version: 66.02
glider: 102
mission: 4
dive: 156
start: 12 14 107 16 35 0
data:
$ID,102
$MISSION,4
$DIVE,156
$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,-79097.133
$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,25
$R_STBD_OVSHOOT,37
$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
$GPS1,162108,6233.433,-1126.295,36,1.5,36,-11.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.20
$_SM_ANGLEo,-49.1
$GPS2,163408,6233.418,-1126.283,19,1.4,30,-11.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.130,-0.164
$KALMAN_X,216905.1,-544.7,-27738.3,-344096.2,20836.6
$KALMAN_Y,157364.3,-650.8,-29046.9,-16019.9,14077.2
$MHEAD_RNG_PITCHd_Wd,229.4,13330,-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,22,-0.95,-146.6,0.0,0.0,0,44,0.00,0.00,-20.77,0.000,2,0.000,0.000,29,1885,1083
$GC,47,-0.95,-146.6,4.1,-0.0,1,212,11.15,2.60,-144.35,0.000,4,0.107,0.077,2286,499,3477
$GC,224,-0.95,-146.6,6.3,-4.4,9,228,0.00,2.47,0.00,0.000,6,0.000,0.040,2287,1906,3476
$GC,545,-0.95,-146.6,41.3,-10.9,25,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,854,-0.95,-146.6,68.8,-7.2,40,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1908,3476
$GC,1164,-0.95,-146.6,94.3,-8.6,55,1168,0.00,2.50,0.00,0.000,4,0.000,0.048,2287,3297,3476
$GC,1225,-0.95,-146.6,99.4,-7.3,58,1230,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1894,3476
$GC,1552,-0.95,-146.6,120.7,-5.3,74,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3476
$GC,1861,-0.95,-146.6,140.5,-5.8,89,1865,0.00,2.53,0.00,0.000,4,0.000,0.046,2287,3300,3476
$GC,1960,-0.95,-146.6,148.2,-8.0,93,1967,0.00,2.53,0.00,0.000,6,0.000,0.043,2287,1906,3476
$GC,2276,-0.95,-146.6,169.4,-5.0,109,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,2585,-0.95,-146.6,189.1,-7.5,124,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3476
$GC,2894,-0.95,-146.6,216.9,-9.1,139,2898,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3303,3476
$GC,2961,-0.95,-146.6,223.1,-9.5,142,2965,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1894,3476
$GC,3280,-0.95,-146.6,251.9,-8.6,158,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3476
$GC,3590,-0.95,-146.6,278.0,-8.3,173,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3476
$GC,3900,-0.95,-146.6,301.3,-7.4,188,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3476
$GC,4208,-0.95,-146.6,324.0,-7.0,203,4213,0.00,2.55,0.00,0.000,4,0.000,0.049,2286,3302,3476
$GC,4262,-0.95,-146.6,328.1,-7.5,205,4270,0.00,2.55,0.00,0.000,6,0.000,0.045,2287,1898,3476
$GC,4579,-0.95,-146.6,349.5,-6.6,221,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3476
$GC,4888,-0.95,-146.6,369.6,-6.7,236,4892,0.00,2.53,0.00,0.000,4,0.000,0.049,2286,3298,3476
$GC,4948,-0.95,-146.6,373.8,-7.1,239,4953,0.00,2.50,0.00,0.000,6,0.000,0.045,2286,1896,3476
$GC,5275,-0.95,-146.6,393.3,-5.5,255,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1896,3476
$GC,5583,-0.95,-146.6,412.0,-6.4,270,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3476
$GC,5893,-0.95,-146.6,431.4,-5.9,285,5897,0.00,2.53,0.00,0.000,4,0.000,0.050,2287,3299,3476
$GC,5970,-0.95,-146.6,436.4,-6.7,288,5976,0.00,2.50,0.00,0.000,6,0.000,0.045,2287,1902,3476
$GC,6285,-0.95,-146.6,455.0,-6.1,304,6289,0.00,2.53,0.00,0.000,4,0.000,0.051,2287,3298,3476
$GC,6327,-0.95,-146.6,457.9,-6.8,306,6332,0.00,2.55,0.00,0.000,6,0.000,0.047,2287,1900,3476
$GC,6654,-0.95,-146.6,479.4,-7.0,322,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3475
$GC,6963,-0.95,-146.6,503.4,-7.9,337,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3474
