version: 66.02
glider: 102
mission: 4
dive: 347
start: 1 25 108 21 52 56
data:
$ID,102
$MISSION,4
$DIVE,347
$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,-2
$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,558.0575
$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,-84055.531
$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,41
$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
$GPS1,212602,6240.714,-1216.173,54,1.1,54,-11.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-54.7
$GPS2,215113,6240.808,-1215.386,11,1.8,28,-11.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FE
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.173,-0.163
$KALMAN_X,496012.2,-309.4,-1853.4,-692593.6,7334.6
$KALMAN_Y,52356.8,606.3,836.3,71484.0,-3678.0
$MHEAD_RNG_PITCHd_Wd,144.9,36282,-14.7,-8.000
$D_GRID,776
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.23,-146.6,0.0,0.0,0,88,0.00,0.00,-61.45,0.000,2,0.000,0.000,27,1872,2853
$GC,92,-1.23,-146.6,3.6,-4.5,3,128,11.55,2.60,-18.33,0.000,4,0.138,0.061,2222,3302,3477
$GC,379,-1.23,-146.6,44.2,-11.6,15,384,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1910,3478
$GC,701,-1.23,-146.6,78.0,-14.2,31,706,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3310,3478
$GC,858,-1.23,-146.6,94.9,-10.0,38,862,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1901,3478
$GC,1185,-1.23,-146.6,132.1,-11.5,54,1189,0.00,2.53,0.00,0.000,4,0.000,0.046,2223,3306,3478
$GC,1211,-1.23,-146.6,135.8,-13.6,55,1216,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1897,3478
$GC,1528,-1.23,-146.6,175.5,-11.6,70,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3478
$GC,1837,-1.23,-146.6,217.1,-13.6,85,1841,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3305,3478
$GC,1869,-1.23,-146.6,221.9,-14.3,86,1875,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1896,3478
$GC,2184,-1.23,-146.6,265.1,-13.1,102,2189,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3309,3478
$GC,2217,-1.23,-146.6,269.2,-11.8,103,2223,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1901,3478
$GC,2533,-1.23,-146.6,304.9,-10.8,119,2537,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3305,3478
$GC,2560,-1.23,-146.6,307.9,-10.6,120,2564,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1896,3478
$GC,2875,-1.23,-146.6,343.2,-11.6,135,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1896,3478
$GC,3187,-1.23,-146.6,376.8,-10.3,150,3192,0.00,2.55,0.00,0.000,4,0.000,0.049,2223,3311,3478
$GC,3237,-1.23,-146.6,382.4,-10.3,152,3241,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1900,3478
$GC,3553,-1.23,-146.6,415.2,-10.3,167,3557,0.00,2.53,0.00,0.000,4,0.000,0.049,2223,3305,3478
$GC,3592,-1.23,-146.6,419.5,-11.2,169,3597,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1896,3478
$GC,3919,-1.23,-146.6,455.6,-11.1,185,3923,0.00,2.55,0.00,0.000,4,0.000,0.050,2223,3305,3478
$GC,3945,-1.23,-146.6,458.5,-10.6,186,3950,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1900,3478
$GC,4262,-1.23,-146.6,491.4,-10.6,201,4266,0.00,2.55,0.00,0.000,4,0.000,0.050,2223,3311,3478
$GC,4284,-1.23,-146.6,493.8,-10.1,202,4288,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1900,3478
$GC,4605,-1.23,-146.6,525.7,-9.2,218,4609,0.00,2.55,0.00,0.000,4,0.000,0.050,2223,3309,3478
