version: 66.02
glider: 102
mission: 4
dive: 158
start: 12 15 107 5 47 27
data:
$ID,102
$MISSION,4
$DIVE,158
$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,-79128.992
$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,28
$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
$GPS1,053332,6224.018,-1132.395,37,1.7,37,-10.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.37
$_SM_ANGLEo,-57.7
$GPS2,054633,6223.871,-1132.645,11,1.4,11,-10.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.199,0.064
$KALMAN_X,197667.1,230.3,-7394.5,-351587.4,38582.5
$KALMAN_Y,117206.4,130.7,-899.8,-22482.2,-3087.4
$MHEAD_RNG_PITCHd_Wd,298.7,12977,-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,21,-0.95,-146.6,0.0,0.0,0,44,0.00,0.00,-21.80,0.000,2,0.000,0.000,29,1881,1115
$GC,47,-0.95,-146.6,4.3,-0.0,1,212,11.10,2.60,-142.62,0.000,4,0.104,0.076,2288,495,3476
$GC,394,-0.95,-146.6,19.1,-7.3,17,398,0.00,2.47,0.00,0.000,6,0.000,0.041,2288,1897,3476
$GC,720,-0.95,-146.6,40.7,-7.0,33,724,0.00,2.53,0.00,0.000,4,0.000,0.048,2288,3297,3476
$GC,826,-0.95,-146.6,48.7,-7.0,38,830,0.00,2.50,0.00,0.000,6,0.000,0.044,2288,1906,3476
$GC,1151,-0.95,-146.6,73.0,-7.7,54,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1905,3476
$GC,1461,-0.95,-146.6,96.0,-7.4,69,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1905,3475
$GC,1770,-0.95,-146.6,118.2,-7.3,84,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1905,3476
$GC,2079,-0.95,-146.6,140.2,-7.0,99,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1905,3475
$GC,2388,-0.95,-146.6,163.1,-7.5,114,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1905,3476
$GC,2697,-0.95,-146.6,185.8,-7.3,129,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1905,3476
$GC,3006,-0.95,-146.6,209.2,-7.6,144,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1905,3476
$GC,3316,-0.95,-146.6,233.1,-7.9,159,3320,0.00,2.53,0.00,0.000,4,0.000,0.048,2288,3302,3476
$GC,3381,-0.95,-146.6,238.7,-8.7,162,3385,0.00,2.53,0.00,0.000,6,0.000,0.044,2288,1898,3476
$GC,3708,-0.95,-146.6,265.0,-8.0,178,3709,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3476
$GC,4017,-0.95,-146.6,289.5,-7.8,193,4022,0.00,2.53,0.00,0.000,4,0.000,0.048,2288,3299,3476
$GC,4101,-0.95,-146.6,296.3,-8.4,197,4105,0.00,2.53,0.00,0.000,6,0.000,0.045,2288,1896,3476
$GC,4426,-0.95,-146.6,320.1,-7.1,213,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1896,3476
$GC,4735,-0.95,-146.6,342.1,-7.1,228,4740,0.00,2.53,0.00,0.000,4,0.000,0.049,2288,3297,3476
$GC,4812,-0.95,-146.6,347.7,-7.2,231,4819,0.00,2.53,0.00,0.000,6,0.000,0.045,2288,1905,3476
$GC,5128,-0.95,-146.6,369.8,-7.3,247,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1905,3476
$GC,5437,-0.95,-146.6,391.1,-7.2,262,5442,0.00,2.53,0.00,0.000,4,0.000,0.050,2288,3298,3476
$GC,5531,-0.95,-146.6,398.3,-7.8,266,5536,0.00,2.53,0.00,0.000,6,0.000,0.045,2288,1907,3476
$GC,5853,-0.95,-146.6,421.5,-6.8,282,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1906,3476
$GC,6162,-0.95,-146.6,442.1,-6.5,297,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1907,3476
$GC,6471,-0.95,-146.6,463.7,-7.1,312,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1906,3476
$GC,6781,-0.95,-146.6,485.7,-6.7,327,6785,0.00,2.53,0.00,0.000,4,0.000,0.051,2288,3297,3475
$GC,6869,-0.95,-146.6,492.2,-7.9,331,6873,0.00,2.55,0.00,0.000,6,0.000,0.047,2288,1901,3474
$GC,7195,-0.95,-146.6,515.3,-7.0,347,7197,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,7505,-0.95,-146.6,538.8,-7.2,362,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,7814,-0.95,-146.6,560.4,-6.7,377,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,8123,-0.95,-146.6,581.2,-6.4,392,8128,0.00,2.55,0.00,0.000,4,0.000,0.054,2288,3299,3475
