version: 66.02
glider: 102
mission: 4
dive: 314
start: 1 20 108 6 54 27
data:
$ID,102
$MISSION,4
$DIVE,314
$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,-83416.109
$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,35
$R_STBD_OVSHOOT,38
$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
$GPS1,062332,6254.004,-1312.238,0,10000.0,0,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-52.2
$GPS2,065321,6320.803,-1310.777,14,1.0,14,-12.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.034,-0.236
$KALMAN_X,406577.0,-993.7,-325.0,-652911.2,-122.3
$KALMAN_Y,40085.1,366.6,489.8,158446.5,2159.0
$MHEAD_RNG_PITCHd_Wd,200.5,11310,-14.6,-8.000
$D_GRID,727
$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,-1.22,-146.6,0.0,0.0,0,86,0.00,0.00,-61.42,0.000,2,0.000,0.000,32,1878,2727
$GC,89,-1.22,-146.6,3.2,-2.8,3,135,11.65,2.60,-26.77,0.000,4,0.141,0.061,2223,3290,3477
$GC,387,-1.22,-146.6,33.5,-10.1,16,391,0.00,2.47,0.00,0.000,6,0.000,0.044,2224,1913,3476
$GC,710,-1.22,-146.6,71.3,-9.7,32,715,0.00,2.50,0.00,0.000,4,0.000,0.048,2224,3301,3476
$GC,783,-1.22,-146.6,78.0,-10.8,35,787,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1895,3476
$GC,1098,-1.22,-146.6,111.1,-11.2,50,1103,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3302,3476
$GC,1131,-1.22,-146.6,114.9,-11.0,51,1138,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1894,3476
$GC,1448,-1.22,-146.6,149.9,-11.5,67,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3477
$GC,1756,-1.22,-146.6,181.9,-10.7,82,1760,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3297,3476
$GC,1822,-1.22,-146.6,189.1,-10.1,85,1827,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1896,3476
$GC,2146,-1.22,-146.6,226.0,-13.1,101,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3476
$GC,2453,-1.22,-146.6,264.3,-11.7,116,2457,0.00,2.50,0.00,0.000,4,0.000,0.048,2224,3294,3476
$GC,2492,-1.22,-146.6,268.7,-11.3,118,2496,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1893,3476
$GC,2818,-1.22,-146.6,307.7,-12.5,134,2822,0.00,2.53,0.00,0.000,4,0.000,0.049,2224,3294,3476
$GC,2840,-1.22,-146.6,310.5,-12.6,135,2844,0.00,2.50,0.00,0.000,6,0.000,0.044,2224,1896,3476
$GC,3167,-1.22,-146.6,346.1,-9.9,151,3171,0.00,2.53,0.00,0.000,4,0.000,0.049,2224,3299,3476
$GC,3230,-1.22,-146.6,352.5,-10.2,154,3234,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1895,3476
$GC,3556,-1.22,-146.6,389.2,-12.1,170,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3476
$GC,3865,-1.22,-146.6,432.0,-12.0,185,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3476
$GC,4175,-1.22,-146.6,466.0,-10.5,200,4179,0.00,2.53,0.00,0.000,4,0.000,0.051,2224,3293,3476
$GC,4218,-1.22,-146.6,471.1,-11.2,202,4223,0.00,2.50,0.00,0.000,6,0.000,0.046,2224,1899,3476
$GC,4539,-1.22,-146.6,508.5,-11.8,218,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3476
$GC,4849,-1.22,-146.6,545.1,-12.3,233,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3476
