version: 66.02
glider: 102
mission: 4
dive: 320
start: 1 21 108 8 23 46
data:
$ID,102
$MISSION,4
$DIVE,320
$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,-83546.688
$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,23
$R_STBD_OVSHOOT,27
$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
$GPS1,081407,6318.967,-1258.763,23,1.2,23,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-59.5
$GPS2,082239,6319.000,-1258.719,11,1.1,11,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.148,-0.186
$KALMAN_X,423957.8,-1746.8,394.9,-659642.2,5113.8
$KALMAN_Y,61210.5,-728.7,443.8,135134.0,4349.2
$MHEAD_RNG_PITCHd_Wd,230.7,15462,-14.7,-8.000
$D_GRID,626
$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,19,begin dive
$GC,22,-1.23,-146.6,0.0,0.0,0,85,0.00,0.00,-61.00,0.000,2,0.000,0.000,28,1892,2797
$GC,88,-1.23,-146.6,3.8,-3.6,3,131,11.60,2.60,-21.73,0.000,4,0.138,0.061,2224,3296,3477
$GC,383,-1.23,-146.6,36.3,-10.6,16,388,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1901,3477
$GC,705,-1.23,-146.6,65.5,-9.7,32,709,0.00,2.53,0.00,0.000,4,0.000,0.046,2225,3306,3477
$GC,940,-1.23,-146.6,88.5,-9.9,42,947,0.00,2.53,0.00,0.000,6,0.000,0.043,2225,1896,3477
$GC,1258,-1.23,-146.6,117.6,-9.9,58,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3477
$GC,1566,-1.23,-146.6,146.6,-7.6,73,1570,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3310,3477
$GC,1643,-1.23,-146.6,153.3,-8.7,76,1649,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1898,3477
$GC,1959,-1.23,-146.6,187.8,-14.2,92,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1898,3477
$GC,2268,-1.23,-146.6,224.3,-10.9,107,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,2578,-1.23,-146.6,251.8,-8.6,122,2582,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3309,3477
$GC,2633,-1.23,-146.6,256.6,-9.3,124,2639,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1896,3477
$GC,2948,-1.23,-146.6,286.0,-8.9,140,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1896,3477
$GC,3257,-1.23,-146.6,314.5,-8.6,155,3262,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3309,3477
$GC,3320,-1.23,-146.6,320.3,-10.5,158,3324,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1899,3477
$GC,3647,-1.23,-146.6,351.6,-9.6,174,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3477
$GC,3955,-1.23,-146.6,383.5,-10.0,189,3960,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3312,3477
$GC,4012,-1.23,-146.6,389.2,-10.1,191,4018,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1899,3477
$GC,4327,-1.23,-146.6,420.8,-10.1,207,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3477
$GC,4639,-1.23,-146.6,452.0,-10.1,222,4643,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3309,3477
$GC,4694,-1.23,-146.6,458.0,-10.4,224,4700,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1900,3477
$GC,5009,-1.23,-146.6,490.5,-10.3,240,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,5319,-1.23,-146.6,524.2,-10.7,255,5323,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3308,3476
$GC,5396,-1.23,-146.6,532.4,-9.7,258,5402,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1900,3477
$GC,5712,-1.23,-146.6,561.9,-9.1,274,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3477
$GC,6021,-1.23,-146.6,590.3,-9.1,289,6025,0.00,2.55,0.00,0.000,4,0.000,0.053,2225,3303,3477
$GC,6083,-1.23,-146.6,596.0,-9.1,292,6088,0.00,2.53,0.00,0.000,6,0.000,0.048,2224,1902,3477
$GC,6409,-1.23,-146.6,615.6,-0.1,308,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1902,3477
$STATE,6695,end dive,NO_VERTICAL_VELOCITY
$STATE,6695,begin apogee
$GC,6702,-0.36,0.0,615.8,0.0,322,6829,0.88,0.00,123.95,1.190,6,0.054,0.000,2424,2106,2878
