version: 66.02
glider: 102
mission: 4
dive: 447
start: 2 12 108 6 38 57
data:
$ID,102
$MISSION,4
$DIVE,447
$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,-87332.797
$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,33
$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
$GPS1,062607,6132.412,-819.462,40,1.2,40,-8.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-63.0
$GPS2,063715,6132.363,-819.661,11,1.0,11,-8.9
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FB_DS
$TGT_LATLONG,6127.000,-840.000
$TGT_RADIUS,3704.000
$KALMAN_CONTROL,-0.185,-0.149
$KALMAN_X,645278.3,969.5,-338.1,-636729.8,-93.3
$KALMAN_Y,122931.2,-1535.0,-1443.0,-121382.6,4446.2
$MHEAD_RNG_PITCHd_Wd,240.1,20560,-14.7,-8.000
$D_GRID,579
$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,26,-1.23,-146.6,0.0,0.0,0,86,0.00,0.00,-58.42,0.000,2,0.000,0.000,30,1875,2838
$GC,90,-1.23,-146.6,3.0,-2.8,3,132,11.68,2.62,-22.48,0.000,4,0.140,0.060,2225,3297,3477
$GC,385,-1.23,-146.6,33.3,-10.7,16,390,0.00,2.47,0.00,0.000,6,0.000,0.040,2225,1911,3477
$GC,707,-1.23,-146.6,64.3,-9.8,32,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1911,3477
$GC,1018,-1.23,-146.6,95.3,-10.2,47,1022,0.00,2.50,0.00,0.000,4,0.000,0.045,2225,3298,3477
$GC,1067,-1.23,-146.6,100.8,-10.6,49,1072,0.00,2.50,0.00,0.000,6,0.000,0.040,2225,1895,3477
$GC,1385,-1.23,-146.6,133.9,-10.6,64,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3477
$GC,1692,-1.23,-146.6,166.5,-10.7,79,1696,0.00,2.53,0.00,0.000,4,0.000,0.045,2225,3299,3477
$GC,1792,-1.23,-146.6,177.1,-10.3,83,1798,0.00,2.50,0.00,0.000,6,0.000,0.039,2225,1892,3477
$GC,2108,-1.23,-146.6,209.8,-10.6,99,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1892,3477
$GC,2417,-1.23,-146.6,239.9,-10.0,114,2422,0.00,2.55,0.00,0.000,4,0.000,0.047,2225,3302,3477
$GC,2496,-1.23,-146.6,247.7,-9.6,117,2502,0.00,2.50,0.00,0.000,6,0.000,0.040,2225,1898,3477
$GC,2811,-1.23,-146.6,279.4,-9.9,133,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1898,3477
$GC,3121,-1.23,-146.6,312.3,-10.6,148,3125,0.00,2.53,0.00,0.000,4,0.000,0.046,2225,3301,3477
$GC,3176,-1.23,-146.6,318.4,-10.8,150,3183,0.00,2.50,0.00,0.000,6,0.000,0.040,2225,1895,3477
$GC,3493,-1.23,-146.6,352.3,-10.8,166,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1896,3477
$GC,3802,-1.23,-146.6,385.9,-11.2,181,3803,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3477
$GC,4111,-1.23,-146.6,420.0,-11.3,196,4116,0.00,2.53,0.00,0.000,4,0.000,0.047,2225,3303,3477
$GC,4167,-1.23,-146.6,426.3,-11.2,198,4173,0.00,2.50,0.00,0.000,6,0.000,0.041,2225,1900,3477
$GC,4483,-1.23,-146.6,462.0,-11.3,214,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3477
$GC,4792,-1.23,-146.6,499.5,-12.9,229,4797,0.00,2.53,0.00,0.000,4,0.000,0.049,2225,3298,3477
$GC,4915,-1.23,-146.6,514.5,-11.7,234,4919,0.00,2.50,0.00,0.000,6,0.000,0.041,2225,1893,3477
$GC,5231,-1.23,-146.6,546.0,-9.3,249,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1893,3477
$GC,5540,-1.23,-146.6,570.4,-5.7,264,5544,0.00,2.55,0.00,0.000,4,0.000,0.051,2226,3297,3477
$STATE,5677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5677,begin apogee
