version: 66.02
glider: 102
mission: 4
dive: 379
start: 1 31 108 23 38 11
data:
$ID,102
$MISSION,4
$DIVE,379
$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,-3
$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,-86033.914
$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,27
$R_STBD_OVSHOOT,37
$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
$GPS1,232511,6222.660,-1046.788,61,1.1,71,-10.5
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-40.7
$GPS2,233627,6222.509,-1047.036,12,1.6,12,-10.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,DE
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.012,-0.237
$KALMAN_X,577572.9,-440.3,-322.2,-697638.0,5326.2
$KALMAN_Y,96076.2,857.6,-100.7,-5425.0,-2862.1
$MHEAD_RNG_PITCHd_Wd,187.6,17353,-14.7,-8.000
$D_GRID,743
$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,23,-1.23,-146.6,0.0,0.0,0,127,0.00,0.00,-101.32,0.000,2,0.000,0.000,28,1888,2678
$GC,130,-1.23,-146.6,3.6,-2.4,5,173,11.52,2.60,-22.98,0.000,4,0.136,0.064,2223,3284,3477
$GC,425,-1.23,-146.6,40.4,-11.5,18,430,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1898,3477
$GC,747,-1.23,-146.6,76.7,-9.0,34,751,0.00,2.53,0.00,0.000,4,0.000,0.049,2223,3293,3477
$GC,970,-1.23,-146.6,91.2,-5.3,44,974,0.00,2.50,0.00,0.000,6,0.000,0.042,2222,1896,3476
$GC,1291,-1.23,-146.6,124.2,-14.3,60,1295,0.00,2.53,0.00,0.000,4,0.000,0.045,2222,3301,3476
$GC,1381,-1.23,-146.6,139.6,-16.2,64,1385,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1900,3477
$GC,1701,-1.23,-146.6,185.0,-10.9,80,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3477
$GC,2011,-1.23,-146.6,218.9,-7.9,95,2015,0.00,2.50,0.00,0.000,4,0.000,0.046,2222,3295,3477
$GC,2089,-1.23,-146.6,225.0,-8.6,98,2095,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1896,3476
$GC,2405,-1.23,-146.6,244.6,-6.2,114,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1896,3477
$GC,2714,-1.23,-146.6,269.2,-9.5,129,2718,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3294,3477
$GC,2736,-1.23,-146.6,270.6,-6.2,130,2740,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1896,3476
$GC,3057,-1.23,-146.6,294.9,-7.8,146,3061,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3296,3477
$GC,3101,-1.23,-146.6,298.7,-8.7,148,3105,0.00,2.50,0.00,0.000,6,0.000,0.043,2222,1900,3476
$GC,3422,-1.23,-146.6,337.2,-12.0,164,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3476
$GC,3731,-1.23,-146.6,371.2,-10.6,179,3735,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3299,3476
$GC,3764,-1.23,-146.6,375.4,-12.4,180,3771,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1901,3476
$GC,4081,-1.23,-146.6,403.6,-7.6,196,4085,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3299,3476
$GC,4121,-1.23,-146.6,406.9,-8.1,198,4125,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1895,3476
$GC,4448,-1.23,-146.6,432.7,-7.8,214,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1895,3476
$GC,4757,-1.23,-146.6,455.7,-7.9,229,4761,0.00,2.55,0.00,0.000,4,0.000,0.050,2223,3297,3476
