version: 66.02
glider: 102
mission: 4
dive: 3
start: 11 13 107 21 16 11
data:
$ID,102
$MISSION,4
$DIVE,3
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,-76321.961
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3332
$C_PITCH,2510
$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,21
$R_STBD_OVSHOOT,34
$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,0
$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,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,205844,6132.844,-829.029,13,1.4,13,-9.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-54.8
$GPS2,211432,6132.884,-828.961,35,1.6,35,-9.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.143,-0.217
$KALMAN_X,-90.7,-74.4,-88.8,1212.9,81.8
$KALMAN_Y,75.1,460.4,256.6,-1278.0,-146.0
$MHEAD_RNG_PITCHd_Wd,155.6,6386,-17.9,-10.000
$D_GRID,806
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.46,-146.6,0.0,0.0,0,155,0.00,0.00,-135.85,0.000,6,0.000,0.000,30,1901,3477
$GC,157,-1.46,-146.6,2.4,-2.9,6,178,11.55,2.60,0.00,0.000,4,0.146,0.055,2189,3302,3478
$GC,429,-1.46,-146.6,49.1,-12.8,18,434,0.00,2.55,0.00,0.000,6,0.000,0.046,2189,1901,3477
$GC,756,-1.46,-146.6,90.1,-12.7,34,760,0.00,2.53,0.00,0.000,4,0.000,0.049,2189,3304,3477
$GC,877,-1.46,-146.6,106.0,-11.0,39,885,0.00,2.53,0.00,0.000,6,0.000,0.044,2190,1907,3477
$GC,1193,-1.46,-146.6,146.2,-11.9,55,1197,0.00,2.62,0.00,0.000,4,0.000,0.069,2189,491,3477
$GC,1225,-1.46,-146.6,150.3,-12.3,56,1231,0.00,2.50,0.00,0.000,6,0.000,0.043,2189,1899,3477
$GC,1539,-1.46,-146.6,187.7,-12.3,72,1544,0.00,2.53,0.00,0.000,4,0.000,0.054,2189,3294,3477
$GC,1588,-1.46,-146.6,193.6,-12.1,74,1593,0.00,2.53,0.00,0.000,6,0.000,0.044,2189,1900,3477
$GC,1909,-1.46,-146.6,234.2,-12.2,90,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1900,3477
$GC,2218,-1.46,-146.6,270.2,-11.0,105,2223,0.00,2.50,0.00,0.000,4,0.000,0.048,2189,3298,3477
$GC,2239,-1.46,-146.6,272.5,-10.8,106,2244,0.00,2.53,0.00,0.000,6,0.000,0.044,2190,1897,3477
$GC,2566,-1.46,-146.6,308.7,-11.2,122,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,1897,3477
$GC,2875,-1.46,-146.6,342.7,-10.7,137,2879,0.00,2.58,0.00,0.000,4,0.000,0.067,2189,495,3477
$GC,2901,-1.46,-146.6,345.8,-11.8,138,2907,0.00,2.50,0.00,0.000,6,0.000,0.044,2189,1901,3477
$GC,3222,-1.46,-146.6,381.8,-11.1,154,3226,0.00,2.53,0.00,0.000,4,0.000,0.058,2189,3296,3477
$GC,3293,-1.46,-146.6,389.8,-10.9,157,3298,0.00,2.53,0.00,0.000,6,0.000,0.049,2189,1905,3477
$GC,3617,-1.46,-146.6,426.2,-10.5,173,3621,0.00,2.53,0.00,0.000,4,0.000,0.057,2189,3295,3477
$GC,3664,-1.46,-146.6,431.6,-11.0,175,3670,0.00,2.53,0.00,0.000,6,0.000,0.048,2189,1905,3477
