version: 66.02
glider: 102
mission: 4
dive: 169
start: 12 18 107 9 0 22
data:
$ID,102
$MISSION,4
$DIVE,169
$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,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,-79351.266
$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,40
$R_STBD_OVSHOOT,30
$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
$GPS1,084938,6236.348,-1127.607,31,1.2,31,-11.0
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,4.33
$_SM_ANGLEo,-50.4
$GPS2,085927,6236.405,-1127.574,12,1.3,12,-11.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.198,0.068
$KALMAN_X,235805.8,-586.0,-4655.2,-387145.5,42610.2
$KALMAN_Y,84504.6,766.6,2597.8,29280.6,-23735.8
$MHEAD_RNG_PITCHd_Wd,299.9,45076,-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,18,begin dive
$GC,20,-0.95,-146.6,0.0,0.0,0,44,0.00,0.00,-22.00,0.000,2,0.000,0.000,31,1875,1128
$GC,47,-0.95,-146.6,4.5,-0.0,1,206,11.35,2.55,-140.48,0.000,4,0.114,0.074,2285,510,3476
$GC,419,-0.95,-146.6,29.7,-14.5,17,424,0.00,2.47,0.00,0.000,6,0.000,0.040,2285,1904,3476
$GC,741,-0.95,-146.6,49.3,-6.7,33,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3476
$GC,1050,-0.95,-146.6,73.6,-6.0,48,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3476
$GC,1359,-0.95,-146.6,96.1,-8.7,63,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3476
$GC,1668,-0.95,-146.6,120.1,-7.0,78,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3476
$GC,1978,-0.95,-146.6,142.9,-8.6,93,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3476
$GC,2286,-0.95,-146.6,165.8,-6.3,108,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3476
$GC,2596,-0.95,-146.6,186.1,-6.3,123,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3476
$GC,2905,-0.95,-146.6,206.8,-6.9,138,2909,0.00,2.50,0.00,0.000,4,0.000,0.049,2285,3291,3476
$GC,2967,-0.95,-146.6,211.2,-6.9,141,2971,0.00,2.45,0.00,0.000,6,0.000,0.044,2285,1917,3476
$GC,3292,-0.95,-146.6,233.1,-6.9,157,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1917,3476
$GC,3602,-0.95,-146.6,253.3,-6.4,172,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1917,3476
$GC,3911,-0.95,-146.6,272.9,-6.1,187,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1917,3476
$GC,4220,-0.95,-146.6,292.8,-6.5,202,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1917,3476
$GC,4529,-0.95,-146.6,311.9,-6.2,217,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1917,3476
$GC,4838,-0.95,-146.6,330.7,-6.0,232,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1917,3476
$GC,5148,-0.95,-146.6,350.0,-6.2,247,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1917,3476
$GC,5457,-0.95,-146.6,369.6,-6.2,262,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1917,3476
$GC,5766,-0.95,-146.6,389.1,-6.5,277,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1917,3475
$GC,6076,-0.95,-146.6,409.1,-6.6,292,6080,0.00,2.50,0.00,0.000,4,0.000,0.050,2285,3297,3476
$GC,6142,-0.95,-146.6,413.5,-6.5,295,6146,0.00,2.50,0.00,0.000,6,0.000,0.045,2285,1902,3475
$GC,6469,-0.95,-146.6,434.9,-6.7,311,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,6778,-0.95,-146.6,455.3,-6.4,326,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1903,3475
$GC,7087,-0.95,-146.6,474.3,-6.2,341,7092,0.00,2.53,0.00,0.000,4,0.000,0.051,2285,3294,3475
$GC,7153,-0.95,-146.6,479.0,-7.5,344,7158,0.00,2.53,0.00,0.000,6,0.000,0.045,2285,1904,3475
$GC,7481,-0.95,-146.6,501.3,-7.0,360,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3474
$GC,7789,-0.95,-146.6,523.8,-7.6,375,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1900,3474
$GC,8098,-0.95,-146.6,547.0,-7.3,390,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3474
$GC,8408,-0.95,-146.6,569.3,-7.0,405,8412,0.00,2.55,0.00,0.000,4,0.000,0.054,2285,3298,3474
$GC,8479,-0.95,-146.6,574.3,-7.0,408,8483,0.00,2.53,0.00,0.000,6,0.000,0.048,2285,1898,3474
$GC,8794,-0.95,-146.6,594.4,-6.0,423,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3474
$GC,9104,-0.95,-146.6,611.0,-5.5,438,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3474
$GC,9413,-0.95,-146.6,627.5,-5.3,453,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3474
$GC,9722,-0.95,-146.6,645.8,-6.0,468,9726,0.00,2.58,0.00,0.000,4,0.000,0.061,2285,3293,3474
$GC,9805,-0.95,-146.6,651.3,-7.1,472,9809,0.00,2.53,0.00,0.000,6,0.000,0.053,2285,1902,3474
$GC,10131,-0.95,-146.6,670.8,-6.0,488,10132,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3473
$STATE,10376,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10376,begin apogee
$GC,10381,-0.36,0.0,687.4,6.2,500,10507,0.62,0.00,123.00,1.271,6,0.074,0.000,2421,2095,2878
$STATE,10508,end apogee,CONTROL_FINISHED_OK
$STATE,10508,begin climb
