version: 66.02
glider: 102
mission: 4
dive: 248
start: 1 7 108 9 22 39
data:
$ID,102
$MISSION,4
$DIVE,248
$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,558.0575
$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,-80920.836
$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,19
$R_STBD_OVSHOOT,36
$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
$GPS1,090907,6342.956,-1310.825,41,1.1,41,-12.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-49.6
$GPS2,092145,6342.916,-1310.440,11,2.0,11,-12.4
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.102,0.182
$KALMAN_X,342017.9,-646.8,-10003.4,-578719.1,13568.5
$KALMAN_Y,-48559.7,988.0,6985.6,280897.8,-10423.2
$MHEAD_RNG_PITCHd_Wd,343.2,13125,-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,19,begin dive
$GC,22,-0.95,-146.6,0.0,0.0,0,26,0.00,0.00,-2.28,0.000,2,0.000,0.000,27,1897,659
$GC,29,-0.95,-146.6,3.0,-0.0,0,222,11.05,2.62,-172.77,0.000,4,0.100,0.073,2288,489,3475
$GC,350,-0.95,-146.6,15.9,-7.4,14,357,0.00,2.50,0.00,0.000,6,0.000,0.040,2288,1903,3476
$GC,666,-0.95,-146.6,36.5,-4.8,30,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1903,3475
$GC,976,-0.95,-146.6,61.1,-6.9,45,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1903,3475
$GC,1285,-0.95,-146.6,82.7,-8.6,60,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3475
$GC,1595,-0.95,-146.6,104.7,-6.3,75,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3475
$GC,1904,-0.95,-146.6,126.4,-6.2,90,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1904,3475
$GC,2212,-0.95,-146.6,154.5,-10.2,105,2216,0.00,2.53,0.00,0.000,4,0.000,0.049,2288,3298,3475
$GC,2273,-0.95,-146.6,160.0,-8.4,108,2278,0.00,2.53,0.00,0.000,6,0.000,0.043,2288,1892,3475
$GC,2598,-0.95,-146.6,183.8,-6.9,124,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1892,3475
$GC,2908,-0.95,-146.6,202.9,-4.9,139,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1892,3475
$GC,3217,-0.95,-146.6,218.7,-5.8,154,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1892,3475
$GC,3527,-0.95,-146.6,233.3,-4.8,169,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1892,3475
$GC,3836,-0.95,-146.6,250.9,-6.4,184,3841,0.00,2.55,0.00,0.000,4,0.000,0.048,2288,3300,3475
$GC,3891,-0.95,-146.6,255.0,-7.6,186,3898,0.00,2.50,0.00,0.000,6,0.000,0.043,2288,1901,3475
$GC,4207,-0.95,-146.6,281.6,-9.2,202,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,4516,-0.95,-146.6,311.5,-9.3,217,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,4825,-0.95,-146.6,337.7,-8.0,232,4830,0.00,2.53,0.00,0.000,4,0.000,0.048,2288,3295,3475
$GC,4903,-0.95,-146.6,343.8,-8.1,235,4910,0.00,2.50,0.00,0.000,6,0.000,0.044,2288,1901,3475
$GC,5219,-0.95,-146.6,363.3,-5.7,251,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3475
$GC,5528,-0.95,-146.6,381.8,-6.3,266,5532,0.00,2.53,0.00,0.000,4,0.000,0.050,2287,3293,3475
$GC,5617,-0.95,-146.6,387.8,-6.6,270,5621,0.00,2.47,0.00,0.000,6,0.000,0.043,2288,1900,3475
$GC,5943,-0.95,-146.6,409.2,-6.6,286,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,6253,-0.95,-146.6,429.5,-6.4,301,6257,0.00,2.53,0.00,0.000,4,0.000,0.050,2287,3297,3475
$GC,6382,-0.95,-146.6,437.8,-6.7,307,6387,0.00,2.50,0.00,0.000,6,0.000,0.045,2288,1902,3475
$GC,6709,-0.95,-146.6,456.1,-5.6,323,6710,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3475
$GC,7018,-0.95,-146.6,471.2,-4.4,338,7022,0.00,2.53,0.00,0.000,4,0.000,0.050,2288,3294,3473
$GC,7148,-0.95,-146.6,477.9,-4.5,344,7152,0.00,2.50,0.00,0.000,6,0.000,0.044,2288,1899,3473
