version: 66.02
glider: 102
mission: 4
dive: 352
start: 1 26 108 22 5 43
data:
$ID,102
$MISSION,4
$DIVE,352
$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,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,-84152.148
$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,34
$R_STBD_OVSHOOT,23
$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
$GPS1,215107,6238.387,-1153.678,32,2.0,32,-11.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-64.6
$GPS2,220358,6238.513,-1153.572,10,2.6,29,-11.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FE
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.116,-0.207
$KALMAN_X,501105.6,476.6,-649.8,-680485.3,1808.1
$KALMAN_Y,66688.5,302.4,-182.7,54261.6,4261.2
$MHEAD_RNG_PITCHd_Wd,220.5,19577,-14.7,-8.000
$D_GRID,737
$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,23,-1.23,-146.6,0.0,0.0,0,85,0.00,0.00,-60.75,0.000,2,0.000,0.000,35,1874,2845
$GC,89,-1.23,-146.6,3.6,-4.1,3,127,11.60,2.60,-19.98,0.000,4,0.136,0.058,2224,3306,3476
$GC,218,-1.23,-146.6,16.7,-8.8,9,222,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1903,3476
$GC,544,-1.23,-146.6,56.3,-12.2,25,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1903,3477
$GC,855,-1.23,-146.6,88.2,-10.0,40,860,0.00,2.53,0.00,0.000,4,0.000,0.046,2224,3308,3477
$GC,905,-1.23,-146.6,94.5,-12.2,42,909,0.00,2.53,0.00,0.000,6,0.000,0.042,2224,1898,3477
$GC,1222,-1.23,-146.6,130.2,-10.6,57,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,1530,-1.23,-146.6,156.7,-9.2,72,1534,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3314,3477
$GC,1607,-1.23,-146.6,164.2,-9.6,75,1614,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1898,3477
$GC,1924,-1.23,-146.6,194.2,-10.4,91,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,2233,-1.23,-146.6,224.0,-9.1,106,2237,0.00,2.55,0.00,0.000,4,0.000,0.047,2224,3315,3477
$GC,2301,-1.23,-146.6,231.0,-10.1,109,2305,0.00,2.53,0.00,0.000,6,0.000,0.041,2224,1901,3477
$GC,2621,-1.23,-146.6,264.1,-10.7,125,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3477
$GC,2931,-1.23,-146.6,296.3,-10.2,140,2935,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3308,3476
$GC,2975,-1.23,-146.6,301.2,-10.7,142,2980,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1896,3477
$GC,3296,-1.23,-146.6,336.7,-11.2,158,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,3606,-1.23,-146.6,369.0,-9.9,173,3610,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3310,3477
$GC,3700,-1.23,-146.6,378.7,-9.6,177,3705,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1900,3477
$GC,4016,-1.23,-146.6,410.8,-10.3,192,4021,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3313,3476
$GC,4072,-1.23,-146.6,416.7,-10.3,194,4078,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1901,3476
$GC,4390,-1.23,-146.6,452.5,-12.0,210,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3477
$GC,4697,-1.23,-146.6,488.5,-11.1,225,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3477
$GC,5006,-1.23,-146.6,520.0,-9.3,240,5010,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3308,3477
