version: 66.02
glider: 102
mission: 4
dive: 115
start: 12 4 107 5 38 9
data:
$ID,102
$MISSION,4
$DIVE,115
$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,-78410.695
$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,24
$R_STBD_OVSHOOT,38
$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
$GPS1,052801,6200.713,-937.028,40,0.8,40,-9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.08
$_SM_ANGLEo,-48.0
$GPS2,053715,6200.776,-936.929,12,1.0,12,-9.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,0.044
$KALMAN_X,83056.7,-1654.7,-835.3,-139452.2,16646.7
$KALMAN_Y,113889.1,1045.2,1318.8,-65095.8,-8113.0
$MHEAD_RNG_PITCHd_Wd,291.7,13771,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.95,-146.6,0.0,0.0,0,43,0.00,0.00,-21.75,0.000,2,0.000,0.000,31,1886,1106
$GC,45,-0.95,-146.6,3.1,-0.0,1,225,11.18,2.58,-158.57,0.000,4,0.107,0.075,2288,498,3476
$GC,230,-0.95,-146.6,3.9,-7.7,10,234,0.00,2.45,0.00,0.000,6,0.000,0.041,2288,1903,3476
$GC,557,-0.95,-146.6,27.9,-7.5,26,561,0.00,2.60,0.00,0.000,4,0.000,0.063,2288,493,3476
$GC,813,-0.95,-146.6,48.5,-7.7,37,820,0.00,2.47,0.00,0.000,6,0.000,0.038,2288,1901,3476
$GC,1131,-0.95,-146.6,69.8,-6.5,53,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,1438,-0.95,-146.6,91.7,-7.2,68,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,1748,-0.95,-146.6,114.3,-7.4,83,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,2057,-0.95,-146.6,135.4,-6.7,98,2061,0.00,2.47,0.00,0.000,4,0.000,0.047,2288,3293,3476
$GC,2119,-0.95,-146.6,139.8,-7.0,101,2123,0.00,2.47,0.00,0.000,6,0.000,0.042,2288,1894,3476
$GC,2450,-0.95,-146.6,165.5,-8.0,117,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3476
$GC,2759,-0.95,-146.6,189.0,-6.7,132,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3476
$GC,3068,-0.95,-146.6,212.8,-7.9,147,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3476
$GC,3378,-0.95,-146.6,236.5,-7.1,162,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3476
$GC,3687,-0.95,-146.6,257.1,-7.0,177,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1895,3476
$GC,3996,-0.95,-146.6,280.5,-8.1,192,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1895,3476
$GC,4305,-0.95,-146.6,305.0,-7.2,207,4309,0.00,2.50,0.00,0.000,4,0.000,0.047,2288,3302,3476
$GC,4377,-0.95,-146.6,310.5,-7.6,210,4381,0.00,2.53,0.00,0.000,6,0.000,0.043,2288,1901,3476
$GC,4704,-0.95,-146.6,334.2,-7.5,226,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,5013,-0.95,-146.6,358.8,-8.2,241,5017,0.00,2.50,0.00,0.000,4,0.000,0.048,2288,3300,3476
$GC,5074,-0.95,-146.6,363.9,-8.2,244,5079,0.00,2.50,0.00,0.000,6,0.000,0.044,2288,1898,3476
$GC,5399,-0.95,-146.6,386.6,-6.0,260,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3476
$GC,5709,-0.95,-146.6,407.7,-6.9,275,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3476
$GC,6018,-0.95,-146.6,430.8,-7.6,290,6022,0.00,2.53,0.00,0.000,4,0.000,0.049,2288,3301,3476
$GC,6079,-0.95,-146.6,435.8,-8.5,293,6083,0.00,2.50,0.00,0.000,6,0.000,0.045,2288,1901,3476
$GC,6404,-0.95,-146.6,460.5,-6.5,309,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3476
