version: 66.02
glider: 102
mission: 4
dive: 367
start: 1 29 108 20 34 11
data:
$ID,102
$MISSION,4
$DIVE,367
$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,-84443.109
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,202631,6233.840,-1107.088,36,1.6,36,-10.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-60.7
$GPS2,203227,6233.861,-1107.109,15,1.6,15,-10.8
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.015,-0.237
$KALMAN_X,536610.9,791.3,-1056.5,-674896.1,4744.9
$KALMAN_Y,90233.5,-1954.7,-330.5,24495.4,6884.8
$MHEAD_RNG_PITCHd_Wd,187.1,17507,-14.7,-8.000
$D_GRID,686
$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,26,-1.23,-146.6,0.0,0.0,0,88,0.00,0.00,-60.85,0.000,2,0.000,0.000,28,1878,2856
$GC,92,-1.23,-146.6,3.3,-3.8,3,134,11.62,2.65,-20.73,0.000,4,0.140,0.060,2223,3304,3477
$GC,387,-1.23,-146.6,35.4,-10.3,16,391,0.00,2.53,0.00,0.000,6,0.000,0.042,2223,1899,3477
$GC,708,-1.23,-146.6,66.8,-9.7,32,712,0.00,2.55,0.00,0.000,4,0.000,0.046,2223,3309,3477
$GC,758,-1.23,-146.6,72.1,-10.2,34,762,0.00,2.53,0.00,0.000,6,0.000,0.042,2223,1900,3477
$GC,1073,-1.23,-146.6,104.9,-9.5,49,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1900,3477
$GC,1383,-1.23,-146.6,137.0,-12.6,64,1387,0.00,2.55,0.00,0.000,4,0.000,0.047,2223,3313,3477
$GC,1438,-1.23,-146.6,142.7,-10.0,66,1444,0.00,2.53,0.00,0.000,6,0.000,0.043,2222,1901,3477
$GC,1753,-1.23,-146.6,182.3,-13.1,82,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3477
$GC,2062,-1.23,-146.6,221.9,-12.2,97,2067,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3308,3477
$GC,2148,-1.23,-146.6,231.6,-10.1,101,2152,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1898,3477
$GC,2474,-1.23,-146.6,268.1,-11.4,117,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,2783,-1.23,-146.6,302.8,-10.1,132,2788,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3307,3477
$GC,2856,-1.23,-146.6,310.3,-10.4,135,2860,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1901,3477
$GC,3171,-1.23,-146.6,340.3,-9.5,150,3175,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3313,3477
$GC,3199,-1.23,-146.6,342.9,-9.6,151,3203,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1901,3477
$GC,3514,-1.23,-146.6,372.4,-9.9,166,3519,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3313,3477
$GC,3547,-1.23,-146.6,375.6,-9.8,167,3553,0.00,2.55,0.00,0.000,6,0.000,0.044,2223,1895,3477
$GC,3863,-1.23,-146.6,406.3,-10.0,183,3867,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3307,3477
$GC,3897,-1.23,-146.6,409.8,-10.0,184,3903,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1900,3477
$GC,4212,-1.23,-146.6,441.1,-9.7,200,4216,0.00,2.55,0.00,0.000,4,0.000,0.049,2223,3313,3477
$GC,4275,-1.23,-146.6,447.2,-9.8,203,4279,0.00,2.55,0.00,0.000,6,0.000,0.045,2223,1895,3477
