version: 66.02
glider: 102
mission: 4
dive: 49
start: 11 19 107 23 28 51
data:
$ID,102
$MISSION,4
$DIVE,49
$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,-77178.938
$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,2350
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,26
$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
$GPS1,231538,6133.379,-835.198,34,1.1,34,-9.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-64.8
$GPS2,232757,6133.400,-835.184,11,1.5,11,-9.0
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.235,0.036
$KALMAN_X,16964.0,635.5,127.5,-22275.3,-4085.1
$KALMAN_Y,124250.8,-1982.3,-1191.1,-120534.3,16605.5
$MHEAD_RNG_PITCHd_Wd,287.8,40984,-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,17,begin dive
$GC,18,-1.23,-146.6,0.0,0.0,0,102,0.00,0.00,-81.88,0.000,2,0.000,0.000,29,1878,3410
$GC,104,-1.23,-146.6,4.7,-7.1,4,127,11.70,2.60,-1.35,0.000,4,0.144,0.057,2224,3298,3477
$GC,378,-1.23,-146.6,45.0,-11.5,16,383,0.00,2.50,0.00,0.000,6,0.000,0.043,2224,1909,3478
$GC,705,-1.23,-146.6,78.7,-10.2,32,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1907,3478
$GC,1014,-1.23,-146.6,111.4,-10.7,47,1018,0.00,2.53,0.00,0.000,4,0.000,0.048,2225,3307,3477
$GC,1076,-1.23,-146.6,117.8,-10.2,50,1080,0.00,2.53,0.00,0.000,6,0.000,0.044,2225,1900,3478
$GC,1401,-1.23,-146.6,153.0,-10.7,66,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3478
$GC,1710,-1.23,-146.6,186.0,-10.8,81,1714,0.00,2.53,0.00,0.000,4,0.000,0.047,2224,3307,3478
$GC,1758,-1.23,-146.6,191.4,-11.0,83,1763,0.00,2.55,0.00,0.000,6,0.000,0.043,2224,1900,3478
$GC,2079,-1.23,-146.6,223.3,-9.8,99,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3477
$GC,2388,-1.23,-146.6,254.4,-9.9,114,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3478
$GC,2698,-1.23,-146.6,286.4,-10.7,129,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3478
$GC,3007,-1.23,-146.6,319.9,-10.8,144,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3478
$GC,3316,-1.23,-146.6,353.3,-10.8,159,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3478
$GC,3626,-1.23,-146.6,386.3,-10.6,174,3630,0.00,2.53,0.00,0.000,4,0.000,0.049,2224,3305,3478
$GC,3680,-1.23,-146.6,391.9,-9.7,176,3687,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1903,3478
$GC,3995,-1.23,-146.6,422.0,-9.3,192,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1903,3478
$GC,4305,-1.23,-146.6,448.2,-8.4,207,4309,0.00,2.55,0.00,0.000,4,0.000,0.051,2224,3312,3478
$GC,4353,-1.23,-146.6,452.5,-8.7,209,4358,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1905,3478
$GC,4674,-1.23,-146.6,483.1,-9.8,225,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1905,3478
$GC,4983,-1.23,-146.6,512.4,-9.3,240,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1905,3478
$GC,5293,-1.23,-146.6,541.0,-9.4,255,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1906,3478
$GC,5602,-1.23,-146.6,571.1,-9.8,270,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1905,3478
$GC,5911,-1.23,-146.6,599.8,-9.3,285,5919,0.00,2.55,0.00,0.000,4,0.000,0.055,2225,3303,3478
$GC,5985,-1.23,-146.6,607.1,-9.7,288,5990,0.00,2.58,0.00,0.000,6,0.000,0.048,2224,1900,3477
$GC,6311,-1.23,-146.6,638.3,-9.4,304,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3477
$GC,6621,-1.23,-146.6,665.5,-8.7,319,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3478
$GC,6930,-1.23,-146.6,692.4,-9.4,334,6934,0.00,2.55,0.00,0.000,4,0.000,0.054,2224,3304,3478
$GC,7015,-1.23,-146.6,700.3,-10.3,338,7019,0.00,2.53,0.00,0.000,6,0.000,0.051,2224,1902,3478
$GC,7339,-1.23,-146.6,730.3,-8.8,354,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1901,3477
$GC,7649,-1.23,-146.6,759.2,-9.4,369,7653,0.00,2.58,0.00,0.000,4,0.000,0.058,2225,3305,3477
$GC,7816,-1.23,-146.6,771.0,-5.2,376,7823,0.00,2.60,0.00,0.000,6,0.000,0.057,2224,1897,3478
$GC,8131,-1.23,-146.6,794.0,-7.7,392,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1897,3477
$GC,8441,-1.23,-146.6,815.8,-7.4,407,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1897,3476
$GC,8749,-1.23,-146.6,840.8,-10.0,422,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1897,3475
$STATE,9017,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9017,begin apogee
$GC,9021,-0.36,0.0,863.2,12.8,435,9151,0.95,0.00,125.65,1.424,6,0.116,0.000,2412,2344,2878
