version: 66.02
glider: 102
mission: 4
dive: 307
start: 1 19 108 3 20 59
data:
$ID,102
$MISSION,4
$DIVE,307
$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,-82383.664
$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,28
$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
$GPS1,031426,6326.441,-1251.851,36,1.4,36,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-63.5
$GPS2,031953,6326.430,-1251.947,9,2.1,28,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.185,-0.150
$KALMAN_X,410093.9,297.3,-1443.7,-639954.1,1664.8
$KALMAN_Y,31228.4,-20.9,191.0,178406.2,-3285.2
$MHEAD_RNG_PITCHd_Wd,243.1,28590,-14.7,-8.000
$D_GRID,571
$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,-61.50,0.000,2,0.000,0.000,33,1889,2816
$GC,88,-1.23,-146.6,3.4,-2.3,3,131,11.52,2.55,-24.77,0.000,4,0.137,0.060,2223,3299,3475
$GC,344,-1.23,-146.6,24.5,-8.1,14,348,0.00,2.50,0.00,0.000,6,0.000,0.042,2223,1901,3475
$GC,666,-1.23,-146.6,60.7,-10.9,30,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3476
$GC,977,-1.23,-146.6,90.7,-9.5,45,981,0.00,2.50,0.00,0.000,4,0.000,0.046,2223,3299,3476
$GC,1071,-1.23,-146.6,101.3,-10.2,49,1076,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1896,3476
$GC,1388,-1.23,-146.6,130.5,-10.3,64,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1896,3475
$GC,1696,-1.23,-146.6,161.8,-9.5,79,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1896,3476
$GC,2005,-1.23,-146.6,187.4,-8.8,94,2009,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3304,3476
$GC,2082,-1.23,-146.6,194.2,-8.9,97,2088,0.00,2.50,0.00,0.000,6,0.000,0.042,2223,1898,3475
$GC,2398,-1.23,-146.6,229.7,-11.2,113,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3476
$GC,2707,-1.23,-146.6,262.8,-10.3,128,2711,0.00,2.50,0.00,0.000,4,0.000,0.048,2223,3296,3475
$GC,2761,-1.23,-146.6,269.0,-11.8,130,2768,0.00,2.47,0.00,0.000,6,0.000,0.043,2223,1900,3476
$GC,3078,-1.23,-146.6,304.7,-11.1,146,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3476
$GC,3387,-1.23,-146.6,335.9,-9.9,161,3391,0.00,2.50,0.00,0.000,4,0.000,0.048,2223,3296,3476
$GC,3453,-1.23,-146.6,342.3,-9.3,164,3458,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1895,3476
$GC,3775,-1.23,-146.6,375.1,-10.1,180,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3475
$GC,4083,-1.23,-146.6,406.8,-10.0,195,4088,0.00,2.53,0.00,0.000,4,0.000,0.050,2223,3298,3475
$GC,4155,-1.23,-146.6,414.0,-9.7,198,4159,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1899,3476
$GC,4477,-1.23,-146.6,445.1,-10.4,214,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3476
$GC,4787,-1.23,-146.6,476.8,-10.1,229,4791,0.00,2.53,0.00,0.000,4,0.000,0.050,2223,3300,3475
$GC,4871,-1.23,-146.6,485.6,-10.3,233,4875,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1894,3476
$GC,5197,-1.23,-146.6,519.3,-10.7,249,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3475
$GC,5507,-1.23,-146.6,550.9,-10.2,264,5511,0.00,2.55,0.00,0.000,4,0.000,0.053,2223,3302,3475
$GC,5568,-1.23,-146.6,557.2,-10.0,267,5573,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1897,3475
$STATE,5727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5727,begin apogee
$GC,5733,-0.36,0.0,572.3,9.2,275,5860,0.93,0.00,122.82,1.167,6,0.083,0.000,2419,2104,2878
$STATE,5860,end apogee,CONTROL_FINISHED_OK
$STATE,5860,begin climb
$GC,5863,1.23,146.6,575.0,0.0,281,5992,1.55,2.62,121.18,1.141,4,0.052,0.058,2764,3495,2279
$GC,6022,1.24,156.5,567.7,7.6,289,6038,0.00,2.53,9.40,1.094,6,0.000,0.044,2764,2100,2239
