version: 66.02
glider: 102
mission: 4
dive: 172
start: 12 19 107 3 45 27
data:
$ID,102
$MISSION,4
$DIVE,172
$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,-79394.336
$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,20
$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
$GPS1,032907,6232.770,-1128.570,33,1.5,33,-11.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.30
$_SM_ANGLEo,-48.2
$GPS2,034433,6232.866,-1128.427,10,1.6,10,-11.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.205,0.041
$KALMAN_X,242371.2,842.8,-18228.6,-382370.3,171147.8
$KALMAN_Y,88288.3,-55.8,3455.7,18934.3,-30102.2
$MHEAD_RNG_PITCHd_Wd,292.3,45803,-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,18,begin dive
$GC,21,-0.95,-146.6,0.0,0.0,0,28,0.00,0.00,-5.53,0.000,2,0.000,0.000,32,1896,738
$GC,31,-0.95,-146.6,4.4,-0.0,1,205,11.05,2.62,-156.05,0.000,4,0.102,0.077,2289,495,3476
$GC,289,-0.95,-146.6,9.7,-4.1,13,294,0.00,2.50,0.00,0.000,6,0.000,0.042,2289,1902,3476
$GC,611,-0.95,-146.6,33.9,-7.7,29,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1906,3476
$GC,920,-0.95,-146.6,56.2,-7.6,44,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1906,3476
$GC,1231,-0.95,-146.6,79.7,-7.5,59,1235,0.00,2.53,0.00,0.000,4,0.000,0.049,2289,3301,3476
$GC,1307,-0.95,-146.6,86.3,-8.8,62,1314,0.00,2.55,0.00,0.000,6,0.000,0.044,2289,1902,3476
$GC,1623,-0.95,-146.6,110.4,-7.5,78,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3476
$GC,1934,-0.95,-146.6,134.1,-7.3,93,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1902,3476
$GC,2241,-0.95,-146.6,156.9,-7.2,108,2245,0.00,2.53,0.00,0.000,4,0.000,0.048,2289,3300,3476
$GC,2335,-0.95,-146.6,164.1,-7.8,112,2340,0.00,2.53,0.00,0.000,6,0.000,0.044,2289,1894,3476
$GC,2656,-0.95,-146.6,188.1,-7.3,128,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3476
$GC,2965,-0.95,-146.6,209.5,-7.2,143,2970,0.00,2.55,0.00,0.000,4,0.000,0.049,2290,3305,3476
$GC,3020,-0.95,-146.6,213.5,-7.4,145,3027,0.00,2.55,0.00,0.000,6,0.000,0.045,2289,1906,3476
$GC,3336,-0.95,-146.6,234.8,-6.8,161,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1906,3476
$GC,3645,-0.95,-146.6,256.4,-6.9,176,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1906,3476
$GC,3955,-0.95,-146.6,276.8,-6.2,191,3959,0.00,2.53,0.00,0.000,4,0.000,0.051,2290,3300,3476
$GC,4026,-0.95,-146.6,281.4,-6.8,194,4030,0.00,2.55,0.00,0.000,6,0.000,0.046,2289,1903,3476
$GC,4348,-0.95,-146.6,300.9,-6.0,210,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1903,3476
$GC,4656,-0.95,-146.6,320.1,-6.7,225,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1903,3476
$GC,4965,-0.95,-146.6,341.6,-7.0,240,4970,0.00,2.53,0.00,0.000,4,0.000,0.051,2290,3298,3476
$GC,5059,-0.95,-146.6,348.2,-6.2,244,5064,0.00,2.53,0.00,0.000,6,0.000,0.047,2289,1899,3476
$GC,5381,-0.95,-146.6,369.3,-6.7,260,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1898,3476
$GC,5690,-0.95,-146.6,389.9,-6.5,275,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1899,3476
$GC,5999,-0.95,-146.6,409.1,-6.3,290,6003,0.00,2.55,0.00,0.000,4,0.000,0.051,2289,3305,3476
$GC,6098,-0.95,-146.6,415.7,-6.4,294,6105,0.00,2.55,0.00,0.000,6,0.000,0.048,2289,1895,3476