$STATE,9151,end apogee,CONTROL_FINISHED_OK
$STATE,9151,begin climb
$GC,9153,1.23,146.6,869.1,0.0,441,9285,1.60,2.80,123.70,1.379,4,0.064,0.080,2760,944,2280
$GC,9436,1.25,166.9,859.8,7.2,454,9461,0.00,2.65,18.30,1.384,6,0.000,0.061,2760,2346,2197
$GC,9778,1.36,249.4,826.4,4.9,471,9850,0.15,0.00,70.03,1.386,6,0.054,0.000,2798,2351,1861
$GC,10146,1.36,249.4,788.8,8.7,489,10151,0.00,2.70,0.00,0.000,4,0.000,0.079,2798,944,1860
$GC,10178,1.36,249.4,784.4,13.9,490,10186,0.00,2.65,0.00,0.000,6,0.000,0.061,2798,2350,1860
$GC,10494,1.36,249.4,751.6,10.5,506,10498,0.00,2.65,0.00,0.000,4,0.000,0.074,2798,3750,1858
$GC,10750,1.36,249.4,723.2,11.2,517,10757,0.00,2.60,0.00,0.000,6,0.000,0.057,2798,2352,1857
$GC,11065,1.36,249.4,689.5,11.5,533,11070,0.00,2.60,0.00,0.000,4,0.000,0.065,2798,3751,1856
$GC,11322,1.36,249.4,661.0,10.9,544,11329,0.00,2.58,0.00,0.000,6,0.000,0.050,2798,2348,1856
$GC,11638,1.36,249.4,625.8,10.9,560,11639,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2348,1856
$GC,11947,1.36,249.4,591.5,11.7,575,11948,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2348,1857
$GC,12256,1.36,249.4,557.6,11.0,590,12257,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2348,1857
$GC,12565,1.36,249.4,521.3,12.0,605,12566,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2348,1858
$GC,12875,1.36,249.4,486.6,11.1,620,12876,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2348,1859
$GC,13184,1.36,249.4,452.6,10.9,635,13188,0.00,2.58,0.00,0.000,4,0.000,0.062,2798,940,1860
$GC,13233,1.36,249.4,447.3,10.8,637,13238,0.00,2.53,0.00,0.000,6,0.000,0.041,2798,2355,1860
$GC,13554,1.36,249.4,414.2,10.7,653,13555,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2356,1861
$GC,13863,1.36,249.4,379.6,11.2,668,13868,0.00,2.60,0.00,0.000,4,0.000,0.059,2798,937,1862
$GC,13912,1.36,249.4,373.7,11.4,670,13917,0.00,2.53,0.00,0.000,6,0.000,0.042,2798,2350,1861
$GC,14233,1.36,249.4,337.6,10.8,686,14235,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2351,1862
$GC,14543,1.36,249.4,301.7,11.8,701,14544,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2351,1862
$GC,14852,1.36,249.4,267.2,10.8,716,14856,0.00,2.60,0.00,0.000,4,0.000,0.059,2798,940,1863
$GC,14912,1.36,249.4,260.6,10.1,719,14916,0.00,2.50,0.00,0.000,6,0.000,0.041,2798,2357,1863
$GC,15238,1.36,249.4,228.4,10.0,735,15239,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2357,1864
$GC,15547,1.36,249.4,197.9,9.7,750,15548,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2358,1864
$GC,15856,1.36,249.4,166.3,10.3,765,15861,0.00,2.60,0.00,0.000,4,0.000,0.057,2798,934,1864
$GC,15918,1.36,249.4,159.7,11.0,768,15922,0.00,2.53,0.00,0.000,6,0.000,0.041,2798,2356,1865
$GC,16243,1.36,249.4,125.1,11.4,784,16244,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2356,1865
$GC,16552,1.36,249.4,90.8,11.8,799,16557,0.00,2.60,0.00,0.000,4,0.000,0.056,2798,939,1865
$GC,16646,1.36,249.4,79.7,11.1,803,16651,0.00,2.50,0.00,0.000,6,0.000,0.040,2798,2348,1864
$GC,16969,1.36,249.4,42.9,11.7,819,16970,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2348,1865
$GC,17277,1.36,249.4,9.9,10.3,834,17281,0.00,2.60,0.00,0.000,4,0.000,0.057,2798,932,1866
$GC,17342,1.36,249.4,2.6,11.6,837,17347,0.00,2.55,0.00,0.000,6,0.000,0.041,2798,2350,1866
$STATE,17351,end climb,SURFACE_DEPTH_REACHED
$STATE,17351,begin surface coast
$FINISH,-0.5,1.026559
$STATE,17380,end surface coast,CONTROL_FINISHED_OK
$STATE,17381,begin surface
$SM_CCo,17400,47.30,0.809,6,0,1655,300.00
$SM_GC,0.16,0.00,0.00,47.30,0.000,0.000,0.809,32,1881,1655,-11.33,-0.51,300.00
$IRIDIUM_FIX,6112.75,-828.27,201107,030314
$TT8_MAMPS,0.027612
$HUMID,2035
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,15.90
$XPDR_PINGS,678
$ALTIM_BOTTOM_PING,776.1,96.8
$24V_AH,23.2,19.201
$10V_AH,10.1,7.885
$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,26.350,94.425,337.675,47.300,0.000,116.223,82.212,332.870,176.250,0.000,0.000,12.488,1516.483,13688.780,556.958,1818.198,646.730,33.349,1436.661,0.000,1784.852,0.000,46.021
$DEVICE_MAMPS,144.196,79.768,1423.552,809.185,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,620.412,567.885,468.099,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41196,839
$CFSIZE,260165632,255676416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,6,0
$GPS,201107,042128,6136.309,-841.682,24,2.4,43,-9.1