$GC,6347,1.24,156.5,538.1,9.4,305,6349,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2100,2239
$GC,6657,1.24,158.2,511.9,7.9,320,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2100,2238
$GC,6966,1.26,170.9,488.4,7.5,335,6980,0.00,0.00,12.52,1.141,6,0.000,0.000,2764,2100,2181
$GC,7275,1.27,180.2,465.3,7.6,350,7289,0.00,2.60,8.57,1.114,4,0.000,0.054,2764,3486,2143
$GC,7440,1.28,189.5,452.3,7.6,357,7456,0.00,2.50,8.98,1.111,6,0.000,0.043,2764,2093,2105
$GC,7765,1.31,208.6,428.6,7.3,373,7787,0.00,2.65,16.48,1.114,4,0.000,0.052,2764,3496,2026
$GC,7839,1.31,208.6,422.6,8.2,376,7843,0.00,2.53,0.00,0.000,6,0.000,0.042,2764,2094,2026
$GC,8159,1.31,216.5,396.9,7.7,392,8173,0.00,2.62,7.35,1.098,4,0.000,0.052,2764,3498,1994
$GC,8225,1.31,216.5,391.5,9.0,395,8229,0.00,2.50,0.00,0.000,6,0.000,0.044,2764,2099,1994
$GC,8551,1.33,228.3,364.7,7.6,411,8564,0.00,0.00,10.52,1.084,6,0.000,0.000,2764,2099,1947
$GC,8860,1.33,232.8,340.0,7.8,426,8870,0.00,2.58,4.68,1.023,4,0.000,0.051,2764,3503,1929
$GC,8937,1.33,232.8,333.3,8.6,429,8943,0.00,2.50,0.00,0.000,6,0.000,0.042,2764,2096,1929
$GC,9252,1.33,232.8,307.7,8.1,445,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2096,1929
$GC,9562,1.33,232.8,280.9,9.0,460,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2096,1929
$GC,9871,1.33,232.8,254.8,8.4,475,9875,0.00,2.55,0.00,0.000,4,0.000,0.051,2764,3502,1929
$GC,9943,1.33,232.8,248.5,9.1,478,9947,0.00,2.50,0.00,0.000,6,0.000,0.041,2764,2096,1929
$GC,10258,1.33,232.8,217.6,8.5,493,10259,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2097,1929
$GC,10568,1.34,239.6,189.5,7.7,508,10582,0.10,2.60,6.78,0.969,4,0.061,0.051,2795,3496,1901
$GC,10660,1.34,239.6,180.5,9.9,512,10664,0.00,2.47,0.00,0.000,6,0.000,0.038,2795,2098,1901
$GC,10987,1.34,239.6,149.3,8.5,528,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2098,1900
$GC,11297,1.34,239.6,124.2,8.4,543,11301,0.00,2.53,0.00,0.000,4,0.000,0.048,2795,3496,1901
$GC,11477,1.34,239.6,111.4,9.1,551,11481,0.00,2.47,0.00,0.000,6,0.000,0.039,2796,2097,1900
$GC,11799,1.34,239.6,79.3,8.1,567,11804,0.00,2.53,0.00,0.000,4,0.000,0.048,2795,3498,1901
$GC,11848,1.34,239.6,74.1,10.3,569,11852,0.00,2.47,0.00,0.000,6,0.000,0.040,2795,2101,1901
$GC,12170,1.38,270.7,45.3,6.8,585,12197,0.00,0.00,25.30,0.864,6,0.000,0.000,2795,2101,1774
$GC,12500,1.38,270.7,14.5,11.5,601,12504,0.00,2.53,0.00,0.000,4,0.000,0.048,2796,3498,1774
$GC,12585,1.38,270.7,6.0,10.5,605,12589,0.00,2.47,0.00,0.000,6,0.000,0.039,2795,2098,1774
$STATE,12620,end climb,SURFACE_DEPTH_REACHED
$STATE,12620,begin surface coast
$FINISH,1.4,1.013311
$STATE,12644,end surface coast,CONTROL_FINISHED_OK
$STATE,12644,begin surface
$SM_CCo,12666,26.98,0.818,3,0,1655,300.00
$SM_GC,2.37,0.00,0.00,26.98,0.000,0.000,0.818,33,1889,1655,-11.33,-0.31,300.00
$IRIDIUM_FIX,6303.50,-1246.34,190108,040428
$TT8_MAMPS,0.026845
$HUMID,2076
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,999.0
$24V_AH,23.3,63.870
$10V_AH,10.1,30.911
$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,25.975,91.650,354.575,26.975,0.000,31.754,46.328,127.395,4.750,0.000,0.000,31.095,1142.984,9573.617,511.999,1423.458,406.284,33.374,1215.933,0.000,1380.392,0.000,30.072
$DEVICE_MAMPS,137.293,59.826,1167.374,817.622,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.984,409.757,419.959,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31687,608
$CFSIZE,260165632,239706112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,3,0
$GPS,190108,065425,6326.090,-1255.760,60,1.4,60,-12.2