$GC,4632,-1.23,-146.6,528.4,-9.6,219,4637,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1901,3478
$GC,4947,-1.23,-146.6,558.3,-10.0,234,4952,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3303,3478
$GC,4987,-1.23,-146.6,562.5,-10.8,236,4992,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1899,3478
$GC,5315,-1.23,-146.6,591.0,-7.1,252,5319,0.00,2.62,0.00,0.000,4,0.000,0.073,2223,495,3478
$GC,5336,-1.23,-146.6,593.1,-9.3,253,5340,0.00,2.47,0.00,0.000,6,0.000,0.044,2223,1909,3478
$GC,5656,-1.23,-146.6,622.3,-9.3,269,5660,0.00,2.53,0.00,0.000,4,0.000,0.058,2223,3298,3478
$GC,5826,-1.23,-146.6,637.8,-9.4,276,5832,0.00,2.53,0.00,0.000,6,0.000,0.050,2223,1901,3478
$GC,6141,-1.23,-146.6,668.0,-9.6,292,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3478
$GC,6451,-1.23,-146.6,697.5,-9.7,307,6455,0.00,2.58,0.00,0.000,4,0.000,0.058,2223,3302,3478
$GC,6562,-1.23,-146.6,708.1,-9.5,312,6566,0.00,2.58,0.00,0.000,6,0.000,0.054,2223,1898,3478
$GC,6883,-1.23,-146.6,735.5,-8.6,328,6887,0.00,2.58,0.00,0.000,4,0.000,0.060,2223,3298,3478
$GC,6982,-1.23,-146.6,744.6,-8.5,332,6989,0.00,2.58,0.00,0.000,6,0.000,0.056,2223,1896,3477
$GC,7298,-1.23,-146.6,771.3,-6.5,348,7303,0.00,2.67,0.00,0.000,4,0.000,0.083,2223,488,3477
$GC,7556,-1.23,-146.6,771.3,-0.3,359,7562,0.00,2.53,0.00,0.000,6,0.000,0.051,2223,1896,3475
$STATE,7622,end dive,NO_VERTICAL_VELOCITY
$STATE,7622,begin apogee
$GC,7628,-0.36,0.0,771.3,0.0,363,7758,0.90,0.00,126.85,1.325,6,0.064,0.000,2424,2108,2878
$STATE,7759,end apogee,CONTROL_FINISHED_OK
$STATE,7759,begin climb
$GC,7762,1.23,146.6,771.1,0.0,369,7897,1.52,2.80,125.18,1.282,4,0.057,0.077,2761,690,2280
$GC,8156,1.28,187.1,754.7,6.5,387,8198,0.00,2.55,35.20,1.285,6,0.000,0.051,2761,2097,2115
$GC,8507,1.28,187.1,729.0,8.1,404,8511,0.00,2.62,0.00,0.000,4,0.000,0.064,2761,3506,2114
$GC,8624,1.28,187.1,719.5,8.4,409,8628,0.00,2.60,0.00,0.000,6,0.000,0.056,2761,2099,2113
$GC,8939,1.29,193.1,695.2,7.8,424,8952,0.00,2.67,6.15,1.276,4,0.000,0.062,2761,3503,2090
$GC,8970,1.29,193.6,692.5,8.0,425,8975,0.00,2.60,0.00,0.000,6,0.000,0.054,2762,2096,2090
$GC,9286,1.29,195.5,666.9,7.9,440,9291,0.00,2.62,0.00,0.000,4,0.000,0.061,2762,3505,2088
$GC,9343,1.29,195.5,662.2,8.1,442,9349,0.00,2.60,0.00,0.000,6,0.000,0.054,2762,2094,2089
$GC,9659,1.29,198.2,638.6,7.9,458,9669,0.00,2.67,4.93,1.245,4,0.000,0.061,2761,3507,2070
$GC,9702,1.29,198.2,634.8,8.4,460,9706,0.00,2.60,0.00,0.000,6,0.000,0.051,2761,2097,2070
$GC,10023,1.29,198.2,606.8,8.6,476,10028,0.00,2.60,0.00,0.000,4,0.000,0.058,2761,3503,2070
$GC,10141,1.29,198.2,596.1,9.4,481,10145,0.00,2.55,0.00,0.000,6,0.000,0.048,2761,2093,2070
$GC,10457,1.29,198.2,569.5,8.2,496,10461,0.00,2.60,0.00,0.000,4,0.000,0.056,2761,3503,2070
$GC,10567,1.29,198.2,559.0,9.7,501,10572,0.00,2.53,0.00,0.000,6,0.000,0.047,2761,2101,2070
$GC,10889,1.30,204.7,533.2,7.8,517,10903,0.00,2.62,6.62,1.202,4,0.000,0.054,2762,3505,2043
$GC,10915,1.30,204.7,531.0,9.4,518,10919,0.00,2.55,0.00,0.000,6,0.000,0.044,2761,2093,2043
$GC,11235,1.30,204.7,505.3,8.1,534,11240,0.00,2.60,0.00,0.000,4,0.000,0.054,2761,3507,2043
$GC,11285,1.30,204.7,501.0,9.0,536,11290,0.00,2.53,0.00,0.000,6,0.000,0.044,2761,2100,2043
$GC,11602,1.34,234.7,477.5,6.9,551,11630,0.10,0.00,26.15,1.145,6,0.058,0.000,2794,2100,1921
$GC,11932,1.34,234.7,449.0,8.7,567,11937,0.00,2.58,0.00,0.000,4,0.000,0.052,2794,3505,1921
