version: 66.02
glider: 102
mission: 4
dive: 183
start: 12 22 107 3 34 26
data:
$ID,102
$MISSION,4
$DIVE,183
$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,558.0575
$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,-79605.094
$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,23
$R_STBD_OVSHOOT,32
$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
$GPS1,032002,6242.167,-1229.403,41,1.5,41,-11.6
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,4.14
$_SM_ANGLEo,-59.2
$GPS2,033332,6242.013,-1229.468,13,1.6,13,-11.6
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.045,0.204
$KALMAN_X,222916.0,-248.8,2501.6,-436405.2,-12971.4
$KALMAN_Y,72749.6,-246.7,-1989.7,57049.9,99.7
$MHEAD_RNG_PITCHd_Wd,359.1,33489,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.95,-146.6,0.0,0.0,0,45,0.00,0.00,-22.00,0.000,2,0.000,0.000,27,1886,1115
$GC,48,-0.95,-146.6,4.1,-0.0,1,216,11.27,2.58,-150.10,0.000,4,0.110,0.074,2287,495,3476
$GC,258,-0.95,-146.6,8.2,-7.5,11,263,0.00,2.50,0.00,0.000,6,0.000,0.041,2287,1906,3476
$GC,584,-0.95,-146.6,32.5,-7.6,27,589,0.00,2.53,0.00,0.000,4,0.000,0.049,2286,3300,3476
$GC,662,-0.95,-146.6,38.6,-7.5,30,669,0.00,2.55,0.00,0.000,6,0.000,0.044,2286,1901,3476
$GC,977,-0.95,-146.6,62.2,-7.6,46,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3476
$GC,1287,-0.95,-146.6,84.5,-7.2,61,1291,0.00,2.55,0.00,0.000,4,0.000,0.048,2286,3309,3476
$GC,1358,-0.95,-146.6,89.9,-7.8,64,1362,0.00,2.53,0.00,0.000,6,0.000,0.042,2286,1900,3476
$GC,1681,-0.95,-146.6,113.3,-7.4,80,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3476
$GC,1989,-0.95,-146.6,136.8,-7.7,95,1993,0.00,2.53,0.00,0.000,4,0.000,0.047,2287,3300,3476
$GC,2050,-0.95,-146.6,141.3,-7.6,98,2055,0.00,2.50,0.00,0.000,6,0.000,0.044,2286,1899,3476
$GC,2376,-0.95,-146.6,165.9,-7.5,114,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3476
$GC,2685,-0.95,-146.6,189.2,-7.3,129,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3476
$GC,2995,-0.95,-146.6,210.1,-6.4,144,2999,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3300,3476
$GC,3043,-0.95,-146.6,213.5,-6.8,146,3048,0.00,2.53,0.00,0.000,6,0.000,0.043,2286,1904,3476
$GC,3364,-0.95,-146.6,236.9,-7.6,162,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3476
$GC,3674,-0.95,-146.6,258.7,-6.9,177,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1904,3476
$GC,3983,-0.95,-146.6,280.1,-6.9,192,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1904,3476
$GC,4293,-0.95,-146.6,301.4,-6.8,207,4297,0.00,2.53,0.00,0.000,4,0.000,0.049,2286,3300,3476
$GC,4378,-0.95,-146.6,307.4,-7.4,211,4382,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1895,3476
$GC,4703,-0.95,-146.6,331.0,-7.3,227,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3476
$GC,5012,-0.95,-146.6,354.1,-7.7,242,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1895,3476
$GC,5322,-0.95,-146.6,377.3,-7.6,257,5326,0.00,2.55,0.00,0.000,4,0.000,0.050,2287,3301,3476
$GC,5376,-0.95,-146.6,381.4,-7.6,259,5383,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1900,3476
$GC,5691,-0.95,-146.6,403.2,-6.7,275,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3476
$GC,6001,-0.95,-146.6,423.9,-6.6,290,6005,0.00,2.55,0.00,0.000,4,0.000,0.051,2286,3305,3476
$GC,6055,-0.95,-146.6,427.9,-7.7,292,6062,0.00,2.53,0.00,0.000,6,0.000,0.045,2286,1898,3476
$GC,6371,-0.95,-146.6,448.9,-6.9,308,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3476
$GC,6680,-0.95,-146.6,470.8,-7.2,323,6685,0.00,2.55,0.00,0.000,4,0.000,0.051,2286,3300,3475
$GC,6743,-0.95,-146.6,475.3,-7.2,326,6747,0.00,2.53,0.00,0.000,6,0.000,0.047,2286,1900,3476
$GC,7068,-0.95,-146.6,498.6,-7.3,342,7069,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3475