$GC,6713,-0.95,-146.6,479.5,-6.1,324,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,7023,-0.95,-146.6,498.0,-6.3,339,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,7333,-0.95,-146.6,516.5,-5.8,354,7337,0.00,2.53,0.00,0.000,4,0.000,0.050,2288,3301,3475
$GC,7409,-0.95,-146.6,521.4,-6.9,357,7416,0.00,2.53,0.00,0.000,6,0.000,0.046,2288,1907,3475
$GC,7725,-0.95,-146.6,541.9,-6.9,373,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1907,3475
$GC,8034,-0.95,-146.6,565.9,-7.8,388,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1907,3475
$GC,8343,-0.95,-146.6,588.0,-6.9,403,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1907,3474
$GC,8653,-0.95,-146.6,609.0,-6.6,418,8657,0.00,2.50,0.00,0.000,4,0.000,0.056,2288,3293,3474
$GC,8718,-0.95,-146.6,613.2,-7.4,421,8723,0.00,2.53,0.00,0.000,6,0.000,0.049,2289,1906,3474
$GC,9045,-0.95,-146.6,632.6,-5.0,437,9049,0.00,2.53,0.00,0.000,4,0.000,0.057,2288,3293,3474
$GC,9129,-0.95,-146.6,636.6,-5.1,441,9133,0.00,2.50,0.00,0.000,6,0.000,0.049,2288,1900,3474
$GC,9454,-0.95,-146.6,656.1,-5.9,457,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3474
$GC,9763,-0.95,-146.6,673.2,-4.7,472,9768,0.00,2.55,0.00,0.000,4,0.000,0.057,2288,3298,3474
$GC,9840,-0.95,-146.6,678.1,-7.1,475,9848,0.00,2.55,0.00,0.000,6,0.000,0.051,2289,1902,3474
$STATE,9886,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9886,begin apogee
$GC,9891,-0.36,0.0,681.1,6.4,478,10016,0.60,0.00,121.82,1.243,6,0.073,0.000,2418,2090,2878
$STATE,10017,end apogee,CONTROL_FINISHED_OK
$STATE,10017,begin climb
$GC,10018,0.95,146.6,685.8,0.0,484,10148,1.25,2.72,120.47,1.208,4,0.054,0.061,2697,3499,2280
$GC,10200,0.99,184.6,681.2,4.9,492,10240,0.00,2.58,32.22,1.187,6,0.000,0.049,2697,2095,2125
$GC,10555,0.99,184.6,658.5,7.1,510,10560,0.00,2.60,0.00,0.000,4,0.000,0.059,2697,3504,2125
$GC,10661,0.99,184.6,650.3,8.2,515,10666,0.00,2.55,0.00,0.000,6,0.000,0.051,2697,2102,2125
$GC,10988,0.99,185.4,630.4,6.0,531,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2103,2124
$GC,11297,1.01,200.3,612.2,5.6,546,11319,0.00,2.62,13.65,1.220,4,0.000,0.056,2697,3494,2061
$GC,11401,1.01,200.3,605.4,6.5,550,11409,0.00,2.55,0.00,0.000,6,0.000,0.047,2697,2097,2060
$GC,11718,1.02,203.3,586.0,5.9,566,11723,0.00,0.00,3.60,1.122,6,0.000,0.000,2697,2097,2049
$GC,12027,1.02,203.3,566.7,6.1,581,12031,0.00,2.62,0.00,0.000,4,0.000,0.070,2697,691,2049
$GC,12081,1.02,203.3,563.2,6.5,583,12088,0.00,2.50,0.00,0.000,6,0.000,0.044,2697,2090,2049
$GC,12396,1.02,209.4,545.7,5.8,599,12404,0.00,0.00,5.97,1.170,6,0.000,0.000,2696,2095,2024
$GC,12706,1.02,209.4,527.0,6.1,614,12707,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2094,2024
$GC,13015,1.02,209.4,507.4,6.1,629,13019,0.00,2.55,0.00,0.000,4,0.000,0.052,2697,3506,2024
$GC,13075,1.02,209.4,503.5,6.7,632,13080,0.00,2.50,0.00,0.000,6,0.000,0.044,2697,2099,2024
$GC,13401,1.04,222.4,485.8,5.6,648,13416,0.12,0.00,11.77,1.154,6,0.051,0.000,2740,2099,1971
$GC,13710,1.04,222.4,463.0,7.6,663,13711,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2099,1971
$GC,14019,1.04,222.4,439.1,7.5,678,14020,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2100,1971