$GC,4601,-1.23,-146.6,477.5,-8.9,219,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3477
$GC,4910,-1.23,-146.6,504.7,-9.1,234,4914,0.00,2.58,0.00,0.000,4,0.000,0.051,2223,3312,3477
$GC,4960,-1.23,-146.6,509.3,-9.0,236,4964,0.00,2.55,0.00,0.000,6,0.000,0.046,2223,1895,3477
$GC,5276,-1.23,-146.6,537.6,-8.9,251,5280,0.00,2.62,0.00,0.000,4,0.000,0.074,2223,496,3477
$GC,5302,-1.23,-146.6,540.1,-9.8,252,5307,0.00,2.47,0.00,0.000,6,0.000,0.042,2224,1912,3477
$GC,5624,-1.23,-146.6,566.8,-8.7,268,5628,0.00,2.50,0.00,0.000,4,0.000,0.053,2223,3294,3477
$GC,5742,-1.23,-146.6,578.0,-9.8,273,5746,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1895,3477
$GC,6057,-1.23,-146.6,609.6,-10.5,288,6062,0.00,2.58,0.00,0.000,4,0.000,0.055,2223,3301,3477
$GC,6107,-1.23,-146.6,615.1,-10.9,290,6112,0.00,2.55,0.00,0.000,6,0.000,0.050,2223,1895,3477
$GC,6423,-1.23,-146.6,645.6,-9.0,305,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1894,3477
$GC,6732,-1.23,-146.6,672.2,-8.7,320,6736,0.00,2.60,0.00,0.000,4,0.000,0.058,2224,3299,3477
$GC,6771,-1.23,-146.6,675.6,-9.0,322,6776,0.00,2.55,0.00,0.000,6,0.000,0.054,2223,1901,3477
$STATE,6889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6889,begin apogee
$GC,6896,-0.36,0.0,686.7,9.4,328,7025,0.88,0.00,125.57,1.251,6,0.065,0.000,2416,2098,2878
$STATE,7026,end apogee,CONTROL_FINISHED_OK
$STATE,7026,begin climb
$GC,7028,1.23,146.6,686.5,0.0,334,7160,1.55,2.75,123.47,1.212,4,0.051,0.074,2764,694,2280
$GC,7420,1.24,155.8,668.6,7.6,352,7434,0.00,2.53,8.98,1.207,6,0.000,0.048,2764,2094,2242
$GC,7751,1.26,171.1,644.1,7.4,368,7772,0.00,2.70,13.65,1.226,4,0.000,0.063,2763,3503,2180
$GC,7818,1.26,171.1,638.6,8.6,371,7823,0.00,2.58,0.00,0.000,6,0.000,0.051,2764,2102,2180
$GC,8145,1.32,220.1,614.3,6.1,387,8194,0.00,2.72,41.67,1.225,4,0.000,0.060,2764,3503,1979
$GC,8230,1.35,245.8,608.7,7.0,391,8260,0.12,2.60,22.50,1.203,6,0.058,0.052,2796,2098,1874
$GC,8583,1.35,245.8,577.3,10.0,408,8588,0.00,2.62,0.00,0.000,4,0.000,0.058,2796,3508,1874
$GC,8719,1.35,245.8,561.5,12.5,414,8723,0.00,2.58,0.00,0.000,6,0.000,0.050,2796,2102,1873
$GC,9039,1.35,245.8,522.6,11.4,430,9044,0.00,2.58,0.00,0.000,4,0.000,0.054,2796,3506,1873
$GC,9084,1.35,245.8,517.7,10.7,432,9088,0.00,2.53,0.00,0.000,6,0.000,0.048,2796,2098,1873
$GC,9410,1.35,245.8,486.8,9.4,448,9415,0.00,2.58,0.00,0.000,4,0.000,0.054,2796,3506,1873
$GC,9541,1.35,245.8,473.2,11.5,454,9545,0.00,2.55,0.00,0.000,6,0.000,0.046,2796,2092,1873
$GC,9866,1.35,245.8,439.9,9.9,470,9871,0.00,2.58,0.00,0.000,4,0.000,0.053,2796,3505,1873
$GC,9956,1.35,245.8,430.3,11.0,474,9960,0.00,2.55,0.00,0.000,6,0.000,0.044,2796,2095,1873
$GC,10277,1.35,245.8,397.2,10.6,490,10281,0.00,2.58,0.00,0.000,4,0.000,0.052,2796,3509,1873
$GC,10366,1.35,245.8,387.1,11.6,494,10370,0.00,2.55,0.00,0.000,6,0.000,0.043,2796,2095,1873
