version: 66.02
glider: 102
mission: 4
dive: 419
start: 2 8 108 11 4 52
data:
$ID,102
$MISSION,4
$DIVE,419
$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,-86820.281
$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,29
$R_STBD_OVSHOOT,38
$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
$GPS1,105738,6148.796,-906.429,35,1.8,35,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-55.7
$GPS2,110310,6148.825,-906.384,12,1.9,13,-9.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.051,-0.232
$KALMAN_X,605563.1,368.0,659.1,-638639.0,568.2
$KALMAN_Y,133985.9,-703.5,-14.0,-104169.2,6058.9
$MHEAD_RNG_PITCHd_Wd,201.7,53685,-14.7,-8.000
$D_GRID,641
$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,-146.6,0.0,0.0,0,107,0.00,0.00,-80.93,0.000,2,0.000,0.000,36,1879,2852
$GC,111,-1.23,-146.6,3.2,-2.7,4,153,11.57,2.65,-20.83,0.000,4,0.138,0.078,2223,495,3476
$GC,277,-1.23,-146.6,20.5,-10.8,11,281,0.00,2.42,0.00,0.000,6,0.000,0.037,2223,1901,3476
$GC,598,-1.23,-146.6,55.0,-11.8,27,603,0.00,2.50,0.00,0.000,4,0.000,0.046,2223,3293,3477
$GC,643,-1.23,-146.6,60.4,-12.3,29,647,0.00,2.47,0.00,0.000,6,0.000,0.041,2223,1906,3476
$GC,964,-1.23,-146.6,96.5,-10.3,45,968,0.00,2.50,0.00,0.000,4,0.000,0.044,2223,3297,3476
$GC,992,-1.23,-146.6,99.0,-8.9,46,996,0.00,2.50,0.00,0.000,6,0.000,0.041,2224,1897,3476
$GC,1308,-1.23,-146.6,128.2,-11.0,61,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1897,3476
$GC,1617,-1.23,-146.6,154.4,-8.3,76,1622,0.00,2.53,0.00,0.000,4,0.000,0.045,2223,3301,3476
$GC,1662,-1.23,-146.6,158.4,-9.2,78,1666,0.00,2.50,0.00,0.000,6,0.000,0.040,2223,1899,3476
$GC,1982,-1.23,-146.6,188.8,-9.2,94,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3476
$GC,2292,-1.23,-146.6,215.7,-8.1,109,2296,0.00,2.50,0.00,0.000,4,0.000,0.045,2223,3295,3476
$GC,2349,-1.23,-146.6,220.5,-8.4,111,2355,0.00,2.50,0.00,0.000,6,0.000,0.040,2223,1891,3476
$GC,2665,-1.23,-146.6,247.9,-8.8,127,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1891,3476
$GC,2977,-1.23,-146.6,276.6,-9.4,142,2981,0.00,2.53,0.00,0.000,4,0.000,0.046,2223,3293,3476
$GC,3021,-1.23,-146.6,281.2,-9.4,144,3025,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1893,3476
$GC,3341,-1.23,-146.6,310.9,-9.3,160,3345,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3295,3476
$GC,3386,-1.23,-146.6,315.3,-9.5,162,3390,0.00,2.47,0.00,0.000,6,0.000,0.042,2223,1899,3476
$GC,3707,-1.23,-146.6,345.0,-8.7,178,3711,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3296,3476
$GC,3756,-1.23,-146.6,349.5,-8.9,180,3761,0.00,2.50,0.00,0.000,6,0.000,0.042,2223,1898,3476
$GC,4072,-1.23,-146.6,378.3,-9.6,195,4077,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3298,3476
$GC,4139,-1.23,-146.6,384.8,-9.3,198,4144,0.00,2.50,0.00,0.000,6,0.000,0.042,2223,1897,3476
$GC,4460,-1.23,-146.6,414.6,-9.7,214,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1897,3476
$GC,4770,-1.23,-146.6,441.5,-8.2,229,4774,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3297,3476
$GC,4827,-1.23,-146.6,446.3,-8.9,231,4832,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1900,3476
$GC,5142,-1.23,-146.6,471.8,-8.1,247,5146,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3297,3476
$GC,5186,-1.23,-146.6,475.5,-8.4,249,5190,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1895,3476
$GC,5507,-1.23,-146.6,500.2,-8.4,265,5511,0.00,2.53,0.00,0.000,4,0.000,0.049,2223,3293,3476
$GC,5547,-1.23,-146.6,503.8,-8.9,267,5551,0.00,2.50,0.00,0.000,6,0.000,0.044,2224,1899,3476
$GC,5874,-1.23,-146.6,532.9,-9.8,283,5878,0.00,2.53,0.00,0.000,4,0.000,0.051,2223,3293,3476
$GC,6013,-1.23,-146.6,545.4,-9.5,289,6017,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1902,3476
$GC,6329,-1.23,-146.6,574.1,-8.2,304,6333,0.00,2.55,0.00,0.000,4,0.000,0.053,2223,3298,3476
$GC,6535,-1.23,-146.6,594.4,-11.3,313,6540,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1902,3476
$GC,6851,-1.23,-146.6,621.5,-8.0,328,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3476
