version: 66.02
glider: 102
mission: 4
dive: 321
start: 1 21 108 12 22 18
data:
$ID,102
$MISSION,4
$DIVE,321
$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,-83560.398
$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,29
$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
$GPS1,121237,6317.983,-1255.978,25,1.3,25,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-58.3
$GPS2,122109,6317.964,-1256.006,11,1.3,11,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.181,-0.154
$KALMAN_X,428932.1,-1851.6,246.3,-661952.6,6446.9
$KALMAN_Y,63151.0,-1111.2,-209.1,132328.3,3564.0
$MHEAD_RNG_PITCHd_Wd,241.6,16758,-14.7,-8.000
$D_GRID,609
$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,-146.6,0.0,0.0,0,85,0.00,0.00,-60.78,0.000,2,0.000,0.000,30,1881,2765
$GC,88,-1.23,-146.6,3.3,-2.6,3,132,11.57,2.65,-26.10,0.000,4,0.138,0.060,2221,3307,3477
$GC,385,-1.23,-146.6,31.3,-7.5,16,389,0.00,2.50,0.00,0.000,6,0.000,0.042,2221,1907,3477
$GC,705,-1.23,-146.6,64.7,-10.3,32,710,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3310,3477
$GC,858,-1.23,-146.6,80.4,-13.9,39,862,0.00,2.53,0.00,0.000,6,0.000,0.043,2221,1900,3477
$GC,1185,-1.23,-146.6,120.3,-12.5,55,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3477
$GC,1493,-1.23,-146.6,163.2,-11.5,70,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3477
$GC,1803,-1.23,-146.6,198.4,-9.9,85,1807,0.00,2.55,0.00,0.000,4,0.000,0.048,2221,3312,3477
$GC,1857,-1.23,-146.6,203.9,-10.0,87,1864,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1899,3477
$GC,2173,-1.23,-146.6,237.3,-11.1,103,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3477
$GC,2482,-1.23,-146.6,264.7,-8.7,118,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3477
$GC,2791,-1.23,-146.6,295.0,-10.9,133,2796,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3309,3477
$GC,2847,-1.23,-146.6,301.3,-10.9,135,2853,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1899,3477
$GC,3163,-1.23,-146.6,334.1,-11.3,151,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3477
$GC,3472,-1.23,-146.6,362.2,-9.0,166,3476,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3307,3477
$GC,3556,-1.23,-146.6,370.2,-9.7,170,3560,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1897,3477
$GC,3885,-1.23,-146.6,401.6,-10.3,186,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3477
$GC,4191,-1.23,-146.6,432.9,-10.1,201,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3477
$GC,4501,-1.23,-146.6,464.0,-10.1,216,4505,0.00,2.55,0.00,0.000,4,0.000,0.050,2221,3313,3477
$GC,4556,-1.23,-146.6,469.9,-10.4,218,4562,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1900,3477
$GC,4872,-1.23,-146.6,497.6,-7.9,234,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3476
$GC,5181,-1.23,-146.6,530.4,-11.5,249,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3476
$GC,5490,-1.23,-146.6,566.3,-11.6,264,5494,0.00,2.55,0.00,0.000,4,0.000,0.051,2222,3309,3476
$GC,5585,-1.23,-146.6,577.3,-11.9,268,5589,0.00,2.55,0.00,0.000,6,0.000,0.048,2221,1896,3476
$GC,5901,-1.23,-146.6,608.3,-9.6,283,5905,0.00,2.62,0.00,0.000,4,0.000,0.077,2222,496,3476
$STATE,5908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5908,begin apogee
$GC,5916,-0.36,0.0,609.5,9.6,283,6043,0.90,0.00,123.60,1.180,6,0.083,0.000,2414,2102,2878
$STATE,6044,end apogee,CONTROL_FINISHED_OK
$STATE,6044,begin climb
$GC,6047,1.23,146.6,612.8,0.0,290,6177,1.58,2.78,120.90,1.156,4,0.047,0.070,2767,692,2280
