version: 66.02
glider: 102
mission: 4
dive: 427
start: 2 9 108 21 40 14
data:
$ID,102
$MISSION,4
$DIVE,427
$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,-86963.164
$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,33
$R_STBD_OVSHOOT,34
$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
$GPS1,211738,6134.501,-915.747,56,1.0,56,-9.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-53.3
$GPS2,213832,6134.497,-915.104,10,1.4,10,-9.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.221,-0.087
$KALMAN_X,598544.1,182.8,697.6,-639186.7,-3624.4
$KALMAN_Y,133664.5,-761.6,129.3,-130499.7,368.8
$MHEAD_RNG_PITCHd_Wd,120.9,30015,-14.7,-8.000
$D_GRID,773
$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,-146.6,0.0,0.0,0,89,0.00,0.00,-60.97,0.000,2,0.000,0.000,34,1885,2663
$GC,93,-1.23,-146.6,3.3,-2.8,3,138,11.55,2.60,-27.15,0.000,4,0.137,0.060,2223,3293,3477
$GC,236,-1.23,-146.6,17.0,-14.2,9,241,0.00,2.47,0.00,0.000,6,0.000,0.040,2222,1908,3477
$GC,552,-1.23,-146.6,55.1,-12.8,24,557,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3298,3477
$GC,608,-1.23,-146.6,62.6,-13.3,26,615,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1900,3477
$GC,924,-1.23,-146.6,96.2,-8.8,42,929,0.00,2.53,0.00,0.000,4,0.000,0.045,2223,3303,3477
$GC,991,-1.23,-146.6,104.7,-12.5,45,995,0.00,2.50,0.00,0.000,6,0.000,0.040,2223,1899,3477
$GC,1313,-1.23,-146.6,138.1,-10.8,61,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1899,3477
$GC,1622,-1.23,-146.6,172.2,-11.2,76,1626,0.00,2.53,0.00,0.000,4,0.000,0.045,2222,3304,3477
$GC,1643,-1.23,-146.6,174.5,-10.4,77,1648,0.00,2.50,0.00,0.000,6,0.000,0.039,2223,1901,3477
$GC,1970,-1.23,-146.6,211.6,-11.4,93,1974,0.00,2.60,0.00,0.000,4,0.000,0.067,2222,500,3477
$GC,1999,-1.23,-146.6,215.3,-12.9,94,2003,0.00,2.45,0.00,0.000,6,0.000,0.038,2222,1906,3476
$GC,2314,-1.23,-146.6,248.7,-10.8,109,2318,0.00,2.50,0.00,0.000,4,0.000,0.047,2223,3299,3477
$GC,2376,-1.23,-146.6,255.1,-10.4,112,2380,0.00,2.50,0.00,0.000,6,0.000,0.041,2222,1900,3477
$GC,2702,-1.23,-146.6,290.4,-10.9,128,2707,0.00,2.50,0.00,0.000,4,0.000,0.046,2222,3295,3477
$GC,2736,-1.23,-146.6,294.1,-10.6,129,2742,0.00,2.47,0.00,0.000,6,0.000,0.041,2223,1902,3477
$GC,3052,-1.23,-146.6,326.7,-10.4,145,3057,0.00,2.50,0.00,0.000,4,0.000,0.046,2223,3297,3477
$GC,3085,-1.23,-146.6,330.4,-10.2,146,3091,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1894,3477
$GC,3401,-1.23,-146.6,363.8,-10.4,162,3405,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3302,3477
$GC,3434,-1.23,-146.6,367.3,-10.2,163,3440,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1898,3477
$GC,3750,-1.23,-146.6,399.9,-10.2,179,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3477
$GC,4058,-1.23,-146.6,430.1,-9.5,194,4063,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3295,3477
$GC,4121,-1.23,-146.6,435.9,-9.5,197,4125,0.00,2.50,0.00,0.000,6,0.000,0.041,2223,1898,3476
$GC,4447,-1.23,-146.6,464.4,-8.8,213,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3477
