version: 66.02
glider: 102
mission: 4
dive: 142
start: 12 10 107 23 35 51
data:
$ID,102
$MISSION,4
$DIVE,142
$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,-78818.648
$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,27
$R_STBD_OVSHOOT,33
$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
$GPS1,232307,6225.212,-1046.121,35,0.8,35,-10.5
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,4
$_SM_DEPTHo,4.23
$_SM_ANGLEo,-51.7
$GPS2,233456,6225.116,-1045.961,13,1.0,13,-10.5
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.189,0.088
$KALMAN_X,151016.2,-932.6,-892.6,-269055.1,13543.6
$KALMAN_Y,132650.3,459.8,1892.1,-38759.8,-12293.7
$MHEAD_RNG_PITCHd_Wd,305.5,12041,-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,-146.6,0.0,0.0,0,28,0.00,0.00,-7.00,0.000,2,0.000,0.000,25,1881,776
$GC,31,-0.95,-146.6,4.3,-0.0,1,197,10.95,2.58,-147.27,0.000,4,0.096,0.058,2288,3302,3476
$GC,202,-0.95,-146.6,7.5,-8.9,9,207,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1903,3476
$GC,529,-0.95,-146.6,29.6,-6.3,25,533,0.00,2.60,0.00,0.000,4,0.000,0.064,2287,498,3476
$GC,785,-0.95,-146.6,47.9,-8.3,36,792,0.00,2.50,0.00,0.000,6,0.000,0.039,2288,1908,3476
$GC,1101,-0.95,-146.6,69.7,-7.0,52,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3476
$GC,1410,-0.95,-146.6,92.2,-6.2,67,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1908,3476
$GC,1720,-0.95,-146.6,114.7,-7.5,82,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1908,3476
$GC,2030,-0.95,-146.6,137.0,-7.3,97,2035,0.00,2.47,0.00,0.000,4,0.000,0.047,2288,3293,3476
$GC,2092,-0.95,-146.6,141.8,-7.3,100,2096,0.00,2.50,0.00,0.000,6,0.000,0.042,2288,1893,3476
$GC,2418,-0.95,-146.6,164.6,-7.1,116,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1893,3476
$GC,2727,-0.95,-146.6,187.4,-7.2,131,2731,0.00,2.53,0.00,0.000,4,0.000,0.046,2287,3298,3476
$GC,2820,-0.95,-146.6,194.5,-7.6,135,2824,0.00,2.53,0.00,0.000,6,0.000,0.042,2287,1902,3476
$GC,3142,-0.95,-146.6,216.1,-6.4,151,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1903,3476
$GC,3451,-0.95,-146.6,235.9,-6.6,166,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3476
$GC,3760,-0.95,-146.6,257.2,-6.9,181,3764,0.00,2.47,0.00,0.000,4,0.000,0.047,2287,3295,3476
$GC,3831,-0.95,-146.6,262.3,-7.1,184,3835,0.00,2.53,0.00,0.000,6,0.000,0.043,2287,1901,3476
$GC,4158,-0.95,-146.6,284.0,-6.6,200,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3475
$GC,4467,-0.95,-146.6,304.2,-6.5,215,4471,0.00,2.50,0.00,0.000,4,0.000,0.048,2288,3295,3476
$GC,4532,-0.95,-146.6,308.4,-6.0,218,4537,0.00,2.53,0.00,0.000,6,0.000,0.044,2288,1902,3476
$GC,4859,-0.95,-146.6,328.0,-5.9,234,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3476
$GC,5169,-0.95,-146.6,346.2,-5.9,249,5173,0.00,2.50,0.00,0.000,4,0.000,0.048,2287,3294,3476
$GC,5239,-0.95,-146.6,350.9,-6.6,252,5244,0.00,2.53,0.00,0.000,6,0.000,0.044,2288,1900,3475
$GC,5561,-0.95,-146.6,371.3,-6.4,268,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3476
$GC,5870,-0.95,-146.6,392.2,-7.1,283,5874,0.00,2.50,0.00,0.000,4,0.000,0.048,2287,3295,3475
$GC,5931,-0.95,-146.6,396.4,-7.2,286,5935,0.00,2.50,0.00,0.000,6,0.000,0.045,2287,1899,3476
