version: 66.02
glider: 102
mission: 4
dive: 381
start: 2 1 108 8 47 23
data:
$ID,102
$MISSION,4
$DIVE,381
$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,-3
$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,-86087.977
$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,23
$R_STBD_OVSHOOT,35
$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
$GPS1,082316,6218.816,-1044.394,41,2.9,60,-10.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-53.2
$GPS2,084540,6218.595,-1044.810,14,2.1,33,-10.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,DE
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.144,-0.189
$KALMAN_X,578759.5,-1577.6,-839.5,-695183.4,4534.2
$KALMAN_Y,97399.2,855.6,337.6,-14440.9,-1950.7
$MHEAD_RNG_PITCHd_Wd,153.2,10766,-14.7,-8.000
$D_GRID,789
$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,24,-1.23,-146.6,0.0,0.0,0,106,0.00,0.00,-80.82,0.000,2,0.000,0.000,27,1885,2859
$GC,110,-1.23,-146.6,3.6,-3.4,4,145,11.62,2.60,-17.80,0.000,4,0.139,0.077,2222,496,3477
$GC,337,-1.23,-146.6,29.8,-5.6,14,341,0.00,2.47,0.00,0.000,6,0.000,0.038,2222,1909,3477
$GC,658,-1.23,-146.6,53.7,-6.5,30,663,0.00,2.50,0.00,0.000,4,0.000,0.048,2223,3296,3477
$GC,702,-1.23,-146.6,57.8,-8.5,32,707,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1898,3477
$GC,1025,-1.23,-146.6,96.8,-17.5,48,1029,0.00,2.53,0.00,0.000,4,0.000,0.046,2222,3300,3477
$GC,1069,-1.23,-146.6,105.2,-17.2,50,1073,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1903,3477
$GC,1390,-1.23,-146.6,143.2,-7.8,66,1394,0.00,2.62,0.00,0.000,4,0.000,0.068,2222,495,3477
$GC,1417,-1.23,-146.6,145.9,-10.3,67,1422,0.00,2.45,0.00,0.000,6,0.000,0.038,2222,1902,3477
$GC,1733,-1.23,-146.6,176.2,-8.4,82,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1906,3477
$GC,2042,-1.23,-146.6,210.5,-11.5,97,2046,0.00,2.50,0.00,0.000,4,0.000,0.047,2222,3295,3477
$GC,2081,-1.23,-146.6,215.5,-12.2,99,2086,0.00,2.50,0.00,0.000,6,0.000,0.042,2222,1896,3477
$GC,2409,-1.23,-146.6,252.1,-12.9,115,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1896,3477
$GC,2717,-1.23,-146.6,289.4,-10.8,130,2721,0.00,2.53,0.00,0.000,4,0.000,0.046,2222,3297,3477
$GC,2767,-1.23,-146.6,294.5,-10.7,132,2772,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1900,3477
$GC,3083,-1.23,-146.6,318.1,-6.1,147,3087,0.00,2.50,0.00,0.000,4,0.000,0.047,2223,3294,3477
$GC,3128,-1.23,-146.6,321.6,-7.1,149,3132,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3477
$GC,3451,-1.23,-146.6,350.9,-10.5,165,3455,0.00,2.53,0.00,0.000,4,0.000,0.047,2222,3301,3477
$GC,3495,-1.23,-146.6,355.6,-10.2,167,3499,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1900,3477
$GC,3816,-1.23,-146.6,382.4,-8.8,183,3820,0.00,2.50,0.00,0.000,4,0.000,0.047,2222,3302,3477
$GC,3859,-1.23,-146.6,386.5,-9.8,185,3863,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1897,3477
$GC,4187,-1.23,-146.6,419.9,-9.6,201,4191,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3296,3477
