version: 66.02
glider: 102
mission: 4
dive: 396
start: 2 4 108 11 1 24
data:
$ID,102
$MISSION,4
$DIVE,396
$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,-86376.359
$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,32
$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
$GPS1,104831,6205.518,-952.411,39,1.2,39,-9.9
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-59.7
$GPS2,105941,6205.333,-952.373,13,2.2,32,-9.9
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.096,-0.218
$KALMAN_X,578823.4,-310.1,208.6,-651335.5,4509.9
$KALMAN_Y,106430.3,-1990.8,-438.0,-44327.3,931.8
$MHEAD_RNG_PITCHd_Wd,213.6,49914,-14.7,-8.000
$D_GRID,745
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,106,0.00,0.00,-80.62,0.000,2,0.000,0.000,30,1884,3272
$GC,110,-1.23,-146.6,4.8,-4.9,4,132,11.62,2.58,-4.45,0.000,4,0.140,0.058,2222,3302,3478
$GC,271,-1.23,-146.6,28.6,-9.6,11,275,0.00,2.53,0.00,0.000,6,0.000,0.043,2221,1902,3478
$GC,599,-1.23,-146.6,67.7,-11.6,27,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3478
$GC,906,-1.23,-146.6,105.8,-12.1,42,911,0.00,2.55,0.00,0.000,4,0.000,0.047,2221,3311,3478
$GC,962,-1.23,-146.6,112.0,-11.0,44,968,0.00,2.53,0.00,0.000,6,0.000,0.042,2221,1897,3478
$GC,1278,-1.23,-146.6,144.5,-10.3,60,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1897,3478
$GC,1587,-1.23,-146.6,174.1,-9.5,75,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1897,3478
$GC,1896,-1.23,-146.6,205.7,-10.6,90,1900,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3305,3478
$GC,1958,-1.23,-146.6,212.4,-10.7,93,1962,0.00,2.50,0.00,0.000,6,0.000,0.041,2220,1901,3478
$GC,2284,-1.23,-146.6,246.3,-10.1,109,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3478
$GC,2594,-1.23,-146.6,276.9,-9.8,124,2598,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3303,3478
$GC,2656,-1.23,-146.6,283.2,-10.3,127,2660,0.00,2.50,0.00,0.000,6,0.000,0.042,2221,1898,3478
$GC,2982,-1.23,-146.6,314.3,-9.7,143,2986,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3305,3478
$GC,3031,-1.23,-146.6,319.2,-9.2,145,3036,0.00,2.53,0.00,0.000,6,0.000,0.043,2221,1894,3478
$GC,3348,-1.23,-146.6,350.0,-9.8,160,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1894,3478
$GC,3656,-1.23,-146.6,380.1,-9.6,175,3660,0.00,2.55,0.00,0.000,4,0.000,0.048,2221,3307,3478
$GC,3718,-1.23,-146.6,386.1,-9.8,178,3723,0.00,2.53,0.00,0.000,6,0.000,0.043,2221,1897,3478
$GC,4045,-1.23,-146.6,417.0,-9.5,194,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1897,3478
$GC,4354,-1.23,-146.6,447.1,-9.7,209,4358,0.00,2.55,0.00,0.000,4,0.000,0.048,2221,3309,3478
$GC,4404,-1.23,-146.6,452.2,-10.3,211,4408,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1897,3478
$GC,4720,-1.23,-146.6,484.1,-10.4,226,4724,0.00,2.55,0.00,0.000,4,0.000,0.049,2221,3309,3478
$GC,4759,-1.23,-146.6,488.4,-10.9,228,4764,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1902,3478