$GC,7474,-0.95,-146.6,497.3,-7.0,360,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3473
$GC,7783,-0.95,-146.6,521.2,-7.9,375,7787,0.00,2.53,0.00,0.000,4,0.000,0.052,2288,3298,3473
$GC,7877,-0.95,-146.6,529.2,-8.4,379,7881,0.00,2.53,0.00,0.000,6,0.000,0.046,2288,1898,3473
$GC,8198,-0.95,-146.6,557.1,-8.2,395,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1898,3473
$GC,8507,-0.95,-146.6,573.9,-5.0,410,8512,0.00,2.55,0.00,0.000,4,0.000,0.053,2288,3295,3473
$GC,8563,-0.95,-146.6,577.0,-5.9,412,8569,0.00,2.53,0.00,0.000,6,0.000,0.047,2288,1897,3473
$GC,8878,-0.95,-146.6,592.3,-5.2,428,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1897,3473
$GC,9187,-0.95,-146.6,606.3,-5.3,443,9192,0.00,2.53,0.00,0.000,4,0.000,0.055,2288,3293,3473
$GC,9259,-0.95,-146.6,611.6,-8.0,446,9263,0.00,2.53,0.00,0.000,6,0.000,0.047,2288,1893,3473
$GC,9581,-0.95,-146.6,634.0,-7.2,462,9582,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1893,3473
$GC,9890,-0.95,-146.6,652.7,-5.3,477,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1893,3473
$GC,10199,-0.95,-146.6,667.0,-2.3,492,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1893,3473
$GC,10508,-0.95,-146.6,683.8,-6.9,507,10512,0.00,2.55,0.00,0.000,4,0.000,0.058,2288,3292,3473
$GC,10574,-0.95,-146.6,688.5,-7.1,510,10578,0.00,2.53,0.00,0.000,6,0.000,0.049,2288,1902,3473
$GC,10901,-0.95,-146.6,705.1,-5.4,526,10903,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3473
$GC,11210,-0.95,-146.6,721.5,-6.1,541,11214,0.00,2.55,0.00,0.000,4,0.000,0.061,2288,3290,3473
$GC,11304,-0.95,-146.6,728.2,-8.3,545,11308,0.00,2.53,0.00,0.000,6,0.000,0.051,2288,1899,3473
$GC,11626,-0.95,-146.6,743.6,-5.5,561,11627,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1899,3473
$STATE,11912,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11912,begin apogee
$GC,11917,-0.36,0.0,760.9,6.1,575,12046,0.60,0.00,125.05,1.318,6,0.071,0.000,2419,2094,2879
$STATE,12046,end apogee,CONTROL_FINISHED_OK
$STATE,12046,begin climb
$GC,12049,0.95,146.6,762.3,0.0,581,12180,1.25,2.70,123.53,1.289,4,0.051,0.067,2700,3496,2280
$GC,12230,0.99,180.5,759.8,5.0,590,12265,0.00,2.58,29.12,1.299,6,0.000,0.051,2700,2096,2141
$GC,12594,0.99,180.5,734.6,7.5,608,12596,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2097,2140
$GC,12902,0.99,180.5,713.6,6.4,623,12906,0.00,2.62,0.00,0.000,4,0.000,0.062,2700,3499,2140
$GC,13008,0.99,180.5,706.5,6.9,628,13012,0.00,2.58,0.00,0.000,6,0.000,0.054,2700,2096,2139
$GC,13334,0.99,180.5,682.7,7.0,644,13338,0.00,2.62,0.00,0.000,4,0.000,0.062,2700,3504,2139
$GC,13411,1.02,207.9,678.0,5.2,647,13441,0.00,2.58,23.33,1.308,6,0.000,0.051,2700,2092,2030
$GC,13768,1.02,207.9,659.8,6.8,665,13772,0.00,2.65,0.00,0.000,4,0.000,0.074,2700,692,2028
$GC,13923,1.02,207.9,647.7,8.8,672,13928,0.00,2.50,0.00,0.000,6,0.000,0.047,2700,2097,2029
$GC,14250,1.02,207.9,630.9,6.5,688,14252,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2102,2028
$GC,14559,1.02,207.9,607.1,7.8,703,14561,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2103,2029
$GC,14869,1.05,226.9,589.2,5.4,718,14891,0.10,2.70,16.55,1.237,4,0.058,0.065,2739,691,1952
$GC,14937,1.05,226.9,584.5,6.8,721,14942,0.00,2.53,0.00,0.000,6,0.000,0.044,2739,2110,1952
$GC,15263,1.05,226.9,557.7,7.8,737,15267,0.00,2.55,0.00,0.000,4,0.000,0.055,2739,3501,1952
$GC,15347,1.05,226.9,550.5,8.6,741,15351,0.00,2.53,0.00,0.000,6,0.000,0.047,2739,2099,1952
$GC,15673,1.05,226.9,524.6,7.0,757,15674,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1952
