version: 66.02
glider: 102
mission: 4
dive: 107
start: 12 2 107 11 37 15
data:
$ID,102
$MISSION,4
$DIVE,107
$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,300
$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,-78273.984
$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,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,32
$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
$GPS1,113009,6157.370,-942.041,38,1.1,38,-9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-55.5
$GPS2,113621,6157.491,-941.948,11,1.3,11,-9.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.014,0.208
$KALMAN_X,39060.6,1413.8,2813.2,-106857.4,-5127.4
$KALMAN_Y,110861.6,2703.8,2994.3,-71644.6,-13601.6
$MHEAD_RNG_PITCHd_Wd,6.0,15560,-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,-146.6,0.0,0.0,0,74,0.00,0.00,-52.25,0.000,2,0.000,0.000,27,1880,1719
$GC,76,-0.95,-146.6,3.0,-0.2,3,210,11.30,2.55,-115.97,0.000,4,0.112,0.072,2285,500,3476
$GC,383,-0.95,-146.6,18.7,-8.0,17,387,0.00,2.50,0.00,0.000,6,0.000,0.040,2285,1906,3476
$GC,706,-0.95,-146.6,43.2,-7.8,33,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1909,3476
$GC,1014,-0.95,-146.6,67.0,-8.3,48,1018,0.00,2.50,0.00,0.000,4,0.000,0.046,2285,3301,3476
$GC,1075,-0.95,-146.6,72.3,-8.7,51,1079,0.00,2.50,0.00,0.000,6,0.000,0.043,2286,1905,3476
$GC,1400,-0.95,-146.6,102.6,-9.6,67,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3476
$GC,1709,-0.95,-146.6,128.7,-7.6,82,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3475
$GC,2018,-0.95,-146.6,153.3,-8.0,97,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3476
$GC,2327,-0.95,-146.6,178.0,-7.9,112,2331,0.00,2.50,0.00,0.000,4,0.000,0.046,2285,3301,3476
$GC,2428,-0.95,-146.6,186.5,-8.7,116,2433,0.00,2.50,0.00,0.000,6,0.000,0.042,2285,1897,3475
$GC,2743,-0.95,-146.6,212.2,-8.5,131,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3475
$GC,3052,-0.95,-146.6,236.7,-7.7,146,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3476
$GC,3362,-0.95,-146.6,260.2,-7.3,161,3366,0.00,2.53,0.00,0.000,4,0.000,0.046,2285,3306,3476
$GC,3432,-0.95,-146.6,265.5,-7.9,164,3437,0.00,2.53,0.00,0.000,6,0.000,0.043,2285,1907,3476
$GC,3754,-0.95,-146.6,285.4,-5.9,180,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1907,3476
$GC,4063,-0.95,-146.6,304.1,-6.5,195,4067,0.00,2.50,0.00,0.000,4,0.000,0.048,2285,3300,3476
$GC,4117,-0.95,-146.6,308.0,-7.7,197,4124,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1902,3476
$GC,4432,-0.95,-146.6,333.5,-8.6,213,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1903,3475
$GC,4742,-0.95,-146.6,360.6,-8.5,228,4746,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3309,3476
$GC,4825,-0.95,-146.6,367.8,-8.4,232,4829,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1900,3475
$GC,5150,-0.95,-146.6,392.5,-7.1,248,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3475
$GC,5459,-0.95,-146.6,408.6,-4.3,263,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3476
