version: 66.02
glider: 102
mission: 4
dive: 341
start: 1 24 108 16 51 56
data:
$ID,102
$MISSION,4
$DIVE,341
$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,-2
$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,-83925.516
$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,30
$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
$GPS1,164438,6252.159,-1243.686,31,1.3,31,-11.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-59.4
$GPS2,165012,6252.102,-1243.574,14,1.6,14,-11.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.146,-0.187
$KALMAN_X,473075.3,-735.2,-1175.3,-694801.2,9353.2
$KALMAN_Y,72115.3,-1641.4,-1768.3,77573.0,4650.5
$MHEAD_RNG_PITCHd_Wd,229.8,18531,-14.7,-8.000
$D_GRID,690
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.23,-146.6,0.0,0.0,0,88,0.00,0.00,-61.65,0.000,2,0.000,0.000,36,1885,2856
$GC,91,-1.23,-146.6,3.4,-4.1,3,129,11.60,2.58,-19.10,0.000,4,0.140,0.061,2223,3301,3476
$GC,249,-1.23,-146.6,19.1,-7.9,9,253,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1908,3476
$GC,569,-1.23,-146.6,62.0,-11.9,25,573,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3304,3476
$GC,631,-1.23,-146.6,68.7,-10.4,28,636,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1897,3476
$GC,958,-1.23,-146.6,98.7,-8.4,44,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1897,3476
$GC,1269,-1.23,-146.6,129.7,-8.1,59,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3476
$GC,1576,-1.23,-146.6,161.9,-11.3,74,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3476
$GC,1886,-1.23,-146.6,193.6,-9.7,89,1890,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3304,3476
$GC,1974,-1.23,-146.6,201.7,-8.8,93,1978,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1893,3477
$GC,2296,-1.23,-146.6,230.0,-8.5,109,2300,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3305,3476
$GC,2345,-1.23,-146.6,234.7,-10.5,111,2349,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1896,3476
$GC,2661,-1.23,-146.6,263.6,-11.8,126,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1896,3476
$GC,2970,-1.23,-146.6,299.1,-12.8,141,2975,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3304,3476
$GC,3048,-1.23,-146.6,310.2,-13.3,144,3054,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1895,3476
$GC,3364,-1.23,-146.6,351.1,-13.0,160,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3476
$GC,3673,-1.23,-146.6,387.5,-11.1,175,3677,0.00,2.55,0.00,0.000,4,0.000,0.049,2223,3304,3477
$GC,3767,-1.23,-146.6,397.2,-10.0,179,3771,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1898,3476
$GC,4083,-1.23,-146.6,428.9,-10.4,194,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3476
$GC,4392,-1.23,-146.6,462.2,-10.8,209,4396,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3306,3476
$GC,4469,-1.23,-146.6,470.7,-10.5,212,4475,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1901,3476
