version: 66.02
glider: 102
mission: 4
dive: 387
start: 2 2 108 15 31 53
data:
$ID,102
$MISSION,4
$DIVE,387
$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,-86187.781
$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,25
$R_STBD_OVSHOOT,33
$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
$GPS1,152307,6208.012,-1034.462,38,0.9,38,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-58.9
$GPS2,153009,6208.072,-1034.330,14,1.0,14,-10.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,CE
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.237,0.015
$KALMAN_X,552642.6,2669.7,1344.3,-666378.2,-8164.7
$KALMAN_Y,79297.4,2041.0,1280.9,-17965.8,-8712.8
$MHEAD_RNG_PITCHd_Wd,96.6,38857,-14.7,-8.000
$D_GRID,889
$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,-146.6,0.0,0.0,0,96,0.00,0.00,-70.95,0.000,2,0.000,0.000,32,1934,2981
$GC,100,-1.23,-146.6,3.5,-2.7,4,132,11.57,2.70,-14.45,0.000,4,0.139,0.079,2225,496,3476
$GC,368,-1.23,-146.6,33.7,-10.6,16,372,0.00,2.47,0.00,0.000,6,0.000,0.038,2225,1908,3476
$GC,689,-1.23,-146.6,63.0,-8.9,32,693,0.00,2.50,0.00,0.000,4,0.000,0.048,2225,3297,3476
$GC,728,-1.23,-146.6,66.6,-9.2,34,733,0.00,2.50,0.00,0.000,6,0.000,0.043,2225,1898,3476
$GC,1055,-1.23,-146.6,93.9,-9.9,50,1060,0.00,2.53,0.00,0.000,4,0.000,0.047,2225,3301,3476
$GC,1083,-1.23,-146.6,97.1,-11.5,51,1087,0.00,2.50,0.00,0.000,6,0.000,0.043,2225,1904,3475
$GC,1401,-1.23,-146.6,137.8,-16.6,66,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1904,3476
$GC,1708,-1.23,-146.6,178.8,-11.9,81,1712,0.00,2.62,0.00,0.000,4,0.000,0.069,2224,492,3476
$GC,1729,-1.23,-146.6,181.8,-13.0,82,1734,0.00,2.47,0.00,0.000,6,0.000,0.041,2224,1905,3476
$GC,2051,-1.23,-146.6,222.1,-14.1,98,2055,0.00,2.50,0.00,0.000,4,0.000,0.049,2225,3294,3476
$GC,2072,-1.23,-146.6,224.7,-11.7,99,2077,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1898,3476
$GC,2398,-1.23,-146.6,261.1,-11.6,115,2402,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3300,3476
$GC,2438,-1.23,-146.6,265.7,-11.7,117,2442,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1894,3476
$GC,2765,-1.23,-146.6,290.5,-6.6,133,2769,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3297,3476
$GC,2809,-1.23,-146.6,294.0,-7.3,135,2813,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1899,3475
$GC,3130,-1.23,-146.6,321.3,-10.5,151,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3476
$GC,3439,-1.23,-146.6,348.8,-8.2,166,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1899,3476
$GC,3750,-1.23,-146.6,375.4,-11.7,181,3754,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3296,3476