$GC,7378,-0.95,-146.6,519.8,-6.9,357,7382,0.00,2.55,0.00,0.000,4,0.000,0.051,2286,3304,3475
$GC,7432,-0.95,-146.6,524.1,-8.0,359,7438,0.00,2.53,0.00,0.000,6,0.000,0.046,2286,1898,3474
$GC,7747,-0.95,-146.6,547.0,-7.4,375,7751,0.00,2.55,0.00,0.000,4,0.000,0.053,2286,3305,3474
$GC,7802,-0.95,-146.6,551.5,-8.8,377,7808,0.00,2.53,0.00,0.000,6,0.000,0.047,2286,1901,3474
$GC,8117,-0.95,-146.6,576.8,-7.7,393,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1900,3475
$GC,8427,-0.95,-146.6,601.0,-7.8,408,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3475
$GC,8736,-0.95,-146.6,623.6,-7.3,423,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,9045,-0.95,-146.6,644.7,-6.6,438,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,9354,-0.95,-146.6,665.2,-6.3,453,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3474
$GC,9664,-0.95,-146.6,683.3,-5.2,468,9668,0.00,2.58,0.00,0.000,4,0.000,0.058,2286,3295,3474
$GC,9725,-0.95,-146.6,686.4,-4.7,471,9730,0.00,2.55,0.00,0.000,6,0.000,0.051,2286,1896,3475
$GC,10052,-0.95,-146.6,697.9,-3.4,487,10056,0.00,2.62,0.00,0.000,4,0.000,0.074,2286,496,3474
$GC,10091,-0.95,-146.6,699.6,-5.0,489,10095,0.00,2.50,0.00,0.000,6,0.000,0.051,2287,1897,3474
$GC,10417,-0.95,-146.6,714.3,-5.3,505,10418,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1897,3474
$GC,10726,-0.95,-146.6,735.2,-6.3,520,10730,0.00,2.60,0.00,0.000,4,0.000,0.066,2286,3298,3473
$GC,10797,-0.95,-146.6,740.2,-7.2,523,10802,0.00,2.58,0.00,0.000,6,0.000,0.059,2287,1905,3473
$GC,11118,-0.95,-146.6,759.6,-5.5,539,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1905,3472
$GC,11428,-0.95,-146.6,778.7,-6.5,554,11432,0.00,2.60,0.00,0.000,4,0.000,0.067,2286,3305,3471
$GC,11489,-0.95,-146.6,782.8,-6.0,557,11493,0.00,2.60,0.00,0.000,6,0.000,0.060,2286,1900,3471
$STATE,11751,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11751,begin apogee
$GC,11756,-0.36,0.0,797.6,6.2,570,11883,0.60,0.00,124.05,1.360,6,0.074,0.000,2416,2103,2878
$STATE,11884,end apogee,CONTROL_FINISHED_OK
$STATE,11884,begin climb
$GC,11886,0.95,146.6,801.0,0.0,576,12018,1.27,2.72,123.30,1.340,4,0.052,0.071,2703,3496,2280
$GC,12272,0.97,161.4,782.9,5.6,594,12291,0.00,2.60,13.30,1.325,6,0.000,0.058,2703,2102,2219
$GC,12613,0.97,161.4,762.9,7.0,611,12614,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2102,2219
$GC,12922,1.01,194.2,746.3,5.0,626,12953,0.00,0.00,28.35,1.353,6,0.000,0.000,2703,2102,2086
$GC,13251,1.01,194.2,723.3,7.2,642,13255,0.00,2.65,0.00,0.000,4,0.000,0.066,2703,3507,2086
$GC,13334,1.01,194.2,716.7,8.4,646,13339,0.00,2.62,0.00,0.000,6,0.000,0.058,2703,2094,2086
$GC,13660,1.01,194.2,696.0,6.6,662,13664,0.00,2.67,0.00,0.000,4,0.000,0.081,2703,693,2085
$GC,13703,1.01,194.2,692.9,6.8,664,13707,0.00,2.55,0.00,0.000,6,0.000,0.054,2703,2098,2085
$GC,14029,1.01,194.2,671.2,6.9,680,14031,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,2084
$GC,14339,1.01,194.2,650.6,6.6,695,14340,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,2084
$GC,14648,1.01,194.2,630.1,6.9,710,14649,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,2083
$GC,14958,1.01,200.3,610.5,5.8,725,14965,0.00,0.00,5.70,1.276,6,0.000,0.000,2703,2100,2061
$GC,15267,1.03,213.1,593.1,5.6,740,15281,0.00,0.00,11.75,1.288,6,0.000,0.000,2703,2101,2009
$GC,15576,1.03,215.0,574.2,5.9,755,15580,0.00,2.62,0.00,0.000,4,0.000,0.068,2703,691,2009
$GC,15637,1.03,215.0,570.2,7.0,758,15641,0.00,2.53,0.00,0.000,6,0.000,0.045,2703,2108,2008
$GC,15962,1.03,215.0,550.1,6.5,774,15963,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2108,2009
$GC,16271,1.03,215.0,528.3,7.3,789,16276,0.00,0.00,3.25,1.128,6,0.000,0.000,2703,2109,2001
