version: 66.02
glider: 102
mission: 4
dive: 59
start: 11 21 107 22 45 3
data:
$ID,102
$MISSION,4
$DIVE,59
$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,-77374.023
$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,15
$R_STBD_OVSHOOT,29
$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
$GPS1,223939,6139.023,-902.927,66,1.1,66,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-58.1
$GPS2,224409,6138.970,-902.907,11,1.0,11,-9.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.038,-0.235
$KALMAN_X,35798.9,-1101.5,-679.8,-62976.2,10054.7
$KALMAN_Y,146781.9,-1687.1,-915.3,-133339.6,11345.3
$MHEAD_RNG_PITCHd_Wd,198.5,35228,-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,-146.6,0.0,0.0,0,97,0.00,0.00,-77.45,0.000,2,0.000,0.000,35,1908,3341
$GC,99,-1.23,-146.6,4.5,-5.5,4,122,11.62,2.53,-2.83,0.000,4,0.143,0.058,2224,3305,3478
$GC,373,-1.23,-146.6,43.9,-9.4,16,378,0.00,2.55,0.00,0.000,6,0.000,0.042,2224,1898,3478
$GC,700,-1.23,-146.6,75.0,-8.8,32,704,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3302,3478
$GC,889,-1.23,-146.6,92.5,-9.0,40,896,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1907,3478
$GC,1206,-1.23,-146.6,124.7,-13.2,56,1210,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3311,3478
$GC,1254,-1.23,-146.6,130.2,-10.3,58,1259,0.00,2.55,0.00,0.000,6,0.000,0.043,2224,1901,3478
$GC,1575,-1.23,-146.6,163.5,-11.1,74,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3478
$GC,1884,-1.23,-146.6,195.7,-10.2,89,1888,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3310,3478
$GC,1950,-1.23,-146.6,202.8,-10.0,92,1955,0.00,2.55,0.00,0.000,6,0.000,0.042,2224,1901,3478
$GC,2277,-1.23,-146.6,235.1,-9.9,108,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3478
$GC,2586,-1.23,-146.6,265.6,-9.7,123,2590,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3305,3478
$GC,2618,-1.23,-146.6,268.6,-9.0,124,2625,0.00,2.55,0.00,0.000,6,0.000,0.043,2224,1897,3478
$GC,2934,-1.23,-146.6,299.4,-9.9,140,2938,0.00,2.53,0.00,0.000,4,0.000,0.048,2224,3302,3477
$GC,2965,-1.23,-146.6,302.7,-10.1,141,2972,0.00,2.53,0.00,0.000,6,0.000,0.044,2224,1905,3478
$GC,3281,-1.23,-146.6,332.8,-9.6,157,3285,0.00,2.53,0.00,0.000,4,0.000,0.049,2224,3305,3478
$GC,3324,-1.23,-146.6,337.3,-9.9,159,3329,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1903,3478
$GC,3651,-1.23,-146.6,369.6,-9.9,175,3655,0.00,2.53,0.00,0.000,4,0.000,0.049,2224,3310,3478
$GC,3682,-1.23,-146.6,372.9,-10.5,176,3688,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1906,3478
$GC,4004,-1.23,-146.6,403.1,-9.2,192,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1906,3478
