version: 66.02
glider: 102
mission: 4
dive: 133
start: 12 8 107 14 9 46
data:
$ID,102
$MISSION,4
$DIVE,133
$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,-78687.719
$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,23
$R_STBD_OVSHOOT,34
$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
$GPS1,135731,6212.621,-1021.303,38,1.3,43,-10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.75
$_SM_ANGLEo,-51.5
$GPS2,140851,6212.679,-1021.513,10,2.0,10,-10.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.209,-0.003
$KALMAN_X,132650.9,100.8,-2624.0,-228450.4,8306.1
$KALMAN_Y,147681.7,228.6,399.8,-75076.3,-409.2
$MHEAD_RNG_PITCHd_Wd,279.4,12399,-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,-146.6,0.0,0.0,0,43,0.00,0.00,-22.05,0.000,2,0.000,0.000,33,1884,1107
$GC,46,-0.95,-146.6,3.8,-0.0,1,211,11.15,2.60,-146.32,0.000,4,0.108,0.074,2286,492,3476
$GC,217,-0.95,-146.6,6.7,-8.8,9,221,0.00,2.53,0.00,0.000,6,0.000,0.040,2286,1907,3476
$GC,544,-0.95,-146.6,28.6,-6.6,25,548,0.00,2.62,0.00,0.000,4,0.000,0.064,2286,496,3476
$GC,755,-0.95,-146.6,44.7,-8.1,34,762,0.00,2.50,0.00,0.000,6,0.000,0.039,2286,1905,3476
$GC,1071,-0.95,-146.6,69.8,-6.8,50,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,1380,-0.95,-146.6,96.0,-8.8,65,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,1689,-0.95,-146.6,123.9,-8.7,80,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3476
$GC,1999,-0.95,-146.6,149.6,-8.4,95,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,2310,-0.95,-146.6,176.7,-8.8,110,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,2618,-0.95,-146.6,200.9,-7.2,125,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,2926,-0.95,-146.6,222.1,-7.0,140,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,3235,-0.95,-146.6,243.8,-7.4,155,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3476
$GC,3544,-0.95,-146.6,266.6,-7.2,170,3546,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,3854,-0.95,-146.6,286.9,-6.7,185,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1905,3475
$GC,4163,-0.95,-146.6,307.9,-6.6,200,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,4472,-0.95,-146.6,329.1,-7.0,215,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1904,3475
$GC,4782,-0.95,-146.6,349.8,-6.5,230,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3475
$GC,5091,-0.95,-146.6,371.3,-7.1,245,5095,0.00,2.50,0.00,0.000,4,0.000,0.050,2286,3290,3475
$GC,5158,-0.95,-146.6,376.3,-7.6,248,5162,0.00,2.50,0.00,0.000,6,0.000,0.045,2285,1899,3475
$GC,5483,-0.95,-146.6,399.2,-7.0,264,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3475
$GC,5793,-0.95,-146.6,422.7,-8.0,279,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3475
$GC,6102,-0.95,-146.6,447.1,-7.8,294,6106,0.00,2.53,0.00,0.000,4,0.000,0.049,2286,3298,3475
$GC,6178,-0.95,-146.6,453.2,-7.4,297,6185,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1908,3475
$GC,6494,-0.95,-146.6,477.6,-7.8,313,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3475
$GC,6804,-0.95,-146.6,500.2,-6.9,328,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1908,3475
$GC,7112,-0.95,-146.6,520.0,-6.1,343,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1908,3475
$GC,7422,-0.95,-146.6,540.8,-7.0,358,7423,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3475
$GC,7731,-0.95,-146.6,562.1,-6.8,373,7735,0.00,2.50,0.00,0.000,4,0.000,0.052,2285,3293,3474
