version: 66.02
glider: 102
mission: 4
dive: 153
start: 12 13 107 22 42 34
data:
$ID,102
$MISSION,4
$DIVE,153
$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,-79036.539
$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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,222801,6237.089,-1122.086,42,1.5,42,-10.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.30
$_SM_ANGLEo,-52.9
$GPS2,224139,6237.189,-1121.661,9,1.7,9,-10.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.179,-0.108
$KALMAN_X,175025.2,-878.2,-1042.2,-324476.5,8746.2
$KALMAN_Y,129362.2,-474.9,1038.3,-11305.4,5894.2
$MHEAD_RNG_PITCHd_Wd,249.8,20572,-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,-146.6,0.0,0.0,0,25,0.00,0.00,-3.88,0.000,2,0.000,0.000,27,1877,700
$GC,28,-0.95,-146.6,4.4,-0.0,0,213,10.82,2.60,-164.45,0.000,4,0.090,0.057,2293,3300,3476
$GC,219,-0.95,-146.6,6.2,-8.6,10,223,0.00,2.50,0.00,0.000,6,0.000,0.041,2294,1906,3476
$GC,546,-0.95,-146.6,31.0,-9.1,26,550,0.00,2.53,0.00,0.000,4,0.000,0.046,2293,3305,3476
$GC,617,-0.95,-146.6,39.2,-10.1,29,621,0.00,2.53,0.00,0.000,6,0.000,0.042,2293,1901,3475
$GC,938,-0.95,-146.6,59.0,-7.0,45,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1901,3475
$GC,1248,-0.95,-146.6,81.7,-7.6,60,1252,0.00,2.53,0.00,0.000,4,0.000,0.046,2293,3306,3476
$GC,1358,-0.95,-146.6,89.7,-7.5,65,1363,0.00,2.53,0.00,0.000,6,0.000,0.041,2293,1891,3476
$GC,1685,-0.95,-146.6,114.4,-6.9,81,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1890,3475
$GC,1994,-0.95,-146.6,137.9,-7.6,96,1999,0.00,2.55,0.00,0.000,4,0.000,0.047,2293,3310,3476
$GC,2060,-0.95,-146.6,142.6,-6.9,99,2065,0.00,2.53,0.00,0.000,6,0.000,0.042,2293,1898,3475
$GC,2387,-0.95,-146.6,164.7,-6.8,115,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1898,3475
$GC,2696,-0.95,-146.6,183.6,-6.3,130,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1898,3475
$GC,3006,-0.95,-146.6,205.3,-6.6,145,3010,0.00,2.53,0.00,0.000,4,0.000,0.047,2294,3304,3475
$GC,3076,-0.95,-146.6,210.4,-7.0,148,3081,0.00,2.55,0.00,0.000,6,0.000,0.043,2293,1898,3475
$GC,3398,-0.95,-146.6,232.4,-6.8,164,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1898,3475
$GC,3707,-0.95,-146.6,253.3,-6.6,179,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1898,3475
$GC,4016,-0.95,-146.6,277.6,-8.4,194,4020,0.00,2.53,0.00,0.000,4,0.000,0.049,2293,3301,3476
$GC,4087,-0.95,-146.6,283.9,-9.1,197,4091,0.00,2.50,0.00,0.000,6,0.000,0.045,2293,1901,3475
$GC,4408,-0.95,-146.6,308.6,-7.2,213,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1900,3475
$GC,4717,-0.95,-146.6,330.7,-7.1,228,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1901,3475
$GC,5027,-0.95,-146.6,351.8,-6.6,243,5031,0.00,2.53,0.00,0.000,4,0.000,0.048,2293,3301,3475
$GC,5088,-0.95,-146.6,355.8,-6.7,246,5092,0.00,2.50,0.00,0.000,6,0.000,0.046,2293,1901,3475
$GC,5413,-0.95,-146.6,377.1,-6.5,262,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1902,3475
$GC,5722,-0.95,-146.6,397.6,-6.7,277,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1902,3475
$GC,6031,-0.95,-146.6,417.7,-6.9,292,6036,0.00,2.53,0.00,0.000,4,0.000,0.050,2294,3308,3475
$GC,6108,-0.95,-146.6,423.5,-7.5,295,6116,0.00,2.55,0.00,0.000,6,0.000,0.046,2293,1906,3475
$GC,6425,-0.95,-146.6,447.9,-8.0,311,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1906,3476
