version: 66.02
glider: 102
mission: 4
dive: 319
start: 1 21 108 4 39 4
data:
$ID,102
$MISSION,4
$DIVE,319
$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,-83532.977
$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,35
$R_STBD_OVSHOOT,35
$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
$GPS1,043155,6318.726,-1303.027,23,1.3,41,-12.2
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-60.8
$GPS2,043756,6318.774,-1303.099,10,1.8,15,-12.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.003,-0.238
$KALMAN_X,418542.2,262.9,-173.5,-659534.9,1915.9
$KALMAN_Y,57683.5,-234.9,-830.0,139047.8,5189.0
$MHEAD_RNG_PITCHd_Wd,192.9,12136,-14.7,-8.000
$D_GRID,663
$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,-146.5,0.0,0.0,0,106,0.00,0.00,-81.40,0.000,2,0.000,0.000,28,1877,2881
$GC,109,-1.23,-146.6,3.7,-2.4,4,147,11.62,2.58,-18.95,0.000,4,0.140,0.060,2225,3293,3476
$GC,399,-1.23,-146.6,37.8,-13.6,16,403,0.00,2.47,0.00,0.000,6,0.000,0.043,2225,1912,3476
$GC,720,-1.23,-146.6,76.5,-14.3,32,724,0.00,2.50,0.00,0.000,4,0.000,0.048,2225,3299,3476
$GC,819,-1.23,-146.6,90.9,-14.1,36,826,0.00,2.50,0.00,0.000,6,0.000,0.043,2225,1898,3476
$GC,1137,-1.23,-146.6,134.0,-13.6,52,1141,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3302,3476
$GC,1203,-1.23,-146.6,144.2,-12.2,55,1208,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1902,3476
$GC,1525,-1.23,-146.6,176.8,-9.2,71,1529,0.00,2.50,0.00,0.000,4,0.000,0.048,2225,3296,3476
$GC,1557,-1.23,-146.6,180.0,-9.0,72,1563,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1896,3476
$GC,1873,-1.23,-146.6,214.4,-10.8,88,1877,0.00,2.50,0.00,0.000,4,0.000,0.048,2225,3296,3475
$GC,1899,-1.23,-146.6,217.5,-11.3,89,1903,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1899,3476
$GC,2221,-1.23,-146.6,250.6,-9.3,105,2225,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3303,3476
$GC,2254,-1.23,-146.6,254.1,-10.1,106,2260,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1894,3475
$GC,2569,-1.23,-146.6,285.7,-10.1,122,2573,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3302,3476
$GC,2601,-1.23,-146.6,289.0,-9.5,123,2607,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1901,3476
$GC,2917,-1.23,-146.6,319.2,-9.1,139,2921,0.00,2.50,0.00,0.000,4,0.000,0.048,2225,3296,3476
$GC,2938,-1.23,-146.6,321.3,-9.6,140,2942,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1895,3476
$GC,3259,-1.23,-146.6,351.6,-9.5,156,3264,0.00,2.53,0.00,0.000,4,0.000,0.049,2225,3296,3475
$GC,3281,-1.23,-146.6,353.7,-9.2,157,3285,0.00,2.50,0.00,0.000,6,0.000,0.044,2224,1899,3475
$GC,3608,-1.23,-146.6,383.6,-9.2,173,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3476
$GC,3917,-1.23,-146.6,414.4,-10.3,188,3921,0.00,2.53,0.00,0.000,4,0.000,0.049,2225,3301,3476
$GC,3960,-1.23,-146.6,419.2,-10.8,190,3965,0.00,2.53,0.00,0.000,6,0.000,0.045,2225,1893,3475
$GC,4283,-1.23,-146.6,455.4,-11.8,206,4287,0.00,2.53,0.00,0.000,4,0.000,0.050,2225,3296,3476
$GC,4303,-1.23,-146.6,458.1,-11.9,207,4307,0.00,2.50,0.00,0.000,6,0.000,0.045,2225,1898,3476
$GC,4631,-1.23,-146.6,492.8,-10.1,223,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1896,3475
$GC,4939,-1.23,-146.6,523.2,-9.8,238,4944,0.00,2.53,0.00,0.000,4,0.000,0.051,2225,3296,3475
$GC,4989,-1.23,-146.6,528.1,-9.0,240,4993,0.00,2.50,0.00,0.000,6,0.000,0.045,2225,1900,3475
$GC,5311,-1.23,-146.6,558.0,-9.3,256,5315,0.00,2.53,0.00,0.000,4,0.000,0.051,2225,3298,3475
$GC,5354,-1.23,-146.6,562.0,-8.6,258,5359,0.00,2.50,0.00,0.000,6,0.000,0.046,2225,1900,3474
$GC,5675,-1.23,-146.6,590.1,-8.3,274,5680,0.00,2.53,0.00,0.000,4,0.000,0.053,2225,3296,3475
$GC,5731,-1.23,-146.6,594.8,-8.6,276,5737,0.00,2.50,0.00,0.000,6,0.000,0.048,2225,1901,3475
$GC,6046,-1.23,-146.6,622.4,-9.6,292,6050,0.00,2.65,0.00,0.000,4,0.000,0.078,2225,497,3475