$GC,10510,0.95,146.6,690.1,0.0,506,10637,1.25,0.00,122.78,1.226,6,0.054,0.000,2699,2095,2280
$GC,10941,1.00,190.2,673.3,4.7,527,10984,0.00,2.78,36.92,1.238,4,0.000,0.073,2699,691,2102
$GC,11045,1.00,190.2,666.7,6.9,531,11051,0.00,2.55,0.00,0.000,6,0.000,0.051,2699,2096,2102
$GC,11360,1.00,190.2,647.6,6.4,547,11361,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2096,2101
$GC,11669,1.00,190.2,627.4,6.3,562,11673,0.00,2.62,0.00,0.000,4,0.000,0.064,2700,3502,2100
$GC,11757,1.00,190.2,621.3,6.7,566,11762,0.00,2.58,0.00,0.000,6,0.000,0.054,2699,2101,2100
$GC,12084,1.03,210.1,603.2,5.4,582,12104,0.00,0.00,17.00,1.268,6,0.000,0.000,2700,2101,2021
$GC,12413,1.03,217.7,584.3,5.8,598,12422,0.00,0.00,7.60,1.256,6,0.000,0.000,2700,2101,1990
$GC,12722,1.03,217.7,565.6,6.2,613,12724,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2101,1989
$GC,13031,1.03,217.7,544.2,7.5,628,13033,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2101,1989
$GC,13341,1.03,217.7,519.8,7.9,643,13342,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2101,1989
$GC,13650,1.03,217.7,496.5,7.4,658,13651,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2101,1989
$GC,13960,1.03,217.7,475.3,6.8,673,13961,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2101,1989
$GC,14269,1.04,219.9,456.1,5.9,688,14270,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2101,1990
$GC,14578,1.04,221.3,437.7,6.0,703,14584,0.00,0.00,4.18,1.118,6,0.000,0.000,2700,2101,1975
$GC,14887,1.04,221.3,417.9,6.6,718,14888,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2101,1976
$GC,15196,1.04,221.3,398.2,6.3,733,15201,0.00,2.62,0.00,0.000,4,0.000,0.067,2700,688,1976
$GC,15251,1.04,221.3,394.4,6.5,735,15258,0.00,2.53,0.00,0.000,6,0.000,0.041,2700,2110,1976
$GC,15567,1.04,221.3,374.7,6.0,751,15568,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2110,1976
$GC,15876,1.06,235.3,356.2,5.6,766,15891,0.12,0.00,12.68,1.088,6,0.051,0.000,2745,2115,1919
$GC,16186,1.06,235.3,332.7,7.8,781,16187,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2115,1918
$GC,16495,1.06,235.3,308.5,7.7,796,16496,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2115,1919
$GC,16805,1.06,235.3,285.0,7.5,811,16806,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2115,1919
$GC,17114,1.06,235.3,262.3,7.1,826,17115,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2115,1919
$GC,17423,1.06,235.3,240.4,6.9,841,17424,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2115,1919
$GC,17733,1.06,235.3,219.3,6.8,856,17737,0.00,2.50,0.00,0.000,4,0.000,0.050,2745,3506,1919
$GC,17804,1.06,235.3,214.0,8.5,859,17809,0.00,2.53,0.00,0.000,6,0.000,0.041,2745,2100,1920
$GC,18131,1.06,235.3,192.0,6.9,875,18132,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2099,1920
$GC,18440,1.06,235.3,170.3,7.1,890,18442,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2100,1920
$GC,18750,1.06,235.3,148.0,7.4,905,18751,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2100,1920
$GC,19059,1.06,235.3,122.9,7.8,920,19061,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2099,1920
$GC,19369,1.06,235.3,100.4,7.4,935,19373,0.00,2.55,0.00,0.000,4,0.000,0.048,2745,3506,1921
$GC,19468,1.06,235.3,91.5,9.9,939,19475,0.00,2.50,0.00,0.000,6,0.000,0.041,2745,2104,1921
$GC,19784,1.06,235.3,64.3,8.7,955,19785,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2104,1921
$GC,20093,1.06,235.3,38.7,8.3,970,20097,0.00,2.53,0.00,0.000,4,0.000,0.048,2745,3503,1921
$GC,20164,1.06,235.3,32.5,8.2,973,20168,0.00,2.50,0.00,0.000,6,0.000,0.041,2745,2104,1921
$GC,20486,1.06,235.3,7.0,7.6,989,20487,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2104,1920
$GC,20796,1.30,437.4,3.8,-0.0,1004,20909,0.15,2.60,107.10,0.770,4,0.058,0.045,2788,3505,1093
$STATE,20915,end climb,NO_VERTICAL_VELOCITY
$STATE,20915,begin surface
$SM_CCo,20917,62.75,0.738,0,0,603,558.06
$SM_GC,4.40,11.95,0.00,0.00,0.031,0.000,0.000,32,1896,605,-11.26,-0.11,557.57
$IRIDIUM_FIX,6211.90,-1117.68,181207,121234
$TT8_MAMPS,0.026078
$HUMID,2021
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,625.3,71.3
$24V_AH,23.3,39.530
$10V_AH,10.1,18.635
$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,25.450,66.850,431.250,62.750,0.000,73.411,77.935,263.972,5.500,0.000,0.000,13.808,1738.027,17046.164,641.730,1959.613,610.652,33.351,1603.237,0.000,1937.719,0.000,36.253
$DEVICE_MAMPS,114.283,74.399,1270.919,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,749.094,682.391,625.863,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50495,1010
$CFSIZE,260165632,248094720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,181207,145807,6237.857,-1134.103,27,1.4,27,-11.1