$GC,7803,-0.95,-146.6,567.1,-7.4,376,7807,0.00,2.53,0.00,0.000,6,0.000,0.046,2285,1906,3475
$GC,8124,-0.95,-146.6,588.7,-6.9,392,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3474
$GC,8434,-0.95,-146.6,609.2,-5.6,407,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3474
$GC,8742,-0.95,-146.6,627.8,-6.9,422,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3474
$GC,9051,-0.95,-146.6,647.6,-6.5,437,9056,0.00,2.53,0.00,0.000,4,0.000,0.056,2286,3291,3474
$GC,9118,-0.95,-146.6,652.5,-7.8,440,9122,0.00,2.50,0.00,0.000,6,0.000,0.048,2286,1899,3474
$GC,9445,-0.95,-146.6,672.5,-5.8,456,9446,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3474
$GC,9754,-0.95,-146.6,694.6,-7.1,471,9755,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3474
$GC,10063,-0.95,-146.6,709.8,-5.0,486,10068,0.00,2.53,0.00,0.000,4,0.000,0.056,2285,3291,3473
$GC,10185,-0.95,-146.6,717.9,-7.1,491,10192,0.00,2.55,0.00,0.000,6,0.000,0.049,2286,1897,3473
$GC,10501,-0.95,-146.6,735.0,-5.0,507,10503,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3473
$GC,10810,-0.95,-146.6,750.5,-5.6,522,10812,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3473
$GC,11119,-0.95,-146.6,770.3,-7.5,537,11124,0.00,2.58,0.00,0.000,4,0.000,0.062,2286,3295,3473
$GC,11185,-0.95,-146.6,774.9,-6.2,540,11190,0.00,2.55,0.00,0.000,6,0.000,0.055,2285,1901,3473
$GC,11513,-0.95,-146.6,791.8,-5.9,556,11514,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3472
$STATE,11820,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11821,begin apogee
$GC,11826,-0.36,0.0,807.0,5.3,571,11952,0.60,0.00,123.82,1.353,6,0.076,0.000,2416,2092,2878
$STATE,11953,end apogee,CONTROL_FINISHED_OK
$STATE,11953,begin climb
$GC,11955,0.95,146.6,811.0,0.0,577,12083,1.27,0.00,123.18,1.309,6,0.054,0.000,2698,2092,2280
$GC,12385,0.97,163.5,792.2,5.5,598,12407,0.00,2.70,15.25,1.309,4,0.000,0.067,2698,3497,2211
$GC,12485,1.03,210.7,786.6,4.6,602,12531,0.00,2.60,40.42,1.309,6,0.000,0.058,2698,2102,2018
$GC,12843,1.05,231.5,766.9,5.4,619,12864,0.12,0.00,18.38,1.326,6,0.049,0.000,2741,2102,1934
$GC,13170,1.05,231.5,738.9,9.9,635,13174,0.00,2.62,0.00,0.000,4,0.000,0.064,2741,3505,1932
$GC,13259,1.05,231.5,730.0,9.7,639,13263,0.00,2.62,0.00,0.000,6,0.000,0.058,2741,2095,1932
$GC,13578,1.05,231.5,709.8,6.1,655,13579,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2095,1932
$GC,13887,1.05,231.5,685.4,9.4,670,13892,0.00,2.60,0.00,0.000,4,0.000,0.059,2741,3505,1931
$GC,13948,1.05,231.5,678.9,10.6,673,13953,0.00,2.58,0.00,0.000,6,0.000,0.052,2741,2091,1930
$GC,14274,1.05,231.5,646.7,9.2,689,14276,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2091,1931
$GC,14583,1.05,231.5,625.1,6.2,704,14585,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2091,1931
$GC,14893,1.05,231.9,607.2,6.0,719,14894,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2091,1931
$GC,15202,1.05,231.9,583.3,8.4,734,15206,0.00,2.58,0.00,0.000,4,0.000,0.054,2741,3506,1931
$GC,15323,1.05,231.9,571.4,9.2,739,15331,0.00,2.55,0.00,0.000,6,0.000,0.047,2741,2103,1931
$GC,15639,1.05,231.9,544.8,8.1,755,15640,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2104,1931
$GC,15948,1.05,231.9,521.0,7.8,770,15949,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2104,1932
$GC,16257,1.05,231.9,495.8,8.0,785,16259,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2103,1932