$GC,6130,-1.23,-146.6,629.9,-8.7,296,6134,0.00,2.47,0.00,0.000,6,0.000,0.045,2225,1899,3475
$GC,6456,-1.23,-146.6,644.3,0.1,312,6461,0.00,2.60,0.00,0.000,4,0.000,0.066,2225,3307,3475
$STATE,6673,end dive,NO_VERTICAL_VELOCITY
$STATE,6674,begin apogee
$GC,6681,-0.36,0.0,644.3,0.0,322,6809,0.88,0.00,124.38,1.213,6,0.058,0.000,2424,2094,2878
$STATE,6810,end apogee,CONTROL_FINISHED_OK
$STATE,6810,begin climb
$GC,6813,1.23,146.6,643.9,0.0,328,6944,1.52,2.75,122.68,1.175,4,0.049,0.078,2767,696,2280
$GC,7098,1.44,317.1,643.5,1.5,341,7245,0.17,2.53,140.93,1.167,6,0.050,0.047,2812,2101,1585
$GC,7562,1.44,317.1,587.4,12.2,364,7567,0.00,2.70,0.00,0.000,4,0.000,0.077,2812,690,1585
$GC,7819,1.44,317.1,555.7,12.5,375,7826,0.00,2.53,0.00,0.000,6,0.000,0.046,2812,2103,1585
$GC,8135,1.44,317.1,521.4,11.1,391,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2103,1584
$GC,8445,1.44,317.1,484.7,12.2,406,8449,0.00,2.55,0.00,0.000,4,0.000,0.055,2812,3506,1584
$GC,8466,1.44,317.1,482.0,11.5,407,8470,0.00,2.55,0.00,0.000,6,0.000,0.048,2812,2103,1583
$GC,8787,1.44,317.1,444.7,11.0,423,8788,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2102,1583
$GC,9097,1.44,317.1,409.1,11.8,438,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2103,1583
$GC,9405,1.44,317.1,374.0,11.5,453,9410,0.00,2.55,0.00,0.000,4,0.000,0.050,2812,3502,1583
$GC,9438,1.44,317.1,369.7,13.0,454,9445,0.00,2.53,0.00,0.000,6,0.000,0.044,2812,2097,1584
$GC,9754,1.44,317.1,330.6,12.9,470,9758,0.00,2.55,0.00,0.000,4,0.000,0.051,2812,3508,1584
$GC,9771,1.44,317.1,328.5,13.2,471,9775,0.00,2.55,0.00,0.000,6,0.000,0.044,2813,2092,1584
$GC,10096,1.44,317.1,289.3,11.8,487,10101,0.00,2.55,0.00,0.000,4,0.000,0.050,2812,3500,1584
$GC,10175,1.44,317.1,280.5,11.0,490,10181,0.00,2.50,0.00,0.000,6,0.000,0.043,2812,2095,1584
$GC,10490,1.44,317.1,247.7,10.8,506,10494,0.00,2.55,0.00,0.000,4,0.000,0.050,2812,3502,1583
$GC,10523,1.44,317.1,244.4,9.0,507,10529,0.00,2.53,0.00,0.000,6,0.000,0.044,2812,2094,1584
$GC,10839,1.44,317.1,211.8,11.0,523,10843,0.00,2.53,0.00,0.000,4,0.000,0.049,2812,3501,1584
$GC,10865,1.44,317.1,208.7,11.2,524,10870,0.00,2.53,0.00,0.000,6,0.000,0.042,2812,2091,1584
$GC,11187,1.44,317.1,173.4,9.0,540,11188,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2092,1584
$GC,11496,1.44,317.1,144.6,11.3,555,11498,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2091,1584
$GC,11806,1.44,317.1,109.6,12.4,570,11810,0.00,2.55,0.00,0.000,4,0.000,0.048,2812,3502,1584
$GC,11868,1.44,317.1,100.9,12.8,573,11872,0.00,2.50,0.00,0.000,6,0.000,0.042,2812,2099,1584
$GC,12194,1.44,317.1,69.4,9.9,589,12198,0.00,2.55,0.00,0.000,4,0.000,0.048,2812,3508,1585
$GC,12215,1.44,317.1,66.9,10.4,590,12219,0.00,2.53,0.00,0.000,6,0.000,0.041,2812,2092,1585
$GC,12536,1.44,317.1,26.2,12.1,606,12538,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2092,1585
$STATE,12740,end climb,SURFACE_DEPTH_REACHED
$STATE,12740,begin surface coast
$FINISH,1.5,1.013966
$STATE,12762,end surface coast,CONTROL_FINISHED_OK
$STATE,12762,begin surface
$SM_CCo,12845,0.00,0.000,0,0,1585,317.17
$SM_GC,2.35,11.93,0.00,0.00,0.028,0.000,0.000,28,1896,1585,-11.27,-0.11,317.17
$IRIDIUM_FIX,6254.00,-1307.57,210108,040431
$TT8_MAMPS,0.026845
$HUMID,2083
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.2,999.0
$24V_AH,23.2,65.654
$10V_AH,10.1,31.775
$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,26.125,131.700,387.975,0.000,0.000,39.958,35.134,175.618,5.500,0.000,0.000,16.732,1165.832,9578.757,507.940,1500.413,471.533,33.403,1292.648,0.000,1462.395,0.000,35.262
$DEVICE_MAMPS,139.594,78.234,1212.627,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.381,414.511,380.617,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31680,617
$CFSIZE,260165632,239067136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,210108,081407,6318.967,-1258.763,23,1.2,23,-12.1