$GC,7273,-0.95,-146.6,526.4,-7.3,352,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3475
$GC,7582,-0.95,-146.6,546.5,-6.4,367,7587,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3305,3475
$GC,7682,-0.95,-146.6,553.3,-7.1,371,7688,0.00,2.55,0.00,0.000,6,0.000,0.046,2286,1901,3475
$GC,7998,-0.95,-146.6,576.1,-8.0,387,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3475
$GC,8309,-0.95,-146.6,600.2,-7.1,402,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3475
$GC,8616,-0.95,-146.6,619.1,-6.0,417,8620,0.00,2.55,0.00,0.000,4,0.000,0.057,2286,3296,3475
$GC,8737,-0.95,-146.6,627.6,-7.8,422,8744,0.00,2.53,0.00,0.000,6,0.000,0.049,2286,1902,3475
$GC,9053,-0.95,-146.6,650.8,-7.2,438,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3475
$GC,9362,-0.95,-146.6,664.6,-3.9,453,9367,0.00,2.58,0.00,0.000,4,0.000,0.059,2286,3299,3474
$GC,9484,-0.95,-146.6,671.7,-7.2,458,9491,0.00,2.53,0.00,0.000,6,0.000,0.053,2286,1900,3474
$GC,9800,-0.95,-146.6,691.8,-6.5,474,9801,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3474
$GC,10109,-0.95,-146.6,714.2,-6.8,489,10114,0.00,2.58,0.00,0.000,4,0.000,0.064,2286,3295,3473
$GC,10170,-0.95,-146.6,718.3,-6.9,492,10175,0.00,2.58,0.00,0.000,6,0.000,0.057,2286,1896,3474
$GC,10495,-0.95,-146.6,739.1,-6.4,508,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3472
$GC,10805,-0.95,-146.6,758.1,-6.3,523,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1896,3471
$STATE,10948,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10948,begin apogee
$GC,10953,-0.36,0.0,768.1,6.9,530,11079,0.60,0.00,123.40,1.341,6,0.072,0.000,2416,2100,2878
$STATE,11080,end apogee,CONTROL_FINISHED_OK
$STATE,11080,begin climb
$GC,11082,0.95,146.6,771.8,0.0,536,11213,1.30,2.75,123.12,1.292,4,0.054,0.076,2702,692,2279
$GC,11450,0.95,147.2,757.6,6.0,553,11455,0.00,2.58,0.00,0.000,6,0.000,0.054,2702,2094,2278
$GC,11765,0.98,175.1,741.6,5.2,568,11792,0.00,0.00,24.33,1.313,6,0.000,0.000,2702,2094,2164
$GC,12094,0.98,175.1,721.2,6.3,584,12095,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2094,2163
$GC,12403,0.98,175.1,700.9,6.8,599,12405,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,2162
$GC,12713,0.98,175.1,681.9,6.3,614,12717,0.00,2.62,0.00,0.000,4,0.000,0.065,2702,3505,2161
$GC,12778,0.98,175.1,677.1,7.7,617,12782,0.00,2.62,0.00,0.000,6,0.000,0.058,2702,2084,2161
$GC,13105,0.98,175.1,653.3,6.2,633,13109,0.00,2.67,0.00,0.000,4,0.000,0.064,2702,3512,2161
$GC,13215,1.01,195.5,647.2,5.4,638,13240,0.00,2.60,18.02,1.309,6,0.000,0.054,2702,2094,2079
$GC,13561,1.01,199.9,629.4,5.9,655,13568,0.00,0.00,4.80,1.256,6,0.000,0.000,2702,2094,2062
$GC,13870,1.01,199.9,608.0,7.1,670,13872,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2094,2062
$GC,14180,1.02,207.7,589.1,5.8,685,14194,0.00,2.67,7.35,1.267,4,0.000,0.058,2702,3499,2031
$GC,14222,1.02,207.7,586.4,6.1,687,14227,0.00,2.58,0.00,0.000,6,0.000,0.049,2702,2092,2031
$GC,14548,1.02,207.7,565.5,6.3,703,14549,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2092,2031
$GC,14857,1.02,207.7,546.6,6.4,718,14858,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2092,2031
$GC,15167,1.02,207.9,527.8,6.0,733,15168,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2092,2032
$GC,15475,1.02,207.9,507.5,6.6,748,15476,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2092,2032
$GC,15785,1.02,207.9,484.3,7.8,763,15789,0.00,2.60,0.00,0.000,4,0.000,0.054,2702,3513,2032
$GC,15823,1.02,207.9,481.0,9.6,765,15827,0.00,2.55,0.00,0.000,6,0.000,0.044,2702,2089,2033
$GC,16149,1.02,207.9,455.8,7.5,781,16150,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2090,2033