$GC,6256,-0.95,-146.6,419.2,-7.1,302,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,6566,-0.95,-146.6,441.8,-7.3,317,6570,0.00,2.50,0.00,0.000,4,0.000,0.049,2287,3294,3476
$GC,6631,-0.95,-146.6,446.8,-7.3,320,6636,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1900,3476
$GC,6958,-0.95,-146.6,470.3,-7.3,336,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3476
$GC,7268,-0.95,-146.6,493.3,-7.9,351,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3476
$GC,7577,-0.95,-146.6,515.1,-6.7,366,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3475
$GC,7886,-0.95,-146.6,535.0,-6.7,381,7891,0.00,2.53,0.00,0.000,4,0.000,0.050,2287,3302,3474
$GC,7975,-0.95,-146.6,541.4,-7.0,385,7979,0.00,2.53,0.00,0.000,6,0.000,0.046,2287,1894,3475
$GC,8302,-0.95,-146.6,562.9,-6.3,401,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3475
$GC,8611,-0.95,-146.6,582.2,-6.2,416,8615,0.00,2.55,0.00,0.000,4,0.000,0.053,2287,3299,3474
$GC,8660,-0.95,-146.6,585.5,-7.0,418,8665,0.00,2.55,0.00,0.000,6,0.000,0.048,2287,1901,3475
$GC,8981,-0.95,-146.6,606.5,-6.6,434,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3474
$GC,9294,-0.95,-146.6,626.3,-6.7,449,9298,0.00,2.53,0.00,0.000,4,0.000,0.056,2287,3293,3474
$GC,9364,-0.95,-146.6,631.9,-7.4,452,9369,0.00,2.55,0.00,0.000,6,0.000,0.048,2287,1898,3475
$GC,9685,-0.95,-146.6,654.3,-6.3,468,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3474
$GC,9995,-0.95,-146.6,675.2,-6.8,483,9999,0.00,2.55,0.00,0.000,4,0.000,0.057,2287,3295,3474
$GC,10056,-0.95,-146.6,679.6,-7.1,486,10060,0.00,2.53,0.00,0.000,6,0.000,0.051,2287,1902,3474
$GC,10381,-0.95,-146.6,698.9,-5.4,502,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3474
$STATE,10586,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10586,begin apogee
$GC,10591,-0.36,0.0,711.7,6.2,512,10717,0.60,0.00,122.80,1.267,6,0.076,0.000,2418,2097,2878
$STATE,10718,end apogee,CONTROL_FINISHED_OK
$STATE,10718,begin climb
$GC,10719,0.95,146.6,717.0,0.0,518,10845,1.27,0.00,121.40,1.229,6,0.057,0.000,2698,2097,2280
$GC,11166,0.97,163.5,700.9,5.5,540,11189,0.00,2.67,15.18,1.235,4,0.000,0.064,2698,3498,2210
$GC,11324,0.97,163.5,691.8,6.4,547,11329,0.00,2.58,0.00,0.000,6,0.000,0.054,2698,2102,2210
$GC,11650,0.98,169.3,672.4,5.8,563,11657,0.00,0.00,6.05,1.220,6,0.000,0.000,2698,2102,2186
$GC,11959,1.01,196.4,656.1,5.2,578,11984,0.00,0.00,23.25,1.260,6,0.000,0.000,2698,2102,2078
$GC,12288,1.01,196.4,636.5,6.0,594,12289,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2102,2077
$GC,12597,1.01,196.4,615.4,7.1,609,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2102,2076
$GC,12906,1.01,196.4,595.7,6.2,624,12907,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2102,2075
$GC,13216,1.02,208.8,578.3,5.6,639,13229,0.00,0.00,11.05,1.228,6,0.000,0.000,2698,2102,2026
$GC,13525,1.02,208.8,559.2,6.3,654,13526,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2102,2026
$GC,13834,1.04,224.0,541.9,5.5,669,13854,0.10,0.00,13.73,1.199,6,0.058,0.000,2733,2102,1964
$GC,14163,1.04,224.0,519.4,6.8,685,14164,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2102,1964
$GC,14472,1.04,224.0,495.9,7.9,700,14476,0.00,2.53,0.00,0.000,4,0.000,0.050,2733,3500,1964
$GC,14543,1.04,224.0,489.5,8.7,703,14547,0.00,2.55,0.00,0.000,6,0.000,0.044,2733,2097,1964
