version: 66.02
glider: 102
mission: 4
dive: 318
start: 1 21 108 0 37 29
data:
$ID,102
$MISSION,4
$DIVE,318
$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,-1
$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,-83515.617
$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,31
$R_STBD_OVSHOOT,25
$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
$GPS1,003028,6319.865,-1301.853,31,4.5,50,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-60.1
$GPS2,003623,6319.884,-1301.949,13,5.3,32,-12.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.138,-0.194
$KALMAN_X,414079.3,2572.1,685.6,-657239.8,-1165.3
$KALMAN_Y,55868.7,143.3,-422.3,142091.4,5492.0
$MHEAD_RNG_PITCHd_Wd,227.6,14148,-14.7,-8.000
$D_GRID,650
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,85,0.00,0.00,-59.72,0.000,2,0.000,0.000,34,1878,2844
$GC,88,-1.23,-146.6,3.7,-3.4,3,131,11.60,2.65,-20.95,0.000,4,0.140,0.061,2221,3304,3477
$GC,383,-1.23,-146.6,39.5,-12.7,16,388,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1908,3477
$GC,705,-1.23,-146.6,78.4,-11.2,32,709,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3310,3477
$GC,816,-1.23,-146.6,90.4,-9.5,37,820,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1898,3477
$GC,1136,-1.23,-146.6,122.3,-9.7,53,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1898,3477
$GC,1445,-1.23,-146.6,157.9,-11.5,68,1450,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3312,3477
$GC,1523,-1.23,-146.6,166.2,-10.3,71,1529,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1896,3477
$GC,1839,-1.23,-146.6,200.7,-10.4,87,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1896,3478
$GC,2148,-1.23,-146.6,230.7,-9.0,102,2152,0.00,2.55,0.00,0.000,4,0.000,0.048,2222,3314,3477
$GC,2197,-1.23,-146.6,235.6,-9.5,104,2202,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1900,3477
$GC,2512,-1.23,-146.6,268.2,-10.4,119,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3477
$GC,2822,-1.23,-146.6,299.8,-10.1,134,2827,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3306,3477
$GC,2871,-1.23,-146.6,305.5,-10.9,136,2875,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1896,3477
$GC,3192,-1.23,-146.6,338.9,-10.8,152,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3477
$GC,3502,-1.23,-146.6,374.5,-11.6,167,3507,0.00,2.55,0.00,0.000,4,0.000,0.050,2221,3311,3477
$GC,3557,-1.23,-146.6,381.4,-12.3,169,3561,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1898,3477
$GC,3872,-1.23,-146.6,419.5,-11.1,184,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3477
$GC,4183,-1.23,-146.6,452.0,-10.7,199,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3477
$GC,4491,-1.23,-146.6,484.6,-10.0,214,4495,0.00,2.53,0.00,0.000,4,0.000,0.050,2222,3307,3478
$GC,4607,-1.23,-146.6,496.3,-9.6,219,4611,0.00,2.53,0.00,0.000,6,0.000,0.046,2222,1897,3477
$GC,4924,-1.23,-146.6,525.6,-9.0,234,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1897,3477
$GC,5232,-1.23,-146.6,555.1,-9.7,249,5236,0.00,2.55,0.00,0.000,4,0.000,0.052,2222,3304,3478
$GC,5343,-1.23,-146.6,565.0,-8.3,254,5347,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1900,3477
$GC,5663,-1.23,-146.6,591.4,-8.1,270,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3477
$GC,5973,-1.23,-146.6,614.5,-6.8,285,5977,0.00,2.62,0.00,0.000,4,0.000,0.075,2222,496,3477
$GC,6039,-1.23,-146.6,620.5,-9.7,288,6043,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1912,3477
$STATE,6337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6337,begin apogee
$GC,6343,-0.36,0.0,650.6,9.7,303,6471,0.93,0.00,124.62,1.206,6,0.083,0.000,2417,2105,2878
$STATE,6472,end apogee,CONTROL_FINISHED_OK
$STATE,6472,begin climb
$GC,6474,1.23,146.6,654.9,0.0,309,6605,1.55,2.72,122.60,1.168,4,0.056,0.070,2760,695,2280
$GC,6861,1.23,146.6,632.9,9.1,326,6867,0.00,2.53,0.00,0.000,6,0.000,0.045,2760,2100,2279
$GC,7177,1.25,165.9,609.6,7.3,342,7196,0.00,0.00,17.05,1.187,6,0.000,0.000,2760,2099,2201