$GC,6413,-0.95,-146.6,437.0,-6.9,310,6414,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3475
$GC,6723,-0.95,-146.6,458.3,-6.7,325,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3475
$GC,7032,-0.95,-146.6,480.5,-7.9,340,7036,0.00,2.55,0.00,0.000,4,0.000,0.053,2288,3298,3475
$GC,7108,-0.95,-146.6,487.0,-8.4,343,7115,0.00,2.55,0.00,0.000,6,0.000,0.048,2289,1905,3475
$GC,7424,-0.95,-146.6,509.4,-6.0,359,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1905,3475
$GC,7733,-0.95,-146.6,527.4,-5.9,374,7738,0.00,2.53,0.00,0.000,4,0.000,0.054,2289,3297,3475
$GC,7788,-0.95,-146.6,530.8,-6.8,376,7795,0.00,2.55,0.00,0.000,6,0.000,0.048,2289,1887,3475
$GC,8106,-0.95,-146.6,550.4,-6.3,392,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1887,3475
$GC,8413,-0.95,-146.6,568.1,-5.9,407,8417,0.00,2.60,0.00,0.000,4,0.000,0.057,2289,3302,3474
$GC,8581,-0.95,-146.6,578.3,-5.7,414,8587,0.00,2.55,0.00,0.000,6,0.000,0.051,2289,1897,3474
$GC,8896,-0.95,-146.6,596.2,-6.0,430,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3474
$GC,9205,-0.95,-146.6,613.9,-5.7,445,9210,0.00,2.58,0.00,0.000,4,0.000,0.060,2289,3299,3474
$GC,9271,-0.95,-146.6,618.2,-7.0,448,9276,0.00,2.55,0.00,0.000,6,0.000,0.052,2289,1901,3474
$GC,9598,-0.95,-146.6,639.1,-6.9,464,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3473
$GC,9907,-0.95,-146.6,659.5,-6.3,479,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3473
$GC,10219,-0.95,-146.6,679.0,-5.8,494,10223,0.00,2.60,0.00,0.000,4,0.000,0.064,2289,3298,3473
$GC,10302,-0.95,-146.6,684.9,-7.4,498,10307,0.00,2.58,0.00,0.000,6,0.000,0.058,2289,1898,3473
$GC,10628,-0.95,-146.6,707.0,-7.0,514,10629,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1898,3473
$STATE,10874,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10875,begin apogee
$GC,10880,-0.36,0.0,722.9,6.8,526,11006,0.60,0.00,123.32,1.302,6,0.074,0.000,2418,2093,2878
$STATE,11007,end apogee,CONTROL_FINISHED_OK
$STATE,11007,begin climb
$GC,11009,0.95,146.6,726.4,0.0,532,11137,1.30,0.00,123.20,1.256,6,0.057,0.000,2704,2092,2280
$GC,11448,0.95,146.6,703.2,6.6,554,11449,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2093,2279
$GC,11755,1.02,202.3,687.3,4.3,569,11804,0.00,0.00,47.22,1.272,6,0.000,0.000,2704,2093,2053
$GC,12105,1.02,202.3,663.3,6.7,586,12109,0.00,2.62,0.00,0.000,4,0.000,0.066,2704,3500,2052
$GC,12226,1.02,202.3,655.1,6.1,591,12233,0.00,2.60,0.00,0.000,6,0.000,0.058,2703,2094,2052
$GC,12542,1.02,202.3,634.5,7.6,607,12543,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2094,2051
$GC,12851,1.02,204.5,612.2,5.9,622,12856,0.00,2.62,0.00,0.000,4,0.000,0.064,2704,3501,2049
$GC,12951,1.06,241.9,606.7,4.9,626,12991,0.10,2.58,33.17,1.271,6,0.059,0.056,2737,2096,1890
$GC,13308,1.06,241.9,581.7,6.8,644,13309,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2097,1890
$GC,13616,1.06,241.9,559.6,8.2,659,13617,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2097,1890
$GC,13925,1.06,241.9,533.6,8.2,674,13926,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2097,1890
$GC,14234,1.06,241.9,505.5,9.1,689,14236,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2097,1890
$GC,14543,1.06,241.9,481.4,7.6,704,14544,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2097,1891
