version: 66.02
glider: 102
mission: 4
dive: 313
start: 1 20 108 2 32 4
data:
$ID,102
$MISSION,4
$DIVE,313
$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,-82493.562
$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,24
$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
$GPS1,021056,6320.828,-1308.776,56,1.3,56,-12.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-58.0
$GPS2,023057,6320.768,-1309.240,13,1.5,13,-12.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.071,-0.227
$KALMAN_X,407549.7,754.0,-405.5,-654205.4,-1549.5
$KALMAN_Y,37673.8,-416.2,-403.5,162461.4,3351.3
$MHEAD_RNG_PITCHd_Wd,174.8,11711,-14.7,-8.000
$D_GRID,702
$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,25,-1.23,-146.6,0.0,0.0,0,72,0.00,0.00,-45.12,0.000,2,0.000,0.000,35,1892,2510
$GC,75,-1.23,-146.6,3.1,-2.2,3,130,11.62,2.58,-37.97,0.000,4,0.140,0.061,2225,3300,3477
$GC,385,-1.23,-146.6,34.2,-13.3,17,389,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1897,3477
$GC,711,-1.23,-146.6,66.7,-7.9,33,716,0.00,2.55,0.00,0.000,4,0.000,0.047,2225,3314,3477
$GC,800,-1.23,-146.6,74.4,-10.9,37,805,0.00,2.53,0.00,0.000,6,0.000,0.040,2225,1895,3477
$GC,1122,-1.23,-146.6,114.6,-9.9,53,1126,0.00,2.60,0.00,0.000,4,0.000,0.071,2225,499,3477
$GC,1149,-1.23,-146.6,117.2,-8.9,54,1153,0.00,2.45,0.00,0.000,6,0.000,0.040,2225,1910,3477
$GC,1470,-1.23,-146.6,145.5,-9.1,70,1475,0.00,2.50,0.00,0.000,4,0.000,0.050,2225,3302,3477
$GC,1510,-1.23,-146.6,149.4,-9.6,72,1514,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1894,3477
$GC,1835,-1.23,-146.6,179.7,-9.2,88,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3477
$GC,2144,-1.23,-146.6,207.9,-8.7,103,2149,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3299,3477
$GC,2200,-1.23,-146.6,213.1,-9.5,105,2206,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1898,3477
$GC,2516,-1.23,-146.6,244.3,-10.6,121,2520,0.00,2.60,0.00,0.000,4,0.000,0.070,2225,499,3477
$GC,2532,-1.23,-146.6,246.5,-12.2,122,2537,0.00,2.45,0.00,0.000,6,0.000,0.041,2225,1903,3477
$GC,2859,-1.23,-146.6,283.2,-10.2,138,2863,0.00,2.50,0.00,0.000,4,0.000,0.049,2225,3299,3477
$GC,2930,-1.23,-146.6,289.9,-8.5,141,2935,0.00,2.50,0.00,0.000,6,0.000,0.045,2225,1900,3477
$GC,3252,-1.23,-146.6,325.6,-11.9,157,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3477
$GC,3561,-1.23,-146.6,360.5,-11.8,172,3565,0.00,2.50,0.00,0.000,4,0.000,0.049,2225,3299,3476
$GC,3604,-1.23,-146.6,365.6,-11.1,174,3609,0.00,2.50,0.00,0.000,6,0.000,0.046,2226,1898,3477
$GC,3931,-1.23,-146.6,406.3,-12.2,190,3936,0.00,2.62,0.00,0.000,4,0.000,0.072,2225,491,3477
$GC,3959,-1.23,-146.6,409.7,-13.0,191,3963,0.00,2.45,0.00,0.000,6,0.000,0.041,2225,1902,3477
$GC,4274,-1.23,-146.6,446.8,-11.8,206,4279,0.00,2.50,0.00,0.000,4,0.000,0.051,2225,3298,3477
$GC,4304,-1.23,-146.6,450.2,-11.5,207,4308,0.00,2.50,0.00,0.000,6,0.000,0.047,2225,1900,3477