$GC,14864,1.04,224.0,463.0,8.3,719,14865,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2097,1965
$GC,15173,1.04,224.0,437.6,7.9,734,15174,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2097,1965
$GC,15482,1.04,224.0,413.5,7.8,749,15483,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2096,1965
$GC,15792,1.04,224.0,389.8,7.4,764,15793,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2097,1966
$GC,16101,1.04,224.0,368.7,6.4,779,16105,0.00,2.55,0.00,0.000,4,0.000,0.051,2733,3507,1965
$GC,16290,1.04,224.0,354.6,6.9,787,16296,0.00,2.50,0.00,0.000,6,0.000,0.042,2733,2095,1966
$GC,16605,1.04,224.0,330.8,8.1,803,16609,0.00,2.55,0.00,0.000,4,0.000,0.051,2733,3506,1966
$GC,16749,1.04,224.0,317.5,9.8,809,16755,0.00,2.53,0.00,0.000,6,0.000,0.041,2733,2101,1966
$GC,17064,1.04,224.0,290.6,8.6,825,17065,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2100,1967
$GC,17373,1.04,224.0,265.9,7.8,840,17378,0.00,2.53,0.00,0.000,4,0.000,0.050,2733,3502,1967
$GC,17439,1.04,224.0,260.6,8.0,843,17444,0.00,2.50,0.00,0.000,6,0.000,0.041,2732,2106,1967
$GC,17766,1.04,224.0,235.2,7.8,859,17767,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2106,1967
$GC,18075,1.04,224.0,211.9,7.6,874,18076,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2106,1967
$GC,18384,1.04,224.0,188.4,8.1,889,18385,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2106,1967
$GC,18694,1.04,224.0,162.7,7.4,904,18695,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2106,1968
$GC,19004,1.04,224.0,141.6,7.0,919,19005,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2106,1968
$GC,19314,1.04,224.0,119.4,7.8,934,19315,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2106,1968
$GC,19622,1.04,224.0,89.7,10.2,949,19623,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2106,1968
$GC,19931,1.04,224.0,62.7,7.3,964,19932,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2106,1968
$GC,20240,1.04,224.0,41.2,10.8,979,20241,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2105,1969
$GC,20550,1.04,224.0,13.9,6.0,994,20551,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2105,1969
$GC,20859,1.29,425.9,3.6,-0.0,1009,20975,0.20,2.70,107.57,0.793,4,0.047,0.064,2786,694,1141
$GC,21126,1.56,643.6,3.8,-0.5,1021,21200,0.22,2.47,66.95,0.775,6,0.063,0.038,2836,2116,603
$STATE,21465,end climb,NO_VERTICAL_VELOCITY
$STATE,21465,begin surface
$SM_CCo,21886,0.00,0.000,0,0,605,557.57
$SM_GC,4.23,12.12,0.00,0.00,0.031,0.000,0.000,29,1876,605,-11.27,-0.65,557.57
$IRIDIUM_FIX,6202.67,-1044.88,111207,030356
$TT8_MAMPS,0.026845
$HUMID,2049
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.70
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,626.3,94.8
$24V_AH,23.3,34.608
$10V_AH,10.1,15.912
$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,25.475,96.975,487.975,0.000,0.000,73.887,75.005,389.395,8.500,0.000,0.000,15.082,1822.730,17214.893,612.630,2209.087,736.828,33.363,1715.531,0.000,2180.970,0.000,36.316
$DEVICE_MAMPS,95.875,64.428,1267.084,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,772.207,701.540,672.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53662,1038
$CFSIZE,260165632,249917440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,111207,054208,6223.485,-1051.037,57,1.1,57,-10.6