$STATE,7033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7034,begin apogee
$GC,7041,-0.36,0.0,641.1,10.8,337,7169,0.93,0.00,124.85,1.231,6,0.084,0.000,2418,2099,2878
$STATE,7170,end apogee,CONTROL_FINISHED_OK
$STATE,7170,begin climb
$GC,7173,1.23,146.6,643.9,0.0,343,7304,1.55,2.70,123.35,1.194,4,0.051,0.064,2763,3495,2280
$GC,7323,1.23,146.6,631.7,9.5,351,7328,0.00,2.60,0.00,0.000,6,0.000,0.051,2763,2095,2279
$GC,7645,1.23,146.6,608.7,8.2,367,7649,0.00,2.67,0.00,0.000,4,0.000,0.079,2763,693,2278
$GC,7903,1.23,146.6,581.2,10.9,378,7909,0.00,2.55,0.00,0.000,6,0.000,0.049,2763,2100,2277
$GC,8219,1.30,208.6,558.3,5.6,394,8281,0.00,2.72,52.15,1.220,4,0.000,0.063,2763,3501,2027
$GC,8327,1.37,258.5,551.9,6.1,399,8377,0.12,2.60,42.05,1.199,6,0.058,0.052,2796,2098,1824
$GC,8699,1.37,265.6,525.8,7.7,417,8708,0.00,0.00,7.32,1.232,6,0.000,0.000,2796,2098,1795
$GC,9009,1.39,280.1,500.2,7.4,432,9030,0.00,2.67,12.95,1.192,4,0.000,0.055,2796,3499,1736
$GC,9086,1.39,280.1,493.6,9.6,435,9090,0.00,2.53,0.00,0.000,6,0.000,0.046,2796,2101,1735
$GC,9402,1.39,280.1,464.2,9.8,450,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2101,1735
$GC,9711,1.39,280.1,433.0,10.0,465,9715,0.00,2.58,0.00,0.000,4,0.000,0.051,2796,3509,1736
$GC,9732,1.39,280.1,430.8,10.0,466,9737,0.00,2.53,0.00,0.000,6,0.000,0.042,2796,2098,1735
$GC,10053,1.39,280.1,399.5,9.4,482,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2098,1736
$GC,10363,1.39,280.1,368.6,10.3,497,10367,0.00,2.55,0.00,0.000,4,0.000,0.050,2796,3504,1736
$GC,10407,1.39,280.1,363.5,11.5,499,10411,0.00,2.53,0.00,0.000,6,0.000,0.041,2796,2098,1736
$GC,10727,1.39,280.1,329.1,10.5,515,10729,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2098,1737
$GC,11037,1.39,280.1,298.3,9.7,530,11041,0.00,2.55,0.00,0.000,4,0.000,0.049,2796,3506,1737
$GC,11104,1.39,280.1,291.0,11.0,533,11108,0.00,2.53,0.00,0.000,6,0.000,0.040,2796,2093,1737
$GC,11425,1.39,280.1,255.8,11.1,549,11426,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2093,1737
$GC,11734,1.39,280.1,223.3,10.0,564,11738,0.00,2.58,0.00,0.000,4,0.000,0.048,2796,3508,1738
$GC,11761,1.39,280.1,220.4,10.1,565,11765,0.00,2.50,0.00,0.000,6,0.000,0.039,2796,2095,1737
$GC,12076,1.39,280.1,189.9,10.3,580,12081,0.00,2.58,0.00,0.000,4,0.000,0.048,2796,3509,1738
$GC,12116,1.39,280.1,186.2,9.0,582,12121,0.00,2.50,0.00,0.000,6,0.000,0.039,2796,2099,1738
$GC,12443,1.39,280.1,150.4,10.2,598,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2098,1739
$GC,12753,1.39,280.1,115.5,11.6,613,12757,0.00,2.55,0.00,0.000,4,0.000,0.048,2796,3505,1738
$GC,12804,1.39,280.1,108.8,13.5,615,12808,0.00,2.50,0.00,0.000,6,0.000,0.038,2796,2093,1739
$GC,13121,1.41,295.9,79.2,7.4,630,13139,0.00,0.00,14.30,0.900,6,0.000,0.000,2796,2093,1671
$GC,13450,1.41,295.9,47.2,9.3,646,13455,0.00,2.58,0.00,0.000,4,0.000,0.047,2796,3508,1671
$GC,13506,1.41,295.9,40.7,10.0,648,13513,0.00,2.50,0.00,0.000,6,0.000,0.038,2796,2098,1671
$GC,13822,1.41,295.9,3.5,11.4,664,13823,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2098,1671
$STATE,13840,end climb,SURFACE_DEPTH_REACHED
$STATE,13840,begin surface coast
$FINISH,1.0,1.017065
$STATE,13862,end surface coast,CONTROL_FINISHED_OK
$STATE,13862,begin surface
$SM_CCo,13886,3.92,0.889,0,0,1655,300.00
$SM_GC,2.59,0.00,0.00,3.92,0.000,0.000,0.889,34,1887,1655,-11.32,-0.40,300.00
$IRIDIUM_FIX,6121.73,-908.29,040597,070722
$TT8_MAMPS,0.026845
$HUMID,2096
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,22.9,81.533
$10V_AH,10.1,39.390
$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,26.125,127.600,376.975,3.925,0.000,36.275,38.311,139.138,5.500,0.000,0.000,14.890,1267.093,10434.935,510.967,1552.042,513.364,33.372,1315.466,0.000,1517.427,0.000,34.922
$DEVICE_MAMPS,138.060,79.001,1231.802,888.953,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,489.928,448.197,421.703,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34788,666
$CFSIZE,260165632,233463808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,080208,145737,6146.902,-904.372,36,1.1,36,-9.4