$STATE,6830,end apogee,CONTROL_FINISHED_OK
$STATE,6830,begin climb
$GC,6833,1.23,146.6,615.5,0.0,328,6964,1.52,2.78,122.00,1.152,4,0.054,0.073,2764,692,2280
$GC,7220,1.24,154.9,600.9,7.7,345,7235,0.00,2.53,8.23,1.145,6,0.000,0.046,2764,2097,2245
$GC,7557,1.28,188.0,576.7,6.7,362,7587,0.00,0.00,28.33,1.170,6,0.000,0.000,2763,2096,2110
$GC,7886,1.31,212.1,552.3,7.1,378,7909,0.00,0.00,20.80,1.167,6,0.000,0.000,2764,2097,2013
$GC,8216,1.32,217.9,528.4,7.8,394,8227,0.00,2.62,6.00,1.139,4,0.000,0.058,2764,3506,1989
$GC,8256,1.32,218.1,525.1,8.0,396,8260,0.00,2.55,0.00,0.000,6,0.000,0.047,2764,2099,1988
$GC,8582,1.32,218.3,499.4,8.0,412,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2099,1989
$GC,8891,1.34,235.2,476.2,7.4,427,8914,0.10,2.62,15.18,1.138,4,0.057,0.052,2796,3502,1918
$GC,8952,1.34,235.2,470.7,8.6,429,8959,0.00,2.55,0.00,0.000,6,0.000,0.044,2795,2097,1918
$GC,9268,1.34,235.2,442.7,9.1,445,9269,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2096,1919
$GC,9578,1.34,235.2,414.0,9.5,460,9582,0.00,2.55,0.00,0.000,4,0.000,0.052,2795,3502,1918
$GC,9644,1.34,235.2,407.1,10.0,463,9648,0.00,2.53,0.00,0.000,6,0.000,0.044,2795,2098,1919
$GC,9965,1.34,235.2,374.9,10.0,479,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2099,1919
$GC,10275,1.34,235.2,343.2,10.2,494,10279,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3505,1919
$GC,10403,1.34,235.2,328.9,11.8,500,10408,0.00,2.53,0.00,0.000,6,0.000,0.042,2795,2095,1919
$GC,10730,1.34,235.2,293.8,11.3,516,10735,0.00,2.58,0.00,0.000,4,0.000,0.051,2795,3509,1919
$GC,10861,1.34,235.2,279.4,11.4,522,10866,0.00,2.53,0.00,0.000,6,0.000,0.041,2795,2097,1919
$GC,11188,1.34,235.2,242.6,11.3,538,11192,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3503,1919
$GC,11294,1.34,235.2,229.3,12.9,543,11299,0.00,2.50,0.00,0.000,6,0.000,0.041,2796,2096,1919
$GC,11621,1.34,235.2,194.1,11.0,559,11625,0.00,2.55,0.00,0.000,4,0.000,0.051,2796,3504,1920
$GC,11693,1.40,282.5,188.3,6.2,562,11737,0.00,2.50,38.35,0.927,6,0.000,0.041,2796,2095,1725
$GC,12055,1.40,282.5,154.8,10.0,580,12059,0.00,2.58,0.00,0.000,4,0.000,0.050,2795,3508,1725
$GC,12104,1.43,308.5,150.6,7.0,582,12131,0.00,2.53,21.40,0.900,6,0.000,0.041,2795,2096,1620
$GC,12442,1.44,321.7,125.4,7.5,598,12460,0.00,0.00,11.75,0.897,6,0.000,0.000,2795,2096,1565
$GC,12771,1.44,321.7,90.0,10.7,614,12772,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2096,1565
$GC,13079,1.44,321.7,54.8,12.7,629,13083,0.00,2.55,0.00,0.000,4,0.000,0.049,2795,3504,1565
$GC,13119,1.44,321.7,50.1,10.5,631,13123,0.00,2.50,0.00,0.000,6,0.000,0.040,2796,2099,1565
$GC,13445,1.44,321.7,12.7,11.2,647,13446,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2099,1565
$STATE,13566,end climb,SURFACE_DEPTH_REACHED
$STATE,13566,begin surface coast
$FINISH,1.5,1.027384
$STATE,13588,end surface coast,CONTROL_FINISHED_OK
$STATE,13588,begin surface
$SM_CCo,13671,0.00,0.000,0,0,1564,322.32
$SM_GC,2.21,11.93,0.00,0.00,0.031,0.000,0.000,30,1885,1564,-11.27,-0.40,322.32
$IRIDIUM_FIX,6254.00,-1252.50,210108,121207
$TT8_MAMPS,0.026845
$HUMID,2082
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.3,65.798
$10V_AH,10.1,31.843
$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,26.025,97.525,395.975,0.000,0.000,74.646,73.617,194.102,5.500,0.000,0.000,13.076,1219.177,10369.533,499.657,1553.292,559.927,33.373,1279.735,0.000,1523.753,0.000,33.309
$DEVICE_MAMPS,138.060,72.865,1190.384,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,483.022,440.029,425.156,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31708,654
$CFSIZE,260165632,239022080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,210108,121237,6317.983,-1255.978,25,1.3,25,-12.1