$GC,14328,1.04,222.4,416.1,7.3,693,14329,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2099,1972
$GC,14637,1.04,222.4,392.1,7.6,708,14639,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2099,1972
$GC,14947,1.04,222.4,369.6,6.8,723,14948,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2099,1972
$GC,15256,1.04,222.4,346.7,7.5,738,15257,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2100,1973
$GC,15565,1.04,222.4,324.0,7.2,753,15566,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2100,1973
$GC,15874,1.04,222.4,300.7,7.3,768,15879,0.00,2.58,0.00,0.000,4,0.000,0.063,2740,690,1973
$GC,15946,1.04,222.4,294.9,7.7,771,15951,0.00,2.50,0.00,0.000,6,0.000,0.039,2740,2102,1973
$GC,16267,1.04,222.4,271.0,7.7,787,16268,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2105,1973
$GC,16576,1.04,222.4,246.2,8.1,802,16578,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2105,1973
$GC,16885,1.04,222.4,220.0,8.4,817,16890,0.00,2.60,0.00,0.000,4,0.000,0.060,2740,686,1973
$GC,16947,1.04,222.4,214.4,9.5,820,16951,0.00,2.47,0.00,0.000,6,0.000,0.039,2740,2105,1973
$GC,17273,1.04,222.4,188.1,7.9,836,17274,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2109,1974
$GC,17582,1.04,222.4,162.6,8.6,851,17583,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2109,1974
$GC,17892,1.04,222.4,137.2,8.4,866,17893,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2109,1974
$GC,18200,1.04,222.4,105.9,7.7,881,18202,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2108,1974
$GC,18510,1.04,222.4,80.1,11.1,896,18511,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2109,1975
$GC,18819,1.04,222.4,54.6,6.4,911,18820,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2109,1975
$GC,19128,1.04,222.4,23.6,11.6,926,19132,0.00,2.47,0.00,0.000,4,0.000,0.047,2740,3500,1975
$GC,19190,1.04,222.4,16.4,12.2,929,19194,0.00,2.47,0.00,0.000,6,0.000,0.040,2740,2094,1975
$GC,19515,1.28,414.3,2.6,0.3,945,19622,0.15,2.62,99.93,0.764,4,0.054,0.061,2786,699,1186
$GC,19717,1.51,605.0,2.4,0.3,954,19754,0.12,2.47,30.98,0.753,2,0.036,0.039,2832,2099,941
$STATE,19755,end climb,NO_VERTICAL_VELOCITY
$STATE,19755,begin surface
$SM_CCo,19757,42.80,0.725,0,0,603,558.06
$SM_GC,3.01,12.10,0.00,0.00,0.030,0.000,0.000,27,1878,604,-11.27,-0.62,557.81
$IRIDIUM_FIX,6135.28,-920.97,041207,090946
$TT8_MAMPS,0.026845
$HUMID,2041
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.80
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,600.9,89.3
$24V_AH,23.4,29.777
$10V_AH,10.1,13.386
$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,25.525,96.975,440.425,42.800,0.000,76.431,75.708,239.608,7.250,0.000,0.000,14.256,1687.391,15876.017,634.779,2022.698,556.939,33.363,1659.975,0.000,1994.856,0.000,34.685
$DEVICE_MAMPS,107.380,75.166,1242.540,724.815,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,702.948,647.534,608.507,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47401,956
$CFSIZE,260165632,251674624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,041207,111631,6201.551,-939.595,48,1.2,48,-9.8