$GC,4213,-1.23,-146.6,422.8,-9.8,202,4218,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1896,3477
$GC,4532,-1.23,-146.6,451.8,-8.8,217,4536,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3294,3477
$GC,4587,-1.23,-146.6,457.0,-9.5,219,4593,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3477
$GC,4903,-1.23,-146.6,488.4,-10.0,235,4906,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3297,3477
$GC,4941,-1.23,-146.6,492.5,-9.8,236,4947,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1894,3477
$GC,5257,-1.23,-146.6,524.7,-10.4,252,5261,0.00,2.55,0.00,0.000,4,0.000,0.049,2222,3299,3477
$GC,5301,-1.23,-146.6,529.8,-11.0,254,5306,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1897,3477
$GC,5628,-1.23,-146.6,567.5,-11.4,270,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3477
$GC,5937,-1.23,-146.6,608.3,-13.7,285,5941,0.00,2.53,0.00,0.000,4,0.000,0.051,2222,3293,3477
$GC,5988,-1.23,-146.6,615.0,-12.5,287,5992,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1897,3476
$GC,6303,-1.23,-146.6,666.6,-20.8,302,6307,0.00,2.62,0.00,0.000,4,0.000,0.074,2222,498,3476
$GC,6352,-1.23,-146.6,676.9,-20.5,304,6356,0.00,2.42,0.00,0.000,6,0.000,0.043,2222,1894,3477
$GC,6674,-1.23,-146.6,733.9,-16.1,320,6678,0.00,2.65,0.00,0.000,4,0.000,0.075,2222,495,3476
$GC,6735,-1.23,-146.6,744.7,-17.7,323,6740,0.00,2.47,0.00,0.000,6,0.000,0.046,2222,1897,3477
$GC,7062,-1.23,-146.6,781.0,-5.3,339,7066,0.00,2.58,0.00,0.000,4,0.000,0.060,2223,3301,3477
$GC,7135,-1.23,-146.6,786.5,-9.3,342,7140,0.00,2.58,0.00,0.000,6,0.000,0.056,2222,1897,3476
$STATE,7200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7200,begin apogee
$GC,7207,-0.36,0.0,789.1,2.9,345,7337,0.93,0.00,127.05,1.312,6,0.081,0.000,2419,2108,2878
$STATE,7338,end apogee,CONTROL_FINISHED_OK
$STATE,7338,begin climb
$GC,7341,1.23,146.6,789.1,0.0,351,7476,1.55,2.78,125.57,1.276,4,0.052,0.075,2764,694,2279
$GC,7600,1.23,146.6,772.1,9.0,363,7604,0.00,2.53,0.00,0.000,6,0.000,0.049,2764,2095,2279
$GC,7921,1.35,242.5,751.7,4.3,379,8009,0.10,2.67,81.22,1.287,4,0.057,0.061,2797,3502,1889
$GC,8172,1.37,262.3,735.6,7.2,390,8199,0.00,2.60,17.70,1.271,6,0.000,0.055,2797,2103,1808
$GC,8508,1.45,326.3,715.2,5.6,407,8570,0.00,2.67,54.30,1.277,4,0.000,0.059,2797,3507,1547
$GC,8598,1.45,326.3,708.8,8.0,411,8602,0.00,2.62,0.00,0.000,6,0.000,0.054,2797,2094,1546
$GC,8919,1.46,335.1,683.0,7.7,427,8933,0.00,2.75,8.40,1.243,4,0.000,0.077,2797,696,1511
$GC,8956,1.46,335.1,679.6,8.5,428,8962,0.00,2.53,0.00,0.000,6,0.000,0.046,2797,2104,1511
$GC,9272,1.54,399.4,657.8,5.6,444,9334,0.15,2.62,54.45,1.249,4,0.050,0.054,2847,3504,1249
$GC,9346,1.54,399.4,652.2,8.6,447,9350,0.00,2.62,0.00,0.000,6,0.000,0.052,2847,2098,1249
$GC,9661,1.54,399.4,619.1,12.2,462,9662,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2098,1249
$GC,9970,1.54,399.4,573.9,14.8,477,9975,0.00,2.67,0.00,0.000,4,0.000,0.077,2847,691,1248