$GC,3799,-1.23,-146.6,380.8,-10.8,183,3803,0.00,2.50,0.00,0.000,6,0.000,0.044,2225,1902,3476
$GC,4114,-1.23,-146.6,421.4,-14.1,198,4119,0.00,2.50,0.00,0.000,4,0.000,0.048,2225,3296,3476
$GC,4136,-1.23,-146.6,424.5,-13.8,199,4141,0.00,2.50,0.00,0.000,6,0.000,0.042,2224,1896,3475
$GC,4463,-1.23,-146.6,461.6,-10.2,215,4467,0.00,2.55,0.00,0.000,4,0.000,0.049,2224,3304,3476
$GC,4484,-1.23,-146.6,463.8,-10.1,216,4488,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1896,3476
$GC,4804,-1.23,-146.6,498.4,-11.3,232,4809,0.00,2.55,0.00,0.000,4,0.000,0.050,2225,3304,3476
$GC,4855,-1.23,-146.6,504.0,-10.9,234,4859,0.00,2.50,0.00,0.000,6,0.000,0.045,2224,1899,3476
$GC,5170,-1.23,-146.6,538.4,-10.8,249,5174,0.00,2.53,0.00,0.000,4,0.000,0.049,2225,3298,3476
$GC,5219,-1.23,-146.6,544.0,-11.0,251,5224,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1892,3475
$GC,5536,-1.23,-146.6,580.0,-11.6,266,5540,0.00,2.62,0.00,0.000,4,0.000,0.073,2224,491,3476
$GC,5557,-1.23,-146.6,582.8,-12.1,267,5562,0.00,2.47,0.00,0.000,6,0.000,0.041,2224,1902,3475
$GC,5879,-1.23,-146.6,616.4,-10.0,283,5883,0.00,2.53,0.00,0.000,4,0.000,0.054,2225,3297,3475
$GC,5928,-1.23,-146.6,620.9,-9.1,285,5932,0.00,2.53,0.00,0.000,6,0.000,0.048,2224,1898,3475
$GC,6244,-1.23,-146.6,643.4,-6.4,300,6248,0.00,2.55,0.00,0.000,4,0.000,0.054,2225,3299,3475
$GC,6283,-1.23,-146.6,645.9,-6.6,302,6288,0.00,2.53,0.00,0.000,6,0.000,0.048,2224,1900,3475
$GC,6611,-1.23,-146.6,666.3,-6.4,318,6615,0.00,2.55,0.00,0.000,4,0.000,0.054,2225,3299,3475
$GC,6632,-1.23,-146.6,667.9,-7.0,319,6637,0.00,2.53,0.00,0.000,6,0.000,0.048,2224,1902,3475
$GC,6954,-1.23,-146.6,692.8,-8.5,335,6958,0.00,2.55,0.00,0.000,4,0.000,0.054,2225,3299,3475
$GC,7042,-1.23,-146.6,701.0,-9.0,339,7047,0.00,2.53,0.00,0.000,6,0.000,0.049,2225,1900,3475
$GC,7363,-1.23,-146.6,735.7,-10.9,355,7368,0.00,2.55,0.00,0.000,4,0.000,0.055,2224,3298,3475
$GC,7481,-1.23,-146.6,747.7,-10.6,360,7486,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1895,3475
$GC,7797,-1.23,-146.6,778.7,-9.1,375,7801,0.00,2.58,0.00,0.000,4,0.000,0.058,2224,3299,3475
$GC,7881,-1.23,-146.6,786.4,-10.4,379,7885,0.00,2.55,0.00,0.000,6,0.000,0.054,2224,1897,3475
$GC,8207,-1.23,-146.6,818.6,-8.9,395,8211,0.00,2.60,0.00,0.000,4,0.000,0.061,2224,3303,3474
$GC,8234,-1.23,-146.6,820.8,-8.2,396,8238,0.00,2.58,0.00,0.000,6,0.000,0.054,2224,1901,3474
$GC,8550,-1.23,-146.6,847.5,-9.1,411,8555,0.00,2.58,0.00,0.000,4,0.000,0.059,2224,3298,3473
$GC,8612,-1.23,-146.6,853.7,-10.2,414,8617,0.00,2.58,0.00,0.000,6,0.000,0.056,2225,1896,3473