$GC,4313,-1.23,-146.6,432.8,-9.8,207,4317,0.00,2.53,0.00,0.000,4,0.000,0.051,2224,3304,3478
$GC,4367,-1.23,-146.6,438.5,-10.4,209,4372,0.00,2.55,0.00,0.000,6,0.000,0.046,2224,1905,3478
$GC,4688,-1.23,-146.6,471.8,-10.5,225,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1905,3478
$GC,4997,-1.23,-146.6,504.4,-10.3,240,5002,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3308,3478
$GC,5029,-1.23,-146.6,507.8,-10.6,241,5035,0.00,2.55,0.00,0.000,6,0.000,0.045,2224,1907,3478
$GC,5351,-1.23,-146.6,540.1,-10.1,257,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1907,3478
$GC,5660,-1.23,-146.6,573.2,-11.0,272,5664,0.00,2.55,0.00,0.000,4,0.000,0.054,2224,3303,3478
$GC,5702,-1.23,-146.6,578.2,-11.4,274,5707,0.00,2.58,0.00,0.000,6,0.000,0.048,2224,1903,3477
$GC,6029,-1.23,-146.6,616.4,-12.2,290,6034,0.00,2.55,0.00,0.000,4,0.000,0.055,2224,3301,3478
$GC,6068,-1.23,-146.6,621.3,-12.5,292,6072,0.00,2.55,0.00,0.000,6,0.000,0.050,2224,1894,3478
$GC,6394,-1.23,-146.6,661.9,-12.4,308,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1894,3477
$GC,6703,-1.23,-146.6,689.4,-6.6,323,6707,0.00,2.58,0.00,0.000,4,0.000,0.058,2224,3301,3477
$GC,6746,-1.23,-146.6,691.6,-5.5,325,6751,0.00,2.58,0.00,0.000,6,0.000,0.050,2224,1900,3477
$GC,7074,-1.23,-146.6,703.2,-2.8,341,7078,0.00,2.62,0.00,0.000,4,0.000,0.071,2224,492,3477
$GC,7122,-1.23,-146.6,705.1,-3.6,343,7127,0.00,2.50,0.00,0.000,6,0.000,0.049,2224,1891,3478
$GC,7443,-1.23,-146.6,720.9,-6.7,359,7448,0.00,2.58,0.00,0.000,4,0.000,0.060,2224,3299,3477
$GC,7470,-1.23,-146.6,722.7,-7.2,360,7474,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1903,3477
$GC,7791,-1.23,-146.6,746.4,-8.6,376,7795,0.00,2.58,0.00,0.000,4,0.000,0.059,2224,3302,3477
$GC,7952,-1.23,-146.6,760.0,-8.1,383,7957,0.00,2.60,0.00,0.000,6,0.000,0.054,2224,1901,3477
$GC,8273,-1.23,-146.6,786.5,-8.2,399,8277,0.00,2.60,0.00,0.000,4,0.000,0.063,2224,3302,3477
$GC,8344,-1.23,-146.6,793.0,-9.9,402,8349,0.00,2.62,0.00,0.000,6,0.000,0.058,2224,1897,3477
$GC,8666,-1.23,-146.6,819.0,-7.0,418,8670,0.00,2.60,0.00,0.000,4,0.000,0.067,2225,3301,3476
$GC,8686,-1.23,-146.6,822.2,-14.8,419,8691,0.00,2.62,0.00,0.000,6,0.000,0.060,2224,1897,3476
$STATE,8827,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8827,begin apogee
$GC,8831,-0.36,0.0,833.6,6.6,426,8960,0.90,0.00,125.22,1.374,6,0.071,0.000,2422,2351,2878
$STATE,8961,end apogee,CONTROL_FINISHED_OK
$STATE,8961,begin climb
$GC,8963,1.23,146.6,833.3,0.0,432,9093,1.52,2.75,122.72,1.340,4,0.047,0.075,2766,3756,2280
$GC,9120,1.23,146.6,823.0,9.0,439,9128,0.00,2.62,0.00,0.000,6,0.000,0.058,2767,2358,2279