$GC,5688,-0.36,0.0,579.2,5.7,270,5820,0.88,0.00,124.53,1.140,6,0.084,0.000,2412,2095,2877
$STATE,5820,end apogee,CONTROL_FINISHED_OK
$STATE,5820,begin climb
$GC,5823,1.23,146.6,580.2,0.0,277,5951,1.62,0.00,123.43,1.106,6,0.056,0.000,2765,2095,2280
$GC,6250,1.30,204.9,554.7,5.8,298,6304,0.00,2.65,49.28,1.099,4,0.000,0.054,2766,3495,2042
$GC,6374,1.37,262.1,547.1,5.8,303,6429,0.12,2.53,47.80,1.087,6,0.057,0.041,2800,2102,1809
$GC,6745,1.43,307.8,521.9,6.3,321,6786,0.00,0.00,38.55,1.085,6,0.000,0.000,2800,2102,1623
$GC,7095,1.43,307.8,495.7,8.6,338,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2102,1623
$GC,7403,1.43,307.8,468.6,8.7,353,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2102,1623
$GC,7713,1.43,307.8,438.6,10.1,368,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2102,1623
$GC,8022,1.43,307.8,405.3,11.2,383,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2102,1623
$GC,8331,1.43,307.8,369.6,11.7,398,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2102,1622
$GC,8640,1.43,307.8,333.8,11.3,413,8642,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2102,1623
$GC,8950,1.43,307.8,297.1,12.1,428,8955,0.00,2.62,0.00,0.000,4,0.000,0.066,2801,688,1623
$GC,9001,1.43,307.8,290.5,12.6,430,9005,0.00,2.47,0.00,0.000,6,0.000,0.038,2800,2101,1623
$GC,9316,1.43,307.8,252.4,11.9,445,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2105,1623
$GC,9626,1.43,307.8,216.7,11.6,460,9627,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2104,1622
$GC,9935,1.43,307.8,182.3,10.9,475,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2105,1623
$GC,10244,1.43,307.8,148.5,10.8,490,10245,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2104,1623
$GC,10554,1.43,307.8,115.3,11.0,505,10559,0.00,2.62,0.00,0.000,4,0.000,0.062,2800,693,1622
$GC,10587,1.43,307.8,111.2,11.8,506,10594,0.00,2.47,0.00,0.000,6,0.000,0.037,2800,2112,1622
$GC,10905,1.43,307.8,75.8,11.8,522,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2115,1623
$GC,11213,1.43,307.8,41.2,10.7,537,11218,0.00,2.65,0.00,0.000,4,0.000,0.061,2800,690,1623
$GC,11253,1.43,307.8,36.6,10.9,539,11257,0.00,2.45,0.00,0.000,6,0.000,0.037,2800,2100,1623
$STATE,11556,end climb,SURFACE_DEPTH_REACHED
$STATE,11556,begin surface coast
$FINISH,1.1,1.007570
$STATE,11578,end surface coast,CONTROL_FINISHED_OK
$STATE,11580,begin surface
$SM_CCo,11664,0.00,0.000,0,0,1621,308.10
$SM_GC,2.09,11.98,0.00,0.00,0.032,0.000,0.000,29,1887,1621,-11.27,-0.37,308.10
$IRIDIUM_FIX,6112.75,-818.67,080597,060652
$TT8_MAMPS,0.026845
$HUMID,2072
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,18.2,999.0
$24V_AH,23.1,85.632
$10V_AH,10.1,41.073
$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,26.275,60.800,383.575,0.000,0.000,113.996,102.325,212.351,5.500,0.000,0.000,13.230,1017.454,9008.551,482.731,1190.448,688.869,33.373,1077.242,0.000,1170.234,0.000,31.698
$DEVICE_MAMPS,140.361,65.962,1139.762,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.177,372.742,377.188,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25441,555
$CFSIZE,260165632,232288256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,120208,095431,6131.512,-823.474,33,1.2,33,-8.9