version: 66.02
glider: 102
mission: 4
dive: 91
start: 11 28 107 8 21 51
data:
$ID,102
$MISSION,4
$DIVE,91
$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,550
$T_MISSION,580
$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,-78010.602
$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,28
$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
$GPS1,081528,6144.352,-923.991,31,2.1,50,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-62.0
$GPS2,082059,6144.362,-924.014,9,3.0,28,-9.5
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.024,0.207
$KALMAN_X,93383.1,-703.4,-5678.2,-134566.2,8958.3
$KALMAN_Y,152137.8,-59.8,5533.0,-136829.9,-7711.7
$MHEAD_RNG_PITCHd_Wd,2.8,7989,-10.7,-6.000
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.95,-146.6,0.0,0.0,0,83,0.00,0.00,-62.25,0.000,2,0.000,0.000,28,1881,2713
$GC,85,-0.95,-146.6,3.8,-3.3,3,131,11.88,2.55,-28.00,0.000,4,0.138,0.075,2283,502,3475
$GC,136,-0.95,-146.6,6.6,-5.5,5,140,0.00,2.47,0.00,0.000,6,0.000,0.039,2283,1910,3475
$GC,457,-0.95,-146.6,30.5,-6.2,21,461,0.00,2.62,0.00,0.000,4,0.000,0.063,2283,500,3476
$GC,713,-0.95,-146.6,45.9,-5.9,32,720,0.00,2.47,0.00,0.000,6,0.000,0.039,2283,1898,3476
$GC,1029,-0.95,-146.6,64.2,-5.8,48,1033,0.00,2.60,0.00,0.000,4,0.000,0.064,2283,496,3476
$GC,1190,-0.95,-146.6,74.2,-5.5,55,1194,0.00,2.45,0.00,0.000,6,0.000,0.038,2283,1900,3475
$GC,1507,-0.95,-146.6,95.5,-6.6,70,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1903,3476
$GC,1815,-0.95,-146.6,117.6,-7.7,85,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1903,3476
$GC,2124,-0.95,-146.6,144.6,-8.4,100,2128,0.00,2.50,0.00,0.000,4,0.000,0.045,2283,3301,3476
$GC,2185,-0.95,-146.6,149.4,-7.5,103,2189,0.00,2.47,0.00,0.000,6,0.000,0.043,2283,1906,3476
$GC,2511,-0.95,-146.6,175.7,-7.0,119,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1906,3476
$GC,2819,-0.95,-146.6,196.6,-7.6,134,2823,0.00,2.47,0.00,0.000,4,0.000,0.045,2283,3299,3476
$GC,2865,-0.95,-146.6,200.3,-8.1,136,2869,0.00,2.50,0.00,0.000,6,0.000,0.042,2282,1900,3476
$GC,3190,-0.95,-146.6,224.5,-7.1,152,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3476
$GC,3499,-0.95,-146.6,249.0,-8.2,167,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3476
$GC,3809,-0.95,-146.6,276.4,-9.3,182,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1900,3476
$GC,4118,-0.95,-146.6,304.5,-8.7,197,4122,0.00,2.50,0.00,0.000,4,0.000,0.045,2283,3298,3476
$GC,4194,-0.95,-146.6,310.5,-6.8,200,4201,0.00,2.53,0.00,0.000,6,0.000,0.043,2283,1904,3476
$GC,4510,-0.95,-146.6,333.4,-7.3,216,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1904,3476
$GC,4820,-0.95,-146.6,356.8,-7.7,231,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1904,3476
$GC,5129,-0.95,-146.6,378.0,-6.3,246,5133,0.00,2.50,0.00,0.000,4,0.000,0.048,2283,3295,3476
$GC,5167,-0.95,-146.6,380.4,-6.1,248,5171,0.00,2.50,0.00,0.000,6,0.000,0.044,2283,1898,3476
$GC,5493,-0.95,-146.6,398.2,-5.1,264,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3476
$GC,5802,-0.95,-146.6,415.4,-5.7,279,5806,0.00,2.50,0.00,0.000,4,0.000,0.048,2282,3295,3476
$GC,5863,-0.95,-146.6,418.7,-5.5,282,5867,0.00,2.50,0.00,0.000,6,0.000,0.044,2283,1902,3476
$GC,6188,-0.95,-146.6,433.8,-3.1,298,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1902,3476
$GC,6497,-0.95,-146.6,440.5,-2.5,313,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1902,3476