$GC,10687,1.35,245.8,352.9,10.6,510,10691,0.00,2.58,0.00,0.000,4,0.000,0.051,2797,3507,1874
$GC,10736,1.35,245.8,347.4,11.1,512,10740,0.00,2.50,0.00,0.000,6,0.000,0.042,2796,2099,1874
$GC,11057,1.35,245.8,314.5,9.7,528,11061,0.00,2.58,0.00,0.000,4,0.000,0.051,2796,3508,1874
$GC,11119,1.35,245.8,308.3,10.0,531,11123,0.00,2.53,0.00,0.000,6,0.000,0.042,2797,2091,1874
$GC,11445,1.35,245.8,276.2,10.4,547,11450,0.00,2.58,0.00,0.000,4,0.000,0.051,2796,3505,1874
$GC,11501,1.35,245.8,270.3,9.8,549,11507,0.00,2.53,0.00,0.000,6,0.000,0.041,2796,2093,1875
$GC,11816,1.35,245.8,239.1,10.6,565,11821,0.00,2.58,0.00,0.000,4,0.000,0.051,2796,3507,1875
$GC,11901,1.35,245.8,230.1,10.8,569,11905,0.00,2.53,0.00,0.000,6,0.000,0.041,2796,2095,1875
$GC,12227,1.35,245.8,196.6,10.7,585,12231,0.00,2.55,0.00,0.000,4,0.000,0.049,2797,3505,1875
$GC,12312,1.35,245.8,188.2,9.7,589,12316,0.00,2.53,0.00,0.000,6,0.000,0.041,2797,2090,1875
$GC,12638,1.35,245.8,158.8,10.8,605,12642,0.00,2.58,0.00,0.000,4,0.000,0.051,2796,3505,1875
$GC,12755,1.35,245.8,146.8,8.6,610,12759,0.00,2.50,0.00,0.000,6,0.000,0.040,2796,2097,1875
$GC,13070,1.35,245.8,117.4,10.0,625,13075,0.00,2.58,0.00,0.000,4,0.000,0.049,2797,3512,1876
$GC,13165,1.35,245.8,107.1,9.7,629,13169,0.00,2.50,0.00,0.000,6,0.000,0.040,2796,2095,1875
$GC,13482,1.35,247.8,77.0,7.9,644,13486,0.00,2.55,0.00,0.000,4,0.000,0.048,2797,3505,1876
$GC,13553,1.35,247.8,72.1,8.6,647,13558,0.00,2.50,0.00,0.000,6,0.000,0.040,2797,2098,1876
$GC,13871,1.35,247.8,35.7,10.9,662,13880,0.00,2.58,3.47,0.864,4,0.000,0.048,2797,3498,1867
$GC,13921,1.35,247.8,30.0,10.7,664,13925,0.00,2.50,0.00,0.000,6,0.000,0.039,2796,2095,1866
$GC,14243,1.39,278.2,6.6,6.8,680,14273,0.00,2.62,24.42,0.831,4,0.000,0.051,2797,3506,1742
$STATE,14299,end climb,SURFACE_DEPTH_REACHED
$STATE,14299,begin surface coast
$FINISH,1.1,1.027407
$STATE,14307,end surface coast,CONTROL_FINISHED_OK
$STATE,14308,begin surface
$SM_CCo,14333,19.80,0.812,2,0,1655,300.00
$SM_GC,1.85,0.00,0.00,19.80,0.000,0.000,0.812,31,1893,1655,-11.33,-0.20,300.00
$IRIDIUM_FIX,6207.28,-1111.28,240497,161610
$TT8_MAMPS,0.027612
$HUMID,2064
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.1,72.972
$10V_AH,10.1,35.365
$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,26.275,164.525,363.750,19.800,0.000,38.583,42.721,156.207,6.000,0.000,0.000,17.243,1351.087,10607.359,518.362,1765.310,532.932,33.379,1426.747,0.000,1719.681,0.000,38.158
$DEVICE_MAMPS,139.594,74.399,1250.977,812.253,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,506.212,461.433,432.012,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34853,683
$CFSIZE,260165632,236400640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,2,0
$GPS,300108,003437,6234.346,-1105.221,25,1.4,25,-10.8