$GC,4797,-1.23,-146.6,458.9,-7.7,231,4801,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1895,3476
$GC,5123,-1.23,-146.6,486.9,-9.2,247,5128,0.00,2.53,0.00,0.000,4,0.000,0.050,2223,3294,3476
$GC,5163,-1.23,-146.6,490.9,-10.1,249,5167,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3476
$GC,5489,-1.23,-146.6,522.3,-9.5,265,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3476
$GC,5800,-1.23,-146.6,551.3,-9.5,280,5804,0.00,2.53,0.00,0.000,4,0.000,0.050,2223,3294,3476
$GC,5821,-1.23,-146.6,553.6,-9.8,281,5826,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3476
$GC,6142,-1.23,-146.6,580.8,-8.6,297,6147,0.00,2.53,0.00,0.000,4,0.000,0.050,2223,3295,3475
$GC,6164,-1.23,-146.6,582.8,-9.2,298,6168,0.00,2.50,0.00,0.000,6,0.000,0.044,2222,1899,3475
$GC,6486,-1.23,-146.6,609.1,-7.4,314,6490,0.00,2.53,0.00,0.000,4,0.000,0.051,2222,3297,3475
$GC,6519,-1.23,-146.6,611.6,-8.1,315,6525,0.00,2.53,0.00,0.000,6,0.000,0.046,2222,1895,3475
$GC,6835,-1.23,-146.6,639.3,-9.3,331,6839,0.00,2.55,0.00,0.000,4,0.000,0.053,2222,3293,3475
$GC,6867,-1.23,-146.6,642.9,-10.6,332,6873,0.00,2.53,0.00,0.000,6,0.000,0.047,2222,1895,3475
$GC,7183,-1.23,-146.6,674.0,-10.5,348,7187,0.00,2.55,0.00,0.000,4,0.000,0.055,2223,3292,3476
$GC,7232,-1.23,-146.6,679.3,-10.4,350,7236,0.00,2.53,0.00,0.000,6,0.000,0.048,2222,1896,3475
$GC,7548,-1.23,-146.6,709.7,-9.2,365,7552,0.00,2.58,0.00,0.000,4,0.000,0.057,2222,3298,3475
$GC,7637,-1.23,-146.6,719.0,-9.8,369,7641,0.00,2.55,0.00,0.000,6,0.000,0.051,2222,1899,3475
$STATE,7893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7893,begin apogee
$GC,7900,-0.36,0.0,743.7,9.5,382,8029,0.93,0.00,125.32,1.288,6,0.082,0.000,2418,2103,2878
$STATE,8029,end apogee,CONTROL_FINISHED_OK
$STATE,8029,begin climb
$GC,8032,1.23,146.6,746.5,0.0,388,8164,1.52,2.72,123.78,1.257,4,0.040,0.072,2769,691,2280
$GC,8357,1.23,146.6,729.6,8.3,403,8362,0.00,2.53,0.00,0.000,6,0.000,0.048,2769,2096,2279
$GC,8679,1.29,197.3,710.0,6.1,419,8729,0.00,2.70,43.10,1.275,4,0.000,0.062,2770,3500,2073
$GC,8810,1.29,197.3,699.2,9.6,425,8814,0.00,2.58,0.00,0.000,6,0.000,0.051,2769,2098,2072
$GC,9136,1.29,197.3,669.7,8.8,441,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2098,2070
$GC,9446,1.29,197.3,637.4,10.7,456,9450,0.00,2.60,0.00,0.000,4,0.000,0.057,2769,3502,2070
$GC,9473,1.29,197.3,634.4,10.2,457,9477,0.00,2.53,0.00,0.000,6,0.000,0.047,2770,2099,2069
$GC,9794,1.29,197.3,602.0,9.5,473,9798,0.00,2.58,0.00,0.000,4,0.000,0.054,2769,3504,2069
$GC,9933,1.29,197.3,589.9,8.3,479,9938,0.00,2.55,0.00,0.000,6,0.000,0.045,2769,2095,2069
$GC,10249,1.35,242.0,568.3,6.3,494,10292,0.00,2.65,37.12,1.212,4,0.000,0.053,2770,3501,1890
$GC,10348,1.36,254.7,561.1,7.5,498,10366,0.00,2.55,11.43,1.190,6,0.000,0.045,2770,2098,1840
$GC,10690,1.38,269.3,535.4,7.4,515,10712,0.12,2.65,13.07,1.198,4,0.056,0.051,2806,3502,1780
$GC,10729,1.38,269.3,531.6,9.5,516,10735,0.00,2.55,0.00,0.000,6,0.000,0.044,2806,2096,1780
$GC,11045,1.38,269.3,501.0,10.7,532,11046,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2096,1780
