version: 66.02
glider: 102
mission: 4
dive: 50
start: 11 20 107 4 27 33
data:
$ID,102
$MISSION,4
$DIVE,50
$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,-77192.633
$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,25
$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
$GPS1,042128,6136.309,-841.682,24,2.4,43,-9.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-65.1
$GPS2,042639,6136.369,-841.651,11,1.1,11,-9.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.237,0.018
$KALMAN_X,17364.7,367.9,474.1,-28460.1,-3026.2
$KALMAN_Y,127248.9,-1958.3,-684.3,-118569.7,13926.6
$MHEAD_RNG_PITCHd_Wd,283.4,33318,-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,17,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,-81.93,0.000,2,0.000,0.000,31,1879,3472
$GC,104,-1.23,-146.6,4.7,-6.5,4,126,11.68,2.62,0.00,0.000,4,0.144,0.067,2221,499,3473
$GC,197,-1.23,-146.6,25.6,-11.9,8,202,0.00,2.50,0.00,0.000,6,0.000,0.042,2221,1898,3474
$GC,525,-1.23,-146.6,60.7,-11.2,24,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3474
$GC,834,-1.23,-146.6,94.2,-10.8,39,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3474
$GC,1143,-1.23,-146.6,126.2,-10.1,54,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3474
$GC,1452,-1.23,-146.6,156.6,-9.4,69,1456,0.00,2.53,0.00,0.000,4,0.000,0.049,2222,3301,3473
$GC,1506,-1.23,-146.6,161.7,-9.1,71,1514,0.00,2.55,0.00,0.000,6,0.000,0.044,2221,1904,3474
$GC,1822,-1.23,-146.6,190.6,-9.4,87,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1904,3474
$GC,2131,-1.23,-146.6,218.4,-8.9,102,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1904,3474
$GC,2440,-1.23,-146.6,246.2,-9.2,117,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1904,3474
$GC,2751,-1.23,-146.6,275.6,-9.6,132,2755,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3302,3474
$GC,2811,-1.23,-146.6,281.5,-9.5,135,2815,0.00,2.53,0.00,0.000,6,0.000,0.045,2222,1900,3474
$GC,3143,-1.23,-146.6,315.0,-10.3,151,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1899,3474
$GC,3452,-1.23,-146.6,348.0,-11.0,166,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1899,3474
$GC,3761,-1.23,-146.6,379.7,-10.1,181,3765,0.00,2.53,0.00,0.000,4,0.000,0.049,2221,3302,3474
$GC,3810,-1.23,-146.6,385.1,-11.1,183,3815,0.00,2.55,0.00,0.000,6,0.000,0.045,2222,1902,3475
$GC,4131,-1.23,-146.6,417.8,-10.3,199,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3474
$GC,4440,-1.23,-146.6,449.8,-10.2,214,4445,0.00,2.53,0.00,0.000,4,0.000,0.051,2221,3295,3474
$GC,4533,-1.23,-146.6,459.6,-11.1,218,4538,0.00,2.53,0.00,0.000,6,0.000,0.046,2221,1908,3474
$GC,4860,-1.23,-146.6,493.1,-9.7,234,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1907,3474
$GC,5169,-1.23,-146.6,522.3,-8.7,249,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1907,3474
$GC,5480,-1.23,-146.6,550.2,-9.0,264,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1908,3474
$GC,5788,-1.23,-146.6,579.8,-9.0,279,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1907,3474
$GC,6097,-1.23,-146.6,606.6,-8.1,294,6101,0.00,2.55,0.00,0.000,4,0.000,0.056,2222,3301,3474
$GC,6159,-1.23,-146.6,611.4,-7.5,297,6163,0.00,2.55,0.00,0.000,6,0.000,0.049,2222,1897,3474
