version: 66.02
glider: 102
mission: 4
dive: 48
start: 11 19 107 18 52 44
data:
$ID,102
$MISSION,4
$DIVE,48
$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,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,-77165.828
$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,2250
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,35
$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
$GPS1,184656,6130.821,-827.357,38,1.0,38,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-64.2
$GPS2,185150,6130.769,-827.349,10,1.2,10,-8.9
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.232,0.054
$KALMAN_X,17112.2,837.4,496.3,-16072.2,-5890.3
$KALMAN_Y,121424.3,-1571.5,-893.5,-123308.8,17911.4
$MHEAD_RNG_PITCHd_Wd,292.0,49391,-14.7,-8.000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.23,-146.6,0.0,0.0,0,102,0.00,0.00,-82.57,0.000,2,0.000,0.000,30,1926,3465
$GC,104,-1.23,-146.6,4.5,-6.0,4,126,11.68,2.53,-0.25,0.000,4,0.145,0.058,2221,3295,3478
$GC,378,-1.23,-146.6,43.5,-10.8,16,383,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1907,3479
$GC,705,-1.23,-146.6,76.8,-10.2,32,709,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3303,3479
$GC,766,-1.23,-146.6,83.1,-10.1,35,770,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1898,3479
$GC,1091,-1.23,-146.6,116.1,-9.6,51,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1897,3479
$GC,1400,-1.23,-146.6,146.0,-10.0,66,1405,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3302,3480
$GC,1454,-1.23,-146.6,151.6,-9.9,68,1461,0.00,2.55,0.00,0.000,6,0.000,0.044,2221,1900,3479
$GC,1769,-1.23,-146.6,183.8,-10.6,84,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3480
$GC,2079,-1.23,-146.6,215.9,-9.9,99,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3480
$GC,2388,-1.23,-146.6,246.0,-9.3,114,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3479
$GC,2698,-1.23,-146.6,276.8,-9.8,129,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3480
$GC,3007,-1.23,-146.6,305.7,-9.4,144,3011,0.00,2.53,0.00,0.000,4,0.000,0.048,2220,3304,3480
$GC,3100,-1.23,-146.6,315.2,-10.0,148,3105,0.00,2.55,0.00,0.000,6,0.000,0.044,2221,1900,3480
$GC,3421,-1.23,-146.6,346.7,-10.5,164,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3480
$GC,3731,-1.23,-146.6,377.4,-9.7,179,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1900,3480
$GC,4040,-1.23,-146.6,406.3,-9.3,194,4044,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3301,3480
$GC,4094,-1.23,-146.6,411.7,-9.7,196,4101,0.00,2.55,0.00,0.000,6,0.000,0.044,2221,1899,3480
$GC,4410,-1.23,-146.6,441.8,-10.1,212,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1898,3480
$GC,4719,-1.23,-146.6,473.1,-10.0,227,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1898,3480
$GC,5028,-1.23,-146.6,504.5,-9.9,242,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1898,3480
$GC,5338,-1.23,-146.6,533.4,-9.1,257,5342,0.00,2.53,0.00,0.000,4,0.000,0.050,2221,3298,3480
$GC,5392,-1.23,-146.6,538.4,-9.1,259,5399,0.00,2.55,0.00,0.000,6,0.000,0.047,2221,1902,3480
$GC,5707,-1.23,-146.6,567.6,-9.1,275,5711,0.00,2.53,0.00,0.000,4,0.000,0.054,2221,3295,3480
$GC,5785,-1.23,-146.6,575.0,-9.4,278,5789,0.00,2.53,0.00,0.000,6,0.000,0.048,2221,1898,3480
$GC,6105,-1.23,-146.6,605.9,-9.8,294,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1898,3480
$GC,6414,-1.23,-146.6,637.6,-10.8,309,6419,0.00,2.55,0.00,0.000,4,0.000,0.054,2220,3295,3480
$GC,6620,-1.23,-146.6,659.4,-10.6,318,6625,0.00,2.58,0.00,0.000,6,0.000,0.051,2221,1898,3480
$GC,6941,-1.23,-146.6,691.2,-10.7,334,6945,0.00,2.58,0.00,0.000,4,0.000,0.058,2221,3300,3480
$GC,7085,-1.23,-146.6,704.5,-9.5,340,7093,0.00,2.58,0.00,0.000,6,0.000,0.053,2221,1903,3480
$GC,7404,-1.23,-146.6,727.4,-8.7,356,7408,0.00,2.58,0.00,0.000,4,0.000,0.064,2221,3293,3480
$GC,7452,-1.23,-146.6,734.7,-14.6,358,7456,0.00,2.58,0.00,0.000,6,0.000,0.059,2221,1903,3480
$GC,7773,-1.23,-146.6,759.1,-9.1,374,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1903,3479
$GC,8082,-1.23,-146.6,790.8,-12.1,389,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1903,3477
