version: 66.02
glider: 102
mission: 4
dive: 325
start: 1 22 108 3 30 21
data:
$ID,102
$MISSION,4
$DIVE,325
$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,-83622.188
$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,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
$GPS1,032347,6314.263,-1256.262,38,1.5,38,-12.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-58.2
$GPS2,032914,6314.276,-1256.307,9,1.1,14,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,-0.115
$KALMAN_X,439947.5,151.4,-543.4,-674438.3,3346.4
$KALMAN_Y,62020.6,71.0,-1288.3,126519.3,1779.1
$MHEAD_RNG_PITCHd_Wd,253.0,15639,-14.7,-8.000
$D_GRID,620
$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,20,begin dive
$GC,22,-1.23,-146.6,0.0,0.0,0,85,0.00,0.00,-60.92,0.000,2,0.000,0.000,32,1884,2867
$GC,88,-1.23,-146.6,3.6,-3.4,3,131,11.55,2.60,-20.00,0.000,4,0.137,0.079,2222,502,3476
$GC,187,-1.23,-146.6,15.1,-11.9,7,191,0.00,2.45,0.00,0.000,6,0.000,0.038,2222,1913,3476
$GC,503,-1.23,-146.6,46.7,-11.3,22,507,0.00,2.47,0.00,0.000,4,0.000,0.048,2222,3296,3476
$GC,575,-1.23,-146.6,55.5,-12.6,25,579,0.00,2.47,0.00,0.000,6,0.000,0.041,2222,1904,3476
$GC,893,-1.23,-146.6,85.5,-9.1,40,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1904,3476
$GC,1200,-1.23,-146.6,122.5,-11.0,55,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1904,3476
$GC,1509,-1.23,-146.6,156.2,-12.0,70,1513,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3303,3476
$GC,1587,-1.23,-146.6,163.3,-7.7,73,1593,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1900,3477
$GC,1902,-1.23,-146.6,187.4,-8.3,89,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3476
$GC,2211,-1.23,-146.6,216.2,-9.7,104,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3476
$GC,2521,-1.23,-146.6,247.0,-8.8,119,2525,0.00,2.50,0.00,0.000,4,0.000,0.047,2222,3298,3476
$GC,2592,-1.23,-146.6,253.4,-8.5,122,2596,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1900,3476
$GC,2908,-1.23,-146.6,285.7,-10.7,137,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3477
$GC,3217,-1.23,-146.6,316.1,-10.1,152,3222,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3298,3476
$GC,3303,-1.23,-146.6,324.4,-9.4,156,3307,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1902,3476
$GC,3629,-1.23,-146.6,355.7,-10.1,172,3633,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3302,3476
$GC,3684,-1.23,-146.6,361.5,-10.2,174,3690,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1893,3476
$GC,3999,-1.23,-146.6,393.1,-10.0,190,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1894,3476
$GC,4311,-1.23,-146.6,425.8,-10.5,205,4315,0.00,2.55,0.00,0.000,4,0.000,0.050,2222,3303,3476
$GC,4372,-1.23,-146.6,432.4,-10.1,208,4377,0.00,2.53,0.00,0.000,6,0.000,0.046,2222,1898,3476
$GC,4699,-1.23,-146.6,465.2,-10.2,224,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3476
$GC,5008,-1.23,-146.6,495.0,-9.2,239,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3476
$GC,5317,-1.23,-146.6,523.1,-8.3,254,5321,0.00,2.53,0.00,0.000,4,0.000,0.051,2222,3298,3476
$GC,5384,-1.23,-146.6,528.7,-9.1,257,5388,0.00,2.50,0.00,0.000,6,0.000,0.045,2222,1900,3476
$GC,5705,-1.23,-146.6,555.5,-8.4,273,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3476
$GC,6013,-1.23,-146.6,585.3,-9.9,288,6018,0.00,2.53,0.00,0.000,4,0.000,0.053,2222,3296,3476
$GC,6177,-1.23,-146.6,600.9,-9.5,295,6182,0.00,2.50,0.00,0.000,6,0.000,0.048,2222,1901,3476
$GC,6493,-1.23,-146.6,619.9,-0.0,310,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3476
$STATE,6573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6573,begin apogee