$GC,6483,-1.23,-146.6,637.4,-8.1,313,6488,0.00,2.58,0.00,0.000,4,0.000,0.057,2222,3303,3474
$GC,6572,-1.23,-146.6,644.0,-6.4,317,6577,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,1902,3474
$GC,6899,-1.23,-146.6,666.5,-7.1,333,6903,0.00,2.55,0.00,0.000,4,0.000,0.057,2222,3295,3474
$GC,6997,-1.23,-146.6,674.5,-8.6,337,7005,0.00,2.58,0.00,0.000,6,0.000,0.050,2221,1898,3474
$GC,7313,-1.23,-146.6,699.7,-8.5,353,7318,0.00,2.58,0.00,0.000,4,0.000,0.059,2222,3299,3474
$GC,7440,-1.23,-146.6,710.7,-9.0,358,7447,0.00,2.58,0.00,0.000,6,0.000,0.051,2222,1902,3474
$GC,7755,-1.23,-146.6,738.7,-8.2,374,7760,0.00,2.58,0.00,0.000,4,0.000,0.061,2222,3295,3474
$GC,7827,-1.23,-146.6,745.1,-9.8,377,7832,0.00,2.58,0.00,0.000,6,0.000,0.054,2221,1904,3473
$GC,8148,-1.23,-146.6,773.5,-7.4,393,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1904,3473
$GC,8457,-1.23,-146.6,796.6,-7.6,408,8462,0.00,2.60,0.00,0.000,4,0.000,0.068,2222,3294,3473
$GC,8563,-1.23,-146.6,811.4,-14.5,413,8567,0.00,2.55,0.00,0.000,6,0.000,0.062,2222,1902,3472
$GC,8888,-1.23,-146.6,833.3,-8.8,429,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1902,3470
$GC,9198,-1.23,-146.6,858.7,-3.2,444,9199,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,1900,3469
$STATE,9382,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9382,begin apogee
$GC,9386,-0.36,0.0,871.5,3.1,453,9515,0.95,0.00,124.80,1.443,6,0.095,0.000,2418,2336,2878
$STATE,9515,end apogee,CONTROL_FINISHED_OK
$STATE,9515,begin climb
$GC,9517,1.23,146.6,873.5,0.0,459,9649,1.55,2.78,123.55,1.394,4,0.054,0.078,2763,935,2280
$GC,9867,1.24,152.5,855.0,7.8,475,9880,0.00,2.65,5.95,1.325,6,0.000,0.061,2763,2342,2256
$GC,10188,1.30,200.5,831.2,6.2,491,10232,0.00,0.00,41.75,1.407,6,0.000,0.000,2763,2348,2060
$GC,10537,1.30,200.5,799.9,10.5,508,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2348,2059
$GC,10846,1.30,200.5,769.4,10.3,523,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2348,2058
$GC,11155,1.30,200.5,742.5,8.8,538,11159,0.00,2.65,0.00,0.000,4,0.000,0.075,2763,3759,2056
$GC,11413,1.30,200.5,717.6,13.7,549,11418,0.00,2.60,0.00,0.000,6,0.000,0.057,2763,2348,2056
$GC,11727,1.30,200.5,687.6,9.9,564,11732,0.00,2.62,0.00,0.000,4,0.000,0.065,2763,3759,2055
$GC,11978,1.30,200.5,663.3,9.2,575,11983,0.00,2.58,0.00,0.000,6,0.000,0.051,2763,2351,2055
$GC,12300,1.30,200.5,636.0,8.8,591,12304,0.00,2.60,0.00,0.000,4,0.000,0.061,2763,3761,2055
$GC,12488,1.30,200.5,617.5,9.5,599,12496,0.00,2.55,0.00,0.000,6,0.000,0.046,2763,2350,2055
$GC,12804,1.30,200.5,590.0,8.6,615,12805,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2350,2055
$GC,13113,1.30,200.5,562.0,8.9,630,13114,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2350,2056
$GC,13423,1.30,200.5,536.2,8.7,645,13424,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2350,2057
$GC,13732,1.32,216.9,511.7,7.4,660,13754,0.00,2.70,14.20,1.196,4,0.000,0.063,2763,930,1993
$GC,13859,1.32,217.7,501.4,8.0,665,13867,0.00,2.58,0.00,0.000,6,0.000,0.042,2763,2357,1993
$GC,14175,1.32,217.7,476.5,8.2,681,14176,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2358,1994
