version: 66.02
glider: 102
mission: 4
dive: 178
start: 12 20 107 19 7 32
data:
$ID,102
$MISSION,4
$DIVE,178
$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,-79507.742
$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,34
$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
$GPS1,190102,6237.518,-1145.418,36,1.3,36,-11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.21
$_SM_ANGLEo,-53.1
$GPS2,190638,6237.541,-1145.428,14,1.4,14,-11.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.139,0.156
$KALMAN_X,239793.4,-719.6,-233.0,-411156.2,5779.5
$KALMAN_Y,79209.0,522.9,1298.2,38203.9,-5329.1
$MHEAD_RNG_PITCHd_Wd,329.6,29750,-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,-146.6,0.0,0.0,0,28,0.00,0.00,-5.28,0.000,2,0.000,0.000,30,1873,734
$GC,31,-0.95,-146.6,4.3,-0.0,1,218,10.93,2.55,-167.40,0.000,4,0.095,0.073,2290,501,3475
$GC,386,-0.95,-146.6,17.4,-6.4,17,390,0.00,2.50,0.00,0.000,6,0.000,0.041,2290,1897,3475
$GC,707,-0.95,-146.6,40.9,-6.3,33,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1898,3474
$GC,1017,-0.95,-146.6,63.0,-7.2,48,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1898,3475
$GC,1326,-0.95,-146.6,85.5,-7.2,63,1330,0.00,2.53,0.00,0.000,4,0.000,0.049,2291,3295,3475
$GC,1402,-0.95,-146.6,91.2,-7.8,66,1410,0.00,2.53,0.00,0.000,6,0.000,0.044,2290,1908,3474
$GC,1718,-0.95,-146.6,113.6,-6.8,82,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1908,3474
$GC,2027,-0.95,-146.6,135.6,-7.3,97,2032,0.00,2.53,0.00,0.000,4,0.000,0.048,2290,3301,3474
$GC,2089,-0.95,-146.6,140.4,-8.4,100,2094,0.00,2.53,0.00,0.000,6,0.000,0.044,2290,1896,3474
$GC,2416,-0.95,-146.6,163.6,-6.9,116,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1896,3475
$GC,2725,-0.95,-146.6,184.6,-6.8,131,2729,0.00,2.53,0.00,0.000,4,0.000,0.048,2290,3297,3474
$GC,2779,-0.95,-146.6,188.5,-7.6,133,2786,0.00,2.53,0.00,0.000,6,0.000,0.044,2290,1891,3475
$GC,3095,-0.95,-146.6,208.9,-6.4,149,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1890,3475
$GC,3404,-0.95,-146.6,231.4,-7.5,164,3408,0.00,2.55,0.00,0.000,4,0.000,0.049,2290,3301,3474
$GC,3475,-0.95,-146.6,236.9,-7.9,167,3479,0.00,2.53,0.00,0.000,6,0.000,0.044,2290,1907,3474
$GC,3796,-0.95,-146.6,259.4,-7.1,183,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1907,3474
$GC,4105,-0.95,-146.6,282.3,-7.4,198,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1907,3474
$GC,4414,-0.95,-146.6,305.1,-7.3,213,4419,0.00,2.53,0.00,0.000,4,0.000,0.051,2290,3297,3475
$GC,4480,-0.95,-146.6,309.9,-7.2,216,4485,0.00,2.53,0.00,0.000,6,0.000,0.046,2290,1897,3475
$GC,4807,-0.95,-146.6,331.3,-6.5,232,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1897,3474
$GC,5116,-0.95,-146.6,351.7,-6.5,247,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1897,3475
$GC,5425,-0.95,-146.6,372.0,-6.4,262,5430,0.00,2.55,0.00,0.000,4,0.000,0.051,2290,3304,3475
$GC,5487,-0.95,-146.6,376.1,-6.9,265,5491,0.00,2.53,0.00,0.000,6,0.000,0.045,2290,1900,3474
$GC,5813,-0.95,-146.6,397.8,-6.7,281,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1899,3474
$GC,6122,-0.95,-146.6,418.5,-6.6,296,6126,0.00,2.53,0.00,0.000,4,0.000,0.051,2290,3297,3474
$GC,6209,-0.95,-146.6,424.6,-7.1,300,6214,0.00,2.55,0.00,0.000,6,0.000,0.047,2290,1885,3474