$GC,8391,-1.23,-146.6,834.0,-17.5,404,8396,0.00,2.60,0.00,0.000,4,0.000,0.071,2221,3295,3475
$STATE,8424,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8424,begin apogee
$GC,8429,-0.36,0.0,838.3,15.4,405,8558,0.93,0.00,125.50,1.424,6,0.100,0.000,2413,2243,2878
$STATE,8559,end apogee,CONTROL_FINISHED_OK
$STATE,8559,begin climb
$GC,8561,1.23,146.6,839.0,0.0,412,8692,1.55,2.72,123.57,1.371,4,0.046,0.074,2767,838,2280
$GC,8945,1.29,196.7,823.6,6.1,430,8995,0.00,2.60,42.67,1.381,6,0.000,0.060,2767,2240,2075
$GC,9316,1.29,196.7,787.6,11.5,448,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2245,2074
$GC,9625,1.29,196.7,761.4,9.3,463,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2246,2073
$GC,9934,1.44,319.4,736.0,3.3,478,10044,0.20,2.75,102.43,1.368,4,0.051,0.071,2818,3648,1575
$GC,10295,1.44,319.4,689.2,16.9,494,10303,0.00,2.65,0.00,0.000,6,0.000,0.062,2817,2247,1576
$GC,10611,1.44,319.4,648.1,13.7,510,10615,0.00,2.62,0.00,0.000,4,0.000,0.065,2817,3656,1573
$GC,10789,1.44,319.4,620.6,13.9,518,10794,0.00,2.60,0.00,0.000,6,0.000,0.054,2817,2254,1573
$GC,11116,1.44,319.4,578.2,13.2,534,11120,0.00,2.58,0.00,0.000,4,0.000,0.058,2817,3655,1573
$GC,11254,1.44,319.4,560.1,12.8,540,11259,0.00,2.58,0.00,0.000,6,0.000,0.048,2817,2249,1573
$GC,11575,1.44,319.4,520.0,13.3,556,11577,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2248,1574
$GC,11885,1.44,319.4,478.8,12.9,571,11886,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2249,1576
$GC,12194,1.44,319.4,438.7,12.8,586,12195,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2248,1576
$GC,12503,1.44,319.4,398.5,13.0,601,12504,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2248,1578
$GC,12813,1.44,319.4,359.2,12.8,616,12817,0.00,2.62,0.00,0.000,4,0.000,0.066,2818,832,1579
$GC,12878,1.44,319.4,350.0,14.2,619,12882,0.00,2.53,0.00,0.000,6,0.000,0.041,2818,2250,1579
$GC,13204,1.44,319.4,306.3,13.1,635,13205,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2257,1579
$GC,13513,1.44,319.4,267.5,12.4,650,13518,0.00,2.62,0.00,0.000,4,0.000,0.062,2817,837,1579
$GC,13552,1.44,319.4,262.5,12.2,652,13557,0.00,2.50,0.00,0.000,6,0.000,0.042,2818,2260,1579
$GC,13878,1.44,319.4,221.9,13.0,668,13879,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2264,1581
$GC,14187,1.44,319.4,182.4,12.8,683,14191,0.00,2.62,0.00,0.000,4,0.000,0.061,2818,838,1581
$GC,14241,1.44,319.4,175.0,13.1,685,14249,0.00,2.50,0.00,0.000,6,0.000,0.041,2817,2248,1581
$GC,14557,1.44,319.4,133.1,13.5,701,14559,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2251,1582
$GC,14867,1.44,319.4,94.1,12.5,716,14868,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2251,1582
$GC,15176,1.44,319.4,55.7,11.8,731,15180,0.00,2.60,0.00,0.000,4,0.000,0.060,2818,836,1583
$GC,15224,1.44,319.4,49.6,12.9,733,15229,0.00,2.50,0.00,0.000,6,0.000,0.040,2818,2248,1583
$GC,15545,1.44,319.4,8.5,12.3,749,15547,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2253,1583
$STATE,15606,end climb,SURFACE_DEPTH_REACHED
$STATE,15606,begin surface coast
$FINISH,-0.7,1.006772
$STATE,15628,end surface coast,CONTROL_FINISHED_OK
$STATE,15628,begin surface
$SM_CCo,15707,0.00,0.000,0,0,1583,317.66
$SM_GC,0.24,11.98,0.00,0.00,0.031,0.000,0.000,30,1882,1583,-11.27,-0.48,317.66
$IRIDIUM_FIX,6108.28,-818.67,191107,181828
$TT8_MAMPS,0.026845
$HUMID,2069
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,15.90
$XPDR_PINGS,431
$ALTIM_BOTTOM_PING,750.0,98.1
$24V_AH,23.2,19.009
$10V_AH,10.1,7.805
$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,26.325,97.675,394.175,0.000,0.000,39.751,26.967,151.781,114.250,0.000,0.000,12.034,1384.002,12050.032,524.867,1735.895,314.525,33.366,1373.787,0.000,1702.994,0.000,44.402
$DEVICE_MAMPS,144.963,74.399,1423.552,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,555.182,508.116,430.334,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37983,753
$CFSIZE,260165632,255746048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,191107,231538,6133.379,-835.198,34,1.1,34,-9.0