version: 66.02
glider: 102
mission: 4
dive: 53
start: 11 20 107 20 18 38
data:
$ID,102
$MISSION,4
$DIVE,53
$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,-77238.297
$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,24
$R_STBD_OVSHOOT,27
$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
$GPS1,201308,6141.150,-900.289,34,1.2,34,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-65.0
$GPS2,201744,6141.168,-900.237,12,1.3,12,-9.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.236,-0.026
$KALMAN_X,19645.3,422.9,-37.1,-46677.2,410.6
$KALMAN_Y,133895.7,-1403.7,-645.9,-116928.0,8500.6
$MHEAD_RNG_PITCHd_Wd,273.1,14759,-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,-82.03,0.000,6,0.000,0.000,34,1886,3477
$GC,104,-1.23,-146.6,5.1,-7.3,4,117,11.65,0.00,0.00,0.000,6,0.143,0.000,2221,1886,3478
$GC,434,-1.23,-146.6,53.4,-12.1,20,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1886,3479
$GC,743,-1.23,-146.6,84.2,-11.2,35,747,0.00,2.55,0.00,0.000,4,0.000,0.048,2221,3303,3479
$GC,809,-1.23,-146.6,92.0,-10.3,38,813,0.00,2.55,0.00,0.000,6,0.000,0.043,2221,1901,3479
$GC,1137,-1.23,-146.6,128.8,-9.5,54,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1901,3479
$GC,1445,-1.23,-146.6,160.1,-9.9,69,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3480
$GC,1754,-1.23,-146.6,191.3,-10.0,84,1758,0.00,2.53,0.00,0.000,4,0.000,0.047,2221,3311,3480
$GC,1814,-1.23,-146.6,197.1,-10.4,86,1821,0.00,2.55,0.00,0.000,6,0.000,0.042,2221,1903,3480
$GC,2129,-1.23,-146.6,227.8,-9.5,102,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3480
$GC,2438,-1.23,-146.6,257.7,-9.4,117,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1902,3480
$GC,2748,-1.23,-146.6,287.5,-9.6,132,2752,0.00,2.53,0.00,0.000,4,0.000,0.048,2221,3304,3480
$GC,2802,-1.23,-146.6,292.6,-9.1,134,2809,0.00,2.55,0.00,0.000,6,0.000,0.044,2220,1902,3480
$GC,3117,-1.23,-146.6,322.4,-9.6,150,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1902,3480
$GC,3427,-1.23,-146.6,352.4,-9.7,165,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3480
$GC,3736,-1.23,-146.6,382.1,-10.0,180,3740,0.00,2.53,0.00,0.000,4,0.000,0.050,2221,3305,3480
$GC,3792,-1.23,-146.6,387.8,-10.4,182,3798,0.00,2.53,0.00,0.000,6,0.000,0.045,2221,1901,3480
$GC,4106,-1.23,-146.6,418.1,-9.8,198,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3480
$GC,4415,-1.23,-146.6,446.7,-9.1,213,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3480
$GC,4724,-1.23,-146.6,474.5,-9.1,228,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1901,3480
$GC,5034,-1.23,-146.6,502.9,-9.2,243,5038,0.00,2.55,0.00,0.000,4,0.000,0.051,2220,3306,3480
$GC,5088,-1.23,-146.6,508.1,-9.7,245,5095,0.00,2.55,0.00,0.000,6,0.000,0.046,2221,1906,3480
$GC,5404,-1.23,-146.6,538.8,-9.7,261,5408,0.00,2.55,0.00,0.000,4,0.000,0.053,2221,3311,3480
$GC,5474,-1.23,-146.6,545.9,-9.6,264,5479,0.00,2.58,0.00,0.000,6,0.000,0.045,2221,1897,3479
$GC,5796,-1.23,-146.6,576.8,-9.3,280,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1897,3480
$GC,6105,-1.23,-146.6,605.2,-9.6,295,6109,0.00,2.58,0.00,0.000,4,0.000,0.055,2221,3305,3480
$GC,6188,-1.23,-146.6,613.2,-9.8,299,6192,0.00,2.55,0.00,0.000,6,0.000,0.050,2221,1902,3480
$GC,6513,-1.23,-146.6,642.0,-8.4,315,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1902,3480
$GC,6822,-1.23,-146.6,666.1,-7.9,330,6827,0.00,2.58,0.00,0.000,4,0.000,0.056,2221,3310,3480
$GC,6944,-1.23,-146.6,676.6,-9.4,335,6952,0.00,2.58,0.00,0.000,6,0.000,0.050,2221,1905,3480
$GC,7260,-1.23,-146.6,704.3,-8.6,351,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1905,3480
$GC,7569,-1.23,-146.6,739.6,-15.3,366,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1905,3480
$GC,7879,-1.23,-146.6,762.0,-0.4,381,7883,0.00,2.60,0.00,0.000,4,0.000,0.064,2220,3302,3480
$GC,7950,-1.23,-146.6,764.0,-4.0,384,7954,0.00,2.62,0.00,0.000,6,0.000,0.060,2221,1902,3480
$GC,8271,-1.23,-146.6,793.8,-14.4,400,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3479
$STATE,8475,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8476,begin apogee
$GC,8480,-0.36,0.0,823.7,11.3,410,8609,0.98,0.00,125.32,1.384,6,0.117,0.000,2412,2346,2878
$STATE,8610,end apogee,CONTROL_FINISHED_OK