$GC,6734,-0.95,-146.6,471.8,-7.9,326,6738,0.00,2.53,0.00,0.000,4,0.000,0.051,2294,3301,3475
$GC,6799,-0.95,-146.6,477.3,-8.0,329,6803,0.00,2.55,0.00,0.000,6,0.000,0.048,2294,1905,3475
$GC,7126,-0.95,-146.6,499.6,-6.2,345,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1905,3474
$GC,7435,-0.95,-146.6,515.4,-4.6,360,7439,0.00,2.50,0.00,0.000,4,0.000,0.051,2293,3300,3474
$GC,7552,-0.95,-146.6,520.9,-4.8,365,7556,0.00,2.53,0.00,0.000,6,0.000,0.047,2293,1897,3474
$GC,7866,-0.95,-146.6,538.0,-6.2,380,7871,0.00,2.55,0.00,0.000,4,0.000,0.052,2293,3302,3474
$GC,7943,-0.95,-146.6,543.5,-6.9,383,7950,0.00,2.55,0.00,0.000,6,0.000,0.048,2293,1905,3474
$GC,8259,-0.95,-146.6,565.5,-6.9,399,8263,0.00,2.62,0.00,0.000,4,0.000,0.071,2293,489,3474
$GC,8302,-0.95,-146.6,568.7,-7.1,401,8306,0.00,2.50,0.00,0.000,6,0.000,0.046,2293,1898,3474
$GC,8629,-0.95,-146.6,588.3,-5.2,417,8633,0.00,2.55,0.00,0.000,4,0.000,0.058,2293,3297,3474
$GC,8722,-0.95,-146.6,593.8,-6.1,421,8727,0.00,2.53,0.00,0.000,6,0.000,0.051,2293,1901,3474
$GC,9044,-0.95,-146.6,610.3,-4.7,437,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1901,3474
$GC,9357,-0.95,-146.6,625.7,-5.0,452,9362,0.00,2.55,0.00,0.000,4,0.000,0.060,2293,3297,3474
$GC,9435,-0.95,-146.6,630.2,-5.4,455,9442,0.00,2.58,0.00,0.000,6,0.000,0.052,2293,1900,3474
$GC,9751,-0.95,-146.6,647.6,-5.6,471,9752,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1900,3474
$GC,10060,-0.95,-146.6,665.9,-5.7,486,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,1900,3473
$STATE,10140,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10140,begin apogee
$GC,10145,-0.36,0.0,671.5,6.7,490,10271,0.57,0.00,122.35,1.252,6,0.071,0.000,2419,2096,2878
$STATE,10271,end apogee,CONTROL_FINISHED_OK
$STATE,10272,begin climb
$GC,10273,0.95,146.6,676.1,0.0,496,10405,1.30,2.67,122.68,1.209,4,0.054,0.063,2706,3499,2279
$GC,10521,0.95,146.6,669.7,6.1,508,10525,0.00,2.60,0.00,0.000,6,0.000,0.052,2706,2099,2279
$GC,10848,0.95,146.6,650.3,6.1,524,10852,0.00,2.62,0.00,0.000,4,0.000,0.061,2706,3506,2278
$GC,10924,0.95,146.6,645.1,7.2,527,10931,0.00,2.58,0.00,0.000,6,0.000,0.052,2706,2101,2278
$GC,11239,0.95,146.6,625.7,6.4,543,11244,0.00,2.62,0.00,0.000,4,0.000,0.061,2706,3506,2277
$GC,11350,0.95,146.6,618.1,7.1,548,11354,0.00,2.60,0.00,0.000,6,0.000,0.052,2706,2100,2277
$GC,11677,0.97,162.3,600.6,5.5,564,11698,0.00,2.67,13.23,1.250,4,0.000,0.061,2706,3496,2216
$GC,11782,1.01,201.3,595.2,4.8,568,11822,0.00,2.55,33.12,1.220,6,0.000,0.051,2706,2099,2057
$GC,12140,1.04,224.6,578.2,5.3,586,12165,0.00,2.67,20.23,1.214,4,0.000,0.058,2706,3506,1961
$GC,12244,1.04,224.6,570.2,8.1,591,12248,0.00,2.58,0.00,0.000,6,0.000,0.051,2706,2099,1961
$GC,12569,1.04,224.6,544.9,7.3,607,12574,0.00,2.65,0.00,0.000,4,0.000,0.073,2706,691,1961
$GC,12623,1.04,224.6,540.8,7.5,609,12630,0.00,2.53,0.00,0.000,6,0.000,0.047,2706,2092,1961
$GC,12939,1.04,224.6,517.8,6.6,625,12940,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2093,1961
$GC,13248,1.04,224.6,498.6,6.1,640,13249,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2094,1961
$GC,13557,1.04,224.6,475.5,8.2,655,13558,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2094,1961
$GC,13866,1.04,224.6,450.0,8.6,670,13871,0.00,2.62,0.00,0.000,4,0.000,0.064,2706,686,1961
