version: 66.02
glider: 102
mission: 4
dive: 144
start: 12 11 107 11 58 51
data:
$ID,102
$MISSION,4
$DIVE,144
$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,-78850.375
$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,30
$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
$GPS1,113831,6224.095,-1054.780,34,1.6,34,-10.6
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,4.16
$_SM_ANGLEo,-46.4
$GPS2,115756,6224.140,-1054.385,13,1.9,15,-10.6
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.163,0.130
$KALMAN_X,154880.7,267.0,-1896.4,-280571.9,15771.4
$KALMAN_Y,125860.4,-51.3,3596.0,-34955.9,-15012.2
$MHEAD_RNG_PITCHd_Wd,319.3,5072,-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,20,-0.95,-146.6,0.0,0.0,0,43,0.00,0.00,-21.70,0.000,2,0.000,0.000,28,1890,1108
$GC,46,-0.95,-146.6,4.1,-0.0,1,203,10.93,2.60,-139.65,0.000,4,0.096,0.074,2290,499,3477
$GC,435,-0.95,-146.6,24.2,-9.6,19,439,0.00,2.45,0.00,0.000,6,0.000,0.040,2290,1903,3476
$GC,761,-0.95,-146.6,55.8,-10.2,35,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3477
$GC,1070,-0.95,-146.6,81.6,-8.9,50,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3477
$GC,1379,-0.95,-146.6,105.5,-7.5,65,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1906,3477
$GC,1689,-0.95,-146.6,127.9,-6.0,80,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3477
$GC,1998,-0.95,-146.6,140.6,-4.1,95,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3477
$GC,2306,-0.95,-146.6,162.0,-6.8,110,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3477
$GC,2616,-0.95,-146.6,183.0,-6.8,125,2619,0.00,2.47,0.00,0.000,4,0.000,0.047,2290,3294,3477
$GC,2676,-0.95,-146.6,187.0,-6.1,127,2683,0.00,2.47,0.00,0.000,6,0.000,0.042,2290,1906,3477
$GC,2991,-0.95,-146.6,207.7,-7.0,143,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3477
$GC,3300,-0.95,-146.6,230.7,-7.5,158,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3477
$GC,3610,-0.95,-146.6,254.2,-7.8,173,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3477
$GC,3919,-0.95,-146.6,276.4,-6.7,188,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3477
$GC,4228,-0.95,-146.6,297.1,-6.8,203,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3477
$GC,4538,-0.95,-146.6,318.2,-6.7,218,4542,0.00,2.47,0.00,0.000,4,0.000,0.048,2290,3295,3476
$GC,4620,-0.95,-146.6,324.0,-6.9,221,4627,0.00,2.53,0.00,0.000,6,0.000,0.044,2290,1903,3476
$GC,4936,-0.95,-146.6,344.6,-6.5,237,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1903,3476
$GC,5245,-0.95,-146.6,367.1,-7.0,252,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1903,3477
$GC,5554,-0.95,-146.6,389.4,-7.0,267,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1903,3476
$GC,5864,-0.95,-146.6,409.9,-6.2,282,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1903,3476
$GC,6174,-0.95,-146.6,427.7,-5.7,297,6178,0.00,2.50,0.00,0.000,4,0.000,0.049,2290,3295,3476
$GC,6240,-0.95,-146.6,431.5,-5.7,300,6244,0.00,2.50,0.00,0.000,6,0.000,0.044,2290,1899,3476
$GC,6566,-0.95,-146.6,451.7,-6.6,316,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1900,3476
$GC,6876,-0.95,-146.6,472.6,-7.0,331,6880,0.00,2.53,0.00,0.000,4,0.000,0.049,2290,3299,3476
$GC,6938,-0.95,-146.6,477.1,-7.5,334,6942,0.00,2.53,0.00,0.000,6,0.000,0.046,2290,1895,3476
$GC,7263,-0.95,-146.6,499.3,-6.7,350,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1895,3477
$GC,7573,-0.95,-146.6,519.8,-6.6,365,7574,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1892,3475
$GC,7882,-0.95,-146.6,541.2,-7.2,380,7886,0.00,2.53,0.00,0.000,4,0.000,0.051,2290,3300,3475
$GC,7947,-0.95,-146.6,546.2,-7.5,383,7951,0.00,2.53,0.00,0.000,6,0.000,0.045,2290,1906,3475
$GC,8274,-0.95,-146.6,570.6,-7.4,399,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3475
$GC,8583,-0.95,-146.6,593.3,-7.4,414,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3475
$GC,8892,-0.95,-146.6,614.5,-6.5,429,8893,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3475
$GC,9202,-0.95,-146.6,634.0,-6.0,444,9206,0.00,2.53,0.00,0.000,4,0.000,0.056,2290,3296,3476
$GC,9267,-0.95,-146.6,638.2,-6.7,447,9271,0.00,2.55,0.00,0.000,6,0.000,0.048,2290,1902,3475
$GC,9594,-0.95,-146.6,656.4,-6.2,463,9595,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1902,3475
$GC,9907,-0.95,-146.6,675.2,-6.2,478,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1902,3475
$GC,10212,-0.95,-146.6,694.7,-6.3,493,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1902,3475
$GC,10522,-0.95,-146.6,716.2,-6.9,508,10523,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1902,3475
$GC,10831,-0.95,-146.6,735.3,-5.8,523,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1901,3474
$GC,11140,-0.95,-146.6,751.4,-5.6,538,11141,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1902,3474