$STATE,8610,begin climb
$GC,8611,1.23,146.6,824.4,0.0,416,8743,1.58,2.75,123.60,1.332,4,0.051,0.076,2765,943,2280
$GC,8859,1.23,146.6,810.5,8.5,428,8867,0.00,2.62,0.00,0.000,6,0.000,0.058,2765,2340,2279
$GC,9175,1.25,160.4,781.9,7.5,444,9189,0.00,0.00,12.40,1.348,6,0.000,0.000,2765,2341,2224
$GC,9484,1.25,160.4,755.2,8.4,459,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2340,2223
$GC,9793,1.25,160.4,732.8,9.3,474,9794,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2341,2221
$GC,10102,1.25,160.4,697.8,9.4,489,10107,0.00,2.67,0.00,0.000,4,0.000,0.075,2765,931,2220
$GC,10358,1.33,229.7,678.1,5.4,500,10421,0.00,2.62,57.40,1.348,6,0.000,0.054,2765,2350,1941
$GC,10730,1.35,243.3,656.2,7.5,518,10752,0.10,2.75,12.40,1.335,4,0.061,0.070,2796,945,1885
$GC,10879,1.35,243.3,641.6,11.1,524,10887,0.00,2.58,0.00,0.000,6,0.000,0.049,2795,2347,1885
$GC,11195,1.35,243.3,603.5,12.2,540,11196,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2348,1885
$GC,11504,1.35,243.3,567.5,12.1,555,11505,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2349,1886
$GC,11813,1.35,243.3,533.2,11.1,570,11815,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2349,1887
$GC,12123,1.35,243.3,498.5,11.2,585,12124,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2350,1887
$GC,12432,1.35,243.3,465.3,10.8,600,12433,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2350,1888
$GC,12741,1.35,243.3,433.7,9.9,615,12746,0.00,2.60,0.00,0.000,4,0.000,0.061,2796,939,1888
$GC,12813,1.35,243.3,425.8,10.8,618,12817,0.00,2.53,0.00,0.000,6,0.000,0.042,2796,2348,1888
$GC,13134,1.35,243.3,392.3,10.7,634,13135,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2349,1889
$GC,13443,1.35,243.3,360.7,10.2,649,13447,0.00,2.60,0.00,0.000,4,0.000,0.060,2796,938,1890
$GC,13491,1.35,243.3,355.6,10.6,651,13496,0.00,2.53,0.00,0.000,6,0.000,0.041,2795,2350,1889
$GC,13812,1.35,243.3,322.7,10.2,667,13813,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2350,1890
$GC,14122,1.35,243.3,291.1,10.3,682,14126,0.00,2.60,0.00,0.000,4,0.000,0.059,2795,932,1891
$GC,14205,1.35,243.3,281.9,11.1,686,14210,0.00,2.53,0.00,0.000,6,0.000,0.041,2796,2350,1891
$GC,14530,1.35,243.3,248.6,10.6,702,14532,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2349,1892
$GC,14840,1.35,243.3,214.6,11.2,717,14841,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2350,1893
$GC,15149,1.35,243.3,182.4,10.5,732,15153,0.00,2.60,0.00,0.000,4,0.000,0.058,2796,930,1893
$GC,15237,1.35,243.3,172.8,10.7,736,15242,0.00,2.53,0.00,0.000,6,0.000,0.040,2796,2349,1893
$GC,15564,1.35,243.3,139.0,9.8,752,15566,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2349,1893
$GC,15874,1.35,243.3,106.6,10.2,767,15878,0.00,2.60,0.00,0.000,4,0.000,0.057,2796,935,1893
$GC,15934,1.35,243.3,99.4,12.5,770,15939,0.00,2.53,0.00,0.000,6,0.000,0.040,2796,2359,1893
$GC,16260,1.35,243.3,62.8,11.0,786,16261,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2359,1894
$GC,16569,1.35,243.3,28.9,10.4,801,16573,0.00,2.62,0.00,0.000,4,0.000,0.058,2796,933,1894
$GC,16640,1.35,243.3,21.1,10.0,804,16652,0.00,2.53,3.10,0.856,6,0.000,0.040,2796,2353,1885
$STATE,16836,end climb,SURFACE_DEPTH_REACHED
$STATE,16836,begin surface coast
$FINISH,-0.4,1.027308
$STATE,16857,end surface coast,CONTROL_FINISHED_OK
$STATE,16857,begin surface
$SM_CCo,16876,50.55,0.798,6,0,1655,300.00
$SM_GC,0.32,0.00,0.00,50.55,0.000,0.000,0.798,35,1885,1655,-11.32,-0.42,300.00
$IRIDIUM_FIX,6112.75,-856.47,201107,191920
$TT8_MAMPS,0.026078
$HUMID,2033
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,16.80
$XPDR_PINGS,447
$ALTIM_BOTTOM_PING,751.2,82.5
$24V_AH,23.3,19.874
$10V_AH,10.1,8.201
$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,26.200,94.475,334.225,50.550,0.000,38.314,27.477,128.079,118.500,0.000,0.000,13.914,1459.254,13197.637,559.016,1724.785,301.456,33.352,1395.711,0.000,1692.898,0.000,47.297
$DEVICE_MAMPS,143.429,75.933,1384.435,798.447,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,598.485,550.564,462.942,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41127,815
$CFSIZE,260165632,255442944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,6,0
$GPS,211107,010226,6140.758,-905.694,36,1.9,36,-9.3