$GC,8939,-1.23,-146.6,862.3,-0.0,430,8944,0.00,2.60,0.00,0.000,4,0.000,0.063,2225,3297,3472
$STATE,9096,end dive,NO_VERTICAL_VELOCITY
$STATE,9096,begin apogee
$GC,9105,-0.36,0.0,862.2,0.0,437,9236,0.85,0.00,127.80,1.388,6,0.060,0.000,2418,2091,2878
$STATE,9236,end apogee,CONTROL_FINISHED_OK
$STATE,9237,begin climb
$GC,9239,1.23,146.6,862.0,0.0,443,9376,1.55,2.75,126.22,1.344,4,0.051,0.064,2765,3494,2280
$GC,9634,1.27,176.6,835.7,6.9,461,9668,0.00,2.55,26.33,1.344,6,0.000,0.052,2765,2102,2158
$GC,9984,1.27,176.6,805.8,8.2,478,9989,0.00,2.62,0.00,0.000,4,0.000,0.061,2765,3498,2158
$GC,10197,1.31,213.1,787.0,6.6,487,10236,0.00,2.58,31.75,1.345,6,0.000,0.053,2765,2101,2009
$GC,10553,1.31,213.1,755.9,9.6,505,10557,0.00,2.62,0.00,0.000,4,0.000,0.060,2765,3500,2008
$GC,10692,1.31,213.1,743.0,8.5,511,10696,0.00,2.58,0.00,0.000,6,0.000,0.052,2765,2095,2008
$GC,11008,1.31,213.1,717.5,9.4,526,11013,0.00,2.60,0.00,0.000,4,0.000,0.059,2765,3495,2007
$GC,11148,1.31,213.1,702.5,10.4,532,11153,0.00,2.55,0.00,0.000,6,0.000,0.050,2765,2093,2007
$GC,11464,1.31,213.1,669.7,10.4,547,11468,0.00,2.60,0.00,0.000,4,0.000,0.058,2765,3496,2007
$GC,11519,1.31,213.1,663.7,10.9,549,11525,0.00,2.53,0.00,0.000,6,0.000,0.048,2765,2099,2007
$GC,11834,1.31,213.1,633.8,8.6,565,11839,0.00,2.58,0.00,0.000,4,0.000,0.056,2765,3502,2007
$GC,11897,1.31,213.1,628.2,8.5,568,11902,0.00,2.53,0.00,0.000,6,0.000,0.048,2765,2098,2006
$GC,12223,1.31,213.1,599.6,9.7,584,12227,0.00,2.65,0.00,0.000,4,0.000,0.073,2764,688,2006
$GC,12255,1.31,213.1,596.1,9.7,585,12262,0.00,2.47,0.00,0.000,6,0.000,0.043,2765,2097,2006
$GC,12571,1.31,213.1,564.9,9.5,601,12576,0.00,2.55,0.00,0.000,4,0.000,0.054,2765,3498,2006
$GC,12706,1.32,222.3,553.3,7.6,607,12722,0.00,2.53,8.50,1.208,6,0.000,0.045,2765,2098,1970
$GC,13032,1.32,222.3,527.4,8.7,623,13036,0.00,2.55,0.00,0.000,4,0.000,0.053,2765,3498,1971
$GC,13071,1.32,222.3,523.7,9.4,625,13075,0.00,2.53,0.00,0.000,6,0.000,0.044,2765,2093,1971
$GC,13397,1.32,222.3,491.9,10.3,641,13402,0.00,2.58,0.00,0.000,4,0.000,0.052,2765,3498,1971
$GC,13470,1.32,222.3,484.1,10.9,644,13474,0.00,2.53,0.00,0.000,6,0.000,0.043,2764,2093,1971
$GC,13785,1.32,222.3,455.3,9.4,659,13790,0.00,2.58,0.00,0.000,4,0.000,0.052,2765,3501,1972
$GC,13841,1.32,222.3,449.9,9.6,661,13847,0.00,2.53,0.00,0.000,6,0.000,0.043,2765,2091,1972
$GC,14157,1.33,229.9,423.7,7.7,677,14171,0.00,2.62,7.57,1.106,4,0.000,0.051,2765,3498,1940
$GC,14233,1.33,229.9,417.4,8.5,680,14238,0.00,2.53,0.00,0.000,6,0.000,0.043,2765,2099,1940
$GC,14549,1.37,264.4,391.0,6.7,695,14584,0.12,2.62,29.12,1.077,4,0.051,0.051,2803,3502,1799