$GC,4756,-1.23,-146.6,492.3,-9.9,228,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1898,3477
$GC,5066,-1.23,-146.6,532.6,-14.1,243,5070,0.00,2.53,0.00,0.000,4,0.000,0.048,2222,3294,3476
$GC,5211,-1.23,-146.6,551.7,-12.0,249,5217,0.00,2.50,0.00,0.000,6,0.000,0.042,2223,1895,3476
$GC,5526,-1.23,-146.6,584.6,-9.7,265,5531,0.00,2.60,0.00,0.000,4,0.000,0.071,2223,498,3476
$GC,5554,-1.23,-146.6,587.3,-10.5,266,5559,0.00,2.45,0.00,0.000,6,0.000,0.040,2223,1897,3476
$GC,5870,-1.23,-146.6,614.6,-8.2,281,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3476
$GC,6180,-1.23,-146.6,640.8,-8.5,296,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1904,3476
$GC,6490,-1.23,-146.6,662.4,-7.3,311,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1904,3475
$GC,6798,-1.23,-146.6,689.2,-9.1,326,6802,0.00,2.55,0.00,0.000,4,0.000,0.054,2223,3298,3475
$GC,6876,-1.23,-146.6,696.7,-9.4,329,6882,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1902,3476
$GC,7193,-1.23,-146.6,725.6,-10.1,345,7197,0.00,2.53,0.00,0.000,4,0.000,0.051,2223,3297,3475
$GC,7316,-1.23,-146.6,739.2,-10.9,350,7322,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1898,3475
$GC,7632,-1.23,-146.6,771.4,-9.6,366,7637,0.00,2.55,0.00,0.000,4,0.000,0.054,2223,3298,3476
$STATE,7647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7647,begin apogee
$GC,7656,-0.36,0.0,773.0,9.0,367,7790,0.93,0.00,126.97,1.280,6,0.081,0.000,2419,2092,2878
$STATE,7791,end apogee,CONTROL_FINISHED_OK
$STATE,7791,begin climb
$GC,7794,1.23,146.6,777.5,0.0,374,7929,1.55,2.72,125.28,1.249,4,0.052,0.069,2764,694,2280
$GC,7961,1.35,241.9,773.8,4.4,382,8048,0.10,2.53,80.85,1.236,6,0.054,0.044,2796,2092,1891
$GC,8370,1.36,256.6,746.7,7.4,402,8392,0.00,2.67,13.27,1.228,4,0.000,0.056,2796,3501,1831
$GC,8476,1.36,256.6,737.0,8.8,406,8482,0.00,2.58,0.00,0.000,6,0.000,0.048,2796,2095,1830
$GC,8791,1.36,256.6,707.5,9.8,422,8796,0.00,2.60,0.00,0.000,4,0.000,0.054,2796,3508,1829
$GC,8864,1.36,256.6,700.1,9.9,425,8869,0.00,2.55,0.00,0.000,6,0.000,0.046,2797,2103,1830
$GC,9180,1.36,256.6,671.8,8.4,440,9184,0.00,2.55,0.00,0.000,4,0.000,0.053,2796,3503,1829
$GC,9236,1.36,256.6,667.0,8.4,442,9242,0.00,2.55,0.00,0.000,6,0.000,0.044,2796,2095,1829
$GC,9552,1.39,281.4,643.1,7.1,458,9579,0.00,2.67,21.48,1.220,4,0.000,0.051,2796,3505,1730
$GC,9598,1.43,309.9,639.8,6.9,460,9627,0.00,2.58,24.92,1.190,6,0.000,0.044,2796,2096,1614
$GC,9945,1.43,309.9,609.9,9.1,477,9946,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2096,1614
$GC,10254,1.43,309.9,577.4,11.3,492,10258,0.00,2.65,0.00,0.000,4,0.000,0.071,2796,689,1614
$GC,10286,1.43,309.9,574.3,8.4,493,10293,0.00,2.50,0.00,0.000,6,0.000,0.039,2796,2106,1614
$GC,10602,1.43,309.9,541.2,10.2,509,10606,0.00,2.53,0.00,0.000,4,0.000,0.050,2796,3498,1614
$GC,10629,1.43,309.9,538.3,10.6,510,10634,0.00,2.53,0.00,0.000,6,0.000,0.043,2796,2099,1614
$GC,10945,1.43,309.9,505.1,10.9,525,10949,0.00,2.53,0.00,0.000,4,0.000,0.048,2796,3499,1614
$GC,10962,1.43,309.9,503.1,11.8,526,10966,0.00,2.53,0.00,0.000,6,0.000,0.042,2796,2099,1614