$GC,6807,-0.95,-146.6,449.5,-2.7,328,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1902,3476
$GC,7116,-0.95,-146.6,459.9,-3.7,343,7120,0.00,2.53,0.00,0.000,4,0.000,0.049,2283,3300,3476
$GC,7177,-0.95,-146.6,462.7,-4.7,346,7182,0.00,2.53,0.00,0.000,6,0.000,0.046,2283,1898,3476
$GC,7503,-0.95,-146.6,483.0,-7.8,362,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3476
$GC,7812,-0.95,-146.6,511.3,-9.2,377,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3476
$GC,8121,-0.95,-146.6,540.5,-9.6,392,8123,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1895,3475
$GC,8431,-0.95,-146.6,566.7,-7.5,407,8434,0.00,2.53,0.00,0.000,4,0.000,0.051,2282,3300,3475
$GC,8507,-0.95,-146.6,572.3,-7.0,410,8512,0.00,2.55,0.00,0.000,6,0.000,0.047,2283,1902,3475
$GC,8829,-0.95,-146.6,593.6,-6.7,426,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1902,3475
$GC,9139,-0.95,-146.6,615.7,-6.8,441,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1902,3475
$GC,9448,-0.95,-146.6,633.5,-5.6,456,9452,0.00,2.53,0.00,0.000,4,0.000,0.056,2283,3293,3475
$GC,9502,-0.95,-146.6,636.9,-6.5,458,9509,0.00,2.50,0.00,0.000,6,0.000,0.048,2283,1899,3475
$GC,9817,-0.95,-146.6,660.7,-10.1,474,9818,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3475
$GC,10126,-0.95,-146.6,696.4,-9.5,489,10128,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1899,3475
$GC,10436,-0.95,-146.6,709.6,-2.6,504,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1899,3475
$GC,10748,-0.95,-146.6,725.3,-7.9,519,10752,0.00,2.55,0.00,0.000,4,0.000,0.056,2283,3294,3475
$GC,10819,-0.95,-146.6,731.9,-10.1,522,10823,0.00,2.55,0.00,0.000,6,0.000,0.051,2283,1905,3475
$GC,11140,-0.95,-146.6,747.5,-2.8,538,11141,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1905,3474
$GC,11449,-0.95,-146.6,759.6,-6.4,553,11453,0.00,2.65,0.00,0.000,4,0.000,0.079,2283,494,3474
$GC,11497,-0.95,-146.6,763.1,-6.1,555,11502,0.00,2.50,0.00,0.000,6,0.000,0.054,2283,1895,3474
$GC,11819,-0.95,-146.6,787.1,-6.8,571,11823,0.00,2.60,0.00,0.000,4,0.000,0.067,2283,3298,3474
$GC,11917,-0.95,-146.6,793.8,-7.0,575,11925,0.00,2.60,0.00,0.000,6,0.000,0.060,2283,1907,3473
$STATE,12108,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12108,begin apogee
$GC,12113,-0.36,0.0,805.4,7.0,585,12240,0.65,0.00,124.28,1.361,6,0.089,0.000,2421,2348,2878
$STATE,12241,end apogee,CONTROL_FINISHED_OK
$STATE,12241,begin climb
$GC,12243,0.95,146.6,807.1,0.0,591,12374,1.25,2.72,122.95,1.315,4,0.059,0.072,2696,3757,2280
$GC,12627,0.95,146.6,784.2,6.7,608,12633,0.00,2.58,0.00,0.000,6,0.000,0.054,2696,2351,2279
$GC,12942,1.01,195.6,767.5,4.5,624,12986,0.00,0.00,41.70,1.341,6,0.000,0.000,2696,2351,2080
$GC,13292,1.20,354.2,758.5,1.3,641,13435,0.22,2.80,131.65,1.325,4,0.041,0.079,2765,945,1434
$GC,13497,1.20,354.2,741.8,11.3,650,13504,0.00,2.62,0.00,0.000,6,0.000,0.054,2765,2359,1434
$GC,13812,1.20,354.2,705.0,10.0,666,13816,0.00,2.72,0.00,0.000,4,0.000,0.074,2764,943,1433
$GC,13928,1.20,354.2,692.1,10.8,671,13932,0.00,2.58,0.00,0.000,6,0.000,0.050,2765,2358,1433
$GC,14249,1.20,354.2,662.3,8.8,687,14253,0.00,2.67,0.00,0.000,4,0.000,0.067,2765,935,1432
$GC,14399,1.20,354.2,648.4,9.3,694,14403,0.00,2.55,0.00,0.000,6,0.000,0.046,2765,2354,1432
$GC,14725,1.20,354.2,615.7,10.5,710,14729,0.00,2.62,0.00,0.000,4,0.000,0.065,2764,943,1432
$GC,14869,1.20,354.2,600.6,10.0,716,14876,0.00,2.53,0.00,0.000,6,0.000,0.042,2765,2348,1433