$GC,5158,-1.22,-146.6,579.0,-9.7,248,5162,0.00,2.55,0.00,0.000,4,0.000,0.054,2223,3296,3476
$GC,5207,-1.22,-146.6,584.1,-9.9,250,5211,0.00,2.53,0.00,0.000,6,0.000,0.048,2224,1895,3476
$GC,5523,-1.22,-146.6,612.0,-8.3,265,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3476
$GC,5832,-1.22,-146.6,637.2,-7.9,280,5836,0.00,2.55,0.00,0.000,4,0.000,0.058,2224,3295,3476
$GC,5853,-1.22,-146.6,638.9,-8.0,281,5857,0.00,2.50,0.00,0.000,6,0.000,0.051,2224,1903,3476
$GC,6180,-1.22,-146.6,665.1,-8.8,297,6184,0.00,2.65,0.00,0.000,4,0.000,0.079,2224,493,3476
$GC,6219,-1.22,-146.6,668.7,-9.2,299,6223,0.00,2.47,0.00,0.000,6,0.000,0.048,2224,1892,3476
$GC,6544,-1.22,-146.6,695.9,-8.6,315,6549,0.00,2.58,0.00,0.000,4,0.000,0.061,2224,3299,3475
$GC,6773,-1.22,-146.6,717.5,-9.4,325,6777,0.00,2.55,0.00,0.000,6,0.000,0.058,2224,1897,3475
$GC,7096,-1.22,-146.6,720.8,-0.1,341,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3474
$STATE,7196,end dive,NO_VERTICAL_VELOCITY
$STATE,7196,begin apogee
$GC,7202,-0.36,0.0,720.8,0.0,346,7330,0.88,0.00,124.55,1.292,6,0.057,0.000,2423,2094,2878
$STATE,7331,end apogee,CONTROL_FINISHED_OK
$STATE,7331,begin climb
$GC,7333,1.22,146.6,720.4,0.0,352,7465,1.52,2.75,123.22,1.253,4,0.051,0.074,2763,688,2280
$GC,7721,1.24,160.9,698.0,7.5,370,7740,0.00,2.55,13.10,1.240,6,0.000,0.049,2763,2100,2221
$GC,8058,1.27,179.8,672.7,7.3,387,8080,0.00,2.78,16.58,1.252,4,0.000,0.076,2763,687,2144
$GC,8119,1.27,181.8,667.9,7.9,389,8125,0.00,2.55,0.00,0.000,6,0.000,0.048,2764,2101,2144
$GC,8434,1.27,181.8,641.8,8.4,405,8438,0.00,2.58,0.00,0.000,4,0.000,0.062,2763,3501,2143
$GC,8474,1.27,181.8,638.4,8.3,407,8478,0.00,2.58,0.00,0.000,6,0.000,0.054,2763,2095,2143
$GC,8800,1.29,199.5,613.3,7.3,423,8824,0.00,2.78,17.17,1.250,4,0.000,0.077,2763,693,2064
$GC,8852,1.30,204.9,609.1,7.8,425,8865,0.00,2.55,5.88,1.186,6,0.000,0.047,2764,2109,2042
$GC,9173,1.30,204.9,583.0,8.0,441,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2110,2041
$GC,9482,1.30,204.9,559.1,8.1,456,9487,0.00,2.53,0.00,0.000,4,0.000,0.058,2764,3499,2041
$GC,9509,1.30,204.9,556.4,9.3,457,9514,0.00,2.53,0.00,0.000,6,0.000,0.048,2763,2096,2041
$GC,9825,1.30,204.9,526.1,10.1,472,9830,0.00,2.55,0.00,0.000,4,0.000,0.056,2764,3500,2040
$GC,9876,1.30,204.9,520.8,9.9,474,9881,0.00,2.53,0.00,0.000,6,0.000,0.046,2764,2101,2040
$GC,10191,1.30,204.9,489.6,10.2,489,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2100,2040
$GC,10501,1.30,204.9,459.4,9.6,504,10505,0.00,2.58,0.00,0.000,4,0.000,0.054,2764,3509,2040
$GC,10567,1.30,204.9,452.4,10.0,507,10571,0.00,2.53,0.00,0.000,6,0.000,0.045,2764,2096,2041
$GC,10888,1.30,204.9,419.7,9.2,523,10892,0.00,2.58,0.00,0.000,4,0.000,0.053,2763,3505,2041
$GC,10950,1.30,204.9,414.3,8.7,526,10955,0.00,2.53,0.00,0.000,6,0.000,0.045,2763,2100,2041
$GC,11277,1.30,204.9,388.0,8.6,542,11281,0.00,2.55,0.00,0.000,4,0.000,0.053,2764,3507,2041
$GC,11343,1.30,204.9,381.9,9.5,545,11347,0.00,2.53,0.00,0.000,6,0.000,0.044,2763,2090,2042
