version: 66.02
glider: 102
mission: 4
dive: 310
start: 1 19 108 14 14 52
data:
$ID,102
$MISSION,4
$DIVE,310
$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,-82428.539
$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,31
$R_STBD_OVSHOOT,29
$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
$GPS1,140807,6323.455,-1303.182,36,1.4,41,-12.2
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-58.8
$GPS2,141345,6323.452,-1303.184,14,1.4,14,-12.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.211,-0.109
$KALMAN_X,408283.9,-642.3,-730.5,-647877.4,1945.6
$KALMAN_Y,32135.6,1545.5,-603.7,171207.6,-427.7
$MHEAD_RNG_PITCHd_Wd,254.8,18494,-14.7,-8.000
$D_GRID,645
$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,-61.55,0.000,2,0.000,0.000,32,1885,2848
$GC,90,-1.23,-146.6,3.5,-2.3,3,133,11.55,2.60,-21.20,0.000,4,0.137,0.061,2225,3300,3478
$GC,295,-1.23,-146.6,23.9,-12.1,12,300,0.00,2.47,0.00,0.000,6,0.000,0.042,2225,1907,3478
$GC,622,-1.23,-146.6,58.1,-10.5,28,627,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3310,3478
$GC,685,-1.23,-146.6,63.2,-7.4,31,690,0.00,2.53,0.00,0.000,6,0.000,0.043,2225,1898,3478
$GC,1012,-1.23,-146.6,98.8,-10.4,47,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3478
$GC,1321,-1.23,-146.6,130.9,-11.2,62,1326,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3303,3478
$GC,1393,-1.23,-146.6,138.6,-10.2,65,1397,0.00,2.50,0.00,0.000,6,0.000,0.042,2225,1897,3478
$GC,1708,-1.23,-146.6,172.1,-10.7,80,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3478
$GC,2018,-1.23,-146.6,204.2,-10.0,95,2022,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3302,3478
$GC,2090,-1.23,-146.6,210.2,-8.9,98,2094,0.00,2.50,0.00,0.000,6,0.000,0.043,2225,1899,3478
$GC,2405,-1.23,-146.6,243.8,-10.6,113,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3478
$GC,2714,-1.23,-146.6,278.6,-11.5,128,2719,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3304,3478
$GC,2787,-1.23,-146.6,286.7,-11.1,131,2791,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1902,3478
$GC,3102,-1.23,-146.6,318.7,-10.0,146,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3478
$GC,3412,-1.23,-146.6,352.6,-11.3,161,3416,0.00,2.53,0.00,0.000,4,0.000,0.049,2225,3304,3477
$GC,3461,-1.23,-146.6,358.7,-11.5,163,3466,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1894,3478
$GC,3777,-1.23,-146.6,394.1,-11.1,178,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1894,3478
$GC,4086,-1.23,-146.6,429.5,-11.6,193,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1894,3478
$GC,4395,-1.23,-146.6,463.7,-11.0,208,4399,0.00,2.55,0.00,0.000,4,0.000,0.051,2225,3303,3478
$GC,4445,-1.23,-146.6,469.2,-10.8,210,4449,0.00,2.53,0.00,0.000,6,0.000,0.046,2225,1897,3478
$GC,4761,-1.23,-146.6,502.4,-10.3,225,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1897,3478
$GC,5069,-1.23,-146.6,533.5,-10.4,240,5074,0.00,2.55,0.00,0.000,4,0.000,0.052,2225,3306,3478
$GC,5136,-1.23,-146.6,540.4,-9.7,243,5140,0.00,2.50,0.00,0.000,6,0.000,0.047,2225,1902,3478
$GC,5463,-1.23,-146.6,573.7,-11.0,259,5467,0.00,2.55,0.00,0.000,4,0.000,0.053,2225,3308,3478
$GC,5540,-1.23,-146.6,581.8,-9.8,262,5546,0.00,2.55,0.00,0.000,6,0.000,0.048,2225,1895,3478
$GC,5856,-1.23,-146.6,613.4,-9.5,278,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3478
$GC,6165,-1.23,-146.6,641.7,-9.8,293,6169,0.00,2.58,0.00,0.000,4,0.000,0.058,2225,3300,3478
$STATE,6202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6202,begin apogee
$GC,6210,-0.36,0.0,645.3,9.1,295,6337,0.90,0.00,123.32,1.226,6,0.087,0.000,2413,2098,2878
$STATE,6338,end apogee,CONTROL_FINISHED_OK
$STATE,6338,begin climb
$GC,6340,1.23,146.6,649.9,0.0,301,6467,1.58,0.00,122.30,1.181,6,0.056,0.000,2763,2098,2280
$GC,6773,1.24,158.0,626.8,7.6,322,6789,0.00,2.65,10.82,1.179,4,0.000,0.060,2763,3496,2232
