version: 66.02
glider: 102
mission: 4
dive: 324
start: 1 21 108 23 47 57
data:
$ID,102
$MISSION,4
$DIVE,324
$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,-83605.812
$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,26
$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
$GPS1,234125,6315.718,-1253.349,38,1.1,38,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-60.5
$GPS2,234650,6315.721,-1253.296,13,1.1,13,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.236,-0.027
$KALMAN_X,436743.1,669.8,1332.1,-670991.9,2468.5
$KALMAN_Y,62966.5,-349.5,539.0,126831.9,328.8
$MHEAD_RNG_PITCHd_Wd,275.6,18142,-14.7,-8.000
$D_GRID,593
$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,-146.6,0.0,0.0,0,85,0.00,0.00,-60.75,0.000,2,0.000,0.000,29,1885,2856
$GC,88,-1.23,-146.6,3.6,-3.3,3,131,11.62,2.62,-21.62,0.000,4,0.139,0.081,2223,503,3477
$GC,357,-1.23,-146.6,30.0,-8.4,15,361,0.00,2.47,0.00,0.000,6,0.000,0.040,2223,1919,3477
$GC,683,-1.23,-146.6,69.3,-10.7,31,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1921,3477
$GC,992,-1.23,-146.6,99.7,-10.2,46,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1922,3477
$GC,1301,-1.23,-146.6,133.2,-10.2,61,1306,0.00,2.47,0.00,0.000,4,0.000,0.048,2223,3298,3477
$GC,1364,-1.23,-146.6,139.5,-10.3,64,1368,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1902,3477
$GC,1690,-1.23,-146.6,173.5,-10.4,80,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1902,3477
$GC,1999,-1.23,-146.6,205.3,-10.3,95,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1902,3477
$GC,2308,-1.23,-146.6,237.5,-11.1,110,2312,0.00,2.50,0.00,0.000,4,0.000,0.047,2223,3296,3477
$GC,2370,-1.23,-146.6,244.1,-10.0,113,2374,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1898,3477
$GC,2695,-1.23,-146.6,278.4,-10.4,129,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3477
$GC,3005,-1.23,-146.6,308.8,-10.5,144,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3477
$GC,3314,-1.23,-146.6,341.8,-10.2,159,3319,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3301,3477
$GC,3386,-1.23,-146.6,349.4,-10.0,162,3391,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1900,3477
$GC,3702,-1.23,-146.6,381.3,-10.2,177,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3477
$GC,4012,-1.23,-146.6,411.9,-9.3,192,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3477
$GC,4320,-1.23,-146.6,440.6,-9.5,207,4325,0.00,2.50,0.00,0.000,4,0.000,0.048,2223,3295,3477
$GC,4415,-1.23,-146.6,449.3,-9.0,211,4419,0.00,2.50,0.00,0.000,6,0.000,0.045,2223,1897,3477
$GC,4731,-1.23,-146.6,480.3,-10.1,226,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1897,3477
$GC,5040,-1.23,-146.6,512.9,-10.7,241,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3477
$GC,5350,-1.23,-146.6,544.3,-9.0,256,5354,0.00,2.50,0.00,0.000,4,0.000,0.051,2223,3294,3477
$GC,5472,-1.23,-146.6,556.9,-10.5,261,5478,0.00,2.50,0.00,0.000,6,0.000,0.045,2223,1897,3477
$GC,5787,-1.23,-146.6,587.2,-8.2,277,5792,0.00,2.55,0.00,0.000,4,0.000,0.054,2223,3299,3477
$STATE,5852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5852,begin apogee
$GC,5860,-0.36,0.0,593.3,9.3,280,5987,0.88,0.00,123.30,1.160,6,0.081,0.000,2412,2093,2878
$STATE,5987,end apogee,CONTROL_FINISHED_OK
$STATE,5988,begin climb
$GC,5990,1.23,146.6,594.9,0.0,286,6121,1.60,2.72,121.38,1.124,4,0.058,0.069,2763,695,2280
$GC,6342,1.23,146.6,581.0,9.2,302,6346,0.00,2.47,0.00,0.000,6,0.000,0.044,2763,2088,2280
$GC,6663,1.28,186.0,559.2,6.5,318,6704,0.00,2.70,33.35,1.146,4,0.000,0.060,2763,3500,2118