$GC,13910,1.04,224.6,446.2,8.5,672,13915,0.00,2.53,0.00,0.000,6,0.000,0.044,2706,2101,1961
$GC,14236,1.04,224.6,420.3,7.5,688,14238,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2102,1961
$GC,14546,1.04,224.6,397.9,7.6,703,14547,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2105,1962
$GC,14855,1.04,224.6,374.2,8.1,718,14856,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2105,1961
$GC,15165,1.04,224.6,351.6,7.0,733,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2105,1962
$GC,15473,1.04,224.6,328.9,7.7,748,15478,0.00,2.65,0.00,0.000,4,0.000,0.064,2707,680,1962
$GC,15528,1.04,224.6,324.2,8.6,750,15535,0.00,2.55,0.00,0.000,6,0.000,0.042,2706,2101,1962
$GC,15844,1.04,224.6,300.7,7.3,766,15845,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2105,1962
$GC,16153,1.04,224.6,278.7,7.0,781,16154,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2105,1963
$GC,16462,1.04,224.6,257.5,6.6,796,16467,0.00,2.60,0.00,0.000,4,0.000,0.062,2706,689,1963
$GC,16506,1.04,224.6,254.3,7.3,798,16511,0.00,2.53,0.00,0.000,6,0.000,0.041,2706,2102,1963
$GC,16832,1.04,224.6,232.1,6.7,814,16833,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2105,1963
$GC,17142,1.04,224.6,211.7,6.4,829,17146,0.00,2.62,0.00,0.000,4,0.000,0.062,2706,685,1964
$GC,17190,1.04,224.6,208.4,7.0,831,17195,0.00,2.53,0.00,0.000,6,0.000,0.041,2706,2101,1964
$GC,17512,1.09,259.6,191.0,5.0,847,17543,0.12,0.00,29.23,0.942,6,0.050,0.000,2751,2105,1819
$GC,17841,1.09,259.6,164.9,8.4,863,17842,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2105,1819
$GC,18150,1.09,259.6,138.5,8.4,878,18151,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2105,1819
$GC,18459,1.09,259.6,112.4,8.7,893,18461,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2105,1818
$GC,18769,1.09,259.6,85.6,8.4,908,18773,0.00,2.62,0.00,0.000,4,0.000,0.061,2751,687,1819
$GC,18800,1.09,259.6,82.1,9.4,909,18808,0.08,2.50,0.00,0.000,6,0.079,0.040,2732,2099,1819
$GC,19118,1.09,259.6,57.5,8.2,925,19119,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2103,1819
$GC,19426,1.09,259.6,31.4,8.1,940,19427,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2103,1819
$GC,19735,1.09,259.6,8.8,10.6,955,19736,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2103,1819
$GC,20044,1.34,468.4,3.9,-0.2,970,20158,0.22,0.00,110.25,0.766,6,0.058,0.000,2788,2105,967
$STATE,20187,end climb,NO_VERTICAL_VELOCITY
$STATE,20187,begin surface
$SM_CCo,20190,46.60,0.745,0,0,602,558.06
$SM_GC,4.35,11.85,0.00,0.00,0.027,0.000,0.000,29,1880,604,-11.27,-0.54,557.81
$IRIDIUM_FIX,6211.90,-1116.76,141207,020225
$TT8_MAMPS,0.026078
$HUMID,2050
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,16.50
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,625.7,54.7
$24V_AH,23.3,36.630
$10V_AH,10.1,17.008
$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,24.975,128.825,451.075,46.600,0.000,103.025,112.706,370.440,8.250,0.000,0.000,11.192,1743.969,16159.893,678.732,2111.354,784.647,33.385,1742.185,0.000,2078.368,0.000,42.076
$DEVICE_MAMPS,89.739,72.865,1251.744,744.757,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,715.569,659.020,623.564,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50643,977
$CFSIZE,260165632,249188352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,141207,042808,6235.752,-1120.660,42,1.1,42,-10.9