$GC,11994,1.34,234.7,443.5,8.9,570,11999,0.00,2.53,0.00,0.000,6,0.000,0.044,2794,2101,1921
$GC,12321,1.34,234.7,414.6,9.3,586,12325,0.00,2.58,0.00,0.000,4,0.000,0.051,2794,3508,1921
$GC,12393,1.34,234.7,407.3,10.5,589,12397,0.00,2.55,0.00,0.000,6,0.000,0.044,2794,2094,1921
$GC,12708,1.34,234.7,375.9,10.6,604,12713,0.00,2.58,0.00,0.000,4,0.000,0.052,2794,3504,1922
$GC,12786,1.34,234.7,366.4,12.3,607,12792,0.00,2.53,0.00,0.000,6,0.000,0.043,2794,2099,1922
$GC,13102,1.34,234.7,329.2,11.4,623,13106,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3505,1922
$GC,13208,1.34,234.7,316.3,11.6,628,13213,0.00,2.53,0.00,0.000,6,0.000,0.043,2794,2099,1922
$GC,13535,1.34,234.7,278.8,10.9,644,13539,0.00,2.58,0.00,0.000,4,0.000,0.051,2794,3510,1922
$GC,13598,1.34,234.7,272.3,9.7,647,13603,0.00,2.53,0.00,0.000,6,0.000,0.041,2794,2098,1922
$GC,13924,1.34,234.7,242.0,9.1,663,13928,0.00,2.58,0.00,0.000,4,0.000,0.051,2794,3511,1923
$GC,13990,1.34,234.7,236.2,8.1,666,13995,0.00,2.53,0.00,0.000,6,0.000,0.041,2794,2096,1923
$GC,14311,1.34,234.7,206.2,8.7,682,14315,0.00,2.58,0.00,0.000,4,0.000,0.051,2794,3509,1923
$GC,14366,1.34,234.7,200.8,10.0,684,14372,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2096,1923
$GC,14682,1.34,234.7,171.1,9.6,700,14686,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3504,1924
$GC,14703,1.34,234.7,169.2,8.7,701,14707,0.00,2.47,0.00,0.000,6,0.000,0.041,2794,2100,1924
$GC,15024,1.34,234.7,140.1,8.3,717,15028,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3505,1924
$GC,15124,1.34,234.7,131.6,8.6,721,15130,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2099,1924
$GC,15439,1.34,234.7,104.8,8.7,737,15444,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3504,1924
$GC,15528,1.34,234.7,94.7,11.4,741,15532,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2100,1924
$GC,15856,1.34,234.7,65.0,10.4,757,15860,0.00,2.55,0.00,0.000,4,0.000,0.049,2794,3507,1924
$GC,15963,1.36,250.5,54.1,7.4,762,15985,0.00,2.53,14.20,0.882,6,0.000,0.041,2794,2092,1855
$GC,16296,1.36,250.5,21.5,9.9,778,16300,0.00,2.58,0.00,0.000,4,0.000,0.049,2794,3507,1855
$GC,16362,1.36,250.5,12.9,12.3,781,16366,0.00,2.53,0.00,0.000,6,0.000,0.040,2793,2093,1855
$STATE,16454,end climb,SURFACE_DEPTH_REACHED
$STATE,16454,begin surface coast
$FINISH,0.9,1.018620
$STATE,16476,end surface coast,CONTROL_FINISHED_OK
$STATE,16476,begin surface
$SM_CCo,16498,214.77,0.755,17,0,603,558.06
$SM_GC,1.29,0.00,0.00,214.77,0.000,0.000,0.755,30,1881,603,-11.33,-0.54,558.06
$IRIDIUM_FIX,6216.53,-1210.92,200497,212124
$TT8_MAMPS,0.026845
$HUMID,1975
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,16.40
$XPDR_PINGS,5
$ALTIM_TOP_PING,20.0,999.0
$24V_AH,23.1,69.868
$10V_AH,10.1,33.761
$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,26.150,195.000,345.275,214.775,0.000,191.864,260.147,648.284,7.750,0.000,0.000,29.968,1549.032,12505.544,799.753,2051.340,1454.769,33.370,1838.773,0.000,1986.431,0.000,43.005
$DEVICE_MAMPS,138.060,82.836,1325.376,755.495,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,580.832,531.378,455.999,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41089,787
$CFSIZE,260165632,237539328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,17,0
$GPS,260108,023408,6240.378,-1210.203,34,1.7,34,-11.4