$GC,6579,-0.36,0.0,620.0,0.1,314,6706,0.88,0.00,123.95,1.184,6,0.056,0.000,2422,2100,2878
$STATE,6707,end apogee,CONTROL_FINISHED_OK
$STATE,6707,begin climb
$GC,6710,1.23,146.6,619.7,0.0,320,6841,1.52,2.75,121.95,1.153,4,0.051,0.071,2762,695,2280
$GC,7094,1.27,182.5,598.5,6.6,338,7129,0.00,2.53,30.25,1.158,6,0.000,0.045,2763,2098,2134
$GC,7453,1.29,194.2,572.1,7.6,356,7469,0.00,2.72,10.90,1.160,4,0.000,0.072,2763,695,2085
$GC,7515,1.30,206.8,567.7,7.5,358,7535,0.00,2.53,11.32,1.143,6,0.000,0.046,2763,2101,2035
$GC,7844,1.35,244.0,546.0,6.6,374,7879,0.12,0.00,31.65,1.159,6,0.054,0.000,2798,2101,1883
$GC,8173,1.35,244.0,522.1,8.1,390,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2101,1882
$GC,8483,1.35,244.0,493.8,8.9,405,8487,0.00,2.58,0.00,0.000,4,0.000,0.057,2799,3508,1882
$GC,8549,1.35,244.0,487.5,10.1,408,8553,0.00,2.55,0.00,0.000,6,0.000,0.047,2798,2095,1882
$GC,8870,1.35,244.0,456.6,10.1,424,8874,0.00,2.55,0.00,0.000,4,0.000,0.053,2798,3503,1882
$GC,8936,1.35,244.0,449.1,11.6,427,8940,0.00,2.53,0.00,0.000,6,0.000,0.044,2798,2101,1881
$GC,9257,1.35,244.0,419.4,8.6,443,9258,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2101,1882
$GC,9566,1.35,244.0,391.8,9.5,458,9570,0.00,2.55,0.00,0.000,4,0.000,0.052,2799,3503,1882
$GC,9622,1.35,244.0,386.0,10.4,460,9628,0.00,2.53,0.00,0.000,6,0.000,0.044,2799,2097,1882
$GC,9938,1.35,244.0,353.6,10.9,476,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2097,1882
$GC,10247,1.35,244.0,320.5,10.3,491,10251,0.00,2.55,0.00,0.000,4,0.000,0.052,2799,3504,1882
$GC,10331,1.35,244.0,311.5,10.6,495,10335,0.00,2.53,0.00,0.000,6,0.000,0.043,2799,2098,1882
$GC,10657,1.35,244.0,278.3,10.9,511,10659,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2098,1883
$GC,10967,1.35,244.0,247.3,9.9,526,10971,0.00,2.55,0.00,0.000,4,0.000,0.051,2799,3504,1883
$GC,11067,1.35,244.0,236.9,10.4,530,11073,0.00,2.50,0.00,0.000,6,0.000,0.041,2799,2097,1883
$GC,11383,1.35,244.0,203.8,10.8,546,11387,0.00,2.55,0.00,0.000,4,0.000,0.051,2799,3503,1883
$GC,11444,1.35,244.0,197.1,10.9,549,11449,0.00,2.50,0.00,0.000,6,0.000,0.041,2798,2096,1883
$GC,11771,1.35,244.0,162.8,10.2,565,11772,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2096,1883
$GC,12081,1.35,244.0,126.9,12.3,580,12086,0.00,2.55,0.00,0.000,4,0.000,0.050,2798,3505,1884
$GC,12193,1.35,244.0,112.5,11.8,585,12198,0.00,2.50,0.00,0.000,6,0.000,0.039,2799,2092,1884
$GC,12514,1.35,244.0,78.3,12.0,601,12519,0.00,2.55,0.00,0.000,4,0.000,0.050,2799,3504,1884
$GC,12622,1.35,244.0,64.7,14.0,606,12626,0.00,2.50,0.00,0.000,6,0.000,0.040,2799,2097,1884
$GC,12948,1.43,307.0,32.8,5.6,622,13000,0.00,0.00,50.15,0.817,6,0.000,0.000,2799,2096,1625
$STATE,13192,end climb,SURFACE_DEPTH_REACHED
$STATE,13192,begin surface coast
$FINISH,1.2,1.027383
$STATE,13214,end surface coast,CONTROL_FINISHED_OK
$STATE,13214,begin surface
$SM_CCo,13296,0.00,0.000,0,0,1625,307.36
$SM_GC,1.85,12.20,0.00,0.00,0.041,0.000,0.000,31,1884,1625,-11.26,-0.45,307.36
$IRIDIUM_FIX,6249.28,-1256.09,220108,030322
$TT8_MAMPS,0.026845
$HUMID,2063
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.7,999.0
$24V_AH,23.3,66.468
$10V_AH,10.1,32.167
$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,26.275,96.950,380.175,0.000,0.000,31.755,46.023,142.658,5.250,0.000,0.000,15.752,1183.280,10070.419,488.221,1469.360,431.003,33.372,1228.585,0.000,1440.035,0.000,33.309
$DEVICE_MAMPS,137.293,79.001,1184.248,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.240,427.616,399.445,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31760,635
$CFSIZE,260165632,238788608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,220108,071356,6313.103,-1258.161,84,1.4,84,-12.1