version: 66.02
glider: 102
mission: 4
dive: 51
start: 11 20 107 9 56 51
data:
$ID,102
$MISSION,4
$DIVE,51
$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,120
$USE_BATHY,0
$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,-77208.07
$T_RSLEEP,2
$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,2350
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,27
$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,0
$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,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,095037,6139.431,-849.269,37,1.0,37,-9.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-63.8
$GPS2,095557,6139.467,-849.228,13,1.5,13,-9.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.236,-0.027
$KALMAN_X,17349.5,275.5,-35.6,-34518.6,-1290.0
$KALMAN_Y,131119.7,-1130.5,-851.1,-117377.5,12684.2
$MHEAD_RNG_PITCHd_Wd,272.6,24807,-14.7,-8.000
$D_GRID,990
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.23,-146.6,0.0,0.0,0,102,0.00,0.00,-80.40,0.000,6,0.000,0.000,31,1879,3477
$GC,103,-1.23,-146.6,5.9,-8.9,4,125,11.70,2.62,0.00,0.000,4,0.144,0.065,2222,499,3478
$GC,237,-1.23,-146.6,32.0,-12.0,10,241,0.00,2.50,0.00,0.000,6,0.000,0.042,2222,1911,3478
$GC,562,-1.23,-146.6,68.5,-10.8,26,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1915,3478
$GC,871,-1.23,-146.6,101.5,-10.6,41,876,0.00,2.50,0.00,0.000,4,0.000,0.048,2222,3302,3479
$GC,942,-1.23,-146.6,109.2,-10.7,44,947,0.00,2.53,0.00,0.000,6,0.000,0.044,2222,1914,3479
$GC,1264,-1.23,-146.6,143.3,-10.7,60,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1914,3479
$GC,1574,-1.23,-146.6,177.1,-10.9,75,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1913,3479
$GC,1882,-1.23,-146.6,209.1,-10.3,90,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1914,3479
$GC,2191,-1.23,-146.6,241.8,-10.5,105,2195,0.00,2.50,0.00,0.000,4,0.000,0.049,2223,3298,3479
$GC,2253,-1.23,-146.6,248.5,-11.0,108,2257,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1896,3479
$GC,2578,-1.23,-146.6,282.4,-9.9,124,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1896,3479
$GC,2887,-1.23,-146.6,313.8,-10.3,139,2892,0.00,2.55,0.00,0.000,4,0.000,0.049,2222,3305,3479
$GC,2953,-1.23,-146.6,320.7,-10.2,142,2958,0.00,2.55,0.00,0.000,6,0.000,0.045,2222,1905,3479
$GC,3280,-1.23,-146.6,354.5,-10.6,158,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1905,3479
$GC,3589,-1.23,-146.6,386.9,-10.3,173,3593,0.00,2.53,0.00,0.000,4,0.000,0.051,2222,3301,3479
$GC,3651,-1.23,-146.6,393.3,-10.3,176,3655,0.00,2.53,0.00,0.000,6,0.000,0.046,2222,1901,3479
$GC,3976,-1.23,-146.6,425.9,-10.0,192,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3479
$GC,4285,-1.23,-146.6,456.5,-9.9,207,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3479
$GC,4594,-1.23,-146.6,488.0,-10.3,222,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3479
$GC,4903,-1.23,-146.6,517.9,-9.2,237,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1901,3479
$GC,5213,-1.23,-146.6,546.8,-9.5,252,5217,0.00,2.55,0.00,0.000,4,0.000,0.053,2222,3301,3479
$GC,5329,-1.23,-146.6,557.4,-9.3,257,5334,0.00,2.58,0.00,0.000,6,0.000,0.048,2222,1898,3478