$GC,5072,-1.23,-146.6,526.2,-9.0,243,5076,0.00,2.55,0.00,0.000,6,0.000,0.045,2224,1893,3476
$GC,5393,-1.23,-146.6,554.1,-8.6,259,5397,0.00,2.58,0.00,0.000,4,0.000,0.052,2224,3309,3477
$GC,5477,-1.23,-146.6,561.9,-8.9,263,5481,0.00,2.55,0.00,0.000,6,0.000,0.048,2224,1899,3477
$GC,5802,-1.23,-146.6,589.0,-8.9,279,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3477
$GC,6112,-1.23,-146.6,616.5,-9.3,294,6117,0.00,2.58,0.00,0.000,4,0.000,0.055,2224,3305,3477
$GC,6162,-1.23,-146.6,621.3,-9.5,296,6166,0.00,2.55,0.00,0.000,6,0.000,0.048,2224,1896,3476
$GC,6484,-1.23,-146.6,650.6,-9.1,312,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1896,3476
$GC,6792,-1.23,-146.6,677.8,-8.4,327,6797,0.00,2.60,0.00,0.000,4,0.000,0.058,2224,3304,3476
$GC,6859,-1.23,-146.6,683.8,-9.1,330,6863,0.00,2.58,0.00,0.000,6,0.000,0.052,2224,1896,3476
$GC,7181,-1.23,-146.6,708.0,-6.9,346,7185,0.00,2.60,0.00,0.000,4,0.000,0.060,2224,3304,3476
$GC,7332,-1.23,-146.6,720.3,-8.9,353,7337,0.00,2.58,0.00,0.000,6,0.000,0.058,2224,1903,3476
$GC,7659,-1.23,-146.6,731.5,0.0,369,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1902,3475
$STATE,7841,end dive,NO_VERTICAL_VELOCITY
$STATE,7842,begin apogee
$GC,7848,-0.36,0.0,731.5,0.0,378,7977,0.88,0.00,125.75,1.292,6,0.065,0.000,2417,2106,2878
$STATE,7978,end apogee,CONTROL_FINISHED_OK
$STATE,7978,begin climb
$GC,7980,1.23,146.6,731.2,0.0,384,8113,1.55,2.67,124.55,1.250,4,0.053,0.065,2762,3499,2279
$GC,8372,1.26,168.3,707.4,7.2,402,8397,0.00,2.58,19.05,1.256,6,0.000,0.053,2762,2099,2192
$GC,8725,1.26,168.3,681.2,8.3,419,8729,0.00,2.65,0.00,0.000,4,0.000,0.063,2761,3507,2191
$GC,8931,1.26,168.3,663.5,9.0,428,8936,0.00,2.60,0.00,0.000,6,0.000,0.054,2761,2096,2190
$GC,9248,1.27,181.0,639.8,7.5,443,9261,0.00,0.00,11.48,1.279,6,0.000,0.000,2762,2096,2140
$GC,9556,1.30,202.0,617.4,7.2,458,9580,0.00,2.67,18.80,1.259,4,0.000,0.060,2761,3503,2054
$GC,9609,1.30,202.9,613.3,8.0,460,9614,0.00,2.58,0.00,0.000,6,0.000,0.050,2762,2098,2054
$GC,9925,1.31,216.0,590.8,7.5,475,9947,0.00,2.67,12.68,1.240,4,0.000,0.058,2762,3498,1997
$GC,10061,1.31,216.0,579.0,9.8,481,10065,0.00,2.55,0.00,0.000,6,0.000,0.048,2761,2095,1997
$GC,10387,1.31,216.0,551.0,8.6,497,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2095,1996
$GC,10696,1.31,216.0,522.2,9.6,512,10700,0.00,2.58,0.00,0.000,4,0.000,0.055,2761,3502,1996
$GC,10735,1.31,216.0,518.4,9.7,514,10739,0.00,2.53,0.00,0.000,6,0.000,0.046,2762,2100,1996
$GC,11061,1.31,216.0,487.6,9.2,530,11065,0.00,2.58,0.00,0.000,4,0.000,0.053,2762,3505,1996
$GC,11127,1.31,216.0,481.1,9.1,533,11131,0.00,2.55,0.00,0.000,6,0.000,0.044,2761,2097,1996
$GC,11448,1.31,216.0,454.9,8.1,549,11452,0.00,2.58,0.00,0.000,4,0.000,0.053,2762,3503,1997
$GC,11482,1.31,216.0,452.1,8.5,550,11489,0.00,2.53,0.00,0.000,6,0.000,0.044,2762,2100,1997
$GC,11798,1.33,226.8,427.6,7.6,566,11814,0.00,2.62,10.30,1.122,4,0.000,0.051,2761,3508,1952
$GC,11859,1.33,226.8,422.4,8.7,568,11863,0.00,2.55,0.00,0.000,6,0.000,0.043,2762,2093,1952