$GC,5768,-0.95,-146.6,424.6,-6.2,278,5773,0.00,2.53,0.00,0.000,4,0.000,0.048,2285,3306,3475
$GC,5907,-0.95,-146.6,435.0,-8.2,284,5912,0.00,2.55,0.00,0.000,6,0.000,0.045,2285,1902,3475
$GC,6228,-0.95,-146.6,461.3,-6.5,300,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,6538,-0.95,-146.6,476.1,-4.6,315,6542,0.00,2.53,0.00,0.000,4,0.000,0.050,2285,3301,3475
$GC,6632,-0.95,-146.6,480.9,-5.0,319,6636,0.00,2.55,0.00,0.000,6,0.000,0.046,2285,1878,3475
$GC,6952,-0.95,-146.6,505.1,-9.5,335,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1878,3475
$GC,7262,-0.95,-146.6,530.6,-5.3,350,7266,0.00,2.58,0.00,0.000,4,0.000,0.051,2285,3299,3475
$GC,7300,-0.95,-146.6,532.0,-3.7,352,7304,0.00,2.53,0.00,0.000,6,0.000,0.047,2285,1899,3475
$GC,7626,-0.95,-146.6,550.2,-9.2,368,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3475
$GC,7935,-0.95,-146.6,582.8,-8.5,383,7936,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3475
$GC,8245,-0.95,-146.6,592.2,-2.0,398,8249,0.00,2.55,0.00,0.000,4,0.000,0.054,2285,3298,3474
$GC,8338,-0.95,-146.6,594.3,-2.0,402,8342,0.00,2.53,0.00,0.000,6,0.000,0.046,2285,1894,3474
$GC,8659,-0.95,-146.6,605.7,-4.2,418,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1894,3474
$GC,8968,-0.95,-146.6,635.5,-8.6,433,8973,0.00,2.62,0.00,0.000,4,0.000,0.074,2285,491,3474
$GC,9079,-0.95,-146.6,642.1,-5.7,438,9084,0.00,2.47,0.00,0.000,6,0.000,0.049,2286,1897,3474
$GC,9406,-0.95,-146.6,654.5,-6.4,454,9407,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3474
$GC,9715,-0.95,-146.6,673.2,-5.3,469,9720,0.00,2.65,0.00,0.000,4,0.000,0.077,2285,495,3473
$GC,9826,-0.95,-146.6,683.6,-11.3,474,9831,0.00,2.50,0.00,0.000,6,0.000,0.052,2285,1891,3472
$STATE,9883,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9883,begin apogee
$GC,9888,-0.36,0.0,687.3,6.0,477,10014,0.60,0.00,122.47,1.272,6,0.074,0.000,2416,2107,2878
$STATE,10014,end apogee,CONTROL_FINISHED_OK
$STATE,10014,begin climb
$GC,10016,0.95,146.6,691.6,0.0,483,10142,1.30,0.00,121.22,1.236,6,0.054,0.000,2700,2106,2281
$GC,10436,0.95,146.6,664.7,10.2,504,10440,0.00,2.60,0.00,0.000,4,0.000,0.064,2701,3502,2280
$GC,10564,0.95,146.6,650.3,14.4,510,10568,0.00,2.58,0.00,0.000,6,0.000,0.052,2701,2098,2279
$GC,10890,1.03,210.9,624.7,4.1,526,10951,0.00,2.78,53.45,1.233,4,0.000,0.075,2701,691,2018
$GC,11012,1.17,327.4,621.8,2.5,531,11114,0.22,2.55,95.53,1.211,6,0.038,0.049,2765,2105,1543
$GC,11424,1.17,327.4,580.8,13.6,551,11428,0.00,2.70,0.00,0.000,4,0.000,0.077,2765,693,1542
$GC,11530,1.17,327.4,565.8,14.5,556,11534,0.00,2.53,0.00,0.000,6,0.000,0.049,2765,2096,1542
$GC,11855,1.17,330.8,529.7,5.9,572,11860,0.00,0.00,3.58,1.127,6,0.000,0.000,2765,2100,1529
$GC,12164,1.17,330.8,504.9,10.4,587,12168,0.00,2.65,0.00,0.000,4,0.000,0.070,2765,689,1529
$GC,12259,1.17,330.8,494.4,10.9,591,12263,0.00,2.53,0.00,0.000,6,0.000,0.044,2765,2106,1529
$GC,12574,1.17,330.8,464.1,10.1,606,12575,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2111,1529