$GC,4619,-1.23,-146.6,484.7,-10.8,222,4624,0.00,2.53,0.00,0.000,4,0.000,0.050,2225,3300,3476
$GC,4646,-1.23,-146.6,487.8,-11.5,223,4650,0.00,2.53,0.00,0.000,6,0.000,0.046,2225,1896,3476
$GC,4967,-1.23,-146.6,523.9,-11.0,239,4972,0.00,2.53,0.00,0.000,4,0.000,0.051,2225,3303,3476
$GC,5008,-1.23,-146.6,528.2,-10.9,241,5012,0.00,2.53,0.00,0.000,6,0.000,0.048,2225,1899,3476
$GC,5334,-1.23,-146.6,562.1,-10.3,257,5338,0.00,2.53,0.00,0.000,4,0.000,0.051,2225,3299,3476
$GC,5372,-1.23,-146.6,566.0,-10.7,259,5377,0.00,2.53,0.00,0.000,6,0.000,0.048,2225,1900,3476
$GC,5700,-1.23,-146.6,591.3,-6.2,275,5704,0.00,2.62,0.00,0.000,4,0.000,0.075,2225,496,3476
$GC,5721,-1.23,-146.6,593.0,-7.5,276,5725,0.00,2.45,0.00,0.000,6,0.000,0.044,2225,1900,3476
$GC,6041,-1.23,-146.6,616.4,-7.7,292,6046,0.00,2.55,0.00,0.000,4,0.000,0.058,2225,3299,3476
$GC,6114,-1.23,-146.6,622.4,-8.2,295,6118,0.00,2.53,0.00,0.000,6,0.000,0.051,2225,1902,3476
$GC,6430,-1.23,-146.6,651.9,-9.9,310,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1902,3476
$GC,6739,-1.23,-146.6,677.6,-7.1,325,6743,0.00,2.67,0.00,0.000,4,0.000,0.080,2225,488,3476
$GC,6765,-1.23,-146.6,680.0,-9.2,326,6770,0.00,2.50,0.00,0.000,6,0.000,0.048,2225,1901,3476
$STATE,7064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7064,begin apogee
$GC,7070,-0.36,0.0,702.1,8.6,341,7198,0.90,0.00,124.90,1.255,6,0.085,0.000,2414,2107,2878
$STATE,7199,end apogee,CONTROL_FINISHED_OK
$STATE,7199,begin climb
$GC,7202,1.23,146.6,704.7,0.0,347,7333,1.58,2.78,123.18,1.216,4,0.056,0.077,2763,687,2280
$GC,7379,1.23,146.6,698.0,9.1,355,7386,0.00,2.58,0.00,0.000,6,0.000,0.048,2763,2094,2280
$GC,7696,1.26,176.4,672.7,6.9,371,7727,0.00,2.67,25.95,1.223,4,0.000,0.063,2763,3502,2157
$GC,7980,1.26,176.4,648.3,10.1,384,7985,0.00,2.58,0.00,0.000,6,0.000,0.053,2763,2098,2157
$GC,8307,1.36,252.4,624.3,5.1,400,8373,0.12,0.00,63.38,1.222,6,0.051,0.000,2801,2098,1849
$GC,8676,1.42,300.8,602.5,6.2,418,8723,0.00,2.67,41.20,1.206,4,0.000,0.056,2801,3508,1650
$GC,8762,1.42,300.8,595.8,8.5,422,8766,0.00,2.58,0.00,0.000,6,0.000,0.051,2801,2100,1650
$GC,9082,1.44,319.2,570.4,7.3,438,9104,0.00,2.72,16.15,1.196,4,0.000,0.076,2801,695,1575
$GC,9132,1.44,319.2,566.4,8.2,440,9136,0.00,2.53,0.00,0.000,6,0.000,0.044,2801,2106,1575
$GC,9454,1.44,319.2,539.5,9.2,456,9458,0.00,2.70,0.00,0.000,4,0.000,0.074,2801,686,1575
$GC,9475,1.44,319.2,537.0,10.0,457,9479,0.00,2.53,0.00,0.000,6,0.000,0.044,2800,2104,1575
$GC,9802,1.44,319.2,500.0,11.7,473,9806,0.00,2.55,0.00,0.000,4,0.000,0.054,2801,3499,1575
$GC,9835,1.44,319.2,495.8,12.7,474,9841,0.00,2.55,0.00,0.000,6,0.000,0.048,2801,2098,1575
$GC,10150,1.44,319.2,460.1,11.3,490,10154,0.00,2.65,0.00,0.000,4,0.000,0.074,2801,690,1575
$GC,10189,1.44,319.2,455.4,12.2,492,10193,0.00,2.50,0.00,0.000,6,0.000,0.042,2801,2107,1575
$GC,10515,1.44,319.2,418.3,11.3,508,10519,0.00,2.53,0.00,0.000,4,0.000,0.053,2801,3500,1575