$GC,16567,1.05,231.9,473.2,6.9,800,16568,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2104,1933
$GC,16876,1.05,231.9,452.2,6.8,815,16877,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2103,1933
$GC,17185,1.05,231.9,432.3,6.4,830,17190,0.00,2.53,0.00,0.000,4,0.000,0.048,2741,3503,1934
$GC,17246,1.05,231.9,428.1,6.5,833,17251,0.00,2.50,0.00,0.000,6,0.000,0.044,2741,2098,1934
$GC,17572,1.05,231.9,404.9,7.3,849,17573,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2098,1934
$GC,17881,1.05,231.9,381.5,7.6,864,17886,0.00,2.55,0.00,0.000,4,0.000,0.049,2741,3506,1935
$GC,17942,1.05,231.9,376.7,7.0,867,17947,0.00,2.50,0.00,0.000,6,0.000,0.043,2741,2096,1935
$GC,18268,1.05,231.9,350.6,8.0,883,18269,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2096,1935
$GC,18577,1.05,231.9,324.3,8.8,898,18578,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2096,1936
$GC,18886,1.05,231.9,297.9,8.5,913,18891,0.00,2.53,0.00,0.000,4,0.000,0.049,2741,3503,1936
$GC,18948,1.05,231.9,292.4,8.0,916,18952,0.00,2.50,0.00,0.000,6,0.000,0.041,2741,2092,1936
$GC,19273,1.05,231.9,265.1,8.5,932,19274,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2092,1936
$GC,19582,1.05,231.9,238.6,9.0,947,19584,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2092,1936
$GC,19891,1.05,231.9,210.0,9.0,962,19896,0.00,2.55,0.00,0.000,4,0.000,0.049,2741,3510,1937
$GC,19957,1.05,231.9,203.5,9.2,965,19962,0.00,2.53,0.00,0.000,6,0.000,0.040,2741,2098,1936
$GC,20284,1.05,231.9,172.3,9.7,981,20285,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2098,1937
$GC,20593,1.05,231.9,142.8,9.7,996,20595,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2098,1937
$GC,20903,1.05,231.9,114.8,8.8,1011,20907,0.00,2.53,0.00,0.000,4,0.000,0.047,2741,3504,1937
$GC,20964,1.05,231.9,109.1,9.2,1014,20969,0.00,2.47,0.00,0.000,6,0.000,0.039,2741,2097,1937
$GC,21290,1.05,231.9,80.5,9.2,1030,21291,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2097,1937
$GC,21599,1.05,231.9,52.4,9.2,1045,21601,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2097,1937
$GC,21911,1.05,231.9,24.1,7.5,1060,21912,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2097,1937
$GC,22218,1.05,231.9,3.3,6.6,1075,22219,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2092,1937
$GC,22528,1.30,431.7,3.2,0.0,1090,22583,0.15,0.00,52.40,0.783,2,0.061,0.000,2784,2091,1544
$STATE,22584,end climb,NO_VERTICAL_VELOCITY
$STATE,22584,begin surface
$SM_CCo,22587,115.75,0.739,0,0,603,558.06
$SM_GC,3.74,11.82,0.00,0.00,0.027,0.000,0.000,32,1888,604,-11.26,-0.34,557.81
$IRIDIUM_FIX,6148.92,-1059.58,081207,171729
$TT8_MAMPS,0.026845
$HUMID,2048
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,18.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,725.2,91.8
$24V_AH,23.3,32.924
$10V_AH,10.1,15.032
$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,25.125,87.250,373.450,115.750,0.000,75.392,90.447,341.792,7.250,0.000,0.000,11.765,1894.084,18371.947,652.336,2187.130,695.361,33.367,1720.370,0.000,2154.109,0.000,42.768
$DEVICE_MAMPS,108.147,73.632,1352.988,738.621,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,790.972,740.246,641.179,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53622,1092
$CFSIZE,260165632,250515456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,081207,203645,6212.208,-1029.521,42,2.6,61,-10.3