$GC,12883,1.17,330.8,424.0,14.3,621,12884,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2110,1529
$GC,13192,1.17,330.8,387.2,10.4,636,13196,0.00,2.65,0.00,0.000,4,0.000,0.067,2765,690,1529
$GC,13263,1.17,330.8,379.7,9.7,639,13267,0.00,2.53,0.00,0.000,6,0.000,0.042,2765,2099,1529
$GC,13584,1.17,330.8,357.2,7.0,655,13588,0.00,2.62,0.00,0.000,4,0.000,0.065,2765,690,1530
$GC,13615,1.17,330.8,354.8,7.6,656,13622,0.00,2.50,0.00,0.000,6,0.000,0.042,2765,2097,1530
$GC,13931,1.17,330.8,324.9,10.3,672,13932,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2101,1531
$GC,14240,1.17,330.8,294.4,9.0,687,14244,0.00,2.62,0.00,0.000,4,0.000,0.064,2765,687,1532
$GC,14289,1.17,330.8,289.8,8.7,689,14293,0.00,2.47,0.00,0.000,6,0.000,0.041,2765,2104,1532
$GC,14609,1.17,330.8,261.5,10.0,705,14610,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2107,1532
$GC,14918,1.17,330.8,225.7,11.9,720,14920,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2107,1532
$GC,15228,1.17,330.8,193.3,9.1,735,15232,0.00,2.62,0.00,0.000,4,0.000,0.063,2765,690,1532
$GC,15293,1.17,330.8,187.2,9.0,738,15298,0.00,2.50,0.00,0.000,6,0.000,0.038,2765,2101,1532
$GC,15620,1.17,330.8,160.5,7.6,754,15621,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2105,1532
$GC,15930,1.17,330.8,134.2,9.2,769,15934,0.00,2.62,0.00,0.000,4,0.000,0.062,2765,683,1533
$GC,15984,1.17,330.8,128.6,9.5,771,15991,0.00,2.50,0.00,0.000,6,0.000,0.038,2765,2096,1533
$GC,16300,1.17,330.8,94.5,10.3,787,16301,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2099,1534
$GC,16609,1.17,330.8,60.7,10.5,802,16613,0.00,2.60,0.00,0.000,4,0.000,0.061,2765,687,1534
$GC,16670,1.17,330.8,54.1,10.7,805,16675,0.00,2.47,0.00,0.000,6,0.000,0.038,2765,2109,1534
$GC,16995,1.17,330.8,26.6,9.5,821,16997,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2112,1534
$GC,17305,1.27,406.3,2.3,3.7,836,17356,0.00,0.73,46.85,0.806,3,0.000,0.038,2765,2536,1221
$STATE,17356,end climb,SURFACE_DEPTH_REACHED
$STATE,17356,begin surface coast
$FINISH,2.2,1.001013
$STATE,17595,end surface coast,CONTROL_FINISHED_OK
$STATE,17595,begin surface
$SM_CCo,17598,76.72,0.759,0,0,603,558.06
$SM_GC,2.94,11.75,0.00,0.00,0.028,0.000,0.000,28,1886,603,-11.26,-0.37,558.06
$IRIDIUM_FIX,6126.23,-955.46,021207,090930
$TT8_MAMPS,0.026078
$HUMID,2036
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,15.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,600.0,96.8
$24V_AH,23.3,28.488
$10V_AH,10.1,12.709
$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,25.175,114.675,443.100,76.725,0.000,36.684,38.827,199.274,6.250,0.000,0.000,13.074,1539.478,13916.502,659.106,1935.491,417.323,33.359,1647.837,0.000,1895.039,0.000,34.701
$DEVICE_MAMPS,111.982,77.467,1271.686,758.563,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,618.667,574.103,545.216,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44273,850
$CFSIZE,260165632,252137472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,021207,164011,6203.993,-933.358,47,1.6,47,-9.7