$GC,10531,1.44,319.2,416.3,11.4,509,10535,0.00,2.55,0.00,0.000,6,0.000,0.047,2801,2092,1575
$GC,10857,1.44,319.2,379.2,11.6,525,10861,0.00,2.62,0.00,0.000,4,0.000,0.073,2801,691,1575
$GC,10878,1.44,319.2,376.3,13.1,526,10883,0.00,2.50,0.00,0.000,6,0.000,0.041,2801,2107,1575
$GC,11199,1.44,319.2,339.3,11.0,542,11203,0.00,2.65,0.00,0.000,4,0.000,0.069,2800,694,1575
$GC,11220,1.44,319.2,336.6,12.6,543,11224,0.00,2.45,0.00,0.000,6,0.000,0.041,2801,2099,1575
$GC,11547,1.44,319.2,300.2,10.9,559,11551,0.00,2.62,0.00,0.000,4,0.000,0.068,2800,693,1576
$GC,11586,1.44,319.2,295.8,11.6,561,11590,0.00,2.47,0.00,0.000,6,0.000,0.041,2801,2108,1576
$GC,11912,1.44,319.2,254.2,13.3,577,11913,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2113,1576
$GC,12222,1.44,319.2,211.0,14.6,592,12226,0.00,2.65,0.00,0.000,4,0.000,0.068,2801,689,1576
$GC,12231,1.44,319.2,209.5,14.0,592,12237,0.00,2.47,0.00,0.000,6,0.000,0.041,2801,2101,1575
$GC,12547,1.44,319.2,168.9,13.6,608,12548,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2105,1576
$GC,12858,1.44,319.2,133.9,10.4,623,12862,0.00,2.62,0.00,0.000,4,0.000,0.067,2801,693,1576
$GC,12885,1.44,319.2,130.5,11.0,624,12890,0.00,2.47,0.00,0.000,6,0.000,0.039,2801,2112,1576
$GC,13201,1.44,319.2,97.2,9.8,639,13205,0.00,2.50,0.00,0.000,4,0.000,0.050,2801,3498,1576
$GC,13218,1.44,319.2,95.4,9.1,640,13223,0.00,2.50,0.00,0.000,6,0.000,0.041,2800,2096,1576
$GC,13545,1.44,319.2,59.2,13.4,656,13550,0.00,2.53,0.00,0.000,4,0.000,0.048,2800,3495,1577
$GC,13563,1.44,319.2,57.1,12.0,657,13567,0.00,2.47,0.00,0.000,6,0.000,0.040,2800,2096,1576
$GC,13889,1.44,319.2,22.2,11.7,673,13893,0.00,2.53,0.00,0.000,4,0.000,0.049,2801,3494,1577
$GC,13906,1.44,319.2,20.1,10.7,674,13911,0.00,2.47,0.00,0.000,6,0.000,0.042,2800,2095,1577
$STATE,14050,end climb,SURFACE_DEPTH_REACHED
$STATE,14051,begin surface coast
$FINISH,1.3,1.014441
$STATE,14073,end surface coast,CONTROL_FINISHED_OK
$STATE,14073,begin surface
$SM_CCo,14155,0.00,0.000,0,0,1576,319.38
$SM_GC,2.27,11.90,0.00,0.00,0.030,0.000,0.000,34,1879,1576,-11.27,-0.59,319.38
$IRIDIUM_FIX,6254.00,-1312.24,200108,060632
$TT8_MAMPS,0.026845
$HUMID,2075
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,15.00
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.4,999.0
$24V_AH,23.2,64.761
$10V_AH,10.1,31.316
$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,26.125,163.775,394.750,0.000,0.000,185.968,188.891,445.623,7.250,0.000,0.000,15.082,1294.897,10892.958,513.542,1582.946,1087.538,33.365,1348.795,0.000,1544.522,0.000,39.775
$DEVICE_MAMPS,140.361,79.768,1254.812,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,495.922,459.177,425.163,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34851,682
$CFSIZE,260165632,239382528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,200108,062332,6254.004,-1312.238,0,10000.0,0,-12.2