$GC,4785,-1.23,-146.6,503.8,-10.7,228,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3476
$GC,5094,-1.23,-146.6,535.0,-10.1,243,5098,0.00,2.62,0.00,0.000,4,0.000,0.072,2223,497,3476
$GC,5126,-1.23,-146.6,538.7,-11.7,244,5132,0.00,2.47,0.00,0.000,6,0.000,0.042,2224,1913,3476
$GC,5442,-1.23,-146.6,570.4,-9.1,260,5446,0.00,2.50,0.00,0.000,4,0.000,0.054,2223,3298,3476
$GC,5564,-1.23,-146.6,581.2,-8.5,265,5571,0.00,2.53,0.00,0.000,6,0.000,0.049,2223,1903,3476
$GC,5880,-1.23,-146.6,608.0,-8.2,281,5885,0.00,2.55,0.00,0.000,4,0.000,0.054,2223,3299,3476
$GC,6043,-1.23,-146.6,623.0,-9.5,288,6047,0.00,2.55,0.00,0.000,6,0.000,0.051,2223,1895,3476
$GC,6360,-1.23,-146.6,650.6,-8.5,303,6365,0.00,2.58,0.00,0.000,4,0.000,0.058,2224,3297,3476
$GC,6427,-1.23,-146.6,656.2,-8.7,306,6431,0.00,2.55,0.00,0.000,6,0.000,0.053,2223,1898,3476
$GC,6748,-1.23,-146.6,679.9,-7.5,322,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1897,3476
$STATE,6869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6869,begin apogee
$GC,6875,-0.36,0.0,690.3,8.6,328,7003,0.90,0.00,125.00,1.266,6,0.082,0.000,2414,2095,2878
$STATE,7004,end apogee,CONTROL_FINISHED_OK
$STATE,7004,begin climb
$GC,7007,1.23,146.6,693.8,0.0,334,7138,1.58,2.70,122.95,1.231,4,0.057,0.066,2763,3499,2280
$GC,7202,1.30,201.3,688.7,5.9,343,7254,0.00,2.58,46.45,1.217,6,0.000,0.053,2763,2101,2057
$GC,7565,1.33,226.8,663.4,7.0,361,7594,0.00,2.70,22.27,1.233,4,0.000,0.062,2763,3492,1953
$GC,7623,1.33,231.9,658.7,7.8,363,7635,0.05,2.55,5.55,1.146,6,0.056,0.054,2786,2105,1932
$GC,7956,1.33,231.9,626.5,10.6,380,7961,0.00,2.60,0.00,0.000,4,0.000,0.061,2786,3497,1931
$GC,8063,1.33,231.9,613.6,10.6,385,8068,0.00,2.58,0.00,0.000,6,0.000,0.054,2785,2096,1930
$GC,8390,1.33,231.9,578.4,10.4,401,8394,0.00,2.60,0.00,0.000,4,0.000,0.059,2785,3499,1930
$GC,8529,1.33,231.9,563.0,10.7,407,8533,0.00,2.53,0.00,0.000,6,0.000,0.049,2786,2102,1929
$GC,8844,1.33,231.9,531.5,10.1,422,8849,0.00,2.58,0.00,0.000,4,0.000,0.057,2786,3498,1928
$GC,8907,1.33,231.9,525.2,9.6,425,8911,0.00,2.53,0.00,0.000,6,0.000,0.048,2785,2093,1928
$GC,9233,1.33,231.9,494.3,9.1,441,9237,0.00,2.58,0.00,0.000,4,0.000,0.055,2786,3499,1928
$GC,9317,1.33,231.9,486.4,9.6,445,9321,0.00,2.53,0.00,0.000,6,0.000,0.046,2786,2097,1928
$GC,9644,1.33,231.9,458.0,8.7,461,9648,0.00,2.58,0.00,0.000,4,0.000,0.054,2786,3501,1928
$GC,9705,1.33,231.9,452.3,9.4,464,9709,0.00,2.53,0.00,0.000,6,0.000,0.045,2786,2095,1928
$GC,10031,1.33,231.9,422.3,8.9,480,10036,0.00,2.58,0.00,0.000,4,0.000,0.053,2786,3499,1927
$GC,10087,1.33,231.9,417.0,9.9,482,10093,0.00,2.50,0.00,0.000,6,0.000,0.044,2786,2099,1928
$GC,10402,1.33,231.9,388.1,9.1,498,10406,0.00,2.55,0.00,0.000,4,0.000,0.052,2786,3500,1928
$GC,10496,1.33,231.9,378.8,10.3,502,10501,0.00,2.50,0.00,0.000,6,0.000,0.043,2786,2099,1929
