version: 66.02
glider: 102
mission: 4
dive: 323
start: 1 21 108 19 59 22
data:
$ID,102
$MISSION,4
$DIVE,323
$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,-83589.922
$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,26
$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
$GPS1,195301,6316.135,-1257.880,41,1.2,41,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-62.3
$GPS2,195815,6316.182,-1257.766,13,1.3,13,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.188,-0.146
$KALMAN_X,432065.5,320.0,-537.5,-667998.6,5407.0
$KALMAN_Y,62571.4,-928.4,136.3,129081.5,2647.3
$MHEAD_RNG_PITCHd_Wd,244.3,14531,-14.7,-8.000
$D_GRID,628
$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,-1.23,-146.6,0.0,0.0,0,86,0.00,0.00,-61.38,0.000,2,0.000,0.000,34,1887,2882
$GC,89,-1.23,-146.6,4.0,-4.1,3,124,11.65,2.58,-17.77,0.000,4,0.141,0.061,2225,3308,3478
$GC,378,-1.23,-146.6,36.4,-10.3,16,383,0.00,2.50,0.00,0.000,6,0.000,0.042,2225,1904,3478
$GC,705,-1.23,-146.6,76.0,-10.3,32,709,0.00,2.53,0.00,0.000,4,0.000,0.047,2225,3312,3478
$GC,867,-1.23,-146.6,98.9,-12.4,39,871,0.00,2.53,0.00,0.000,6,0.000,0.042,2225,1895,3478
$GC,1182,-1.23,-146.6,133.8,-9.6,54,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3478
$GC,1491,-1.23,-146.6,169.1,-12.0,69,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3478
$GC,1801,-1.23,-146.6,205.3,-12.2,84,1805,0.00,2.53,0.00,0.000,4,0.000,0.047,2225,3308,3477
$GC,1867,-1.23,-146.6,212.8,-11.0,87,1871,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1900,3478
$GC,2193,-1.23,-146.6,245.4,-9.4,103,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3478
$GC,2505,-1.23,-146.6,275.9,-9.5,118,2509,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3309,3477
$GC,2568,-1.23,-146.6,282.2,-9.0,121,2572,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1895,3478
$GC,2894,-1.23,-146.6,319.0,-11.9,137,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3478
$GC,3203,-1.23,-146.6,352.9,-10.6,152,3207,0.00,2.55,0.00,0.000,4,0.000,0.049,2225,3309,3478
$GC,3270,-1.23,-146.6,360.1,-10.1,155,3274,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1897,3478
$GC,3591,-1.23,-146.6,395.2,-11.2,171,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1898,3478
$GC,3900,-1.23,-146.6,430.5,-11.4,186,3904,0.00,2.55,0.00,0.000,4,0.000,0.049,2225,3314,3478
$GC,3984,-1.23,-146.6,439.8,-11.1,190,3988,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1900,3478
$GC,4313,-1.23,-146.6,475.2,-10.9,206,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3478
$GC,4619,-1.23,-146.6,509.9,-11.2,221,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1898,3478
$GC,4928,-1.23,-146.6,543.4,-11.4,236,4933,0.00,2.55,0.00,0.000,4,0.000,0.051,2225,3314,3478
$GC,5017,-1.23,-146.6,554.0,-11.8,240,5021,0.00,2.53,0.00,0.000,6,0.000,0.045,2225,1901,3478
$GC,5338,-1.23,-146.6,587.4,-9.6,256,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1901,3478
$GC,5648,-1.23,-146.6,604.0,0.0,271,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1901,3478
$STATE,5912,end dive,NO_VERTICAL_VELOCITY
$STATE,5912,begin apogee
$GC,5919,-0.36,0.0,604.1,0.0,284,6045,0.88,0.00,122.95,1.190,6,0.055,0.000,2426,2115,2878
$STATE,6046,end apogee,CONTROL_FINISHED_OK
$STATE,6046,begin climb
$GC,6048,1.23,146.6,603.8,0.0,290,6179,1.50,2.78,121.03,1.147,4,0.051,0.070,2762,694,2279
$GC,6435,1.26,173.3,583.4,7.0,307,6465,0.00,2.53,22.92,1.159,6,0.000,0.044,2762,2102,2171
$GC,6793,1.26,173.3,553.9,9.2,325,6797,0.00,2.67,0.00,0.000,4,0.000,0.072,2762,692,2169
$GC,6904,1.26,173.3,543.0,8.9,330,6908,0.00,2.50,0.00,0.000,6,0.000,0.044,2762,2100,2169