$GC,11289,1.43,309.9,464.6,12.2,542,11293,0.00,2.62,0.00,0.000,4,0.000,0.070,2796,689,1614
$GC,11305,1.43,309.9,462.5,11.9,543,11310,0.00,2.47,0.00,0.000,6,0.000,0.038,2796,2102,1614
$GC,11632,1.43,309.9,424.7,11.1,559,11636,0.00,2.53,0.00,0.000,4,0.000,0.049,2797,3499,1614
$GC,11653,1.43,309.9,422.2,11.3,560,11658,0.00,2.50,0.00,0.000,6,0.000,0.041,2796,2098,1614
$GC,11975,1.43,309.9,384.9,12.2,576,11979,0.00,2.62,0.00,0.000,4,0.000,0.068,2796,688,1614
$GC,11996,1.43,309.9,382.2,12.4,577,12001,0.00,2.47,0.00,0.000,6,0.000,0.038,2796,2101,1614
$GC,12318,1.43,309.9,344.6,11.6,593,12322,0.00,2.53,0.00,0.000,4,0.000,0.048,2797,3497,1613
$GC,12339,1.43,309.9,341.8,12.0,594,12344,0.00,2.50,0.00,0.000,6,0.000,0.040,2796,2097,1614
$GC,12660,1.43,309.9,305.6,11.4,610,12664,0.00,2.60,0.00,0.000,4,0.000,0.067,2796,695,1614
$GC,12687,1.43,309.9,302.3,12.6,611,12691,0.00,2.47,0.00,0.000,6,0.000,0.038,2796,2106,1614
$GC,13003,1.43,309.9,268.9,10.7,626,13007,0.00,2.50,0.00,0.000,4,0.000,0.048,2796,3498,1615
$GC,13030,1.43,309.9,265.9,10.2,627,13034,0.00,2.50,0.00,0.000,6,0.000,0.041,2796,2100,1615
$GC,13346,1.43,309.9,232.1,11.0,642,13347,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2100,1615
$GC,13655,1.43,309.9,197.9,11.9,657,13656,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2100,1615
$GC,13964,1.43,309.9,158.9,12.7,672,13968,0.00,2.58,0.00,0.000,4,0.000,0.064,2796,695,1615
$GC,13997,1.43,309.9,155.0,11.4,673,14003,0.00,2.45,0.00,0.000,6,0.000,0.036,2797,2101,1615
$GC,14313,1.43,309.9,113.7,12.3,689,14317,0.00,2.50,0.00,0.000,4,0.000,0.046,2797,3495,1615
$GC,14357,1.43,309.9,109.1,10.2,691,14362,0.00,2.47,0.00,0.000,6,0.000,0.037,2796,2096,1615
$GC,14678,1.43,309.9,68.1,13.8,707,14682,0.00,2.60,0.00,0.000,4,0.000,0.064,2796,694,1615
$GC,14700,1.43,309.9,64.9,14.1,708,14704,0.00,2.45,0.00,0.000,6,0.000,0.036,2796,2101,1615
$GC,15021,1.43,309.9,21.0,13.8,724,15025,0.00,2.50,0.00,0.000,4,0.000,0.047,2796,3495,1615
$GC,15043,1.43,309.9,18.0,13.0,725,15047,0.00,2.47,0.00,0.000,6,0.000,0.037,2796,2093,1615
$STATE,15196,end climb,SURFACE_DEPTH_REACHED
$STATE,15196,begin surface coast
$FINISH,1.8,1.027380
$STATE,15218,end surface coast,CONTROL_FINISHED_OK
$STATE,15218,begin surface
$SM_CCo,15302,0.00,0.000,0,0,1614,309.81
$SM_GC,2.33,11.88,0.00,0.00,0.028,0.000,0.000,28,1889,1614,-11.27,-0.31,309.81
$IRIDIUM_FIX,6112.75,-909.17,050597,212138
$TT8_MAMPS,0.026845
$HUMID,2066
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.4,999.0
$24V_AH,23.0,83.074
$10V_AH,10.1,40.005
$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,26.000,167.100,392.775,0.000,0.000,193.515,263.700,403.684,7.750,0.000,0.000,11.941,1366.926,11846.276,529.810,1636.587,1220.782,33.371,1400.821,0.000,1599.522,0.000,43.016
$DEVICE_MAMPS,136.526,70.564,1280.123,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,536.430,493.497,423.459,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37943,734
$CFSIZE,260165632,233000960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,100208,015701,6131.708,-907.913,69,1.5,69,-9.3