$GC,8201,-0.95,-146.6,585.9,-6.0,395,8207,0.00,2.53,0.00,0.000,6,0.000,0.048,2288,1900,3474
$GC,8516,-0.95,-146.6,605.6,-6.4,411,8517,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,8826,-0.95,-146.6,624.9,-5.8,426,8831,0.00,2.55,0.00,0.000,4,0.000,0.056,2288,3304,3475
$GC,8903,-0.95,-146.6,629.5,-6.0,429,8907,0.00,2.53,0.00,0.000,6,0.000,0.048,2288,1900,3474
$GC,9219,-0.95,-146.6,649.2,-6.8,444,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3475
$GC,9527,-0.95,-146.6,672.1,-7.5,459,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3474
$GC,9837,-0.95,-146.6,694.8,-7.5,474,9838,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,10146,-0.95,-146.6,717.4,-7.3,489,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,10455,-0.95,-146.6,737.7,-6.3,504,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3474
$GC,10765,-0.95,-146.6,753.6,-4.8,519,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,11074,-0.95,-146.6,769.3,-5.1,534,11075,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3474
$GC,11384,-0.95,-146.6,785.2,-5.7,549,11385,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3474
$GC,11692,-0.95,-146.6,806.4,-6.7,564,11693,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3474
$GC,12001,-0.95,-146.6,827.4,-6.4,579,12006,0.00,2.58,0.00,0.000,4,0.000,0.061,2288,3298,3474
$GC,12103,-0.95,-146.6,833.0,-6.8,583,12109,0.00,2.58,0.00,0.000,6,0.000,0.058,2288,1899,3474
$GC,12417,-0.95,-146.6,851.7,-3.9,599,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3474
$STATE,12601,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12601,begin apogee
$GC,12606,-0.36,0.0,861.9,5.8,608,12735,0.60,0.00,125.15,1.376,6,0.074,0.000,2418,2090,2878
$STATE,12735,end apogee,CONTROL_FINISHED_OK
$STATE,12735,begin climb
$GC,12737,0.95,146.6,864.5,0.0,614,12866,1.27,0.00,124.60,1.327,6,0.059,0.000,2698,2090,2280
$GC,13175,0.95,152.0,842.6,5.8,636,13186,0.00,2.72,5.70,1.265,4,0.000,0.070,2698,3506,2257
$GC,13298,0.95,152.0,835.4,6.4,641,13304,0.00,2.62,0.00,0.000,6,0.000,0.061,2698,2102,2257
$GC,13613,0.95,152.0,817.5,6.1,657,13614,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2102,2256
$GC,13922,0.95,152.0,794.8,7.9,672,13923,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2102,2255
$GC,14231,0.95,152.0,771.6,6.8,687,14232,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2102,2254
$GC,14541,1.00,190.4,754.7,4.9,702,14582,0.00,2.70,32.20,1.349,4,0.000,0.061,2698,3501,2101
$GC,14660,1.00,190.4,746.9,7.7,707,14664,0.00,2.58,0.00,0.000,6,0.000,0.052,2698,2096,2100
$GC,14981,1.00,190.4,725.0,7.4,723,14982,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2097,2100
$GC,15290,1.00,190.4,701.2,7.7,738,15291,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2097,2100
$GC,15600,1.00,190.4,678.4,7.0,753,15601,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2097,2100
$GC,15909,1.00,190.4,658.2,6.6,768,15910,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2097,2100
$GC,16218,1.01,194.5,639.0,5.9,783,16225,0.00,0.00,4.65,1.203,6,0.000,0.000,2698,2097,2085
$GC,16528,1.01,195.0,621.2,6.0,798,16529,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2097,2085
$GC,16836,1.01,195.0,601.7,6.7,813,16837,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2097,2086
$GC,17146,1.01,195.0,581.2,6.4,828,17147,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2096,2086
$GC,17455,1.01,197.2,562.4,5.9,843,17461,0.00,0.00,3.88,1.118,6,0.000,0.000,2698,2097,2074
$GC,17764,1.01,199.5,544.6,5.9,858,17769,0.00,0.00,3.28,1.084,6,0.000,0.000,2698,2097,2064