$GC,16581,1.03,215.0,503.7,8.2,804,16582,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2109,2002
$GC,16890,1.03,215.0,480.0,7.4,819,16894,0.00,2.65,0.00,0.000,4,0.000,0.065,2703,685,2003
$GC,16955,1.03,215.0,475.0,6.8,822,16960,0.00,2.53,0.00,0.000,6,0.000,0.043,2703,2102,2002
$GC,17282,1.03,215.0,451.1,7.5,838,17283,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2102,2003
$GC,17591,1.03,215.0,428.6,7.1,853,17592,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2103,2003
$GC,17900,1.03,215.0,408.4,6.2,868,17905,0.00,2.62,0.00,0.000,4,0.000,0.064,2703,690,2003
$GC,17962,1.03,215.0,404.3,6.8,871,17967,0.00,2.47,0.00,0.000,6,0.000,0.042,2703,2102,2003
$GC,18288,1.03,215.0,384.3,6.1,887,18289,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2104,2004
$GC,18597,1.03,215.0,365.6,6.3,902,18598,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,2004
$GC,18907,1.03,215.0,346.9,6.1,917,18908,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,2005
$GC,19216,1.05,232.6,329.5,5.5,932,19238,0.00,2.70,16.12,1.071,4,0.000,0.062,2703,685,1928
$GC,19301,1.07,249.5,324.2,5.5,935,19321,0.12,2.53,14.23,1.031,6,0.046,0.042,2751,2105,1860
$GC,19637,1.07,249.5,298.6,7.5,952,19639,0.12,0.00,0.00,0.000,6,0.083,0.000,2726,2105,1860
$GC,19945,1.07,249.5,277.9,6.6,967,19946,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2105,1861
$GC,20254,1.07,249.5,255.8,7.8,982,20255,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2105,1861
$GC,20564,1.07,249.5,232.0,7.5,997,20565,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2105,1861
$GC,20873,1.07,249.5,207.7,7.8,1012,20877,0.00,2.62,0.00,0.000,4,0.000,0.062,2726,688,1861
$GC,20944,1.07,249.5,201.7,7.1,1015,20948,0.00,2.50,0.00,0.000,6,0.000,0.041,2726,2109,1861
$GC,21266,1.07,249.5,176.7,7.6,1031,21267,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2114,1861
$GC,21574,1.07,249.5,151.1,8.8,1046,21579,0.00,2.62,0.00,0.000,4,0.000,0.061,2726,689,1862
$GC,21636,1.07,249.5,146.0,8.8,1049,21640,0.00,2.50,0.00,0.000,6,0.000,0.040,2726,2106,1862
$GC,21963,1.07,249.5,119.4,8.0,1065,21964,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2111,1862
$GC,22271,1.07,249.5,96.2,7.2,1080,22272,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2110,1862
$GC,22580,1.07,249.5,70.8,7.9,1095,22584,0.00,2.62,0.00,0.000,4,0.000,0.061,2725,688,1862
$GC,22664,1.07,249.5,63.6,9.1,1099,22668,0.00,2.50,0.00,0.000,6,0.000,0.040,2726,2107,1862
$GC,22989,1.07,249.5,38.4,8.0,1115,22990,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2108,1862
$GC,23299,1.07,249.5,15.6,7.0,1130,23300,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2108,1862
$GC,23608,1.32,446.9,3.4,0.1,1145,23720,0.22,2.75,103.20,0.792,4,0.049,0.062,2786,678,1055
$GC,23732,1.55,637.0,3.3,0.3,1151,23795,0.22,2.53,56.67,0.743,6,0.054,0.039,2836,2103,603
$STATE,23833,end climb,NO_VERTICAL_VELOCITY
$STATE,23833,begin surface
$SM_CCo,24195,0.00,0.000,0,0,603,558.06
$SM_GC,4.22,0.00,0.00,0.00,0.000,0.000,0.000,30,1879,603,-11.33,-0.57,558.06
$IRIDIUM_FIX,6216.53,-1235.79,221207,070736
$TT8_MAMPS,0.026845
$HUMID,2016
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,700.2,106.4
$24V_AH,23.2,42.050
$10V_AH,10.1,20.052
$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,25.925,134.225,499.925,0.000,0.000,115.817,109.121,339.251,7.250,0.000,0.000,14.934,2026.721,19097.777,661.977,2400.675,819.423,33.350,1873.914,0.000,2369.786,0.000,41.195
$DEVICE_MAMPS,109.681,80.535,1359.891,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,858.188,781.538,689.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59973,1156
$CFSIZE,260165632,247103488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,221207,101856,6243.049,-1229.071,39,1.1,39,-11.6