$GC,6849,1.28,186.0,543.8,9.0,326,6854,0.00,2.53,0.00,0.000,6,0.000,0.047,2764,2096,2118
$GC,7171,1.28,191.8,518.2,7.8,342,7178,0.00,0.00,5.60,1.119,6,0.000,0.000,2764,2096,2096
$GC,7481,1.29,193.7,495.0,7.9,357,7485,0.00,2.58,0.00,0.000,4,0.000,0.054,2764,3503,2096
$GC,7582,1.29,193.7,486.6,8.1,361,7588,0.00,2.53,0.00,0.000,6,0.000,0.045,2763,2100,2095
$GC,7897,1.32,221.9,464.4,6.9,377,7928,0.00,2.62,25.48,1.121,4,0.000,0.053,2764,3502,1971
$GC,8012,1.33,225.3,455.7,7.9,382,8023,0.00,2.53,3.80,1.052,6,0.000,0.044,2763,2093,1959
$GC,8332,1.33,225.3,429.3,8.8,398,8336,0.00,2.58,0.00,0.000,4,0.000,0.053,2763,3504,1958
$GC,8405,1.33,225.3,422.6,9.2,401,8409,0.00,2.55,0.00,0.000,6,0.000,0.044,2763,2091,1958
$GC,8720,1.33,225.3,397.5,8.3,416,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2091,1959
$GC,9030,1.34,236.6,371.0,7.6,431,9042,0.10,0.00,10.23,1.070,6,0.057,0.000,2795,2091,1913
$GC,9339,1.34,236.6,340.0,10.7,446,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2091,1913
$GC,9648,1.34,236.6,306.7,10.6,461,9652,0.00,2.58,0.00,0.000,4,0.000,0.051,2796,3506,1913
$GC,9732,1.34,236.6,297.4,10.6,465,9737,0.00,2.53,0.00,0.000,6,0.000,0.042,2795,2098,1913
$GC,10059,1.34,236.6,262.1,10.2,481,10063,0.00,2.55,0.00,0.000,4,0.000,0.050,2795,3504,1913
$GC,10147,1.34,236.6,253.7,10.4,485,10152,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2097,1913
$GC,10469,1.34,236.6,221.0,10.6,501,10473,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3505,1913
$GC,10547,1.34,236.6,211.7,11.2,504,10553,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2099,1913
$GC,10862,1.34,236.6,178.7,10.5,520,10867,0.00,2.55,0.00,0.000,4,0.000,0.050,2796,3508,1913
$GC,10963,1.34,236.6,167.7,11.6,524,10969,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2098,1913
$GC,11279,1.35,245.2,140.9,7.7,540,11293,0.00,2.60,7.93,0.935,4,0.000,0.050,2796,3503,1878
$GC,11377,1.35,245.2,130.3,11.3,544,11382,0.00,2.53,0.00,0.000,6,0.000,0.041,2795,2092,1878
$GC,11693,1.35,245.2,97.5,9.8,559,11694,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2092,1878
$GC,12002,1.35,245.2,67.1,9.3,574,12007,0.00,2.58,0.00,0.000,4,0.000,0.051,2796,3506,1878
$GC,12087,1.35,245.2,61.4,8.1,578,12092,0.00,2.50,0.00,0.000,6,0.000,0.041,2796,2101,1878
$GC,12414,1.35,245.2,30.8,9.8,594,12418,0.00,2.53,0.00,0.000,4,0.000,0.048,2796,3505,1878
$GC,12581,1.35,248.2,14.6,7.9,601,12591,0.00,2.50,3.95,0.867,6,0.000,0.042,2795,2103,1866
$STATE,12751,end climb,SURFACE_DEPTH_REACHED
$STATE,12751,begin surface coast
$FINISH,1.3,1.025003
$STATE,12774,end surface coast,CONTROL_FINISHED_OK
$STATE,12774,begin surface
$SM_CCo,12796,47.83,0.785,6,0,1655,300.00
$SM_GC,1.81,0.00,0.00,47.83,0.000,0.000,0.785,32,1883,1655,-11.33,-0.48,300.00
$IRIDIUM_FIX,6254.00,-1256.09,210108,232355
$TT8_MAMPS,0.026845
$HUMID,2054
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,15.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,999.0
$24V_AH,23.3,66.335
$10V_AH,10.1,32.103
$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,26.200,96.475,335.000,47.825,0.000,37.937,39.396,140.358,5.000,0.000,0.000,15.262,1162.307,9595.271,515.242,1525.810,421.998,33.365,1276.862,0.000,1491.290,0.000,31.688
$DEVICE_MAMPS,138.827,80.535,1160.471,784.641,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.392,411.392,409.696,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31747,611
$CFSIZE,260165632,238837760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,6,0
$GPS,220108,032347,6314.263,-1256.262,38,1.5,38,-12.1