$GC,14624,1.37,264.4,382.4,10.5,698,14628,0.00,2.55,0.00,0.000,6,0.000,0.043,2803,2098,1799
$GC,14939,1.37,264.4,337.6,15.3,713,14943,0.00,2.58,0.00,0.000,4,0.000,0.049,2803,3505,1799
$GC,15017,1.37,264.4,326.8,13.5,716,15023,0.00,2.50,0.00,0.000,6,0.000,0.043,2803,2104,1800
$GC,15332,1.37,264.4,288.4,11.3,732,15333,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2104,1799
$GC,15641,1.37,264.4,257.6,11.1,747,15646,0.00,2.55,0.00,0.000,4,0.000,0.049,2804,3501,1800
$GC,15704,1.37,264.4,251.5,8.8,750,15708,0.00,2.53,0.00,0.000,6,0.000,0.041,2804,2096,1800
$GC,16030,1.37,264.4,215.8,11.7,766,16035,0.00,2.55,0.00,0.000,4,0.000,0.050,2804,3503,1800
$GC,16086,1.37,264.4,209.6,10.6,768,16092,0.00,2.50,0.00,0.000,6,0.000,0.041,2804,2097,1800
$GC,16402,1.37,264.4,175.5,10.5,784,16406,0.00,2.55,0.00,0.000,4,0.000,0.050,2803,3501,1801
$GC,16434,1.37,264.4,171.4,12.1,785,16441,0.00,2.47,0.00,0.000,6,0.000,0.041,2804,2101,1801
$GC,16750,1.37,264.4,134.1,12.4,801,16754,0.00,2.55,0.00,0.000,4,0.000,0.049,2804,3506,1801
$GC,16795,1.37,264.4,128.1,12.2,803,16799,0.00,2.50,0.00,0.000,6,0.000,0.040,2804,2101,1801
$GC,17116,1.37,264.4,87.9,10.5,819,17120,0.00,2.53,0.00,0.000,4,0.000,0.048,2804,3500,1801
$GC,17148,1.37,264.4,84.5,9.7,820,17155,0.00,2.50,0.00,0.000,6,0.000,0.040,2804,2098,1801
$GC,17466,1.37,264.4,57.6,10.2,836,17471,0.00,2.55,0.00,0.000,4,0.000,0.049,2804,3504,1801
$GC,17574,1.37,264.4,42.8,12.6,841,17579,0.00,2.50,0.00,0.000,6,0.000,0.041,2804,2102,1801
$GC,17903,1.37,264.4,8.4,9.1,857,17904,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2102,1801
$STATE,17960,end climb,SURFACE_DEPTH_REACHED
$STATE,17960,begin surface coast
$FINISH,1.0,1.014489
$STATE,17982,end surface coast,CONTROL_FINISHED_OK
$STATE,17982,begin surface
$SM_CCo,18006,33.20,0.822,4,0,1655,300.00
$SM_GC,1.62,0.00,0.00,33.20,0.000,0.000,0.822,29,1885,1655,-11.34,-0.42,300.00
$IRIDIUM_FIX,6144.36,-1043.40,280497,090900
$TT8_MAMPS,0.026078
$HUMID,2060
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.1,999.0
$24V_AH,23.0,76.430
$10V_AH,10.1,36.980
$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,26.075,213.925,357.300,33.200,0.000,39.918,39.185,209.612,7.750,0.000,0.000,15.536,1668.092,13483.053,568.164,2159.732,650.095,33.392,1684.289,0.000,2105.087,0.000,49.492
$DEVICE_MAMPS,138.827,79.001,1387.503,822.224,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,639.542,581.526,481.717,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44347,861
$CFSIZE,260165632,235216896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,4,0
$GPS,020208,203407,6210.557,-1024.786,36,1.1,36,-10.2