$GC,18074,1.03,211.0,526.7,5.7,873,18086,0.00,0.00,10.55,1.147,6,0.000,0.000,2698,2097,2017
$GC,18383,1.05,230.8,509.1,5.4,888,18408,0.12,2.72,17.52,1.127,4,0.051,0.067,2739,691,1935
$GC,18459,1.05,230.8,503.5,7.3,891,18463,0.00,2.53,0.00,0.000,6,0.000,0.041,2740,2106,1935
$GC,18774,1.05,230.8,481.8,6.7,906,18775,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2107,1935
$GC,19083,1.05,234.0,462.9,5.9,921,19089,0.00,0.00,3.92,1.055,6,0.000,0.000,2740,2109,1923
$GC,19392,1.05,234.0,444.5,6.0,936,19393,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2108,1922
$GC,19702,1.05,234.0,423.8,6.6,951,19703,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2110,1923
$GC,20011,1.05,234.0,402.3,7.2,966,20012,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2111,1924
$GC,20320,1.05,234.0,377.9,7.8,981,20321,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2111,1924
$GC,20629,1.05,234.0,354.5,7.8,996,20630,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2111,1924
$GC,20938,1.05,234.0,332.0,7.2,1011,20940,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2110,1924
$GC,21248,1.05,234.0,309.0,7.4,1026,21249,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2110,1924
$GC,21557,1.05,234.0,285.7,7.7,1041,21558,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2110,1924
$GC,21866,1.05,234.0,262.2,7.4,1056,21867,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2111,1924
$GC,22175,1.05,234.0,239.0,7.5,1071,22177,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2111,1925
$GC,22485,1.05,234.0,215.1,8.2,1086,22486,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2110,1924
$GC,22794,1.05,234.0,189.1,8.7,1101,22795,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2110,1924
$GC,23103,1.05,234.0,162.9,8.3,1116,23104,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2110,1925
$GC,23413,1.05,234.0,140.2,6.8,1131,23414,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2111,1925
$GC,23722,1.05,234.0,120.1,6.4,1146,23723,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2111,1925
$GC,24031,1.05,234.0,100.0,6.4,1161,24035,0.00,2.62,0.00,0.000,4,0.000,0.061,2740,685,1924
$GC,24092,1.05,234.0,95.9,6.3,1164,24097,0.00,2.50,0.00,0.000,6,0.000,0.039,2740,2113,1924
$GC,24418,1.05,234.0,73.8,7.1,1180,24419,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2116,1925
$GC,24728,1.05,234.0,49.6,7.8,1195,24729,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2116,1924
$GC,25037,1.05,234.0,25.5,7.7,1210,25038,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2116,1924
$GC,25346,1.05,234.0,4.0,6.2,1225,25347,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2117,1925
$GC,25656,1.31,439.0,3.9,-0.1,1240,25727,0.15,0.00,67.78,0.765,2,0.048,0.000,2791,2118,1412
$STATE,25727,end climb,NO_VERTICAL_VELOCITY
$STATE,25727,begin surface
$SM_CCo,25730,100.30,0.723,0,0,602,558.06
$SM_GC,4.45,11.88,0.00,0.00,0.028,0.000,0.000,28,1878,603,-11.27,-0.59,558.06
$IRIDIUM_FIX,6158.08,-1126.79,151207,090957
$TT8_MAMPS,0.026845
$HUMID,2029
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,800.8,69.8
$24V_AH,23.3,37.556
$10V_AH,10.1,17.513
$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,25.125,72.425,399.225,100.300,0.000,112.680,111.496,308.314,7.750,0.000,0.000,16.382,2124.412,21097.516,662.083,2387.498,761.038,33.381,1814.740,0.000,2355.365,0.000,47.583
$DEVICE_MAMPS,104.312,75.933,1375.998,722.514,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,923.735,841.351,732.029,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63168,1243
$CFSIZE,260165632,248827904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,151207,130608,6224.065,-1144.117,35,1.4,35,-11.1