$GC,3986,-1.46,-146.6,466.8,-11.0,191,3990,0.00,2.60,0.00,0.000,4,0.000,0.071,2189,490,3477
$GC,4051,-1.46,-146.6,474.8,-11.4,194,4057,0.00,2.47,0.00,0.000,6,0.000,0.045,2190,1894,3477
$GC,4377,-1.46,-146.6,512.7,-11.3,210,4382,0.00,2.53,0.00,0.000,4,0.000,0.054,2189,3298,3476
$GC,4461,-1.46,-146.6,523.7,-13.1,214,4465,0.00,2.53,0.00,0.000,6,0.000,0.052,2189,1901,3476
$GC,4793,-1.46,-146.6,556.8,-8.2,230,4797,0.00,2.60,0.00,0.000,4,0.000,0.068,2189,488,3476
$GC,4841,-1.46,-146.6,561.4,-10.9,232,4846,0.00,2.50,0.00,0.000,6,0.000,0.046,2189,1898,3476
$GC,5162,-1.46,-146.6,596.2,-11.9,248,5166,0.00,2.65,0.00,0.000,4,0.000,0.077,2189,488,3476
$GC,5290,-1.46,-146.6,613.1,-13.1,254,5294,0.00,2.50,0.00,0.000,6,0.000,0.052,2189,1893,3476
$GC,5622,-1.46,-146.6,650.1,-8.7,270,5626,0.00,2.60,0.00,0.000,4,0.000,0.070,2189,3307,3475
$GC,5661,-1.46,-146.6,653.6,-9.3,272,5665,0.00,2.58,0.00,0.000,6,0.000,0.059,2189,1900,3476
$GC,5986,-1.46,-146.6,682.7,-8.9,288,5990,0.00,2.60,0.00,0.000,4,0.000,0.065,2189,3308,3475
$GC,6073,-1.46,-146.6,693.5,-12.2,292,6078,0.00,2.60,0.00,0.000,6,0.000,0.058,2189,1902,3474
$GC,6400,-1.46,-146.6,730.4,-11.8,308,6404,0.00,2.67,0.00,0.000,4,0.000,0.084,2189,489,3473
$GC,6438,-1.46,-146.6,735.7,-14.7,310,6443,0.00,2.55,0.00,0.000,6,0.000,0.059,2189,1905,3473
$GC,6770,-1.46,-146.6,780.9,-14.7,326,6775,0.00,2.62,0.00,0.000,4,0.000,0.077,2189,3301,3471
$GC,6831,-1.46,-146.6,787.6,-11.0,329,6835,0.00,2.60,0.00,0.000,6,0.000,0.072,2189,1899,3471
$STATE,6976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6976,begin apogee
$GC,6980,-0.36,0.0,809.1,15.2,336,7106,1.15,0.00,122.68,1.445,6,0.087,0.000,2433,2102,2878
$STATE,7107,end apogee,CONTROL_FINISHED_OK
$STATE,7107,begin climb
$GC,7108,1.46,146.6,814.4,0.0,342,7239,1.77,2.80,121.82,1.376,4,0.054,0.082,2825,3502,2280
$GC,7299,1.46,146.6,804.0,10.3,351,7304,0.00,2.70,0.00,0.000,6,0.000,0.071,2825,2105,2280
$GC,7627,1.59,252.0,768.7,5.1,367,7722,0.15,2.75,87.78,1.362,4,0.065,0.071,2862,3504,1850
$GC,7975,1.64,293.6,732.0,8.0,383,8017,0.00,2.67,35.40,1.352,6,0.000,0.068,2862,2094,1680
$GC,8324,1.64,293.6,678.9,16.0,400,8328,0.00,2.62,0.00,0.000,4,0.000,0.067,2862,3500,1679
$GC,8564,1.64,293.6,648.3,12.0,410,8572,0.00,2.65,0.00,0.000,6,0.000,0.064,2861,2100,1678
$GC,8880,1.64,293.6,607.7,13.4,426,8885,0.00,2.70,0.00,0.000,4,0.000,0.085,2861,690,1676
$GC,8889,1.64,293.6,606.0,13.8,426,8896,0.00,2.58,0.00,0.000,6,0.000,0.054,2861,2097,1676
$GC,9205,1.64,293.6,562.7,12.6,442,9209,0.00,2.67,0.00,0.000,4,0.000,0.079,2862,689,1676
$GC,9253,1.64,293.6,556.3,12.6,444,9258,0.00,2.55,0.00,0.000,6,0.000,0.051,2862,2093,1676