$GC,6342,1.24,155.0,597.7,7.7,304,6356,0.00,2.53,8.18,1.130,6,0.000,0.044,2767,2102,2246
$GC,6673,1.28,190.7,573.9,6.6,320,6705,0.00,0.00,30.55,1.160,6,0.000,0.000,2767,2103,2100
$GC,7002,1.28,190.7,544.6,9.1,336,7006,0.00,2.58,0.00,0.000,4,0.000,0.061,2767,3499,2099
$GC,7153,1.28,190.7,527.7,11.8,343,7158,0.00,2.53,0.00,0.000,6,0.000,0.048,2767,2097,2098
$GC,7480,1.28,190.7,492.8,10.0,359,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2097,2097
$GC,7789,1.28,190.7,462.9,9.4,374,7793,0.00,2.58,0.00,0.000,4,0.000,0.054,2767,3502,2097
$GC,7873,1.28,190.7,454.9,9.8,378,7877,0.00,2.53,0.00,0.000,6,0.000,0.044,2767,2097,2097
$GC,8199,1.32,219.0,430.2,6.9,394,8228,0.00,2.65,23.10,1.106,4,0.000,0.053,2767,3502,1985
$GC,8297,1.33,227.3,422.6,7.7,398,8311,0.00,2.53,8.05,1.078,6,0.000,0.044,2767,2093,1950
$GC,8639,1.33,227.3,396.4,8.2,415,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2093,1950
$GC,8948,1.33,227.3,371.8,8.1,430,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2093,1950
$GC,9257,1.36,253.4,349.6,7.0,445,9287,0.10,2.65,22.00,1.039,4,0.058,0.051,2799,3505,1843
$GC,9421,1.36,253.4,335.1,9.5,452,9425,0.00,2.53,0.00,0.000,6,0.000,0.042,2799,2099,1843
$GC,9742,1.36,253.4,305.8,9.0,468,9746,0.00,2.55,0.00,0.000,4,0.000,0.050,2798,3502,1843
$GC,9819,1.36,253.4,298.1,9.6,471,9825,0.00,2.53,0.00,0.000,6,0.000,0.042,2799,2092,1844
$GC,10134,1.36,253.4,268.2,9.7,487,10135,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2092,1844
$GC,10444,1.36,253.4,237.8,9.8,502,10448,0.00,2.58,0.00,0.000,4,0.000,0.051,2799,3504,1844
$GC,10510,1.36,253.4,231.2,9.8,505,10514,0.00,2.50,0.00,0.000,6,0.000,0.040,2799,2098,1844
$GC,10830,1.36,253.4,200.5,8.3,521,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2098,1844
$GC,11140,1.36,253.4,172.0,9.2,536,11144,0.00,2.55,0.00,0.000,4,0.000,0.050,2799,3504,1844
$GC,11240,1.36,253.4,160.9,11.0,540,11246,0.00,2.50,0.00,0.000,6,0.000,0.041,2799,2094,1844
$GC,11555,1.36,253.4,130.7,10.7,556,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2094,1845
$GC,11864,1.36,253.4,96.4,11.1,571,11869,0.00,2.55,0.00,0.000,4,0.000,0.048,2799,3504,1845
$GC,11937,1.36,253.4,88.1,12.3,574,11941,0.00,2.50,0.00,0.000,6,0.000,0.040,2799,2091,1844
$GC,12254,1.36,253.4,46.9,13.2,589,12255,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2091,1845
$GC,12562,1.36,253.4,13.3,12.2,604,12566,0.00,2.55,0.00,0.000,4,0.000,0.049,2799,3503,1845
$GC,12602,1.36,253.4,9.1,10.4,606,12606,0.00,2.50,0.00,0.000,6,0.000,0.040,2799,2095,1845
$STATE,12678,end climb,SURFACE_DEPTH_REACHED
$STATE,12679,begin surface coast
$FINISH,1.3,1.010863
$STATE,12701,end surface coast,CONTROL_FINISHED_OK
$STATE,12701,begin surface
$SM_CCo,12723,43.17,0.802,5,0,1655,300.00
$SM_GC,2.16,0.00,0.00,43.17,0.000,0.000,0.802,34,1892,1655,-11.32,-0.20,300.00
$IRIDIUM_FIX,6254.00,-1357.52,210108,161639
$TT8_MAMPS,0.026845
$HUMID,2042
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.5,999.0
$24V_AH,23.3,65.935
$10V_AH,10.1,31.907
$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,26.050,92.550,336.375,43.175,0.000,69.557,77.614,192.385,5.500,0.000,0.000,13.077,1150.683,9665.854,510.452,1447.348,551.829,33.377,1238.648,0.000,1419.172,0.000,33.305
$DEVICE_MAMPS,138.060,76.700,1179.646,802.282,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.498,411.362,387.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31637,611
$CFSIZE,260165632,238972928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,5,0
$GPS,210108,155638,6315.963,-1257.361,31,1.0,31,-12.1