$GC,15981,1.05,226.9,504.1,6.8,772,15983,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1952
$GC,16291,1.05,226.9,481.7,7.0,787,16295,0.00,2.55,0.00,0.000,4,0.000,0.053,2739,3503,1952
$GC,16357,1.05,226.9,476.6,6.6,790,16361,0.00,2.53,0.00,0.000,6,0.000,0.044,2738,2093,1953
$GC,16684,1.05,226.9,453.1,7.3,806,16685,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2093,1953
$GC,16993,1.05,226.9,433.4,6.1,821,16994,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2093,1953
$GC,17302,1.05,226.9,413.4,6.8,836,17307,0.00,2.58,0.00,0.000,4,0.000,0.052,2739,3503,1954
$GC,17386,1.05,226.9,407.4,7.0,840,17391,0.00,2.50,0.00,0.000,6,0.000,0.043,2739,2100,1954
$GC,17713,1.05,226.9,384.1,7.4,856,17714,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2100,1954
$GC,18022,1.05,226.9,359.4,8.2,871,18023,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2100,1954
$GC,18331,1.05,226.9,335.2,7.4,886,18332,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2100,1954
$GC,18641,1.05,226.9,312.3,7.3,901,18642,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2100,1954
$GC,18950,1.05,226.9,287.5,8.7,916,18954,0.00,2.58,0.00,0.000,4,0.000,0.051,2739,3505,1955
$GC,19033,1.05,226.9,279.9,9.3,920,19038,0.00,2.50,0.00,0.000,6,0.000,0.042,2739,2099,1955
$GC,19360,1.05,226.9,253.5,8.2,936,19361,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1955
$GC,19669,1.05,226.9,225.8,9.3,951,19670,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1955
$GC,19978,1.05,226.9,197.0,8.9,966,19979,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1955
$GC,20288,1.05,226.9,170.4,8.1,981,20289,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1955
$GC,20597,1.05,226.9,144.6,8.9,996,20601,0.00,2.55,0.00,0.000,4,0.000,0.049,2739,3501,1955
$GC,20681,1.05,226.9,136.5,9.8,1000,20686,0.00,2.50,0.00,0.000,6,0.000,0.041,2739,2089,1955
$GC,21007,1.05,226.9,109.2,7.1,1016,21008,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2089,1955
$GC,21316,1.05,226.9,84.7,8.1,1031,21317,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2088,1955
$GC,21625,1.05,226.9,56.9,9.3,1046,21630,0.00,2.58,0.00,0.000,4,0.000,0.050,2738,3506,1956
$GC,21698,1.05,226.9,49.8,8.9,1049,21702,0.00,2.47,0.00,0.000,6,0.000,0.040,2739,2102,1956
$GC,22015,1.05,226.9,20.4,9.9,1064,22016,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2102,1956
$GC,22323,1.30,430.5,2.3,-0.1,1079,22438,0.17,2.65,106.68,0.792,4,0.043,0.049,2796,3504,1121
$GC,22691,1.54,626.6,2.3,0.2,1096,22763,0.15,2.53,64.85,0.773,6,0.063,0.044,2833,2100,602
$STATE,22897,end climb,NO_VERTICAL_VELOCITY
$STATE,22897,begin surface
$SM_CCo,23321,0.00,0.000,0,0,603,558.06
$SM_GC,2.90,12.23,0.00,0.00,0.028,0.000,0.000,29,1893,603,-11.27,-0.20,558.06
$IRIDIUM_FIX,6317.84,-1308.04,070108,131343
$TT8_MAMPS,0.026845
$HUMID,2124
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.60
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,700.6,69.0
$24V_AH,23.2,53.637
$10V_AH,10.1,26.224
$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,25.550,122.950,489.100,0.000,0.000,118.025,103.009,293.907,7.250,0.000,0.000,12.663,1959.823,18286.127,625.645,2429.277,777.773,33.370,1844.754,0.000,2387.176,0.000,41.697
$DEVICE_MAMPS,99.710,74.399,1318.473,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,817.404,746.568,673.825,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56844,1106
$CFSIZE,260165632,242921472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,070108,155231,6344.802,-1309.641,37,1.5,37,-12.4