$GC,11354,1.38,269.3,463.0,12.7,547,11358,0.00,2.58,0.00,0.000,4,0.000,0.051,2806,3509,1780
$GC,11381,1.38,269.3,459.3,13.3,548,11385,0.00,2.53,0.00,0.000,6,0.000,0.042,2806,2097,1781
$GC,11697,1.38,269.3,422.9,10.7,563,11701,0.00,2.55,0.00,0.000,4,0.000,0.050,2806,3505,1781
$GC,11752,1.38,269.3,417.6,10.4,565,11758,0.00,2.53,0.00,0.000,6,0.000,0.043,2806,2100,1781
$GC,12068,1.38,269.3,380.7,11.5,581,12072,0.00,2.55,0.00,0.000,4,0.000,0.050,2806,3504,1781
$GC,12095,1.38,269.3,376.8,13.7,582,12099,0.00,2.53,0.00,0.000,6,0.000,0.041,2806,2099,1781
$GC,12411,1.41,291.7,343.2,7.1,597,12436,0.00,2.62,19.70,1.058,4,0.000,0.051,2806,3508,1688
$GC,12470,1.41,291.7,337.6,11.3,600,12475,0.00,2.55,0.00,0.000,6,0.000,0.042,2806,2091,1688
$GC,12798,1.41,291.7,291.2,13.3,616,12802,0.00,2.58,0.00,0.000,4,0.000,0.050,2806,3504,1688
$GC,12864,1.41,291.7,282.3,12.2,619,12868,0.00,2.53,0.00,0.000,6,0.000,0.041,2806,2098,1688
$GC,13185,1.41,291.7,244.7,13.7,635,13189,0.00,2.58,0.00,0.000,4,0.000,0.049,2806,3509,1688
$GC,13274,1.41,291.7,232.1,14.1,639,13278,0.00,2.53,0.00,0.000,6,0.000,0.041,2806,2098,1688
$GC,13595,1.41,291.7,191.7,11.4,655,13599,0.00,2.55,0.00,0.000,4,0.000,0.049,2806,3503,1688
$GC,13628,1.41,291.7,187.5,12.2,656,13634,0.00,2.53,0.00,0.000,6,0.000,0.041,2806,2092,1688
$GC,13943,1.41,291.7,152.8,10.0,672,13945,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2091,1688
$GC,14253,1.41,291.7,115.3,12.1,687,14257,0.00,2.58,0.00,0.000,4,0.000,0.048,2806,3508,1688
$GC,14324,1.41,291.7,105.8,13.9,690,14329,0.00,2.53,0.00,0.000,6,0.000,0.040,2806,2089,1688
$GC,14643,1.41,295.9,68.7,7.8,705,14652,0.00,2.58,4.57,0.909,4,0.000,0.046,2806,3508,1670
$GC,14692,1.53,392.7,64.7,4.3,707,14773,0.10,2.50,74.68,0.853,6,0.063,0.038,2837,2098,1276
$GC,15096,1.53,392.7,18.2,14.6,727,15100,0.00,2.55,0.00,0.000,4,0.000,0.047,2837,3505,1275
$GC,15113,1.53,392.7,15.9,12.3,728,15117,0.00,2.53,0.00,0.000,6,0.000,0.039,2837,2095,1275
$STATE,15210,end climb,SURFACE_DEPTH_REACHED
$STATE,15210,begin surface coast
$FINISH,1.0,1.016292
$STATE,15232,end surface coast,CONTROL_FINISHED_OK
$STATE,15232,begin surface
$SM_CCo,15315,0.00,0.000,0,0,1274,393.46
$SM_GC,1.67,12.23,0.00,0.00,0.035,0.000,0.000,31,1897,1274,-11.27,-0.11,393.46
$IRIDIUM_FIX,6158.08,-1053.13,260497,232359
$TT8_MAMPS,0.026845
$HUMID,2067
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,16.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.2,999.0
$24V_AH,23.1,74.944
$10V_AH,10.1,36.294
$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,26.425,163.575,452.775,0.000,0.000,77.234,142.738,276.874,6.750,0.000,0.000,13.438,1391.660,11474.085,593.457,1776.445,806.494,33.375,1534.165,0.000,1737.397,0.000,41.388
$DEVICE_MAMPS,135.759,72.098,1287.793,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,542.437,494.162,428.587,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37943,734
$CFSIZE,260165632,235757568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,010208,035438,6220.552,-1044.869,37,1.8,37,-10.5