version: 66.02
glider: 102
mission: 4
dive: 358
start: 1 28 108 2 18 24
data:
$ID,102
$MISSION,4
$DIVE,358
$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,-84276.984
$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,32
$R_STBD_OVSHOOT,21
$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
$GPS1,015607,6231.058,-1140.023,47,0.9,47,-11.1
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-54.8
$GPS2,021639,6231.024,-1139.640,11,1.5,11,-11.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.179,-0.157
$KALMAN_X,519043.9,-827.8,407.7,-685856.5,2299.4
$KALMAN_Y,76728.4,-1752.2,-56.7,32326.5,1166.4
$MHEAD_RNG_PITCHd_Wd,142.3,35777,-14.7,-8.000
$D_GRID,766
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.23,-146.6,0.0,0.0,0,88,0.00,0.00,-60.70,0.000,2,0.000,0.000,34,1883,2850
$GC,92,-1.23,-146.6,3.1,-2.4,3,134,11.57,2.65,-20.45,0.000,4,0.139,0.061,2222,3307,3476
$GC,387,-1.23,-146.6,39.8,-9.2,16,391,0.00,2.50,0.00,0.000,6,0.000,0.041,2222,1909,3477
$GC,708,-1.23,-146.6,78.7,-11.6,32,712,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3310,3477
$GC,747,-1.23,-146.6,82.7,-9.8,34,752,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1899,3477
$GC,1075,-1.23,-146.6,114.5,-9.2,50,1079,0.00,2.62,0.00,0.000,4,0.000,0.069,2223,491,3477
$GC,1092,-1.23,-146.6,116.2,-10.0,51,1096,0.00,2.47,0.00,0.000,6,0.000,0.040,2222,1913,3477
$GC,1418,-1.23,-146.6,157.2,-13.4,67,1422,0.00,2.47,0.00,0.000,4,0.000,0.048,2223,3295,3477
$GC,1473,-1.23,-146.6,163.7,-12.5,69,1479,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1898,3477
$GC,1788,-1.23,-146.6,202.7,-11.8,85,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3477
$GC,2097,-1.23,-146.6,241.7,-12.5,100,2102,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3303,3477
$GC,2153,-1.23,-146.6,248.0,-10.7,102,2159,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1899,3477
$GC,2468,-1.23,-146.6,280.4,-10.2,118,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3477
$GC,2778,-1.23,-146.6,311.2,-9.8,133,2782,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3300,3477
$GC,2822,-1.23,-146.6,315.8,-10.1,135,2826,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1901,3477
$GC,3143,-1.23,-146.6,347.4,-9.9,151,3147,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3299,3477
$GC,3192,-1.23,-146.6,352.5,-9.6,153,3196,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1900,3477
$GC,3508,-1.23,-146.6,382.8,-9.8,168,3512,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3303,3477
$GC,3574,-1.23,-146.6,389.5,-10.4,171,3578,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1900,3477
$GC,3894,-1.23,-146.6,422.3,-10.5,187,3899,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3299,3477
$GC,3912,-1.23,-146.6,424.0,-10.6,188,3916,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1896,3477
$GC,4238,-1.23,-146.6,457.3,-10.1,204,4242,0.00,2.53,0.00,0.000,4,0.000,0.049,2222,3298,3477
$GC,4294,-1.23,-146.6,463.0,-10.3,206,4300,0.00,2.50,0.00,0.000,6,0.000,0.046,2223,1902,3477
$GC,4610,-1.23,-146.6,492.7,-9.1,222,4614,0.00,2.53,0.00,0.000,4,0.000,0.050,2223,3297,3477
