,end apogee,CONTROL_FINISHED_OK
$STATE,7250,begin climb
$GC,7252,1.23,146.6,653.8,0.0,347,7384,1.55,2.75,122.62,1.183,4,0.052,0.074,2765,692,2280
$GC,7604,1.23,147.2,635.0,8.0,363,7609,0.00,2.50,0.00,0.000,6,0.000,0.047,2765,2093,2279
$GC,7926,1.27,183.0,615.0,6.6,379,7967,0.00,2.67,31.27,1.200,4,0.000,0.061,2765,3505,2130
$GC,8075,1.27,183.0,602.0,9.2,385,8081,0.00,2.60,0.00,0.000,6,0.000,0.051,2765,2092,2130
$GC,8391,1.29,197.0,578.3,7.5,401,8412,0.00,2.75,12.35,1.198,4,0.000,0.077,2765,695,2074
$GC,8435,1.29,197.5,574.6,8.0,403,8440,0.00,2.55,0.00,0.000,6,0.000,0.048,2765,2104,2073
$GC,8761,1.30,208.5,549.3,7.6,419,8777,0.00,2.62,10.77,1.190,4,0.000,0.058,2765,3503,2026
$GC,8867,1.30,208.5,540.6,8.5,423,8872,0.00,2.55,0.00,0.000,6,0.000,0.050,2765,2101,2026
$GC,9194,1.32,220.4,515.5,7.5,439,9210,0.00,2.62,10.82,1.172,4,0.000,0.054,2765,3502,1979
$GC,9256,1.32,220.4,510.4,8.1,441,9261,0.00,2.55,0.00,0.000,6,0.000,0.047,2765,2091,1979
$GC,9582,1.34,236.8,485.3,7.4,457,9604,0.00,2.65,14.68,1.151,4,0.000,0.054,2765,3505,1912
$GC,9637,1.34,236.8,480.8,8.4,459,9641,0.00,2.55,0.00,0.000,6,0.000,0.047,2765,2098,1912
$GC,9952,1.34,236.8,455.4,8.5,474,9954,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2098,1912
$GC,10262,1.34,241.2,430.2,7.8,489,10272,0.10,2.60,4.80,1.081,4,0.057,0.053,2798,3502,1894
$GC,10294,1.34,241.2,426.9,10.2,490,10301,0.00,2.53,0.00,0.000,6,0.000,0.044,2797,2094,1894
$GC,10611,1.35,248.8,400.3,7.7,506,10625,0.00,2.62,7.53,1.088,4,0.000,0.052,2798,3502,1862
$GC,10693,1.35,248.8,392.5,10.6,509,10699,0.00,2.53,0.00,0.000,6,0.000,0.044,2797,2099,1862
$GC,11009,1.37,265.6,364.7,7.4,525,11028,0.00,0.00,14.93,1.060,6,0.000,0.000,2797,2099,1794
$GC,11338,1.37,265.6,334.0,11.0,541,11342,0.00,2.58,0.00,0.000,4,0.000,0.051,2797,3505,1794
$GC,11364,1.37,265.6,331.3,9.5,542,11368,0.00,2.53,0.00,0.000,6,0.000,0.043,2797,2098,1794
$GC,11686,1.37,265.6,301.6,11.0,558,11690,0.00,2.55,0.00,0.000,4,0.000,0.051,2797,3505,1795
$GC,11712,1.37,265.6,298.3,12.4,559,11717,0.00,2.53,0.00,0.000,6,0.000,0.042,2797,2093,1795
$GC,12033,1.37,265.6,261.3,10.4,575,12035,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2093,1795
$GC,12343,1.37,265.6,227.5,10.9,590,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2093,1795
$GC,12652,1.37,265.6,195.3,9.7,605,12657,0.00,2.58,0.00,0.000,4,0.000,0.050,2798,3508,1795
$GC,12692,1.37,265.6,190.4,12.4,607,12696,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2097,1795
$GC,13017,1.37,265.6,153.2,10.7,623,13019,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2097,1796
$GC,13329,1.37,265.6,119.8,10.5,638,13333,0.00,2.55,0.00,0.000,4,0.000,0.049,2797,3506,1796
$GC,13350,1.37,265.6,117.3,10.2,639,13354,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2097,1796
$GC,13677,1.37,265.6,87.6,9.5,655,13681,0.00,2.55,0.00,0.000,4,0.000,0.049,2797,3508,1796
$GC,13694,1.37,265.6,85.8,10.0,656,13698,0.00,2.50,0.00,0.000,6,0.000,0.041,2798,2099,1796
$GC,14021,1.37,265.6,55.8,9.7,672,14025,0.00,2.55,0.00,0.000,4,0.000,0.049,2798,3509,1796
$GC,14093,1.37,265.6,47.8,12.0,675,14097,0.00,2.50,0.00,0.000,6,0.000,0.040,2797,2098,1796
$GC,14415,1.37,265.6,15.7,9.2,691,14419,0.00,2.53,0.00,0.000,4,0.000,0.049,2798,3504,1796
$GC,14425,1.37,265.6,14.5,9.2,691,14431,0.00,2.50,0.00,0.000,6,0.000,0.041,2798,2102,1797
$STATE,14573,end climb,SURFACE_DEPTH_REACHED
$STATE,14573,begin surface coast
$FINISH,1.4,1.027392
$STATE,14595,end surface coast,CONTROL_FINISHED_OK
$STATE,14595,begin surface
$SM_CCo,14617,32.60,0.809,4,0,1654,300.00
$SM_GC,2.20,0.00,0.00,32.60,0.000,0.000,0.809,34,1880,1654,-11.32,-0.57,300.00
$IRIDIUM_FIX,6254.00,-1307.57,200108,191902
$TT8_MAMPS,0.026845
$HUMID,2065
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,23.2,65.354
$10V_AH,10.1,31.642
$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,26.100,138.650,354.575,32.600,0.000,39.197,37.585,159.824,5.750,0.000,0.000,14.197,1326.900,11028.600,537.354,1670.263,473.617,33.375,1397.724,0.000,1635.290,0.000,36.554
$DEVICE_MAMPS,138.827,76.700,1224.132,809.185,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,520.985,472.189,435.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34851,700
$CFSIZE,260165632,239157248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,4,0
$GPS,210108,003028,6319.865,-1301.853,31,4.5,50,-12.2