$GC,7037,1.24,158.0,598.4,11.2,333,7041,0.00,2.55,0.00,0.000,6,0.000,0.048,2763,2095,2231
$GC,7362,1.24,158.0,570.2,8.3,349,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2096,2230
$GC,7672,1.25,159.9,545.5,7.9,364,7676,0.00,2.58,0.00,0.000,4,0.000,0.056,2762,3503,2229
$GC,7812,1.30,204.9,535.5,6.3,370,7856,0.00,2.53,38.67,1.176,6,0.000,0.046,2763,2099,2042
$GC,8172,1.30,204.9,510.9,8.1,388,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2099,2041
$GC,8482,1.30,204.9,484.0,8.6,403,8486,0.00,2.58,0.00,0.000,4,0.000,0.054,2763,3502,2041
$GC,8604,1.33,226.8,473.9,7.2,408,8631,0.00,2.53,18.70,1.144,6,0.000,0.044,2762,2099,1953
$GC,8941,1.35,240.9,447.8,7.5,425,8963,0.12,2.62,12.55,1.116,4,0.051,0.053,2800,3496,1895
$GC,9031,1.35,240.9,439.1,9.5,429,9035,0.00,2.53,0.00,0.000,6,0.000,0.044,2800,2094,1895
$GC,9357,1.35,240.9,404.5,11.1,445,9361,0.00,2.58,0.00,0.000,4,0.000,0.053,2800,3502,1896
$GC,9423,1.35,240.9,396.8,11.5,448,9427,0.00,2.53,0.00,0.000,6,0.000,0.044,2799,2100,1895
$GC,9743,1.35,240.9,363.3,10.2,464,9747,0.00,2.55,0.00,0.000,4,0.000,0.051,2800,3501,1896
$GC,9837,1.35,240.9,354.2,9.1,468,9841,0.00,2.50,0.00,0.000,6,0.000,0.043,2800,2099,1895
$GC,10159,1.35,240.9,326.4,8.6,484,10163,0.00,2.55,0.00,0.000,4,0.000,0.051,2800,3503,1895
$GC,10214,1.35,240.9,320.8,9.6,486,10220,0.00,2.50,0.00,0.000,6,0.000,0.042,2800,2098,1896
$GC,10529,1.35,243.3,294.2,7.9,502,10535,0.00,0.00,3.45,0.992,6,0.000,0.000,2800,2098,1886
$GC,10839,1.35,243.3,268.8,9.2,517,10843,0.00,2.53,0.00,0.000,4,0.000,0.051,2800,3499,1886
$GC,10950,1.35,243.3,257.7,10.8,522,10954,0.00,2.50,0.00,0.000,6,0.000,0.041,2800,2094,1886
$GC,11277,1.35,243.3,223.5,8.9,538,11281,0.00,2.55,0.00,0.000,4,0.000,0.050,2800,3504,1886
$GC,11331,1.35,243.3,218.5,9.1,540,11338,0.00,2.53,0.00,0.000,6,0.000,0.041,2800,2102,1887
$GC,11647,1.35,243.3,186.2,9.4,556,11651,0.00,2.53,0.00,0.000,4,0.000,0.051,2800,3499,1886
$GC,11725,1.35,243.3,178.3,9.4,559,11731,0.00,2.47,0.00,0.000,6,0.000,0.041,2800,2099,1886
$GC,12040,1.35,243.3,141.5,11.3,575,12041,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2099,1887
$GC,12351,1.35,243.3,113.5,8.5,590,12355,0.00,2.53,0.00,0.000,4,0.000,0.050,2800,3502,1886
$GC,12428,1.35,243.3,106.2,9.0,593,12435,0.00,2.47,0.00,0.000,6,0.000,0.041,2800,2099,1887
$GC,12744,1.35,243.3,73.5,10.9,609,12745,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2099,1887
$GC,13055,1.35,243.3,45.2,8.8,624,13059,0.00,2.53,0.00,0.000,4,0.000,0.049,2799,3502,1887
$GC,13177,1.35,243.3,32.0,12.1,629,13184,0.00,2.47,0.00,0.000,6,0.000,0.040,2799,2098,1887
$GC,13493,1.39,275.4,10.8,6.8,645,13526,0.00,2.58,25.95,0.832,4,0.000,0.048,2800,3493,1755
$STATE,13576,end climb,SURFACE_DEPTH_REACHED
$STATE,13576,begin surface coast
$FINISH,1.4,1.027425
$STATE,13581,end surface coast,CONTROL_FINISHED_OK
$STATE,13581,begin surface
$SM_CCo,13606,22.08,0.816,3,0,1654,300.00
$SM_GC,2.26,0.00,0.00,22.08,0.000,0.000,0.816,35,1897,1654,-11.32,-0.08,300.00
$IRIDIUM_FIX,6308.26,-1452.47,190108,141437
$TT8_MAMPS,0.026845
$HUMID,2045
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,18.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.8,999.0
$24V_AH,23.3,64.282
$10V_AH,10.1,31.104
$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,26.175,116.550,355.775,22.075,0.000,37.885,36.779,157.387,5.500,0.000,0.000,15.489,1230.275,10230.508,532.890,1565.579,442.440,33.373,1312.784,0.000,1533.054,0.000,34.919
$DEVICE_MAMPS,136.526,60.593,1225.666,816.088,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,480.224,436.738,425.186,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31722,649
$CFSIZE,260165632,239558656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,3,0
$GPS,190108,180332,6322.891,-1306.324,40,1.3,40,-12.2