$GC,6537,-0.95,-146.6,444.4,-5.8,316,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1885,3474
$GC,6846,-0.95,-146.6,461.7,-5.8,331,6850,0.00,2.58,0.00,0.000,4,0.000,0.052,2291,3301,3474
$GC,6916,-0.95,-146.6,466.5,-6.7,334,6921,0.00,2.55,0.00,0.000,6,0.000,0.048,2290,1892,3474
$GC,7238,-0.95,-146.6,486.4,-6.2,350,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1892,3474
$GC,7547,-0.95,-146.6,506.5,-7.0,365,7551,0.00,2.55,0.00,0.000,4,0.000,0.054,2291,3297,3473
$GC,7640,-0.95,-146.6,513.6,-7.5,369,7645,0.00,2.55,0.00,0.000,6,0.000,0.048,2290,1900,3474
$GC,7962,-0.95,-146.6,533.6,-5.5,385,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1900,3473
$GC,8271,-0.95,-146.6,548.8,-4.9,400,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1900,3473
$GC,8580,-0.95,-146.6,568.8,-7.3,415,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1900,3473
$GC,8889,-0.95,-146.6,593.8,-7.8,430,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1899,3473
$GC,9198,-0.95,-146.6,613.4,-6.2,445,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1899,3473
$GC,9508,-0.95,-146.6,636.1,-8.2,460,9509,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,1898,3473
$GC,9817,-0.95,-146.6,659.8,-6.9,475,9821,0.00,2.60,0.00,0.000,4,0.000,0.063,2291,3295,3473
$GC,9882,-0.95,-146.6,664.4,-6.2,478,9887,0.00,2.55,0.00,0.000,6,0.000,0.055,2290,1902,3473
$GC,10210,-0.95,-146.6,685.7,-5.8,494,10211,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,1902,3472
$GC,10519,-0.95,-146.6,700.2,-4.2,509,10523,0.00,2.60,0.00,0.000,4,0.000,0.064,2291,3300,3471
$GC,10573,-0.95,-146.6,704.0,-8.1,511,10580,0.00,2.58,0.00,0.000,6,0.000,0.059,2290,1902,3471
$STATE,10660,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10661,begin apogee
$GC,10666,-0.36,0.0,708.8,5.0,516,10792,0.57,0.00,123.45,1.288,6,0.068,0.000,2416,2094,2878
$STATE,10793,end apogee,CONTROL_FINISHED_OK
$STATE,10793,begin climb
$GC,10795,0.95,146.6,713.7,0.0,522,10926,1.27,2.75,122.35,1.249,4,0.058,0.069,2700,3499,2280
$GC,11151,0.95,146.6,695.7,7.6,538,11156,0.00,2.60,0.00,0.000,6,0.000,0.058,2700,2097,2279
$GC,11467,0.95,151.7,678.0,5.8,553,11474,0.00,0.00,5.20,1.214,6,0.000,0.000,2700,2096,2259
$GC,11776,1.00,187.0,661.3,4.9,568,11812,0.00,2.72,30.50,1.269,4,0.000,0.065,2700,3506,2114
$GC,11903,1.04,224.0,654.9,4.9,573,11944,0.00,2.62,31.45,1.253,6,0.000,0.057,2700,2094,1964
$GC,12253,1.04,225.6,635.1,6.0,590,12255,0.10,0.00,0.00,0.000,6,0.058,0.000,2737,2094,1963
$GC,12561,1.04,225.6,613.2,6.9,605,12563,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2093,1962
$GC,12871,1.04,225.6,588.4,8.1,620,12872,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2094,1961
$GC,13180,1.04,225.6,563.7,8.4,635,13181,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2094,1961
$GC,13489,1.04,225.6,538.4,7.9,650,13490,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2094,1961
$GC,13798,1.04,225.6,513.9,8.1,665,13800,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2094,1960
$GC,14108,1.04,225.6,487.4,8.9,680,14109,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2094,1960
$GC,14417,1.04,225.6,462.2,7.6,695,14418,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2094,1960