$GC,5086,-1.23,-146.6,522.4,-10.5,244,5090,0.00,2.62,0.00,0.000,4,0.000,0.072,2221,496,3478
$GC,5125,-1.23,-146.6,527.0,-12.1,246,5130,0.00,2.47,0.00,0.000,6,0.000,0.041,2221,1914,3478
$GC,5452,-1.23,-146.6,561.6,-10.7,262,5456,0.00,2.50,0.00,0.000,4,0.000,0.051,2221,3298,3478
$GC,5541,-1.23,-146.6,571.5,-10.2,266,5545,0.00,2.50,0.00,0.000,6,0.000,0.046,2221,1899,3478
$GC,5861,-1.23,-146.6,606.0,-10.3,282,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3478
$GC,6171,-1.23,-146.6,633.8,-8.3,297,6175,0.00,2.55,0.00,0.000,4,0.000,0.054,2221,3298,3478
$GC,6233,-1.23,-146.6,638.8,-8.2,300,6237,0.00,2.53,0.00,0.000,6,0.000,0.047,2221,1897,3478
$GC,6559,-1.23,-146.6,665.5,-8.6,316,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1897,3478
$GC,6869,-1.23,-146.6,695.7,-9.8,331,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1897,3478
$GC,7179,-1.23,-146.6,726.0,-9.5,346,7183,0.00,2.58,0.00,0.000,4,0.000,0.056,2221,3303,3478
$GC,7360,-1.23,-146.6,743.1,-9.1,354,7364,0.00,2.55,0.00,0.000,6,0.000,0.052,2221,1902,3477
$STATE,7389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7390,begin apogee
$GC,7397,-0.36,0.0,745.8,8.1,356,7526,0.93,0.00,125.88,1.305,6,0.079,0.000,2418,2103,2878
$STATE,7527,end apogee,CONTROL_FINISHED_OK
$STATE,7527,begin climb
$GC,7530,1.23,146.6,749.9,0.0,362,7661,1.55,2.67,122.88,1.289,4,0.052,0.064,2763,3497,2280
$GC,7669,1.29,194.1,746.5,6.2,369,7716,0.00,2.60,41.35,1.225,6,0.000,0.049,2763,2096,2086
$GC,8028,1.29,194.1,716.9,8.5,386,8032,0.00,2.62,0.00,0.000,4,0.000,0.061,2763,3499,2085
$GC,8100,1.29,194.1,710.4,8.9,389,8105,0.00,2.58,0.00,0.000,6,0.000,0.052,2763,2102,2084
$GC,8416,1.30,203.5,686.5,7.6,404,8430,0.00,2.67,8.23,1.256,4,0.000,0.061,2763,3495,2048
$GC,8492,1.30,203.5,680.2,8.5,407,8497,0.00,2.55,0.00,0.000,6,0.000,0.051,2763,2099,2048
$GC,8808,1.33,231.3,657.0,6.9,422,8835,0.10,0.00,24.17,1.274,6,0.061,0.000,2792,2098,1934
$GC,9137,1.33,231.3,625.1,10.0,438,9141,0.00,2.60,0.00,0.000,4,0.000,0.057,2792,3499,1934
$GC,9221,1.33,231.3,616.5,10.5,442,9226,0.00,2.55,0.00,0.000,6,0.000,0.048,2792,2096,1933
$GC,9548,1.33,231.3,583.2,10.7,458,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2096,1933
$GC,9856,1.33,231.3,550.6,10.5,473,9861,0.00,2.58,0.00,0.000,4,0.000,0.053,2792,3499,1933
$GC,9901,1.33,231.3,545.6,11.8,475,9905,0.00,2.53,0.00,0.000,6,0.000,0.045,2792,2092,1933
$GC,10222,1.33,231.3,511.9,10.6,491,10226,0.00,2.58,0.00,0.000,4,0.000,0.053,2793,3500,1933
$GC,10262,1.33,231.3,507.3,11.4,493,10266,0.00,2.55,0.00,0.000,6,0.000,0.045,2793,2094,1933
$GC,10588,1.33,231.3,473.8,9.9,509,10593,0.00,2.55,0.00,0.000,4,0.000,0.052,2792,3498,1933
$GC,10651,1.33,231.3,467.5,9.9,512,10655,0.00,2.53,0.00,0.000,6,0.000,0.044,2792,2098,1933
$GC,10977,1.33,231.3,436.1,9.5,528,10981,0.00,2.55,0.00,0.000,4,0.000,0.051,2793,3502,1934
$GC,11066,1.33,231.3,426.7,10.7,532,11070,0.00,2.53,0.00,0.000,6,0.000,0.043,2793,2092,1934
