version: 66.02
glider: 102
mission: 4
dive: 308
start: 1 19 108 7 0 40
data:
$ID,102
$MISSION,4
$DIVE,308
$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,-82399.617
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,065425,6326.090,-1255.760,60,1.4,60,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-56.7
$GPS2,065933,6326.123,-1255.794,13,1.4,13,-12.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,-0.116
$KALMAN_X,408232.8,-664.4,517.6,-642510.8,-1688.9
$KALMAN_Y,31197.8,346.6,1554.3,176112.4,-4071.1
$MHEAD_RNG_PITCHd_Wd,253.1,26089,-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,-60.83,0.000,2,0.000,0.000,33,1887,2813
$GC,88,-1.23,-146.6,3.5,-2.9,3,130,11.62,2.55,-24.85,0.000,4,0.135,0.061,2221,3296,3476
$GC,277,-1.23,-146.6,23.3,-14.1,12,282,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1904,3476
$GC,604,-1.23,-146.6,62.2,-14.2,28,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1904,3476
$GC,913,-1.23,-146.6,108.9,-16.2,43,917,0.00,2.50,0.00,0.000,4,0.000,0.047,2221,3299,3476
$GC,968,-1.23,-146.6,117.8,-16.5,45,975,0.00,2.50,0.00,0.000,6,0.000,0.043,2221,1897,3477
$GC,1284,-1.23,-146.6,165.1,-15.6,61,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3476
$GC,1594,-1.23,-146.6,200.0,-9.2,76,1598,0.00,2.50,0.00,0.000,4,0.000,0.048,2221,3299,3476
$GC,1650,-1.23,-146.6,205.9,-10.4,78,1654,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1895,3476
$GC,1965,-1.23,-146.6,240.7,-11.1,93,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1895,3476
$GC,2274,-1.23,-146.6,273.1,-10.6,108,2278,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3299,3477
$GC,2340,-1.23,-146.6,280.2,-11.1,111,2344,0.00,2.50,0.00,0.000,6,0.000,0.044,2221,1897,3476
$GC,2660,-1.23,-146.6,315.1,-10.5,127,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1897,3476
$GC,2969,-1.23,-146.6,346.8,-10.6,142,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1897,3476
$GC,3279,-1.23,-146.6,378.8,-10.8,157,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1897,3476
$GC,3588,-1.23,-146.6,413.1,-10.8,172,3592,0.00,2.53,0.00,0.000,4,0.000,0.050,2221,3302,3476
$GC,3654,-1.23,-146.6,420.3,-10.9,175,3658,0.00,2.50,0.00,0.000,6,0.000,0.045,2221,1900,3476
$GC,3976,-1.23,-146.6,453.5,-10.2,191,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1900,3476
$GC,4285,-1.23,-146.6,484.1,-10.5,206,4289,0.00,2.53,0.00,0.000,4,0.000,0.051,2222,3300,3477
$GC,4351,-1.23,-146.6,491.9,-11.9,209,4355,0.00,2.50,0.00,0.000,6,0.000,0.046,2222,1900,3477
$GC,4671,-1.23,-146.6,538.7,-15.8,225,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3477
$GC,4980,-1.23,-146.6,577.7,-10.2,240,4984,0.00,2.55,0.00,0.000,4,0.000,0.054,2222,3303,3477
$GC,5037,-1.23,-146.6,582.8,-8.7,242,5043,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1900,3477
$STATE,5145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5145,begin apogee
$GC,5151,-0.36,0.0,593.2,9.4,248,5277,0.93,0.00,122.78,1.198,6,0.077,0.000,2419,2104,2878
$STATE,5277,end apogee,CONTROL_FINISHED_OK
$STATE,5278,begin climb
$GC,5280,1.23,146.6,596.8,0.0,254,5410,1.55,2.67,121.40,1.134,4,0.052,0.058,2765,3495,2279
$GC,5523,1.23,146.6,579.4,12.4,266,5527,0.00,2.53,0.00,0.000,6,0.000,0.044,2765,2100,2279
$GC,5849,1.23,146.6,544.2,9.3,282,5853,0.00,2.58,0.00,0.000,4,0.000,0.057,2765,3496,2279