$GC,14484,1.32,217.7,451.2,8.5,696,14488,0.00,2.60,0.00,0.000,4,0.000,0.059,2763,942,1996
$GC,14583,1.32,217.7,442.1,9.3,700,14590,0.00,2.50,0.00,0.000,6,0.000,0.041,2763,2343,1996
$GC,14898,1.32,217.7,414.6,8.6,716,14903,0.00,2.58,0.00,0.000,4,0.000,0.060,2763,942,1996
$GC,14975,1.32,217.7,407.9,8.1,719,14982,0.00,2.55,0.00,0.000,6,0.000,0.041,2763,2351,1997
$GC,15291,1.32,217.7,383.1,8.1,735,15295,0.00,2.58,0.00,0.000,4,0.000,0.058,2763,940,1997
$GC,15374,1.33,231.5,376.6,7.5,739,15396,0.10,2.50,13.25,1.085,6,0.057,0.042,2797,2356,1934
$GC,15703,1.33,231.5,347.5,9.0,755,15707,0.00,2.58,0.00,0.000,4,0.000,0.057,2797,942,1934
$GC,15786,1.33,231.5,339.3,9.3,759,15791,0.00,2.53,0.00,0.000,6,0.000,0.041,2797,2356,1934
$GC,16112,1.33,231.5,308.4,9.6,775,16116,0.00,2.60,0.00,0.000,4,0.000,0.057,2797,937,1935
$GC,16228,1.33,231.5,296.6,10.0,780,16233,0.00,2.53,0.00,0.000,6,0.000,0.041,2797,2349,1935
$GC,16550,1.33,231.5,265.1,10.5,796,16554,0.00,2.60,0.00,0.000,4,0.000,0.058,2797,939,1936
$GC,16643,1.33,231.5,254.9,11.3,800,16648,0.00,2.53,0.00,0.000,6,0.000,0.041,2797,2351,1936
$GC,16964,1.33,231.5,219.9,10.6,816,16966,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2351,1936
$GC,17273,1.33,231.5,187.1,10.3,831,17278,0.00,2.58,0.00,0.000,4,0.000,0.058,2797,942,1936
$GC,17361,1.33,231.5,177.5,12.3,835,17366,0.00,2.53,0.00,0.000,6,0.000,0.041,2797,2349,1936
$GC,17689,1.33,231.5,145.6,9.5,851,17690,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2349,1937
$GC,17998,1.33,231.5,115.9,9.6,866,18002,0.00,2.60,0.00,0.000,4,0.000,0.058,2797,940,1937
$GC,18068,1.33,231.5,108.5,10.2,869,18073,0.00,2.53,0.00,0.000,6,0.000,0.041,2797,2349,1937
$GC,18391,1.33,231.5,77.6,9.6,885,18392,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2349,1937
$GC,18699,1.33,231.5,46.6,10.1,900,18700,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2350,1938
$GC,19009,1.33,231.5,17.2,9.2,915,19013,0.00,2.60,0.00,0.000,4,0.000,0.058,2797,939,1938
$GC,19092,1.33,231.5,8.7,9.3,919,19096,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,2353,1938
$STATE,19168,end climb,SURFACE_DEPTH_REACHED
$STATE,19168,begin surface coast
$FINISH,-0.6,1.013108
$STATE,19190,end surface coast,CONTROL_FINISHED_OK
$STATE,19190,begin surface
$SM_CCo,19209,62.78,0.802,8,0,1655,300.00
$SM_GC,0.10,0.00,0.00,62.78,0.000,0.000,0.802,30,1879,1655,-11.33,-0.59,300.00
$IRIDIUM_FIX,6108.28,-841.00,201107,030316
$TT8_MAMPS,0.026845
$HUMID,2037
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.80
$XPDR_PINGS,833
$ALTIM_BOTTOM_PING,800.2,81.3
$24V_AH,23.2,19.380
$10V_AH,10.1,7.971
$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,26.025,130.150,323.500,62.775,0.000,39.357,27.595,159.477,215.250,0.000,0.000,13.071,1703.731,14844.716,591.480,2142.901,348.852,33.356,1629.334,0.000,2099.402,0.000,47.606
$DEVICE_MAMPS,144.196,78.234,1442.727,801.515,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,680.299,625.097,509.229,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47452,924
$CFSIZE,260165632,255598592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,19,8,0
$GPS,201107,095037,6139.431,-849.269,37,1.0,37,-9.2