version: 66.02
glider: 102
mission: 4
dive: 371
start: 1 30 108 13 6 19
data:
$ID,102
$MISSION,4
$DIVE,371
$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,-84505.43
$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,26
$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
$GPS1,125302,6235.501,-1102.135,35,1.6,35,-10.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-60.8
$GPS2,130433,6235.682,-1101.895,12,1.4,12,-10.7
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EE
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.033,-0.235
$KALMAN_X,545880.9,-572.7,-171.1,-679092.6,4955.7
$KALMAN_Y,103711.9,556.0,631.5,10933.0,3396.3
$MHEAD_RNG_PITCHd_Wd,198.8,19849,-14.7,-8.000
$D_GRID,652
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.23,-146.6,0.0,0.0,0,86,0.00,0.00,-60.83,0.000,2,0.000,0.000,31,1885,2825
$GC,90,-1.23,-146.6,3.1,-3.4,3,132,11.70,2.62,-21.80,0.000,4,0.143,0.061,2224,3302,3476
$GC,306,-1.23,-146.6,23.8,-10.2,12,313,0.00,2.50,0.00,0.000,6,0.000,0.042,2224,1908,3477
$GC,622,-1.23,-146.6,59.7,-12.8,28,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1908,3477
$GC,933,-1.23,-146.6,93.7,-11.1,43,937,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3304,3477
$GC,1011,-1.23,-146.6,102.8,-11.1,46,1017,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1896,3477
$GC,1326,-1.23,-146.6,134.1,-10.5,62,1331,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3309,3477
$GC,1375,-1.23,-146.6,139.3,-10.3,64,1380,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1898,3477
$GC,1691,-1.23,-146.6,172.4,-10.5,79,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3476
$GC,2000,-1.23,-146.6,205.3,-10.6,94,2004,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3304,3477
$GC,2050,-1.23,-146.6,210.4,-10.0,96,2054,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1894,3477
$GC,2372,-1.23,-146.6,241.9,-10.0,112,2376,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3308,3477
$GC,2404,-1.23,-146.6,245.3,-9.7,113,2411,0.00,2.53,0.00,0.000,6,0.000,0.043,2224,1899,3477
$GC,2722,-1.23,-146.6,276.1,-9.9,129,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,3030,-1.23,-146.6,306.7,-9.8,144,3034,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3309,3477
$GC,3069,-1.23,-146.6,310.6,-10.3,146,3073,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1899,3477
$GC,3395,-1.23,-146.6,343.8,-10.3,162,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3477
$GC,3705,-1.23,-146.6,374.9,-9.8,177,3713,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3312,3477
$GC,3763,-1.23,-146.6,380.7,-9.9,179,3767,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1893,3477
$GC,4078,-1.23,-146.6,411.5,-10.0,194,4082,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3305,3477
$GC,4118,-1.23,-146.6,415.5,-9.8,196,4122,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1901,3477
