version: 66.02
glider: 102
mission: 4
dive: 322
start: 1 21 108 16 6 41
data:
$ID,102
$MISSION,4
$DIVE,322
$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,-83573.945
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,155638,6315.963,-1257.361,31,1.0,31,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-63.6
$GPS2,160534,6315.977,-1257.423,11,1.3,11,-12.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.226,-0.073
$KALMAN_X,430838.6,-661.1,-1439.7,-664582.0,7912.9
$KALMAN_Y,63182.8,-1108.8,-1689.1,130102.9,5706.8
$MHEAD_RNG_PITCHd_Wd,264.3,14763,-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,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,-60.88,0.000,2,0.000,0.000,34,1891,2867
$GC,89,-1.23,-146.6,3.8,-3.5,3,126,11.62,2.58,-18.92,0.000,4,0.141,0.059,2222,3304,3476
$GC,378,-1.23,-146.6,40.6,-15.3,15,383,0.00,2.53,0.00,0.000,6,0.000,0.042,2222,1899,3475
$GC,700,-1.23,-146.6,82.3,-12.9,31,704,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3312,3476
$GC,788,-1.23,-146.6,93.4,-12.3,35,793,0.00,2.53,0.00,0.000,6,0.000,0.042,2222,1900,3475
$GC,1110,-1.23,-146.6,128.4,-12.4,51,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3476
$GC,1420,-1.23,-146.6,161.3,-11.0,66,1424,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3306,3476
$GC,1487,-1.23,-146.6,170.8,-14.5,69,1491,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1902,3476
$GC,1807,-1.23,-146.6,211.6,-12.5,85,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1902,3476
$GC,2116,-1.23,-146.6,242.3,-10.3,100,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1902,3476
$GC,2426,-1.23,-146.6,278.1,-12.0,115,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1902,3476
$GC,2735,-1.23,-146.6,312.1,-10.4,130,2739,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3304,3476
$GC,2790,-1.23,-146.6,317.8,-10.4,132,2796,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1895,3476
$GC,3105,-1.23,-146.6,347.3,-9.3,148,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1895,3475
$GC,3415,-1.23,-146.6,377.9,-10.3,163,3419,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3310,3476
$GC,3486,-1.23,-146.6,384.7,-9.4,166,3491,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1900,3475
$GC,3808,-1.23,-146.6,412.0,-8.2,182,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3476
$GC,4117,-1.23,-146.6,438.7,-8.7,197,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3476
$GC,4426,-1.23,-146.6,467.4,-9.6,212,4430,0.00,2.55,0.00,0.000,4,0.000,0.050,2222,3311,3476
$GC,4532,-1.23,-146.6,477.8,-9.6,217,4537,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1900,3475
$GC,4859,-1.23,-146.6,511.9,-11.3,233,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3475
$GC,5168,-1.23,-146.6,547.9,-12.5,248,5172,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3306,3475
$GC,5252,-1.23,-146.6,558.5,-12.7,252,5257,0.00,2.53,0.00,0.000,6,0.000,0.047,2223,1902,3475
$GC,5578,-1.23,-146.6,595.8,-10.6,268,5582,0.00,2.55,0.00,0.000,4,0.000,0.054,2222,3303,3475
$GC,5649,-1.23,-146.6,603.3,-10.4,271,5654,0.00,2.55,0.00,0.000,6,0.000,0.049,2223,1894,3475
$GC,5966,-1.23,-146.6,627.3,-1.9,286,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3475
$GC,6275,-1.23,-146.6,627.5,-0.1,301,6279,0.00,2.67,0.00,0.000,4,0.000,0.083,2223,492,3475
$STATE,6283,end dive,NO_VERTICAL_VELOCITY
$STATE,6283,begin apogee
$GC,6292,-0.36,0.0,627.5,0.0,301,6419,0.85,0.00,123.22,1.197,6,0.056,0.000,2418,2105,2878
$STATE,6419,end apogee,CONTROL_FINISHED_OK
$STATE,6420,begin climb
$GC,6422,1.23,146.6,627.1,0.0,308,6554,1.58,2.72,122.03,1.158,4,0.060,0.067,2763,695,2280