$GC,9574,1.64,293.6,511.4,14.7,460,9578,0.00,2.58,0.00,0.000,4,0.000,0.055,2862,3506,1676
$GC,9685,1.64,293.6,493.3,15.8,465,9690,0.00,2.60,0.00,0.000,6,0.000,0.055,2862,2097,1676
$GC,10012,1.64,293.6,443.5,14.9,481,10016,0.00,2.58,0.00,0.000,4,0.000,0.051,2862,3512,1676
$GC,10095,1.64,293.6,430.7,15.3,485,10099,0.00,2.55,0.00,0.000,6,0.000,0.047,2862,2092,1676
$GC,10420,1.64,293.6,383.4,14.6,501,10424,0.00,2.55,0.00,0.000,4,0.000,0.050,2862,3510,1677
$GC,10507,1.64,293.6,369.8,15.2,505,10512,0.00,2.58,0.00,0.000,6,0.000,0.045,2862,2098,1677
$GC,10835,1.64,293.6,321.4,14.3,521,10839,0.00,2.53,0.00,0.000,4,0.000,0.048,2862,3506,1678
$GC,10944,1.64,293.6,304.7,15.2,526,10949,0.00,2.55,0.00,0.000,6,0.000,0.044,2862,2102,1679
$GC,11271,1.64,293.6,257.0,14.5,542,11275,0.00,2.53,0.00,0.000,4,0.000,0.048,2862,3514,1680
$GC,11451,1.64,293.6,229.8,15.4,550,11455,0.00,2.50,0.00,0.000,6,0.000,0.042,2862,2097,1680
$GC,11776,1.64,293.6,183.3,14.2,566,11780,0.00,2.53,0.00,0.000,4,0.000,0.046,2862,3507,1681
$GC,11836,1.64,293.6,174.3,14.4,569,11840,0.00,2.47,0.00,0.000,6,0.000,0.042,2862,2100,1681
$GC,12170,1.64,293.6,128.0,13.6,585,12174,0.00,2.53,0.00,0.000,4,0.000,0.046,2862,3511,1682
$GC,12298,1.64,293.6,110.4,13.8,591,12302,0.00,2.47,0.00,0.000,6,0.000,0.041,2862,2098,1682
$GC,12623,1.64,293.6,64.1,14.3,607,12627,0.00,2.53,0.00,0.000,4,0.000,0.046,2862,3512,1683
$GC,12721,1.64,293.6,48.7,15.1,611,12729,0.00,2.50,0.00,0.000,6,0.000,0.040,2862,2101,1684
$GC,13037,1.64,293.6,6.2,13.5,627,13041,0.00,2.53,0.00,0.000,4,0.000,0.045,2862,3516,1684
$STATE,13067,end climb,SURFACE_DEPTH_REACHED
$STATE,13067,begin surface coast
$FINISH,0.6,1.027279
$STATE,13075,end surface coast,CONTROL_FINISHED_OK
$STATE,13075,begin surface
$SM_CCo,13096,6.50,0.877,0,0,1655,300.00
$SM_GC,1.68,0.00,0.00,6.50,0.000,0.000,0.877,36,1892,1655,-11.38,-0.23,300.00
$IRIDIUM_FIX,6108.28,-822.48,141107,010120
$TT8_MAMPS,0.026845
$HUMID,2151
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.70
$XPDR_PINGS,79
$ALTIM_BOTTOM_PING,752.1,71.0
$24V_AH,23.3,12.629
$10V_AH,10.1,5.255
$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,26.850,154.825,367.675,6.500,0.000,0.000,0.000,0.000,26.500,0.000,0.000,37.070,1251.786,9573.769,561.017,1748.900,107.157,31.418,1442.623,0.000,1677.012,0.000,47.290
$DEVICE_MAMPS,146.497,85.137,1445.028,876.681,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.830,423.608,363.476,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31677,629
$CFSIZE,260165632,257675264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,141107,005538,6133.878,-827.739,30,1.0,30,-9.0