$GC,11664,1.30,204.9,352.0,9.5,561,11668,0.00,2.55,0.00,0.000,4,0.000,0.054,2764,3502,2042
$GC,11725,1.30,204.9,345.7,9.9,564,11730,0.00,2.50,0.00,0.000,6,0.000,0.044,2763,2096,2041
$GC,12052,1.30,204.9,314.5,9.7,580,12056,0.00,2.55,0.00,0.000,4,0.000,0.052,2763,3502,2042
$GC,12095,1.30,204.9,310.3,9.1,582,12099,0.00,2.53,0.00,0.000,6,0.000,0.043,2764,2093,2042
$GC,12422,1.30,204.9,282.0,8.6,598,12426,0.00,2.58,0.00,0.000,4,0.000,0.053,2763,3504,2042
$GC,12456,1.30,204.9,279.1,9.1,599,12462,0.00,2.50,0.00,0.000,6,0.000,0.043,2764,2099,2042
$GC,12771,1.30,204.9,253.4,8.3,615,12775,0.00,2.55,0.00,0.000,4,0.000,0.051,2764,3502,2042
$GC,12798,1.30,204.9,251.0,8.3,616,12802,0.00,2.50,0.00,0.000,6,0.000,0.041,2764,2098,2042
$GC,13119,1.30,204.9,224.6,8.5,632,13123,0.00,2.53,0.00,0.000,4,0.000,0.051,2763,3502,2043
$GC,13146,1.30,204.9,222.1,9.5,633,13150,0.00,2.47,0.00,0.000,6,0.000,0.041,2764,2100,2043
$GC,13461,1.30,205.6,196.0,8.0,648,13465,0.00,2.53,0.00,0.000,4,0.000,0.052,2764,3501,2043
$GC,13483,1.33,229.1,194.4,7.1,649,13508,0.00,2.50,20.20,0.966,6,0.000,0.041,2763,2098,1944
$GC,13830,1.33,229.1,166.9,8.5,666,13831,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2098,1944
$GC,14140,1.34,237.6,138.3,7.7,681,14154,0.10,2.60,8.20,0.943,4,0.062,0.051,2795,3496,1909
$GC,14184,1.34,237.6,133.4,10.6,683,14188,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2095,1908
$GC,14510,1.34,237.6,99.2,10.7,699,14514,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3509,1908
$GC,14617,1.36,259.7,88.2,7.2,704,14641,0.00,2.50,18.33,0.890,6,0.000,0.041,2795,2098,1818
$GC,14970,1.36,259.7,54.1,15.3,721,14974,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3502,1818
$GC,15032,1.36,259.7,45.6,12.9,724,15036,0.00,2.53,0.00,0.000,6,0.000,0.041,2795,2092,1818
$GC,15358,1.36,259.7,12.7,9.1,740,15363,0.00,2.58,0.00,0.000,4,0.000,0.066,2795,696,1818
$GC,15369,1.40,292.1,12.1,6.8,740,15400,0.00,2.47,25.85,0.831,6,0.000,0.040,2795,2107,1687
$STATE,15513,end climb,SURFACE_DEPTH_REACHED
$STATE,15513,begin surface coast
$FINISH,1.2,1.014011
$STATE,15535,end surface coast,CONTROL_FINISHED_OK
$STATE,15535,begin surface
$SM_CCo,15557,6.78,0.870,0,0,1655,300.00
$SM_GC,2.42,0.00,0.00,6.78,0.000,0.000,0.870,36,1877,1655,-11.31,-0.68,300.00
$IRIDIUM_FIX,6254.00,-1308.66,200108,101047
$TT8_MAMPS,0.026845
$HUMID,2065
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,17.8,999.0
$24V_AH,23.2,64.911
$10V_AH,10.1,31.414
$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,26.150,158.475,373.075,6.775,0.000,69.336,87.049,242.508,6.500,0.000,0.000,16.273,1419.591,11805.898,498.843,1773.802,671.387,33.374,1418.505,0.000,1735.297,0.000,39.772
$DEVICE_MAMPS,141.128,79.001,1291.628,869.778,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,555.578,505.098,450.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37964,749
$CFSIZE,260165632,239316992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
$GPS,200108,111507,6319.609,-1312.014,37,0.9,37,-12.3