$GC,6810,1.27,182.5,617.7,6.6,325,6846,0.00,2.53,30.73,1.181,6,0.000,0.046,2763,2104,2133
$GC,7163,1.31,212.0,593.7,6.9,343,7194,0.00,2.75,25.30,1.185,4,0.000,0.074,2763,694,2013
$GC,7250,1.31,212.0,586.5,8.9,347,7254,0.00,2.53,0.00,0.000,6,0.000,0.047,2763,2101,2012
$GC,7570,1.32,218.1,560.6,7.8,363,7581,0.00,2.62,6.03,1.154,4,0.000,0.061,2763,3502,1988
$GC,7700,1.33,225.9,550.2,7.7,369,7714,0.00,2.55,7.65,1.167,6,0.000,0.048,2763,2101,1955
$GC,8031,1.37,257.7,526.3,6.8,385,8061,0.12,0.00,26.85,1.163,6,0.053,0.000,2800,2101,1827
$GC,8361,1.37,257.7,495.4,9.6,401,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2102,1827
$GC,8670,1.37,257.7,466.3,9.4,416,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2101,1827
$GC,8979,1.37,257.7,435.2,10.5,431,8984,0.00,2.55,0.00,0.000,4,0.000,0.051,2799,3504,1827
$GC,9041,1.37,257.7,428.4,10.9,434,9045,0.00,2.53,0.00,0.000,6,0.000,0.044,2800,2100,1827
$GC,9368,1.37,257.7,394.8,10.4,450,9372,0.00,2.55,0.00,0.000,4,0.000,0.051,2799,3504,1827
$GC,9439,1.37,257.7,386.9,11.0,453,9444,0.00,2.53,0.00,0.000,6,0.000,0.044,2799,2095,1827
$GC,9755,1.37,257.7,355.0,10.5,468,9756,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2095,1827
$GC,10065,1.37,257.7,323.7,10.8,483,10069,0.00,2.55,0.00,0.000,4,0.000,0.051,2800,3504,1827
$GC,10136,1.37,257.7,314.6,13.0,486,10140,0.00,2.53,0.00,0.000,6,0.000,0.042,2800,2091,1827
$GC,10452,1.37,257.7,285.5,9.7,501,10453,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2092,1828
$GC,10762,1.37,257.7,256.1,9.6,516,10763,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2092,1829
$GC,11070,1.37,257.7,225.7,10.7,531,11075,0.00,2.58,0.00,0.000,4,0.000,0.050,2799,3510,1829
$GC,11178,1.37,257.7,213.6,10.8,536,11183,0.00,2.53,0.00,0.000,6,0.000,0.041,2800,2093,1829
$GC,11505,1.37,257.7,181.6,8.4,552,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2093,1829
$GC,11814,1.37,258.0,157.9,8.0,567,11819,0.00,2.55,0.00,0.000,4,0.000,0.050,2799,3505,1829
$GC,11870,1.38,271.7,153.4,7.5,569,11889,0.00,2.50,12.40,0.943,6,0.000,0.041,2800,2094,1770
$GC,12207,1.38,271.7,118.6,11.0,586,12208,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2094,1769
$GC,12516,1.38,271.7,87.0,11.0,601,12517,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2094,1770
$GC,12825,1.38,271.7,58.1,9.6,616,12830,0.00,2.55,0.00,0.000,4,0.000,0.048,2800,3504,1769
$GC,12875,1.38,271.7,52.0,12.2,618,12879,0.00,2.50,0.00,0.000,6,0.000,0.040,2799,2094,1769
$GC,13192,1.38,271.7,21.6,10.5,633,13194,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2093,1769
$STATE,13417,end climb,SURFACE_DEPTH_REACHED
$STATE,13417,begin surface coast
$FINISH,1.4,1.005466
$STATE,13437,end surface coast,CONTROL_FINISHED_OK
$STATE,13437,begin surface
$SM_CCo,13460,26.40,0.817,3,0,1654,300.00
$SM_GC,2.37,0.00,0.00,26.40,0.000,0.000,0.817,35,1889,1654,-11.32,-0.31,300.00
$IRIDIUM_FIX,6249.28,-1300.75,210108,191934
$TT8_MAMPS,0.026845
$HUMID,2082
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,999.0
$24V_AH,23.3,66.077
$10V_AH,10.1,31.973
$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,26.125,92.625,354.200,26.400,0.000,74.232,76.519,215.888,5.750,0.000,0.000,12.922,1200.083,10300.842,484.603,1494.144,580.122,33.370,1234.055,0.000,1466.033,0.000,34.926
$DEVICE_MAMPS,141.128,82.836,1196.520,816.855,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.710,434.695,404.599,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31637,645
$CFSIZE,260165632,238927872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,3,0
$GPS,210108,195301,6316.135,-1257.880,41,1.2,41,-12.1