version: 66.02
glider: 102
mission: 4
dive: 175
start: 12 19 107 23 38 51
data:
$ID,102
$MISSION,4
$DIVE,175
$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,-79439.547
$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,31
$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
$GPS1,232107,6229.976,-1140.288,34,1.0,34,-11.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.37
$_SM_ANGLEo,-50.3
$GPS2,233757,6229.905,-1139.850,14,1.9,14,-11.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.175,0.114
$KALMAN_X,232497.8,-348.5,1707.4,-401319.2,576.5
$KALMAN_Y,82973.2,241.6,-1640.0,23564.8,-1035.1
$MHEAD_RNG_PITCHd_Wd,314.3,38927,-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,-146.6,0.0,0.0,0,43,0.00,0.00,-20.17,0.000,2,0.000,0.000,27,1878,1085
$GC,46,-0.95,-146.6,4.3,-0.0,1,212,11.07,2.60,-148.43,0.000,4,0.102,0.074,2286,499,3476
$GC,358,-0.95,-146.6,14.3,-10.3,15,363,0.00,2.47,0.00,0.000,6,0.000,0.040,2286,1904,3476
$GC,681,-0.95,-146.6,37.4,-7.3,31,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3476
$GC,989,-0.95,-146.6,56.2,-6.5,46,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3476
$GC,1299,-0.95,-146.6,75.3,-5.9,61,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3476
$GC,1608,-0.95,-146.6,97.3,-8.5,76,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1907,3476
$GC,1917,-0.95,-146.6,120.5,-6.9,91,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1907,3476
$GC,2226,-0.95,-146.6,144.3,-7.9,106,2230,0.00,2.50,0.00,0.000,4,0.000,0.048,2286,3297,3476
$GC,2298,-0.95,-146.6,150.1,-8.0,109,2302,0.00,2.47,0.00,0.000,6,0.000,0.044,2286,1908,3476
$GC,2612,-0.95,-146.6,173.8,-7.5,124,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,2922,-0.95,-146.6,196.6,-7.5,139,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,3231,-0.95,-146.6,220.0,-7.4,154,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1908,3476
$GC,3540,-0.95,-146.6,242.5,-7.3,169,3545,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3305,3476
$GC,3629,-0.95,-146.6,249.4,-7.7,173,3633,0.00,2.55,0.00,0.000,6,0.000,0.044,2286,1887,3476
$GC,3956,-0.95,-146.6,275.0,-8.2,189,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1887,3476
$GC,4265,-0.95,-146.6,299.8,-7.9,204,4269,0.00,2.55,0.00,0.000,4,0.000,0.050,2287,3298,3475
$GC,4358,-0.95,-146.6,307.6,-8.2,208,4363,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1894,3476
$GC,4685,-0.95,-146.6,331.5,-6.9,224,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1894,3475
$GC,4994,-0.95,-146.6,351.6,-6.4,239,4998,0.00,2.53,0.00,0.000,4,0.000,0.051,2286,3298,3475
$GC,5048,-0.95,-146.6,355.2,-7.0,241,5055,0.00,2.53,0.00,0.000,6,0.000,0.046,2286,1898,3475
$GC,5366,-0.95,-146.6,375.5,-6.5,257,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3475
$GC,5673,-0.95,-146.6,396.7,-7.0,272,5677,0.00,2.55,0.00,0.000,4,0.000,0.051,2286,3304,3475
$GC,5744,-0.95,-146.6,401.9,-7.4,275,5748,0.00,2.55,0.00,0.000,6,0.000,0.046,2286,1903,3475
$GC,6065,-0.95,-146.6,423.9,-6.7,291,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1903,3475
$GC,6375,-0.95,-146.6,445.0,-6.9,306,6379,0.00,2.53,0.00,0.000,4,0.000,0.051,2287,3298,3475
$GC,6429,-0.95,-146.6,449.0,-7.8,308,6436,0.00,2.55,0.00,0.000,6,0.000,0.047,2287,1902,3475
$GC,6745,-0.95,-146.6,470.7,-6.7,324,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3475
$GC,7054,-0.95,-146.6,491.4,-6.6,339,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3474
$GC,7363,-0.95,-146.6,513.9,-7.5,354,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3474
$GC,7672,-0.95,-146.6,534.8,-6.6,369,7677,0.00,2.55,0.00,0.000,4,0.000,0.052,2286,3304,3474
$GC,7744,-0.95,-146.6,539.7,-6.2,372,7749,0.00,2.55,0.00,0.000,6,0.000,0.047,2286,1903,3474
$GC,8065,-0.95,-146.6,560.6,-6.8,388,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1903,3474
$GC,8374,-0.95,-146.6,581.6,-6.8,403,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1903,3474
$GC,8684,-0.95,-146.6,602.2,-6.5,418,8688,0.00,2.53,0.00,0.000,4,0.000,0.055,2286,3297,3474
$GC,8755,-0.95,-146.6,607.3,-7.1,421,8759,0.00,2.53,0.00,0.000,6,0.000,0.048,2286,1900,3474
$GC,9076,-0.95,-146.6,628.6,-6.5,437,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3474
$GC,9385,-0.95,-146.6,647.9,-5.9,452,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3474
$GC,9695,-0.95,-146.6,665.7,-5.4,467,9696,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3474
$GC,10004,-0.95,-146.6,681.5,-5.2,482,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3474
$GC,10313,-0.95,-146.6,701.3,-6.9,497,10314,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3474
$GC,10622,-0.95,-146.6,721.1,-7.2,512,10626,0.00,2.60,0.00,0.000,4,0.000,0.063,2286,3297,3473
$GC,10715,-0.95,-146.6,728.1,-7.3,516,10720,0.00,2.58,0.00,0.000,6,0.000,0.058,2286,1895,3473