$GC,12186,1.33,228.2,396.4,7.9,584,12190,0.10,2.60,0.00,0.000,4,0.060,0.051,2792,3509,1953
$GC,12241,1.33,228.2,391.3,9.2,586,12247,0.00,2.53,0.00,0.000,6,0.000,0.043,2792,2097,1953
$GC,12557,1.33,228.2,362.7,9.2,602,12561,0.00,2.55,0.00,0.000,4,0.000,0.051,2792,3510,1954
$GC,12645,1.33,228.2,354.4,8.8,606,12649,0.00,2.50,0.00,0.000,6,0.000,0.042,2792,2100,1953
$GC,12972,1.33,228.2,324.3,9.1,622,12976,0.00,2.55,0.00,0.000,4,0.000,0.051,2792,3504,1953
$GC,13050,1.33,228.2,316.4,10.1,625,13056,0.00,2.53,0.00,0.000,6,0.000,0.042,2792,2093,1954
$GC,13365,1.33,228.2,287.2,9.5,641,13369,0.00,2.58,0.00,0.000,4,0.000,0.051,2792,3505,1954
$GC,13404,1.33,228.2,283.5,9.2,643,13409,0.00,2.53,0.00,0.000,6,0.000,0.041,2792,2094,1954
$GC,13730,1.33,228.2,252.7,9.8,659,13735,0.00,2.58,0.00,0.000,4,0.000,0.051,2792,3506,1954
$GC,13802,1.33,228.2,245.3,10.1,662,13807,0.00,2.53,0.00,0.000,6,0.000,0.041,2792,2091,1955
$GC,14124,1.33,228.2,215.3,9.2,678,14128,0.00,2.58,0.00,0.000,4,0.000,0.050,2792,3506,1955
$GC,14186,1.33,228.2,209.5,8.9,681,14190,0.00,2.50,0.00,0.000,6,0.000,0.041,2792,2100,1955
$GC,14512,1.33,228.2,180.6,9.2,697,14516,0.00,2.55,0.00,0.000,4,0.000,0.049,2792,3507,1955
$GC,14612,1.33,228.2,171.1,9.2,701,14618,0.00,2.50,0.00,0.000,6,0.000,0.041,2792,2101,1955
$GC,14927,1.33,228.2,142.4,9.5,717,14936,0.00,2.58,3.20,0.911,4,0.000,0.049,2792,3505,1947
$GC,14995,1.33,228.2,135.5,10.1,720,14999,0.00,2.50,0.00,0.000,6,0.000,0.040,2792,2100,1947
$GC,15322,1.33,228.2,105.4,9.3,736,15326,0.00,2.55,0.00,0.000,4,0.000,0.049,2792,3507,1947
$GC,15433,1.33,228.2,94.1,9.8,741,15437,0.00,2.50,0.00,0.000,6,0.000,0.040,2792,2101,1947
$GC,15755,1.33,228.2,64.2,9.8,757,15759,0.00,2.55,0.00,0.000,4,0.000,0.048,2792,3506,1947
$GC,15804,1.33,228.2,58.9,10.8,759,15808,0.00,2.50,0.00,0.000,6,0.000,0.039,2792,2097,1947
$GC,16120,1.33,228.2,27.5,9.9,774,16124,0.00,2.55,0.00,0.000,4,0.000,0.048,2792,3506,1947
$GC,16198,1.33,228.2,19.7,9.6,777,16204,0.00,2.50,0.00,0.000,6,0.000,0.040,2792,2095,1947
$STATE,16408,end climb,SURFACE_DEPTH_REACHED
$STATE,16408,begin surface coast
$FINISH,1.1,1.027374
$STATE,16430,end surface coast,CONTROL_FINISHED_OK
$STATE,16430,begin surface
$SM_CCo,16453,65.72,0.788,8,0,1655,300.00
$SM_GC,1.47,0.00,0.00,65.72,0.000,0.000,0.788,35,1885,1655,-11.31,-0.40,300.00
$IRIDIUM_FIX,6211.90,-1151.63,210497,222216
$TT8_MAMPS,0.026845
$HUMID,2031
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.1,70.689
$10V_AH,10.1,34.173
$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,26.000,159.200,325.800,65.725,0.000,111.360,104.824,289.918,7.000,0.000,0.000,31.811,1516.421,12543.251,579.859,1924.026,820.830,33.373,1534.582,0.000,1863.525,0.000,41.387
$DEVICE_MAMPS,135.759,65.195,1291.628,788.476,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,583.277,533.629,467.992,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41218,789
$CFSIZE,260165632,237264896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,8,0
$GPS,270108,024256,6238.484,-1150.365,36,1.3,36,-11.2