$GC,14726,1.04,225.6,439.3,7.4,710,14727,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2094,1962
$GC,15036,1.04,225.6,415.2,8.0,725,15037,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2094,1962
$GC,15345,1.04,225.6,390.1,8.1,740,15346,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2094,1962
$GC,15654,1.04,225.6,365.8,7.4,755,15655,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2094,1962
$GC,15964,1.04,225.6,343.0,7.1,770,15968,0.00,2.58,0.00,0.000,4,0.000,0.052,2738,3504,1964
$GC,16034,1.04,225.6,337.3,7.7,773,16039,0.00,2.50,0.00,0.000,6,0.000,0.044,2737,2095,1963
$GC,16356,1.04,225.6,313.6,7.4,789,16357,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2095,1965
$GC,16665,1.04,225.6,290.0,7.5,804,16666,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2095,1965
$GC,16974,1.04,225.6,266.7,7.4,819,16975,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2095,1964
$GC,17283,1.04,225.6,243.2,7.8,834,17285,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2095,1965
$GC,17593,1.04,225.6,220.0,7.6,849,17594,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2095,1966
$GC,17902,1.04,225.6,197.5,7.2,864,17906,0.00,2.55,0.00,0.000,4,0.000,0.051,2737,3501,1965
$GC,17973,1.04,225.6,191.8,8.7,867,17977,0.00,2.50,0.00,0.000,6,0.000,0.041,2737,2085,1966
$GC,18294,1.04,225.6,168.5,7.1,883,18295,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2085,1966
$GC,18603,1.04,225.6,146.8,6.8,898,18605,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2085,1967
$GC,18913,1.04,225.6,124.3,7.4,913,18918,0.00,0.00,3.03,0.897,6,0.000,0.000,2737,2085,1958
$GC,19224,1.04,225.6,101.9,7.2,928,19225,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2085,1959
$GC,19532,1.04,225.6,79.2,7.4,943,19533,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2085,1958
$GC,19841,1.04,225.6,57.4,6.6,958,19845,0.00,2.58,0.00,0.000,4,0.000,0.048,2738,3505,1959
$GC,19907,1.04,225.6,52.1,7.9,961,19911,0.00,2.47,0.00,0.000,6,0.000,0.040,2737,2101,1958
$GC,20227,1.04,225.6,25.2,9.5,977,20228,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2101,1958
$GC,20537,1.22,367.8,3.7,1.8,992,20620,0.10,2.70,77.30,0.790,4,0.060,0.061,2773,692,1377
$GC,20647,1.46,561.1,3.5,0.2,997,20751,0.17,2.47,96.68,0.758,6,0.054,0.038,2817,2110,603
$STATE,20843,end climb,NO_VERTICAL_VELOCITY
$STATE,20843,begin surface
$SM_CCo,21265,0.00,0.000,0,0,603,558.06
$SM_GC,4.33,11.93,0.00,0.00,0.025,0.000,0.000,30,1893,603,-11.26,-0.17,558.06
$IRIDIUM_FIX,6207.28,-1149.71,201207,161656
$TT8_MAMPS,0.026845
$HUMID,2033
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.70
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,626.1,92.6
$24V_AH,23.3,41.135
$10V_AH,10.1,19.536
$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,25.075,92.800,489.950,0.000,0.000,40.101,32.178,158.518,7.000,0.000,0.000,15.647,1760.803,16692.525,615.553,2109.672,422.415,33.356,1679.126,0.000,2073.801,0.000,36.304
$DEVICE_MAMPS,95.108,72.865,1287.793,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,746.704,679.769,644.567,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50569,1007
$CFSIZE,260165632,247472128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,211207,010308,6238.854,-1155.180,37,1.3,37,-11.3