$GC,5949,1.23,146.6,535.2,8.5,286,5955,0.00,2.50,0.00,0.000,6,0.000,0.045,2765,2099,2279
$GC,6264,1.37,264.8,519.7,3.5,302,6368,0.12,2.62,96.62,1.124,4,0.055,0.053,2800,3495,1798
$GC,6463,1.37,264.8,505.7,8.4,311,6467,0.00,2.53,0.00,0.000,6,0.000,0.044,2800,2095,1797
$GC,6790,1.37,264.8,476.6,9.6,327,6794,0.00,2.58,0.00,0.000,4,0.000,0.053,2800,3499,1797
$GC,6874,1.37,264.8,467.6,11.8,331,6879,0.00,2.53,0.00,0.000,6,0.000,0.044,2800,2100,1797
$GC,7201,1.37,264.8,430.1,12.4,347,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2100,1797
$GC,7510,1.37,264.8,395.8,10.4,362,7514,0.00,2.55,0.00,0.000,4,0.000,0.051,2800,3502,1797
$GC,7576,1.37,264.8,389.0,9.9,365,7580,0.00,2.53,0.00,0.000,6,0.000,0.043,2800,2097,1797
$GC,7903,1.37,264.8,360.6,8.4,381,7908,0.00,2.53,0.00,0.000,4,0.000,0.051,2800,3495,1797
$GC,7970,1.37,264.8,354.7,9.9,384,7974,0.00,2.50,0.00,0.000,6,0.000,0.043,2800,2099,1797
$GC,8297,1.37,264.8,322.1,10.7,400,8301,0.00,2.53,0.00,0.000,4,0.000,0.051,2800,3496,1797
$GC,8351,1.37,264.8,315.3,12.8,402,8358,0.00,2.50,0.00,0.000,6,0.000,0.041,2800,2096,1797
$GC,8667,1.37,264.8,281.2,10.1,418,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2095,1797
$GC,8977,1.38,267.4,254.8,7.9,433,8986,0.00,2.58,3.55,0.977,4,0.000,0.051,2800,3494,1786
$GC,9081,1.38,267.4,245.5,9.7,437,9088,0.00,2.50,0.00,0.000,6,0.000,0.041,2800,2096,1785
$GC,9397,1.38,267.4,212.4,9.9,453,9401,0.00,2.53,0.00,0.000,4,0.000,0.051,2800,3496,1785
$GC,9491,1.44,320.7,206.4,6.0,457,9543,0.00,2.47,42.53,0.952,6,0.000,0.041,2800,2098,1569
$GC,9852,1.44,320.7,172.4,11.4,475,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2098,1569
$GC,10162,1.44,320.7,144.2,8.8,490,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2098,1569
$GC,10471,1.44,320.7,109.4,9.7,505,10472,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2098,1569
$GC,10780,1.44,320.7,70.8,11.6,520,10784,0.00,2.55,0.00,0.000,4,0.000,0.052,2800,3499,1569
$GC,10842,1.44,320.7,65.9,10.6,523,10846,0.00,2.50,0.00,0.000,6,0.000,0.041,2800,2095,1569
$GC,11168,1.45,323.3,31.7,7.9,539,11177,0.00,2.58,3.40,0.879,4,0.000,0.049,2800,3499,1557
$GC,11229,1.45,323.3,23.5,13.8,541,11235,0.00,2.50,0.00,0.000,6,0.000,0.041,2800,2096,1557
$STATE,11398,end climb,SURFACE_DEPTH_REACHED
$STATE,11398,begin surface coast
$FINISH,1.5,1.027794
$STATE,11421,end surface coast,CONTROL_FINISHED_OK
$STATE,11421,begin surface
$SM_CCo,11504,0.00,0.000,0,0,1557,324.04
$SM_GC,2.50,11.93,0.00,0.00,0.030,0.000,0.000,32,1884,1557,-11.26,-0.45,324.04
$IRIDIUM_FIX,6303.50,-1300.40,190108,070724
$TT8_MAMPS,0.026078
$HUMID,2080
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,17.7,999.0
$24V_AH,23.3,64.006
$10V_AH,10.1,30.969
$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,26.150,91.725,390.275,0.000,0.000,36.898,36.239,131.680,5.000,0.000,0.000,15.316,1029.846,8629.453,487.654,1292.496,392.170,33.370,1154.190,0.000,1262.177,0.000,31.687
$DEVICE_MAMPS,134.992,61.360,1198.054,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.452,370.239,354.825,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28561,551
$CFSIZE,260165632,239673344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,190108,101425,6325.233,-1259.863,87,1.4,87,-12.2