$GC,7225,1.26,173.3,516.1,8.6,346,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2100,2168
$GC,7534,1.26,173.3,488.3,8.8,361,7538,0.00,2.55,0.00,0.000,4,0.000,0.057,2762,3500,2168
$GC,7641,1.26,173.3,478.8,8.4,366,7645,0.00,2.50,0.00,0.000,6,0.000,0.044,2762,2099,2168
$GC,7967,1.26,173.3,452.0,8.7,382,7971,0.00,2.58,0.00,0.000,4,0.000,0.053,2762,3508,2168
$GC,8066,1.26,173.3,442.4,9.5,386,8073,0.00,2.53,0.00,0.000,6,0.000,0.043,2762,2095,2168
$GC,8382,1.26,173.3,415.9,8.3,402,8386,0.00,2.58,0.00,0.000,4,0.000,0.052,2762,3508,2168
$GC,8448,1.26,173.3,410.2,8.8,405,8453,0.00,2.53,0.00,0.000,6,0.000,0.043,2762,2095,2168
$GC,8769,1.26,173.3,384.3,8.1,421,8774,0.00,2.55,0.00,0.000,4,0.000,0.052,2762,3505,2168
$GC,8864,1.26,173.3,375.9,8.6,425,8869,0.00,2.53,0.00,0.000,6,0.000,0.042,2762,2094,2168
$GC,9180,1.27,181.7,350.7,7.7,440,9194,0.00,2.62,7.32,1.055,4,0.000,0.051,2762,3505,2137
$GC,9256,1.27,181.7,344.2,8.3,443,9261,0.00,2.53,0.00,0.000,6,0.000,0.042,2762,2096,2137
$GC,9572,1.27,181.7,319.6,8.1,458,9576,0.00,2.55,0.00,0.000,4,0.000,0.051,2762,3502,2137
$GC,9634,1.27,181.7,314.4,8.5,461,9639,0.00,2.50,0.00,0.000,6,0.000,0.042,2762,2093,2137
$GC,9960,1.31,213.0,290.3,6.8,477,9994,0.00,2.67,26.42,0.995,4,0.000,0.052,2762,3507,2008
$GC,10057,1.32,218.0,283.4,7.8,481,10068,0.00,2.53,4.90,0.976,6,0.000,0.041,2762,2100,1989
$GC,10377,1.35,242.1,260.5,7.1,497,10400,0.12,0.00,20.50,0.971,6,0.051,0.000,2799,2100,1891
$GC,10707,1.35,242.1,234.5,8.7,513,10711,0.00,2.55,0.00,0.000,4,0.000,0.051,2799,3502,1890
$GC,10818,1.35,242.1,222.8,10.9,518,10822,0.00,2.53,0.00,0.000,6,0.000,0.041,2799,2093,1890
$GC,11139,1.35,242.1,191.6,10.2,534,11140,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2093,1891
$GC,11449,1.35,242.1,160.8,9.3,549,11453,0.00,2.58,0.00,0.000,4,0.000,0.051,2799,3507,1891
$GC,11602,1.35,242.1,144.0,13.3,556,11606,0.00,2.53,0.00,0.000,6,0.000,0.041,2799,2091,1890
$GC,11928,1.35,242.1,113.4,10.2,572,11933,0.00,2.58,0.00,0.000,4,0.000,0.050,2799,3509,1891
$GC,11968,1.35,242.1,109.7,9.2,574,11972,0.00,2.50,0.00,0.000,6,0.000,0.040,2799,2100,1891
$GC,12294,1.35,242.1,80.1,9.0,590,12295,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2100,1891
$GC,12604,1.35,242.1,49.5,9.9,605,12608,0.00,2.55,0.00,0.000,4,0.000,0.049,2799,3508,1891
$GC,12670,1.35,242.1,42.1,11.6,608,12674,0.00,2.50,0.00,0.000,6,0.000,0.040,2799,2099,1890
$GC,12991,1.35,242.1,14.2,9.1,624,12992,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2099,1891
$STATE,13112,end climb,SURFACE_DEPTH_REACHED
$STATE,13112,begin surface coast
$FINISH,1.3,1.014988
$STATE,13135,end surface coast,CONTROL_FINISHED_OK
$STATE,13136,begin surface
$SM_CCo,13158,53.97,0.788,7,0,1655,300.00
$SM_GC,2.02,0.00,0.00,53.97,0.000,0.000,0.788,30,1886,1655,-11.34,-0.40,300.00
$IRIDIUM_FIX,6249.28,-1255.03,210108,202036
$TT8_MAMPS,0.026845
$HUMID,2032
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.2,999.0
$24V_AH,23.3,66.205
$10V_AH,10.1,32.039
$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,26.100,102.650,326.050,53.975,0.000,36.678,35.342,135.405,5.250,0.000,0.000,15.343,1208.675,9880.681,514.278,1565.719,412.698,33.370,1290.943,0.000,1529.288,0.000,33.644
$DEVICE_MAMPS,141.128,72.098,1190.384,788.476,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.669,425.597,406.295,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31767,631
$CFSIZE,260165632,238882816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,7,0
$GPS,210108,234125,6315.718,-1253.349,38,1.1,38,-12.1