$GC,15184,1.20,354.2,572.6,9.3,732,15188,0.00,2.62,0.00,0.000,4,0.000,0.064,2765,934,1433
$GC,15313,1.20,354.2,559.5,10.6,738,15317,0.00,2.53,0.00,0.000,6,0.000,0.042,2765,2357,1434
$GC,15638,1.20,354.2,524.4,10.1,754,15642,0.00,2.62,0.00,0.000,4,0.000,0.062,2765,942,1434
$GC,15789,1.20,354.2,509.8,10.0,761,15793,0.00,2.50,0.00,0.000,6,0.000,0.041,2765,2353,1435
$GC,16114,1.20,354.2,479.0,9.5,777,16118,0.00,2.60,0.00,0.000,4,0.000,0.062,2764,943,1435
$GC,16219,1.20,354.2,467.6,10.4,782,16223,0.00,2.47,0.00,0.000,6,0.000,0.040,2765,2350,1436
$GC,16545,1.20,354.2,435.4,9.3,798,16549,0.00,2.60,0.00,0.000,4,0.000,0.061,2765,938,1436
$GC,16677,1.20,354.2,421.9,9.1,804,16682,0.00,2.50,0.00,0.000,6,0.000,0.040,2765,2342,1436
$GC,17004,1.20,354.2,391.7,9.1,820,17008,0.00,2.58,0.00,0.000,4,0.000,0.061,2765,941,1437
$GC,17137,1.20,354.2,379.1,10.0,826,17141,0.00,2.50,0.00,0.000,6,0.000,0.039,2765,2348,1437
$GC,17463,1.20,354.2,351.6,8.4,842,17467,0.00,2.60,0.00,0.000,4,0.000,0.060,2765,941,1437
$GC,17579,1.20,354.2,341.1,8.9,847,17584,0.00,2.50,0.00,0.000,6,0.000,0.039,2765,2350,1437
$GC,17901,1.20,354.2,309.6,10.2,863,17905,0.00,2.60,0.00,0.000,4,0.000,0.059,2765,942,1437
$GC,18033,1.20,354.2,295.4,10.5,869,18038,0.00,2.50,0.00,0.000,6,0.000,0.038,2765,2350,1437
$GC,18360,1.20,354.2,259.8,11.3,885,18364,0.00,2.60,0.00,0.000,4,0.000,0.059,2765,934,1438
$GC,18488,1.20,354.2,244.4,13.3,891,18493,0.00,2.50,0.00,0.000,6,0.000,0.038,2765,2356,1438
$GC,18814,1.20,354.2,208.2,10.2,907,18818,0.00,2.58,0.00,0.000,4,0.000,0.058,2765,941,1438
$GC,18942,1.20,354.2,193.1,12.8,913,18946,0.00,2.47,0.00,0.000,6,0.000,0.038,2765,2353,1439
$GC,19267,1.20,354.2,155.5,11.6,929,19271,0.00,2.58,0.00,0.000,4,0.000,0.058,2765,940,1439
$GC,19388,1.20,354.2,141.8,11.5,934,19395,0.00,2.47,0.00,0.000,6,0.000,0.038,2765,2342,1439
$GC,19704,1.20,354.2,106.4,10.9,950,19708,0.00,2.58,0.00,0.000,4,0.000,0.057,2765,941,1440
$GC,19836,1.20,354.2,91.2,11.6,956,19841,0.00,2.47,0.00,0.000,6,0.000,0.038,2765,2342,1439
$GC,20165,1.20,354.2,55.3,11.2,972,20169,0.00,2.58,0.00,0.000,4,0.000,0.057,2765,941,1440
$GC,20316,1.20,354.2,37.2,11.2,979,20320,0.00,2.47,0.00,0.000,6,0.000,0.038,2765,2354,1440
$GC,20641,1.20,354.2,4.7,10.1,995,20646,0.00,2.60,0.00,0.000,4,0.000,0.058,2765,941,1441
$STATE,20661,end climb,SURFACE_DEPTH_REACHED
$STATE,20661,begin surface coast
$FINISH,1.7,1.027279
$STATE,20667,end surface coast,CONTROL_FINISHED_OK
$STATE,20667,begin surface
$SM_CCo,20748,0.00,0.000,0,0,1439,352.99
$SM_GC,2.39,11.75,0.00,0.00,0.031,0.000,0.000,28,1910,1439,-11.27,0.28,352.99
$IRIDIUM_FIX,6121.73,-912.06,281107,060623
$TT8_MAMPS,0.026845
$HUMID,2050
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,18.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,725.3,89.4
$24V_AH,23.3,25.553
$10V_AH,10.1,11.149
$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,25.750,163.300,420.575,0.000,0.000,37.023,34.051,148.333,6.500,0.000,0.000,30.365,1846.411,15822.616,552.244,2483.777,371.638,33.341,1766.270,0.000,2412.370,0.000,42.764
$DEVICE_MAMPS,138.060,79.001,1360.658,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,728.518,673.730,572.634,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50560,996
$CFSIZE,260165632,253255680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,281107,140838,6146.875,-923.343,26,1.5,26,-9.5