$GC,10812,1.33,231.9,349.4,9.4,517,10816,0.00,2.55,0.00,0.000,4,0.000,0.052,2786,3505,1929
$GC,10866,1.33,231.9,344.0,9.6,519,10873,0.00,2.53,0.00,0.000,6,0.000,0.043,2785,2097,1929
$GC,11182,1.33,231.9,315.4,8.8,535,11186,0.00,2.55,0.00,0.000,4,0.000,0.051,2786,3506,1929
$GC,11254,1.33,231.9,308.0,10.4,538,11259,0.00,2.53,0.00,0.000,6,0.000,0.042,2786,2093,1930
$GC,11570,1.33,231.9,279.3,8.8,553,11574,0.00,2.58,0.00,0.000,4,0.000,0.052,2786,3505,1930
$GC,11625,1.33,231.9,274.0,9.7,555,11631,0.00,2.50,0.00,0.000,6,0.000,0.041,2786,2100,1930
$GC,11940,1.33,231.9,246.1,8.4,571,11945,0.00,2.55,0.00,0.000,4,0.000,0.051,2786,3502,1930
$GC,11980,1.33,231.9,242.5,9.7,573,11984,0.00,2.50,0.00,0.000,6,0.000,0.041,2786,2092,1930
$GC,12306,1.36,255.8,220.4,7.1,589,12331,0.00,2.60,19.80,0.983,4,0.000,0.051,2786,3498,1835
$GC,12366,1.36,255.8,215.0,9.0,592,12370,0.00,2.53,0.00,0.000,6,0.000,0.041,2786,2098,1835
$GC,12692,1.36,255.8,181.0,11.2,608,12696,0.00,2.55,0.00,0.000,4,0.000,0.051,2786,3499,1835
$GC,12786,1.36,255.8,170.2,11.4,612,12790,0.00,2.50,0.00,0.000,6,0.000,0.041,2786,2098,1835
$GC,13103,1.36,255.8,144.3,8.2,627,13107,0.00,2.55,0.00,0.000,4,0.000,0.050,2786,3500,1835
$GC,13153,1.36,255.8,138.8,10.7,629,13157,0.00,2.50,0.00,0.000,6,0.000,0.041,2785,2096,1835
$GC,13470,1.38,268.8,111.5,7.5,644,13491,0.00,2.62,11.48,0.922,4,0.000,0.049,2786,3499,1781
$GC,13537,1.38,268.8,105.7,8.2,647,13542,0.00,2.50,0.00,0.000,6,0.000,0.040,2786,2094,1781
$GC,13865,1.38,268.8,71.2,12.3,663,13866,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2094,1781
$GC,14175,1.38,268.8,42.0,8.9,678,14179,0.00,2.55,0.00,0.000,4,0.000,0.049,2786,3499,1781
$GC,14215,1.40,284.1,38.7,7.4,680,14236,0.00,2.50,13.23,0.871,6,0.000,0.040,2786,2100,1718
$GC,14546,1.40,284.1,7.4,9.0,696,14547,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2100,1718
$STATE,14605,end climb,SURFACE_DEPTH_REACHED
$STATE,14605,begin surface coast
$FINISH,0.8,1.001556
$STATE,14627,end surface coast,CONTROL_FINISHED_OK
$STATE,14627,begin surface
$SM_CCo,14649,13.98,0.843,1,0,1655,300.00
$SM_GC,1.24,0.00,0.00,13.98,0.000,0.000,0.843,30,1885,1655,-11.34,-0.42,300.00
$IRIDIUM_FIX,6230.49,-1245.54,190497,121244
$TT8_MAMPS,0.027612
$HUMID,2064
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,999.0
$24V_AH,23.2,68.833
$10V_AH,10.1,33.253
$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,26.025,148.400,366.725,13.975,0.000,39.297,34.079,149.001,6.000,0.000,0.000,16.120,1351.425,10992.184,509.622,1709.225,496.578,33.363,1392.777,0.000,1671.781,0.000,38.155
$DEVICE_MAMPS,140.361,72.098,1266.317,842.933,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,522.720,473.059,438.827,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34837,700
$CFSIZE,260165632,237985792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,1,0
$GPS,240108,205738,6248.460,-1240.473,36,1.3,36,-11.7