$GC,9436,1.26,173.7,795.8,7.0,455,9466,0.00,2.83,23.25,1.381,4,0.000,0.081,2766,942,2169
$GC,9482,1.28,191.6,792.6,7.3,457,9503,0.00,2.65,16.05,1.337,6,0.000,0.061,2767,2336,2096
$GC,9824,1.32,217.2,763.2,7.0,474,9853,0.00,2.80,22.08,1.378,4,0.000,0.075,2767,3758,1992
$GC,10067,1.32,217.2,744.5,9.0,485,10072,0.00,2.62,0.00,0.000,6,0.000,0.058,2766,2347,1990
$GC,10393,1.32,217.2,718.0,8.2,501,10397,0.00,2.67,0.00,0.000,4,0.000,0.073,2767,931,1988
$GC,10413,1.32,217.2,716.1,8.8,502,10418,0.00,2.62,0.00,0.000,6,0.000,0.051,2767,2356,1988
$GC,10740,1.32,217.2,685.3,10.5,518,10744,0.00,2.65,0.00,0.000,4,0.000,0.066,2766,938,1988
$GC,10810,1.32,217.2,676.6,13.0,521,10815,0.00,2.58,0.00,0.000,6,0.000,0.048,2767,2352,1988
$GC,11131,1.32,217.2,637.3,12.7,537,11136,0.00,2.62,0.00,0.000,4,0.000,0.064,2766,936,1988
$GC,11170,1.32,217.2,632.5,12.3,539,11174,0.00,2.55,0.00,0.000,6,0.000,0.046,2767,2360,1988
$GC,11495,1.32,217.2,594.8,10.8,555,11499,0.00,2.65,0.00,0.000,4,0.000,0.062,2767,929,1989
$GC,11555,1.32,217.2,588.0,10.7,558,11560,0.00,2.55,0.00,0.000,6,0.000,0.044,2767,2355,1988
$GC,11881,1.32,217.2,554.4,10.2,574,11882,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2355,1989
$GC,12190,1.32,217.2,522.3,10.0,589,12195,0.00,2.62,0.00,0.000,4,0.000,0.061,2767,931,1990
$GC,12239,1.32,217.2,517.3,9.7,591,12244,0.00,2.55,0.00,0.000,6,0.000,0.044,2767,2350,1990
$GC,12560,1.32,217.2,487.1,9.2,607,12564,0.00,2.60,0.00,0.000,4,0.000,0.061,2767,935,1991
$GC,12615,1.32,217.2,481.8,9.3,609,12619,0.00,2.53,0.00,0.000,6,0.000,0.043,2767,2342,1991
$GC,12936,1.32,217.2,453.2,8.7,625,12940,0.00,2.60,0.00,0.000,4,0.000,0.061,2767,930,1992
$GC,12991,1.32,217.2,448.5,8.7,627,12997,0.00,2.55,0.00,0.000,6,0.000,0.043,2767,2358,1992
$GC,13305,1.33,226.9,423.8,7.6,643,13319,0.00,2.65,8.77,1.147,4,0.000,0.058,2767,936,1952
$GC,13353,1.33,226.9,419.6,8.6,645,13357,0.00,2.55,0.00,0.000,6,0.000,0.041,2767,2349,1952
$GC,13680,1.33,226.9,392.7,8.4,661,13684,0.00,2.62,0.00,0.000,4,0.000,0.060,2767,935,1952
$GC,13733,1.33,226.9,388.0,8.8,663,13740,0.00,2.53,0.00,0.000,6,0.000,0.041,2767,2343,1953
$GC,14049,1.33,226.9,362.3,8.1,679,14053,0.00,2.58,0.00,0.000,4,0.000,0.059,2767,932,1953
$GC,14108,1.33,226.9,357.1,8.3,681,14115,0.00,2.53,0.00,0.000,6,0.000,0.041,2767,2344,1953
$GC,14424,1.33,226.9,332.0,8.1,697,14428,0.00,2.58,0.00,0.000,4,0.000,0.058,2767,936,1954
$GC,14472,1.33,226.9,327.6,8.8,699,14477,0.00,2.53,0.00,0.000,6,0.000,0.041,2767,2348,1953
$GC,14793,1.33,226.9,299.7,8.8,715,14798,0.00,2.60,0.00,0.000,4,0.000,0.058,2767,928,1954