$STATE,11159,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11159,begin apogee
$GC,11164,-0.36,0.0,753.1,6.8,539,11291,0.60,0.00,123.72,1.294,6,0.077,0.000,2419,2087,2878
$STATE,11292,end apogee,CONTROL_FINISHED_OK
$STATE,11292,begin climb
$GC,11294,0.95,146.6,757.6,0.0,545,11422,1.30,0.00,122.65,1.260,6,0.055,0.000,2705,2087,2280
$GC,11733,0.95,146.6,742.0,6.1,567,11734,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2087,2280
$GC,12040,1.01,194.5,723.6,4.6,582,12083,0.00,0.00,40.75,1.279,6,0.000,0.000,2705,2087,2084
$GC,12389,1.01,194.5,704.5,7.3,599,12390,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2087,2083
$GC,12698,1.01,194.5,681.5,6.7,614,12703,0.00,2.62,0.00,0.000,4,0.000,0.059,2704,3508,2083
$GC,12805,1.01,194.5,673.2,8.1,619,12809,0.00,2.58,0.00,0.000,6,0.000,0.051,2705,2099,2082
$GC,13130,1.10,269.3,653.0,3.8,635,13195,0.12,0.00,62.20,1.259,6,0.051,0.000,2746,2099,1780
$GC,13500,1.10,269.3,628.3,8.4,653,13501,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2099,1780
$GC,13809,1.10,269.3,598.8,9.8,668,13810,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2099,1779
$GC,14118,1.10,269.3,568.1,9.3,683,14122,0.00,2.62,0.00,0.000,4,0.000,0.068,2746,690,1779
$GC,14167,1.10,269.3,563.8,8.4,685,14171,0.00,2.50,0.00,0.000,6,0.000,0.042,2747,2105,1779
$GC,14488,1.10,269.3,538.4,8.1,701,14489,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2110,1779
$GC,14797,1.10,269.3,510.0,10.0,716,14798,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2110,1780
$GC,15107,1.10,269.3,478.5,10.1,731,15108,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2109,1780
$GC,15416,1.10,269.3,450.8,8.7,746,15417,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2110,1781
$GC,15725,1.10,269.3,426.6,7.4,761,15726,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2110,1781
$GC,16034,1.10,269.3,403.1,7.4,776,16039,0.00,2.62,0.00,0.000,4,0.000,0.064,2746,689,1781
$GC,16100,1.10,269.3,397.6,8.0,779,16104,0.00,2.53,0.00,0.000,6,0.000,0.040,2746,2099,1781
$GC,16427,1.10,269.3,371.3,8.6,795,16428,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2104,1782
$GC,16736,1.10,269.3,340.3,9.9,810,16737,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2103,1782
$GC,17045,1.10,269.3,311.9,9.1,825,17046,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2104,1782
$GC,17354,1.10,269.3,284.9,8.8,840,17359,0.00,2.60,0.00,0.000,4,0.000,0.062,2747,691,1782
$GC,17397,1.10,269.3,281.1,9.4,842,17402,0.00,2.45,0.00,0.000,6,0.000,0.039,2746,2104,1782
$GC,17724,1.10,269.3,254.6,7.9,858,17725,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2106,1782
$GC,18033,1.10,269.3,229.7,8.1,873,18034,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2106,1783
$GC,18343,1.10,269.3,204.9,7.9,888,18344,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2106,1783
$GC,18652,1.10,269.3,179.1,7.8,903,18653,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2106,1783
$GC,18961,1.10,269.3,153.4,8.2,918,18962,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2106,1783
$GC,19271,1.10,269.3,127.7,9.8,933,19275,0.00,2.60,0.00,0.000,4,0.000,0.061,2746,691,1784
$GC,19319,1.10,269.3,123.1,10.3,935,19324,0.00,2.50,0.00,0.000,6,0.000,0.038,2747,2103,1784
$GC,19641,1.10,269.3,92.1,10.1,951,19642,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2106,1783
$GC,19950,1.10,269.3,64.8,7.6,966,19951,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2106,1784
$GC,20261,1.11,279.2,40.7,5.7,981,20273,0.00,0.00,9.80,0.879,6,0.000,0.000,2747,2106,1739
$GC,20570,1.11,279.2,22.6,9.9,996,20574,0.00,2.62,0.00,0.000,4,0.000,0.061,2747,687,1739
$GC,20609,1.11,279.2,18.4,10.1,998,20613,0.00,2.50,0.00,0.000,6,0.000,0.039,2747,2108,1739
$GC,20935,1.36,481.8,3.7,-0.0,1014,21048,0.17,2.55,106.00,0.790,4,0.048,0.047,2799,3505,912
$STATE,21279,end climb,NO_VERTICAL_VELOCITY
$STATE,21279,begin surface
$SM_CCo,21282,39.28,0.772,0,0,602,558.06
$SM_GC,4.11,11.90,0.00,0.00,0.028,0.000,0.000,34,1892,603,-11.25,-0.23,558.06
$IRIDIUM_FIX,6158.08,-1053.13,111207,151534
$TT8_MAMPS,0.026845
$HUMID,2025
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.80
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,675.2,87.4
$24V_AH,23.3,35.006
$10V_AH,10.1,16.107
$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,25.025,71.775,465.125,39.275,0.000,150.386,217.192,492.095,7.500,0.000,0.000,17.132,1783.100,17380.254,649.243,2036.440,1065.162,33.361,1644.377,0.000,2009.540,0.000,39.526
$DEVICE_MAMPS,95.875,74.399,1293.929,772.369,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,763.214,696.644,643.062,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50632,1030
$CFSIZE,260165632,249798656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,111207,180232,6224.755,-1058.913,41,1.5,41,-10.6