$GC,9992,1.54,399.4,570.7,15.2,478,9996,0.00,2.50,0.00,0.000,6,0.000,0.042,2847,2103,1248
$GC,10312,1.54,399.4,525.3,14.5,494,10317,0.00,2.67,0.00,0.000,4,0.000,0.073,2847,691,1248
$GC,10345,1.54,399.4,520.0,15.3,495,10352,0.00,2.47,0.00,0.000,6,0.000,0.042,2847,2100,1248
$GC,10662,1.54,399.4,477.6,13.4,511,10666,0.00,2.67,0.00,0.000,4,0.000,0.072,2847,686,1249
$GC,10683,1.54,399.4,474.4,13.8,512,10687,0.00,2.50,0.00,0.000,6,0.000,0.041,2847,2100,1249
$GC,11003,1.54,399.4,434.9,11.9,528,11008,0.00,2.67,0.00,0.000,4,0.000,0.072,2847,689,1249
$GC,11021,1.54,399.4,432.7,12.2,529,11025,0.00,2.47,0.00,0.000,6,0.000,0.041,2847,2100,1249
$GC,11348,1.54,399.4,387.0,15.3,545,11349,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2104,1249
$GC,11656,1.54,399.4,339.5,15.3,560,11661,0.00,2.65,0.00,0.000,4,0.000,0.069,2847,692,1249
$GC,11674,1.54,399.4,336.7,15.9,561,11679,0.00,2.47,0.00,0.000,6,0.000,0.040,2847,2108,1249
$GC,12001,1.54,399.4,282.9,14.5,577,12006,0.00,2.65,0.00,0.000,4,0.000,0.068,2847,691,1249
$GC,12023,1.54,399.4,280.4,10.8,578,12027,0.00,2.45,0.00,0.000,6,0.000,0.039,2847,2097,1249
$GC,12344,1.55,407.8,252.6,7.7,594,12354,0.00,0.00,8.10,1.000,6,0.000,0.000,2847,2101,1214
$GC,12670,1.55,407.8,216.4,14.3,610,12675,0.00,2.53,0.00,0.000,4,0.000,0.047,2847,3499,1214
$GC,12688,1.55,407.8,213.8,15.4,611,12693,0.00,2.53,0.00,0.000,6,0.000,0.041,2847,2088,1214
$GC,13014,1.55,407.8,153.3,16.8,627,13019,0.00,2.60,0.00,0.000,4,0.000,0.067,2847,691,1215
$GC,13032,1.55,407.8,150.1,17.2,628,13036,0.00,2.47,0.00,0.000,6,0.000,0.038,2847,2112,1214
$GC,13358,1.55,407.8,99.9,11.9,644,13362,0.00,2.65,0.00,0.000,4,0.000,0.066,2847,692,1214
$GC,13398,1.55,407.8,93.5,18.2,646,13402,0.00,2.45,0.00,0.000,6,0.000,0.038,2847,2104,1215
$GC,13725,1.55,407.8,40.0,16.4,662,13729,0.00,2.50,0.00,0.000,4,0.000,0.047,2847,3496,1215
$GC,13765,1.55,407.8,34.1,14.2,664,13769,0.00,2.50,0.00,0.000,6,0.000,0.041,2847,2100,1215
$STATE,13986,end climb,SURFACE_DEPTH_REACHED
$STATE,13986,begin surface coast
$FINISH,1.0,1.027541
$STATE,14008,end surface coast,CONTROL_FINISHED_OK
$STATE,14008,begin surface
$SM_CCo,14091,0.00,0.000,0,0,1214,408.18
$SM_GC,1.81,12.25,0.00,0.00,0.035,0.000,0.000,32,1888,1214,-11.27,-0.34,408.18
$IRIDIUM_FIX,6153.50,-1051.38,270497,080826
$TT8_MAMPS,0.026845
$HUMID,2083
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.50
$XPDR_PINGS,5
$ALTIM_TOP_PING,17.1,999.0
$24V_AH,23.1,75.334
$10V_AH,10.1,36.449
$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,26.600,164.000,476.800,0.000,0.000,192.896,371.560,381.884,8.000,0.000,0.000,35.823,1287.589,10752.176,589.603,1591.664,1263.672,33.376,1446.080,0.000,1531.994,0.000,44.631
$DEVICE_MAMPS,138.827,77.467,1312.337,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,505.156,454.734,392.549,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34803,676
$CFSIZE,260165632,235651072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,010208,124326,6216.733,-1044.748,37,1.8,37,-10.5