$GC,4637,-1.23,-146.6,495.4,-9.3,223,4641,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1893,3477
$GC,4952,-1.23,-146.6,524.6,-9.6,238,4957,0.00,2.55,0.00,0.000,4,0.000,0.051,2223,3297,3477
$GC,5013,-1.23,-146.6,530.5,-9.5,240,5020,0.00,2.53,0.00,0.000,6,0.000,0.047,2223,1893,3477
$GC,5329,-1.23,-146.6,562.4,-10.1,256,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1891,3476
$GC,5638,-1.23,-146.6,593.4,-9.5,271,5642,0.00,2.58,0.00,0.000,4,0.000,0.054,2222,3302,3476
$GC,5713,-1.23,-146.6,600.1,-9.2,274,5717,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1900,3477
$GC,6029,-1.23,-146.6,625.4,-7.8,289,6033,0.00,2.55,0.00,0.000,4,0.000,0.054,2222,3296,3476
$GC,6096,-1.23,-146.6,630.6,-7.5,292,6100,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1898,3476
$GC,6416,-1.23,-146.6,658.5,-9.4,308,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1898,3476
$GC,6725,-1.23,-146.6,687.8,-9.5,323,6730,0.00,2.58,0.00,0.000,4,0.000,0.057,2222,3298,3476
$GC,6792,-1.23,-146.6,694.3,-9.6,326,6797,0.00,2.53,0.00,0.000,6,0.000,0.051,2222,1901,3476
$GC,7113,-1.23,-146.6,723.4,-8.8,342,7117,0.00,2.58,0.00,0.000,4,0.000,0.058,2223,3301,3476
$GC,7201,-1.23,-146.6,731.3,-9.0,346,7205,0.00,2.58,0.00,0.000,6,0.000,0.055,2223,1897,3476
$GC,7522,-1.23,-146.6,759.5,-9.5,362,7526,0.00,2.60,0.00,0.000,4,0.000,0.063,2222,3301,3476
$STATE,7591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7591,begin apogee
$GC,7599,-0.36,0.0,766.3,9.7,365,7731,0.90,0.00,126.32,1.301,6,0.083,0.000,2415,2098,2878
$STATE,7731,end apogee,CONTROL_FINISHED_OK
$STATE,7731,begin climb
$GC,7734,1.23,146.6,771.7,0.0,372,7867,1.58,2.70,124.68,1.270,4,0.054,0.065,2765,3491,2280
$GC,7936,1.28,187.0,764.8,6.5,381,7977,0.00,2.58,35.00,1.268,6,0.000,0.054,2764,2100,2115
$GC,8290,1.29,196.3,738.4,7.6,398,8304,0.00,2.65,8.88,1.250,4,0.000,0.064,2765,3491,2077
$GC,8379,1.29,196.3,730.6,9.4,402,8383,0.00,2.58,0.00,0.000,6,0.000,0.055,2765,2100,2076
$GC,8705,1.29,196.3,703.1,8.5,418,8709,0.00,2.62,0.00,0.000,4,0.000,0.064,2765,3494,2075
$GC,8760,1.29,196.3,698.4,8.6,420,8766,0.00,2.58,0.00,0.000,6,0.000,0.054,2765,2096,2075
$GC,9076,1.34,233.8,676.3,6.6,436,9117,0.00,2.67,31.98,1.283,4,0.000,0.061,2765,3493,1924
$GC,9168,1.35,242.2,669.4,7.7,440,9185,0.10,2.58,8.25,1.253,6,0.060,0.052,2794,2099,1889
$GC,9494,1.35,242.2,639.7,9.9,456,9495,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2099,1888
$GC,9803,1.35,242.2,605.3,11.7,471,9807,0.00,2.58,0.00,0.000,4,0.000,0.057,2794,3499,1888
$GC,9932,1.35,242.2,589.0,13.2,477,9937,0.00,2.55,0.00,0.000,6,0.000,0.048,2794,2091,1888
$GC,10258,1.35,242.2,553.0,10.6,493,10262,0.00,2.58,0.00,0.000,4,0.000,0.054,2794,3494,1888
$GC,10297,1.35,242.2,548.6,11.4,495,10301,0.00,2.55,0.00,0.000,6,0.000,0.048,2794,2093,1888
$GC,10624,1.35,242.2,512.6,11.2,511,10628,0.00,2.55,0.00,0.000,4,0.000,0.054,2795,3494,1888
$GC,10656,1.35,242.2,508.5,12.1,512,10662,0.00,2.53,0.00,0.000,6,0.000,0.047,2794,2101,1888
$GC,10972,1.35,242.2,474.1,11.1,528,10976,0.00,2.53,0.00,0.000,4,0.000,0.052,2794,3494,1888
$GC,11083,1.35,242.2,461.0,11.8,533,11087,0.00,2.53,0.00,0.000,6,0.000,0.045,2794,2098,1888
$GC,11404,1.35,242.2,426.9,10.1,549,11408,0.00,2.55,0.00,0.000,4,0.000,0.052,2794,3501,1888