$GC,11386,1.33,231.3,394.5,10.3,548,11390,0.00,2.58,0.00,0.000,4,0.000,0.051,2793,3504,1935
$GC,11448,1.33,231.3,388.0,10.5,551,11453,0.00,2.53,0.00,0.000,6,0.000,0.042,2792,2096,1935
$GC,11775,1.33,231.3,357.7,9.4,567,11780,0.00,2.55,0.00,0.000,4,0.000,0.051,2792,3499,1935
$GC,11838,1.33,231.3,351.6,9.7,570,11842,0.00,2.50,0.00,0.000,6,0.000,0.041,2793,2093,1935
$GC,12165,1.33,231.3,320.7,9.8,586,12169,0.00,2.55,0.00,0.000,4,0.000,0.051,2792,3498,1935
$GC,12242,1.33,231.3,312.1,10.7,589,12248,0.00,2.50,0.00,0.000,6,0.000,0.041,2793,2094,1935
$GC,12558,1.33,231.3,281.5,9.9,605,12562,0.00,2.58,0.00,0.000,4,0.000,0.050,2793,3504,1936
$GC,12624,1.33,231.3,274.9,9.7,608,12628,0.00,2.50,0.00,0.000,6,0.000,0.041,2793,2091,1936
$GC,12945,1.33,231.3,245.8,9.0,624,12949,0.00,2.58,0.00,0.000,4,0.000,0.051,2793,3505,1936
$GC,13056,1.33,231.3,234.6,9.4,629,13061,0.00,2.50,0.00,0.000,6,0.000,0.040,2793,2098,1936
$GC,13378,1.33,231.3,204.6,9.4,645,13382,0.00,2.55,0.00,0.000,4,0.000,0.050,2792,3502,1936
$GC,13455,1.33,231.3,196.6,10.9,648,13461,0.00,2.50,0.00,0.000,6,0.000,0.039,2792,2093,1936
$GC,13771,1.33,231.3,167.0,8.5,664,13775,0.00,2.55,0.00,0.000,4,0.000,0.050,2793,3498,1937
$GC,13837,1.33,231.3,161.3,8.1,667,13841,0.00,2.50,0.00,0.000,6,0.000,0.040,2793,2091,1937
$GC,14159,1.33,231.3,131.4,9.1,683,14163,0.00,2.55,0.00,0.000,4,0.000,0.049,2792,3499,1937
$GC,14266,1.33,231.3,121.0,9.3,688,14270,0.00,2.50,0.00,0.000,6,0.000,0.039,2793,2092,1937
$GC,14593,1.36,252.8,92.7,7.2,704,14618,0.00,2.62,18.08,0.896,4,0.000,0.049,2793,3495,1847
$GC,14669,1.36,252.8,85.4,8.8,707,14673,0.00,2.50,0.00,0.000,6,0.000,0.038,2793,2096,1847
$GC,14985,1.36,252.8,53.3,11.2,722,14986,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2096,1847
$GC,15294,1.36,252.8,20.4,10.3,737,15302,0.00,2.55,0.00,0.000,4,0.000,0.048,2793,3499,1847
$GC,15358,1.36,252.8,12.7,12.2,739,15364,0.00,2.50,0.00,0.000,6,0.000,0.038,2792,2095,1847
$STATE,15465,end climb,SURFACE_DEPTH_REACHED
$STATE,15465,begin surface coast
$FINISH,0.6,1.013772
$STATE,15488,end surface coast,CONTROL_FINISHED_OK
$STATE,15488,begin surface
$SM_CCo,15512,41.33,0.795,5,0,1655,300.00
$SM_GC,1.50,0.00,0.00,41.33,0.000,0.000,0.795,34,1886,1655,-11.32,-0.34,300.00
$IRIDIUM_FIX,6144.36,-956.48,300497,111135
$TT8_MAMPS,0.026845
$HUMID,2075
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.0,77.906
$10V_AH,10.1,37.717
$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,26.075,153.400,340.575,41.325,0.000,68.614,98.510,270.866,6.750,0.000,0.000,34.283,1419.980,11775.695,545.519,1778.513,780.271,33.383,1444.544,0.000,1720.494,0.000,41.398
$DEVICE_MAMPS,139.594,72.098,1305.434,794.612,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,553.874,503.774,440.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37914,746
$CFSIZE,260165632,234684416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,14,5,0
$GPS,040208,152207,6159.856,-951.554,26,1.2,26,-9.9