$GC,7506,1.26,168.9,584.9,7.9,358,7515,0.00,2.67,3.72,1.101,4,0.000,0.073,2760,694,2189
$GC,7544,1.26,168.9,581.8,8.2,359,7550,0.00,2.50,0.00,0.000,6,0.000,0.045,2761,2098,2189
$GC,7859,1.30,202.8,560.2,6.7,375,7894,0.00,2.65,28.75,1.183,4,0.000,0.058,2760,3496,2051
$GC,7952,1.30,202.8,552.9,8.3,379,7956,0.00,2.55,0.00,0.000,6,0.000,0.047,2760,2098,2050
$GC,8272,1.31,210.2,529.0,7.7,395,8287,0.00,2.67,7.28,1.160,4,0.000,0.055,2760,3515,2020
$GC,8461,1.33,226.7,513.1,7.4,403,8482,0.10,2.55,14.60,1.152,6,0.062,0.044,2790,2094,1953
$GC,8805,1.33,226.7,483.1,8.8,420,8809,0.00,2.58,0.00,0.000,4,0.000,0.054,2790,3505,1953
$GC,8876,1.33,226.7,475.9,9.7,423,8881,0.00,2.53,0.00,0.000,6,0.000,0.046,2790,2100,1953
$GC,9197,1.33,226.7,445.8,9.5,439,9202,0.00,2.58,0.00,0.000,4,0.000,0.052,2789,3509,1953
$GC,9292,1.33,226.7,436.8,9.0,443,9297,0.00,2.55,0.00,0.000,6,0.000,0.044,2790,2093,1953
$GC,9608,1.33,228.7,411.6,7.9,458,9612,0.00,2.58,0.00,0.000,4,0.000,0.053,2790,3509,1953
$GC,9670,1.33,228.7,406.2,8.6,461,9674,0.00,2.55,0.00,0.000,6,0.000,0.044,2790,2094,1953
$GC,9996,1.34,233.1,380.4,7.8,477,10010,0.00,2.65,6.50,1.066,4,0.000,0.052,2789,3508,1926
$GC,10055,1.34,233.1,375.4,8.0,479,10061,0.00,2.55,0.00,0.000,6,0.000,0.044,2790,2099,1926
$GC,10371,1.34,233.1,348.7,9.0,495,10375,0.00,2.55,0.00,0.000,4,0.000,0.051,2790,3505,1926
$GC,10420,1.34,233.1,343.9,10.0,497,10424,0.00,2.53,0.00,0.000,6,0.000,0.043,2790,2096,1926
$GC,10735,1.34,233.1,312.9,9.7,512,10740,0.00,2.55,0.00,0.000,4,0.000,0.051,2790,3505,1926
$GC,10791,1.34,233.1,307.1,10.1,514,10797,0.00,2.53,0.00,0.000,6,0.000,0.042,2789,2095,1926
$GC,11106,1.34,233.1,275.8,9.7,530,11110,0.00,2.55,0.00,0.000,4,0.000,0.051,2790,3504,1927
$GC,11155,1.34,233.1,270.8,10.2,532,11159,0.00,2.50,0.00,0.000,6,0.000,0.042,2790,2100,1927
$GC,11471,1.35,245.4,244.6,7.5,547,11487,0.00,2.60,10.98,0.989,4,0.000,0.051,2790,3509,1876
$GC,11532,1.35,245.4,239.4,8.1,549,11537,0.00,2.53,0.00,0.000,6,0.000,0.041,2789,2096,1876
$GC,11859,1.40,287.5,215.7,6.4,565,11901,0.00,2.60,34.47,0.936,4,0.000,0.051,2790,3504,1705
$GC,11935,1.42,298.7,210.2,7.6,568,11950,0.00,2.53,9.82,0.927,6,0.000,0.042,2790,2100,1659
$GC,12271,1.44,319.4,186.0,7.2,585,12291,0.00,0.00,17.65,0.919,6,0.000,0.000,2790,2100,1576
$GC,12600,1.44,319.4,156.3,9.9,601,12605,0.00,2.55,0.00,0.000,4,0.000,0.050,2790,3505,1576
$GC,12628,1.45,329.4,154.0,7.6,602,12642,0.00,2.53,9.07,0.919,6,0.000,0.041,2790,2095,1534
$GC,12970,1.54,396.3,132.1,5.5,619,13031,0.17,0.00,53.53,0.856,6,0.050,0.000,2840,2096,1261
$GC,13341,1.54,396.3,79.0,15.5,637,13342,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2095,1261
$GC,13648,1.54,396.3,33.3,13.2,652,13653,0.00,2.62,0.00,0.000,4,0.000,0.070,2840,692,1261
$GC,13675,1.54,396.3,29.6,13.1,653,13679,0.00,2.47,0.00,0.000,6,0.000,0.038,2840,2113,1261
$STATE,13886,end climb,SURFACE_DEPTH_REACHED
$STATE,13886,begin surface coast
$FINISH,1.5,1.011642
$STATE,13907,end surface coast,CONTROL_FINISHED_OK
$STATE,13907,begin surface
$SM_CCo,13990,0.00,0.000,0,0,1260,396.90
$SM_GC,2.26,12.10,0.00,0.00,0.029,0.000,0.000,29,1882,1260,-11.27,-0.48,396.90
$IRIDIUM_FIX,6254.00,-1302.91,210108,000040
$TT8_MAMPS,0.026845
$HUMID,2063
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,17.4,999.0
$24V_AH,23.2,65.510
$10V_AH,10.1,31.711
$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,26.450,123.475,460.650,0.000,0.000,36.788,39.028,147.854,5.750,0.000,0.000,34.410,1255.386,10462.211,557.697,1636.066,448.420,33.376,1396.452,0.000,1580.335,0.000,36.559
$DEVICE_MAMPS,139.594,75.166,1205.724,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,490.875,447.119,397.669,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34797,664
$CFSIZE,260165632,239112192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,210108,043155,6318.726,-1303.027,23,1.3,41,-12.2