$GC,11489,1.35,242.2,417.9,10.4,553,11493,0.00,2.53,0.00,0.000,6,0.000,0.044,2794,2099,1888
$GC,11815,1.35,242.2,386.9,8.9,569,11819,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3495,1889
$GC,11870,1.35,242.2,381.6,9.8,571,11876,0.00,2.53,0.00,0.000,6,0.000,0.044,2794,2093,1889
$GC,12186,1.35,242.2,353.9,8.6,587,12190,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3499,1890
$GC,12302,1.35,242.2,342.3,9.6,592,12307,0.00,2.50,0.00,0.000,6,0.000,0.043,2794,2095,1890
$GC,12618,1.35,242.2,310.3,10.7,607,12623,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3495,1891
$GC,12690,1.35,242.2,302.2,10.9,610,12695,0.00,2.50,0.00,0.000,6,0.000,0.042,2794,2099,1890
$GC,13006,1.35,242.2,268.8,10.5,625,13010,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3501,1891
$GC,13068,1.35,242.2,262.1,10.5,628,13072,0.00,2.50,0.00,0.000,6,0.000,0.042,2795,2094,1891
$GC,13394,1.35,242.2,225.6,11.5,644,13398,0.00,2.55,0.00,0.000,4,0.000,0.050,2795,3498,1891
$GC,13437,1.35,242.2,220.1,12.1,646,13442,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2097,1891
$GC,13759,1.35,242.2,183.9,10.8,662,13763,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3501,1891
$GC,13780,1.35,242.2,181.4,11.0,663,13784,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2098,1891
$GC,14101,1.35,242.2,151.6,10.1,679,14105,0.00,2.55,0.00,0.000,4,0.000,0.051,2795,3501,1892
$GC,14213,1.35,245.5,142.3,7.9,684,14222,0.00,2.50,4.28,0.919,6,0.000,0.041,2794,2098,1877
$GC,14540,1.35,245.5,111.1,11.0,700,14544,0.00,2.53,0.00,0.000,4,0.000,0.048,2794,3495,1877
$GC,14624,1.35,245.5,102.5,10.3,704,14629,0.00,2.47,0.00,0.000,6,0.000,0.039,2794,2095,1877
$GC,14952,1.35,245.5,67.4,11.5,720,14956,0.00,2.55,0.00,0.000,4,0.000,0.050,2795,3499,1878
$GC,14984,1.35,245.5,63.3,11.7,721,14991,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2094,1877
$GC,15302,1.35,245.5,26.0,12.5,737,15306,0.00,2.55,0.00,0.000,4,0.000,0.048,2794,3501,1877
$GC,15386,1.35,245.5,15.9,10.8,741,15391,0.00,2.50,0.00,0.000,6,0.000,0.040,2794,2098,1877
$STATE,15546,end climb,SURFACE_DEPTH_REACHED
$STATE,15546,begin surface coast
$FINISH,1.0,1.025615
$STATE,15568,end surface coast,CONTROL_FINISHED_OK
$STATE,15568,begin surface
$SM_CCo,15591,50.55,0.805,6,0,1655,300.00
$SM_GC,1.69,0.00,0.00,50.55,0.000,0.000,0.805,35,1887,1655,-11.32,-0.37,300.00
$IRIDIUM_FIX,6207.28,-1135.06,230497,020209
$TT8_MAMPS,0.026845
$HUMID,2048
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,15.10
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,23.1,71.624
$10V_AH,10.1,34.655
$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,26.300,183.075,339.375,50.550,0.000,191.683,342.971,299.406,7.750,0.000,0.000,13.086,1451.471,11901.238,567.604,1846.769,1192.585,33.371,1529.236,0.000,1809.048,0.000,43.012
$DEVICE_MAMPS,138.827,69.030,1300.832,804.583,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,560.569,507.416,442.330,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37909,750
$CFSIZE,260165632,236916736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,6,0
$GPS,280108,064055,6228.229,-1136.918,24,1.1,41,-11.0