$GC,5650,-1.23,-146.6,585.5,-8.7,273,5654,0.00,2.55,0.00,0.000,4,0.000,0.054,2222,3297,3479
$GC,5699,-1.23,-146.6,589.8,-8.1,275,5704,0.00,2.55,0.00,0.000,6,0.000,0.048,2222,1904,3479
$GC,6020,-1.23,-146.6,617.9,-9.2,291,6025,0.00,2.55,0.00,0.000,4,0.000,0.056,2222,3298,3479
$GC,6099,-1.23,-146.6,625.3,-9.2,294,6105,0.00,2.55,0.00,0.000,6,0.000,0.051,2222,1894,3479
$GC,6413,-1.23,-146.6,654.5,-9.0,310,6414,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1894,3479
$GC,6722,-1.23,-146.6,680.0,-8.9,325,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1894,3479
$GC,7032,-1.23,-146.6,707.3,-10.1,340,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1894,3479
$GC,7341,-1.23,-146.6,736.5,-8.9,355,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1894,3478
$GC,7651,-1.23,-146.6,760.8,-7.8,370,7655,0.00,2.60,0.00,0.000,4,0.000,0.061,2222,3301,3478
$GC,7766,-1.23,-146.6,770.6,-8.1,375,7771,0.00,2.60,0.00,0.000,6,0.000,0.056,2222,1905,3478
$GC,8088,-1.23,-146.6,796.8,-7.4,391,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1905,3478
$GC,8398,-1.23,-146.6,823.4,-6.6,406,8402,0.00,2.60,0.00,0.000,4,0.000,0.068,2222,3295,3477
$GC,8446,-1.23,-146.6,827.3,-9.4,408,8451,0.00,2.60,0.00,0.000,6,0.000,0.064,2222,1907,3476
$GC,8767,-1.23,-146.6,856.2,-7.5,424,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1906,3475
$STATE,8931,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8931,begin apogee
$GC,8936,-0.36,0.0,868.7,7.0,432,9065,0.93,0.00,125.38,1.437,6,0.094,0.000,2414,2346,2878
$STATE,9065,end apogee,CONTROL_FINISHED_OK
$STATE,9065,begin climb
$GC,9067,1.23,146.6,873.5,0.0,438,9199,1.58,2.80,123.78,1.394,4,0.059,0.081,2760,933,2280
$GC,9453,1.26,172.1,854.7,7.0,456,9482,0.00,2.62,22.23,1.391,6,0.000,0.061,2760,2342,2176
$GC,9803,1.27,181.3,824.3,7.7,473,9813,0.00,0.00,9.00,1.382,6,0.000,0.000,2760,2342,2139
$GC,10112,1.30,203.0,802.7,7.2,488,10133,0.00,0.00,19.33,1.391,6,0.000,0.000,2760,2342,2050
$GC,10441,1.30,203.0,771.9,8.8,504,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2342,2049
$GC,10750,1.30,203.0,746.5,8.4,519,10755,0.00,2.67,0.00,0.000,4,0.000,0.074,2760,3756,2048
$GC,11007,1.30,203.0,722.8,8.2,530,11015,0.00,2.60,0.00,0.000,6,0.000,0.055,2760,2350,2046
$GC,11323,1.30,203.0,696.7,8.9,546,11327,0.00,2.62,0.00,0.000,4,0.000,0.065,2759,3758,2046
$GC,11421,1.30,203.0,686.7,10.2,550,11429,0.00,2.60,0.00,0.000,6,0.000,0.051,2760,2347,2046
$GC,11737,1.30,203.0,658.3,8.8,566,11742,0.00,2.62,0.00,0.000,4,0.000,0.069,2760,942,2045
$GC,11798,1.30,203.0,652.6,9.3,569,11803,0.00,2.55,0.00,0.000,6,0.000,0.048,2759,2359,2046
$GC,12124,1.30,203.0,623.7,8.9,585,12128,0.00,2.65,0.00,0.000,4,0.000,0.064,2760,933,2046
$GC,12184,1.30,203.0,618.3,8.7,588,12189,0.00,2.55,0.00,0.000,6,0.000,0.047,2760,2354,2046
$GC,12510,1.30,203.0,588.9,9.1,604,12511,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2356,2047
$GC,12819,1.30,203.0,558.9,9.7,619,12820,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2356,2048
$GC,13128,1.30,203.0,528.3,10.8,634,13130,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2355,2049
$GC,13438,1.30,203.0,499.4,9.2,649,13439,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2356,2050