$GC,14853,1.06,241.9,458.0,6.6,719,14854,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2097,1891
$GC,15162,1.06,241.9,433.8,8.2,734,15163,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2097,1892
$GC,15471,1.06,241.9,406.0,9.2,749,15472,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2096,1892
$GC,15780,1.06,241.9,378.9,8.0,764,15782,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2097,1894
$GC,16090,1.06,241.9,356.3,7.4,779,16091,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2097,1893
$GC,16399,1.06,241.9,332.8,7.1,794,16400,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2097,1894
$GC,16708,1.06,241.9,309.3,8.0,809,16709,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2096,1894
$GC,17017,1.06,241.9,283.2,8.5,824,17019,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2097,1895
$GC,17327,1.06,241.9,257.4,8.1,839,17328,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2097,1895
$GC,17636,1.06,241.9,232.0,8.1,854,17637,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2097,1895
$GC,17945,1.06,241.9,207.5,7.8,869,17946,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2097,1895
$GC,18255,1.06,241.9,183.6,7.5,884,18256,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2096,1896
$GC,18564,1.06,241.9,161.6,6.7,899,18568,0.00,2.58,0.00,0.000,4,0.000,0.051,2737,3507,1896
$GC,18640,1.06,241.9,155.6,7.8,902,18647,0.00,2.53,0.00,0.000,6,0.000,0.041,2737,2082,1896
$GC,18957,1.06,241.9,132.5,7.4,918,18958,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2083,1896
$GC,19265,1.06,241.9,108.9,7.6,933,19267,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2083,1897
$GC,19575,1.06,241.9,84.6,8.2,948,19576,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2082,1897
$GC,19884,1.06,241.9,61.6,6.3,963,19885,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2082,1897
$GC,20193,1.07,249.1,45.7,5.8,978,20203,0.00,0.00,7.75,0.891,6,0.000,0.000,2737,2082,1862
$GC,20519,1.16,323.2,31.6,3.8,994,20582,0.00,2.67,57.58,0.808,4,0.000,0.048,2737,3502,1560
$GC,20678,1.16,323.2,21.4,8.1,1001,20682,0.00,2.50,0.00,0.000,6,0.000,0.041,2737,2101,1559
$GC,20998,1.41,526.0,3.9,-0.0,1017,21113,0.30,0.00,111.62,0.754,6,0.064,0.000,2802,2095,733
$STATE,21302,end climb,NO_VERTICAL_VELOCITY
$STATE,21303,begin surface
$SM_CCo,21306,17.85,0.781,0,0,603,558.06
$SM_GC,4.37,11.95,0.00,0.00,0.029,0.000,0.000,29,1884,604,-11.26,-0.45,557.81
$IRIDIUM_FIX,6207.28,-1130.49,191207,070757
$TT8_MAMPS,0.026845
$HUMID,2038
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.40
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,701.3,30.6
$24V_AH,23.3,40.074
$10V_AH,10.1,18.937
$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,25.300,82.600,503.875,17.850,0.000,147.822,237.849,246.335,8.500,0.000,0.000,12.366,1785.271,17276.953,678.457,2089.258,837.734,33.368,1699.879,0.000,2067.171,0.000,43.882
$DEVICE_MAMPS,102.011,76.700,1301.599,780.806,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,757.738,695.982,668.656,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50498,1032
$CFSIZE,260165632,247873536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,191207,094907,6232.499,-1134.851,41,1.6,41,-11.0