$GC,16458,1.02,207.9,433.5,6.9,796,16459,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2090,2034
$GC,16767,1.02,207.9,411.9,6.8,811,16768,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2090,2034
$GC,17077,1.02,207.9,390.7,6.9,826,17081,0.00,2.60,0.00,0.000,4,0.000,0.052,2702,3513,2035
$GC,17115,1.02,207.9,387.7,7.5,828,17119,0.00,2.53,0.00,0.000,6,0.000,0.043,2702,2097,2036
$GC,17440,1.02,207.9,364.1,7.4,844,17441,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,2036
$GC,17749,1.02,207.9,341.0,7.6,859,17750,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,2037
$GC,18058,1.02,207.9,319.2,6.5,874,18059,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2098,2037
$GC,18368,1.02,207.9,298.4,6.3,889,18372,0.00,2.58,0.00,0.000,4,0.000,0.064,2703,693,2037
$GC,18411,1.04,223.8,295.7,5.5,891,18431,0.00,2.50,14.98,1.026,6,0.000,0.041,2703,2116,1965
$GC,18758,1.04,223.8,271.0,7.0,908,18759,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2120,1965
$GC,19067,1.04,223.8,249.2,7.1,923,19072,0.00,2.62,0.00,0.000,4,0.000,0.060,2703,692,1965
$GC,19140,1.04,223.8,243.7,7.5,926,19145,0.00,2.47,0.00,0.000,6,0.000,0.040,2703,2103,1965
$GC,19455,1.04,223.8,220.7,6.9,941,19456,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,1966
$GC,19764,1.04,223.8,198.1,7.7,956,19769,0.00,2.60,0.00,0.000,4,0.000,0.061,2703,693,1966
$GC,19826,1.04,223.8,193.0,7.5,959,19830,0.00,2.47,0.00,0.000,6,0.000,0.040,2703,2105,1966
$GC,20151,1.04,223.8,167.1,8.4,975,20152,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2108,1966
$GC,20461,1.04,223.8,143.0,7.4,990,20466,0.00,2.60,0.00,0.000,4,0.000,0.061,2703,693,1966
$GC,20500,1.04,223.8,140.3,6.9,992,20505,0.00,2.47,0.00,0.000,6,0.000,0.039,2702,2104,1966
$GC,20826,1.04,223.8,119.4,6.3,1008,20828,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2106,1966
$GC,21136,1.04,223.8,99.2,6.2,1023,21140,0.00,2.60,0.00,0.000,4,0.000,0.061,2703,692,1966
$GC,21213,1.04,225.5,94.1,6.0,1026,21220,0.00,2.50,0.00,0.000,6,0.000,0.039,2703,2098,1966
$GC,21530,1.04,225.5,75.3,6.7,1042,21531,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2102,1966
$GC,21838,1.06,241.3,59.2,5.5,1057,21859,0.10,0.00,15.10,0.877,6,0.054,0.000,2746,2102,1893
$GC,22168,1.06,241.3,37.1,6.9,1073,22170,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2102,1893
$GC,22476,1.06,241.3,18.1,7.4,1088,22478,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2102,1893
$GC,22786,1.31,444.7,3.8,-0.1,1103,22896,0.15,0.00,106.47,0.757,6,0.071,0.000,2784,2104,1063
$STATE,23135,end climb,NO_VERTICAL_VELOCITY
$STATE,23136,begin surface
$SM_CCo,23138,57.88,0.745,0,0,603,558.06
$SM_GC,4.31,11.85,0.00,0.00,0.028,0.000,0.000,30,1894,605,-11.26,-0.20,557.81
$IRIDIUM_FIX,6207.28,-1130.49,141207,202040
$TT8_MAMPS,0.026845
$HUMID,2030
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,15.30
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,701.0,75.9
$24V_AH,23.3,37.174
$10V_AH,10.1,17.300
$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,25.150,118.375,437.575,57.875,0.000,114.880,126.461,287.554,8.500,0.000,0.000,31.847,1967.297,18669.035,670.991,2341.544,747.623,33.348,1819.530,0.000,2289.031,0.000,44.057
$DEVICE_MAMPS,107.380,76.700,1341.483,744.757,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,822.928,757.167,699.597,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56849,1120
$CFSIZE,260165632,248979456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,141207,230938,6228.557,-1127.109,26,1.5,26,-10.9