$GC,13747,1.30,203.0,470.3,9.6,664,13751,0.00,2.60,0.00,0.000,4,0.000,0.059,2760,938,2050
$GC,13808,1.30,203.0,464.1,9.4,667,13813,0.00,2.50,0.00,0.000,6,0.000,0.042,2760,2354,2050
$GC,14134,1.30,203.0,434.5,9.1,683,14135,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2354,2050
$GC,14443,1.30,203.0,407.9,8.5,698,14444,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2354,2052
$GC,14752,1.30,203.0,381.8,8.4,713,14757,0.00,2.60,0.00,0.000,4,0.000,0.058,2760,937,2053
$GC,14836,1.30,203.0,374.3,9.0,717,14840,0.00,2.50,0.00,0.000,6,0.000,0.041,2760,2352,2053
$GC,15162,1.30,203.0,346.4,8.8,733,15166,0.00,2.58,0.00,0.000,4,0.000,0.058,2760,941,2053
$GC,15216,1.30,203.0,341.3,9.2,735,15221,0.00,2.53,0.00,0.000,6,0.000,0.041,2760,2352,2053
$GC,15538,1.30,203.0,313.5,8.6,751,15542,0.00,2.60,0.00,0.000,4,0.000,0.058,2760,941,2054
$GC,15591,1.30,203.0,308.6,8.9,753,15598,0.00,2.50,0.00,0.000,6,0.000,0.041,2760,2343,2054
$GC,15907,1.30,203.0,282.6,8.1,769,15908,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2343,2054
$GC,16216,1.30,203.0,258.4,8.0,784,16217,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2343,2054
$GC,16525,1.30,203.0,232.8,8.2,799,16526,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2343,2055
$GC,16834,1.30,203.0,205.0,9.2,814,16839,0.00,2.55,0.00,0.000,4,0.000,0.057,2760,935,2056
$GC,16924,1.30,203.0,196.2,8.4,818,16928,0.00,2.53,0.00,0.000,6,0.000,0.041,2760,2357,2055
$GC,17249,1.30,203.0,167.7,8.8,834,17250,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2358,2056
$GC,17559,1.34,239.4,146.1,6.6,849,17595,0.12,2.65,30.02,0.913,4,0.050,0.056,2800,941,1902
$GC,17649,1.34,239.4,137.8,11.3,852,17654,0.00,2.53,0.00,0.000,6,0.000,0.040,2800,2346,1902
$GC,17972,1.34,239.4,103.7,10.4,868,17973,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2346,1902
$GC,18281,1.34,239.4,71.2,10.7,883,18282,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2346,1902
$GC,18590,1.34,239.4,39.4,11.4,898,18591,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2347,1902
$GC,18899,1.34,239.4,5.5,10.1,913,18903,0.00,2.60,0.00,0.000,4,0.000,0.058,2800,939,1902
$STATE,18929,end climb,SURFACE_DEPTH_REACHED
$STATE,18929,begin surface coast
$FINISH,-0.1,1.027315
$STATE,18947,end surface coast,CONTROL_FINISHED_OK
$STATE,18947,begin surface
$SM_CCo,18967,55.08,0.796,7,0,1655,300.00
$SM_GC,0.30,0.00,0.00,55.08,0.000,0.000,0.796,30,1917,1655,-11.34,0.48,300.00
$IRIDIUM_FIX,6112.75,-837.21,201107,080804
$TT8_MAMPS,0.026078
$HUMID,2042
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,18.80
$XPDR_PINGS,451
$ALTIM_BOTTOM_PING,825.1,53.1
$24V_AH,23.2,19.546
$10V_AH,10.1,8.053
$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,26.125,113.150,329.725,55.075,0.000,39.239,32.904,161.175,120.250,0.000,0.000,14.814,1652.048,14835.048,562.219,1981.975,351.814,33.377,1520.270,0.000,1945.515,0.000,52.080
$DEVICE_MAMPS,144.196,80.535,1437.358,796.146,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,671.562,619.560,495.537,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44403,915
$CFSIZE,260165632,255545344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,7,0
$GPS,201107,151537,6140.554,-854.662,34,1.1,34,-9.2