$GC,14832,1.33,226.9,295.8,9.8,717,14836,0.00,2.53,0.00,0.000,6,0.000,0.041,2767,2354,1954
$GC,15157,1.33,226.9,267.2,9.0,733,15162,0.00,2.60,0.00,0.000,4,0.000,0.056,2767,931,1954
$GC,15189,1.33,226.9,264.1,9.6,734,15196,0.00,2.53,0.00,0.000,6,0.000,0.041,2767,2346,1954
$GC,15505,1.33,226.9,235.5,8.8,750,15509,0.00,2.60,0.00,0.000,4,0.000,0.058,2767,927,1955
$GC,15560,1.33,226.9,230.4,8.7,752,15566,0.00,2.53,0.00,0.000,6,0.000,0.041,2767,2350,1955
$GC,15874,1.33,226.9,201.6,9.0,768,15878,0.00,2.58,0.00,0.000,4,0.000,0.058,2767,934,1955
$GC,15912,1.33,226.9,198.4,8.2,770,15916,0.00,2.53,0.00,0.000,6,0.000,0.041,2767,2357,1955
$GC,16238,1.33,226.9,171.0,8.2,786,16243,0.00,2.60,0.00,0.000,4,0.000,0.055,2767,935,1956
$GC,16292,1.33,226.9,166.3,8.2,788,16299,0.00,2.53,0.00,0.000,6,0.000,0.039,2767,2344,1955
$GC,16608,1.33,226.9,136.9,10.0,804,16613,0.00,2.60,0.00,0.000,4,0.000,0.055,2767,928,1956
$GC,16652,1.33,226.9,132.1,10.7,806,16656,0.00,2.53,0.00,0.000,6,0.000,0.040,2767,2346,1956
$GC,16979,1.33,226.9,99.2,10.1,822,16983,0.00,2.60,0.00,0.000,4,0.000,0.057,2767,932,1956
$GC,17039,1.33,226.9,93.6,9.6,825,17044,0.00,2.53,0.00,0.000,6,0.000,0.040,2767,2356,1956
$GC,17365,1.37,263.2,70.3,6.6,841,17401,0.12,2.67,29.25,0.885,4,0.054,0.056,2807,931,1804
$GC,17433,1.37,263.2,64.0,8.0,844,17438,0.00,2.55,0.00,0.000,6,0.000,0.038,2807,2353,1804
$GC,17760,1.37,263.2,35.6,9.7,860,17765,0.00,2.62,0.00,0.000,4,0.000,0.057,2807,931,1805
$GC,17776,1.37,263.2,33.7,10.4,861,17781,0.00,2.50,0.00,0.000,6,0.000,0.039,2807,2348,1804
$STATE,18080,end climb,SURFACE_DEPTH_REACHED
$STATE,18080,begin surface coast
$FINISH,0.1,1.027251
$STATE,18102,end surface coast,CONTROL_FINISHED_OK
$STATE,18102,begin surface
$SM_CCo,18122,33.30,0.830,4,0,1655,300.00
$SM_GC,0.56,0.00,0.00,33.30,0.000,0.000,0.830,34,1872,1655,-11.32,-0.79,300.00
$IRIDIUM_FIX,6121.73,-906.85,211107,222227
$TT8_MAMPS,0.026845
$HUMID,2043
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,15.80
$XPDR_PINGS,696
$ALTIM_BOTTOM_PING,750.4,92.3
$24V_AH,23.3,20.971
$10V_AH,10.1,8.642
$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,26.175,213.025,347.350,33.300,0.000,38.776,29.674,119.729,180.500,0.000,0.000,13.258,1664.903,13799.026,589.319,2078.596,322.016,33.357,1656.556,0.000,2036.441,0.000,44.383
$DEVICE_MAMPS,142.662,81.302,1380.600,829.894,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,644.995,593.440,504.002,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44166,877
$CFSIZE,260165632,255094784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,4,0
$GPS,221107,034907,6135.957,-903.216,34,0.8,34,-9.3