$GC,11037,-0.95,-146.6,748.3,-5.8,532,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3472
$GC,11346,-0.95,-146.6,769.6,-6.8,547,11347,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3470
$STATE,11509,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11509,begin apogee
$GC,11514,-0.36,0.0,778.3,5.5,555,11642,0.60,0.00,124.35,1.341,6,0.074,0.000,2416,2099,2878
$STATE,11642,end apogee,CONTROL_FINISHED_OK
$STATE,11643,begin climb
$GC,11645,0.95,146.6,781.0,0.0,561,11773,1.27,0.00,124.30,1.295,6,0.054,0.000,2701,2099,2280
$GC,12081,1.06,240.7,764.4,3.2,583,12163,0.12,0.00,79.80,1.298,6,0.051,0.000,2741,2098,1896
$GC,12470,1.06,240.7,732.1,9.8,602,12471,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2099,1895
$GC,12779,1.06,240.7,704.3,8.5,617,12780,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2099,1894
$GC,13088,1.06,240.7,677.4,8.7,632,13089,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2099,1894
$GC,13398,1.06,240.7,653.1,7.5,647,13402,0.00,2.67,0.00,0.000,4,0.000,0.077,2741,693,1894
$GC,13486,1.06,240.7,645.9,8.3,651,13490,0.00,2.55,0.00,0.000,6,0.000,0.052,2741,2090,1894
$GC,13812,1.06,240.7,619.2,8.5,667,13813,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2090,1892
$GC,14122,1.06,240.7,592.8,8.0,682,14123,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2091,1892
$GC,14431,1.06,240.7,568.0,8.0,697,14432,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2093,1891
$GC,14740,1.06,240.7,543.7,7.9,712,14741,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2093,1892
$GC,15050,1.06,240.7,518.3,8.3,727,15051,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2093,1891
$GC,15359,1.06,240.7,491.6,8.8,742,15360,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2094,1892
$GC,15668,1.06,240.7,464.2,8.6,757,15669,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2094,1894
$GC,15977,1.06,240.7,438.1,8.5,772,15979,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2094,1894
$GC,16286,1.06,240.7,412.4,8.5,787,16288,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2094,1895
$GC,16596,1.06,240.7,384.6,9.2,802,16597,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2094,1895
$GC,16905,1.06,240.7,357.0,8.7,817,16906,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2094,1895
$GC,17214,1.06,240.7,329.3,9.2,832,17215,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2095,1896
$GC,17523,1.06,240.7,301.2,9.0,847,17528,0.00,2.60,0.00,0.000,4,0.000,0.062,2742,690,1897
$GC,17585,1.06,240.7,295.4,9.0,850,17589,0.00,2.50,0.00,0.000,6,0.000,0.038,2741,2113,1897
$GC,17911,1.06,240.7,265.0,9.3,866,17912,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2117,1898
$GC,18220,1.06,240.7,237.3,8.8,881,18221,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2117,1898
$GC,18529,1.06,240.7,211.7,8.0,896,18531,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2117,1898
$GC,18838,1.06,240.7,186.2,8.4,911,18843,0.00,2.62,0.00,0.000,4,0.000,0.060,2742,690,1898
$GC,18893,1.06,240.7,181.3,8.4,913,18900,0.00,2.50,0.00,0.000,6,0.000,0.039,2741,2097,1899
$GC,19209,1.06,240.7,154.6,8.7,929,19210,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2100,1899
$GC,19518,1.06,240.7,128.9,7.7,944,19519,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2100,1899
$GC,19827,1.06,240.7,101.2,9.2,959,19829,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2100,1898
$GC,20137,1.06,240.7,77.1,7.3,974,20138,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2100,1899
$GC,20446,1.06,240.7,54.2,7.6,989,20447,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2100,1899
$GC,20755,1.06,240.7,28.4,9.5,1004,20756,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2100,1900
$GC,21065,1.06,240.7,5.5,7.9,1019,21066,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2100,1900
$GC,21376,1.31,440.9,3.8,0.0,1034,21467,0.15,0.00,87.93,0.775,2,0.054,0.000,2792,2103,1230
$STATE,21468,end climb,NO_VERTICAL_VELOCITY
$STATE,21468,begin surface
$SM_CCo,21470,79.75,0.738,0,0,603,558.06
$SM_GC,4.49,11.93,0.00,0.00,0.028,0.000,0.000,27,1890,603,-11.27,-0.28,558.06
$IRIDIUM_FIX,6202.67,-1142.30,201207,030351
$TT8_MAMPS,0.026845
$HUMID,2031
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,18.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,751.4,36.5
$24V_AH,23.3,40.617
$10V_AH,10.1,19.242
$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,25.150,66.950,416.375,79.750,0.000,154.859,166.790,373.081,7.000,0.000,0.000,15.554,1776.966,17637.010,659.250,1996.250,909.540,33.364,1628.381,0.000,1965.424,0.000,44.587
$DEVICE_MAMPS,102.011,77.467,1340.716,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,770.801,701.463,651.403,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50566,1038
$CFSIZE,260165632,247672832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,201207,054607,6231.830,-1142.792,31,1.6,31,-11.1