$GC,4444,-1.23,-146.6,449.9,-10.5,212,4449,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3308,3477
$GC,4476,-1.23,-146.6,453.5,-11.0,213,4481,0.00,2.55,0.00,0.000,6,0.000,0.046,2224,1895,3477
$GC,4792,-1.23,-146.6,484.5,-9.6,228,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3477
$GC,5101,-1.23,-146.6,515.1,-9.6,243,5105,0.00,2.58,0.00,0.000,4,0.000,0.051,2224,3308,3477
$GC,5185,-1.23,-146.6,522.7,-8.5,247,5189,0.00,2.55,0.00,0.000,6,0.000,0.046,2224,1895,3477
$GC,5514,-1.23,-146.6,550.8,-9.1,263,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1895,3477
$GC,5820,-1.23,-146.6,579.9,-9.5,278,5825,0.00,2.58,0.00,0.000,4,0.000,0.054,2224,3303,3477
$GC,5883,-1.23,-146.6,585.7,-9.0,281,5887,0.00,2.53,0.00,0.000,6,0.000,0.048,2224,1900,3477
$GC,6209,-1.23,-146.6,614.2,-8.5,297,6214,0.00,2.58,0.00,0.000,4,0.000,0.056,2224,3303,3477
$GC,6361,-1.23,-146.6,627.1,-8.2,304,6366,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1902,3476
$GC,6689,-1.23,-146.6,650.0,-1.9,320,6693,0.00,2.58,0.00,0.000,4,0.000,0.060,2224,3302,3477
$GC,6946,-1.23,-146.6,650.0,-0.1,331,6952,0.00,2.58,0.00,0.000,6,0.000,0.054,2224,1892,3476
$STATE,7011,end dive,NO_VERTICAL_VELOCITY
$STATE,7012,begin apogee
$GC,7019,-0.36,0.0,650.1,0.0,335,7147,0.88,0.00,124.95,1.229,6,0.061,0.000,2419,2106,2878
$STATE,7148,end apogee,CONTROL_FINISHED_OK
$STATE,7148,begin climb
$GC,7150,1.23,146.6,649.7,0.0,341,7281,1.55,2.75,122.80,1.190,4,0.054,0.074,2762,692,2280
$GC,7480,1.24,156.2,632.1,7.6,356,7497,0.00,2.53,9.18,1.172,6,0.000,0.046,2762,2093,2241
$GC,7806,1.27,183.0,609.1,7.0,372,7835,0.00,2.70,23.35,1.197,4,0.000,0.061,2762,3497,2131
$GC,8021,1.27,183.0,591.4,8.8,381,8027,0.00,2.58,0.00,0.000,6,0.000,0.050,2762,2093,2130
$GC,8337,1.29,192.3,567.9,7.6,397,8351,0.00,2.70,8.62,1.199,4,0.000,0.060,2762,3502,2094
$GC,8410,1.29,192.3,562.1,8.4,400,8414,0.00,2.58,0.00,0.000,6,0.000,0.050,2762,2101,2093
$GC,8730,1.29,192.3,535.2,8.4,416,8735,0.00,2.58,0.00,0.000,4,0.000,0.056,2762,3502,2093
$GC,8820,1.29,192.3,527.2,8.6,420,8824,0.00,2.55,0.00,0.000,6,0.000,0.047,2762,2099,2093
$GC,9141,1.29,192.3,501.4,8.0,436,9145,0.00,2.58,0.00,0.000,4,0.000,0.054,2762,3506,2093
$GC,9274,1.29,192.3,490.3,8.7,442,9279,0.00,2.53,0.00,0.000,6,0.000,0.045,2762,2093,2092
$GC,9602,1.29,194.9,464.6,7.9,458,9611,0.00,2.62,3.17,1.061,4,0.000,0.054,2762,3497,2083
$GC,9651,1.29,194.9,460.3,8.7,460,9655,0.00,2.53,0.00,0.000,6,0.000,0.044,2762,2100,2083
$GC,9972,1.31,212.7,435.9,7.3,476,9995,0.00,2.65,15.88,1.123,4,0.000,0.052,2762,3498,2010
$GC,10014,1.32,221.8,432.7,7.7,478,10028,0.00,2.53,8.80,1.090,6,0.000,0.043,2762,2100,1972
$GC,10344,1.32,221.8,405.9,8.3,494,10349,0.00,2.58,0.00,0.000,4,0.000,0.051,2763,3504,1972
$GC,10412,1.32,221.8,399.6,9.4,497,10416,0.00,2.53,0.00,0.000,6,0.000,0.043,2762,2099,1972
$GC,10732,1.32,221.8,369.7,9.5,513,10734,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2099,1973
$GC,11042,1.32,221.8,339.7,9.7,528,11046,0.00,2.55,0.00,0.000,4,0.000,0.051,2762,3502,1973
$GC,11074,1.32,221.8,336.3,9.3,529,11081,0.00,2.53,0.00,0.000,6,0.000,0.041,2762,2092,1973
$GC,11390,1.32,221.8,306.7,9.5,545,11394,0.00,2.58,0.00,0.000,4,0.000,0.051,2762,3502,1973
$GC,11451,1.32,221.8,300.7,10.5,548,11455,0.00,2.50,0.00,0.000,6,0.000,0.041,2762,2096,1973
$GC,11777,1.32,221.8,270.0,9.4,564,11782,0.00,2.58,0.00,0.000,4,0.000,0.051,2762,3507,1974
$GC,11822,1.32,221.8,265.5,9.8,566,11826,0.00,2.50,0.00,0.000,6,0.000,0.041,2762,2098,1973
$GC,12148,1.32,221.8,237.5,8.2,582,12153,0.00,2.55,0.00,0.000,4,0.000,0.051,2762,3503,1974
$GC,12170,1.32,221.8,235.4,9.4,583,12175,0.00,2.50,0.00,0.000,6,0.000,0.041,2762,2100,1973
$GC,12491,1.32,221.8,208.7,8.3,599,12492,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2100,1973
$GC,12801,1.32,221.8,182.7,8.8,614,12805,0.00,2.55,0.00,0.000,4,0.000,0.051,2762,3503,1974
$GC,12858,1.32,221.8,177.5,9.2,616,12864,0.00,2.50,0.00,0.000,6,0.000,0.040,2762,2095,1974
$GC,13173,1.32,221.8,150.5,8.2,632,13177,0.00,2.58,0.00,0.000,4,0.000,0.050,2762,3508,1974
$GC,13194,1.32,221.8,148.6,8.3,633,13198,0.00,2.50,0.00,0.000,6,0.000,0.039,2762,2093,1975
$GC,13516,1.33,230.3,124.0,7.7,649,13530,0.00,2.62,8.30,0.940,4,0.000,0.051,2763,3504,1938
$GC,13561,1.33,230.3,120.3,8.2,651,13566,0.10,2.50,0.00,0.000,6,0.060,0.040,2794,2100,1938
$GC,13887,1.33,230.3,91.0,9.3,667,13892,0.00,2.58,0.00,0.000,4,0.000,0.050,2794,3509,1938
$GC,13973,1.33,230.3,82.7,10.3,671,13977,0.00,2.50,0.00,0.000,6,0.000,0.040,2794,2100,1938
$GC,14299,1.33,230.3,53.8,9.0,687,14304,0.00,2.55,0.00,0.000,4,0.000,0.049,2794,3504,1939
$GC,14394,1.33,230.3,44.5,9.6,691,14398,0.00,2.50,0.00,0.000,6,0.000,0.039,2794,2100,1938
$GC,14710,1.33,230.3,13.9,9.4,706,14715,0.00,2.55,0.00,0.000,4,0.000,0.049,2794,3505,1938
$GC,14773,1.33,230.3,7.6,10.0,709,14777,0.00,2.50,0.00,0.000,6,0.000,0.040,2794,2102,1938
$STATE,14849,end climb,SURFACE_DEPTH_REACHED
$STATE,14849,begin surface coast
$FINISH,0.8,1.015413
$STATE,14871,end surface coast,CONTROL_FINISHED_OK
$STATE,14871,begin surface
$SM_CCo,14894,64.32,0.795,8,0,1655,300.00
$SM_GC,1.41,0.00,0.00,64.32,0.000,0.000,0.795,30,1877,1655,-11.34,-0.65,300.00
$IRIDIUM_FIX,6211.90,-1106.70,250497,131347
$TT8_MAMPS,0.026845
$HUMID,2025
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,23.1,73.538
$10V_AH,10.1,35.653
$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,26.175,159.150,325.050,64.325,0.000,109.093,100.740,235.220,6.000,0.000,0.000,14.362,1394.822,11232.236,573.818,1788.624,757.651,33.390,1483.931,0.000,1750.416,0.000,36.566
$DEVICE_MAMPS,142.662,73.632,1228.734,794.612,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,523.973,481.928,450.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34821,714
$CFSIZE,260165632,236179456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,8,0
$GPS,300108,171757,6235.833,-1056.257,40,3.1,59,-10.7