version: 66.02
glider: 102
mission: 4
dive: 193
start: 12 24 107 19 26 56
data:
$ID,102
$MISSION,4
$DIVE,193
$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,-79804.695
$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,33
$R_STBD_OVSHOOT,31
$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
$GPS1,191938,6249.803,-1248.228,27,1.5,27,-11.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.79
$_SM_ANGLEo,-51.7
$GPS2,192604,6249.857,-1248.106,9,3.0,28,-11.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.203,0.049
$KALMAN_X,257185.1,456.1,-16336.9,-468970.1,1232.5
$KALMAN_Y,65009.0,-128.9,-3193.5,80394.9,-1515.7
$MHEAD_RNG_PITCHd_Wd,295.3,14287,-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,20,begin dive
$GC,22,-0.95,-146.6,0.0,0.0,0,45,0.00,0.00,-21.50,0.000,2,0.000,0.000,27,1877,1092
$GC,48,-0.95,-146.6,3.9,-0.0,1,206,11.20,2.58,-138.75,0.000,4,0.107,0.076,2289,506,3477
$GC,363,-0.95,-146.6,23.7,-9.8,15,370,0.00,2.47,0.00,0.000,6,0.000,0.043,2289,1905,3477
$GC,679,-0.95,-146.6,45.7,-9.1,31,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1906,3477
$GC,989,-0.95,-146.6,69.3,-5.0,46,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1905,3477
$GC,1298,-0.95,-146.6,88.3,-6.4,61,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1905,3477
$GC,1607,-0.95,-146.6,107.9,-6.3,76,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1905,3477
$GC,1918,-0.95,-146.6,130.0,-7.6,91,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1905,3477
$GC,2226,-0.95,-146.6,151.4,-7.4,106,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1906,3476
$GC,2535,-0.95,-146.6,175.2,-8.0,121,2540,0.00,2.50,0.00,0.000,4,0.000,0.050,2289,3295,3477
$GC,2597,-0.95,-146.6,179.7,-7.4,124,2601,0.00,2.50,0.00,0.000,6,0.000,0.045,2289,1902,3477
$GC,2922,-0.95,-146.6,201.4,-6.6,140,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3477
$GC,3232,-0.95,-146.6,221.4,-6.5,155,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3477
$GC,3541,-0.95,-146.6,241.4,-6.7,170,3545,0.00,2.53,0.00,0.000,4,0.000,0.049,2289,3302,3477
$GC,3612,-0.95,-146.6,246.7,-7.3,173,3616,0.00,2.53,0.00,0.000,6,0.000,0.044,2289,1894,3476
$GC,3934,-0.95,-146.6,270.0,-7.4,189,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1893,3477
$GC,4243,-0.95,-146.6,292.6,-6.9,204,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3477
$GC,4552,-0.95,-146.6,313.4,-6.7,219,4556,0.00,2.53,0.00,0.000,4,0.000,0.050,2289,3295,3477
$GC,4613,-0.95,-146.6,317.8,-7.3,222,4617,0.00,2.50,0.00,0.000,6,0.000,0.045,2289,1894,3477
$GC,4939,-0.95,-146.6,339.3,-6.4,238,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3477
$GC,5248,-0.95,-146.6,359.2,-6.4,253,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3476
$GC,5557,-0.95,-146.6,382.2,-7.4,268,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3477
$GC,5866,-0.95,-146.6,405.4,-7.7,283,5871,0.00,2.55,0.00,0.000,4,0.000,0.051,2289,3303,3476
$GC,5938,-0.95,-146.6,410.8,-7.4,286,5943,0.00,2.53,0.00,0.000,6,0.000,0.046,2289,1897,3476
$GC,6259,-0.95,-146.6,433.3,-7.0,302,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3476
$GC,6568,-0.95,-146.6,453.9,-6.7,317,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1897,3476
$GC,6878,-0.95,-146.6,473.7,-6.9,332,6882,0.00,2.50,0.00,0.000,4,0.000,0.053,2289,3294,3476
$GC,6949,-0.95,-146.6,478.7,-6.8,335,6953,0.00,2.53,0.00,0.000,6,0.000,0.048,2289,1896,3476
$GC,7271,-0.95,-146.6,498.0,-5.9,351,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3475
$GC,7579,-0.95,-146.6,520.6,-8.0,366,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3475
$GC,7889,-0.95,-146.6,544.1,-7.2,381,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1893,3475
$GC,8198,-0.95,-146.6,564.5,-6.3,396,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3475
$GC,8508,-0.95,-146.6,583.6,-6.3,411,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3475
$GC,8817,-0.95,-146.6,603.2,-6.1,426,8821,0.00,2.58,0.00,0.000,4,0.000,0.058,2289,3299,3475
$GC,8878,-0.95,-146.6,607.2,-6.6,429,8882,0.00,2.55,0.00,0.000,6,0.000,0.051,2289,1895,3475
$GC,9203,-0.95,-146.6,629.5,-6.7,445,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1894,3474
$GC,9513,-0.95,-146.6,647.4,-5.9,460,9517,0.00,2.58,0.00,0.000,4,0.000,0.060,2289,3293,3474
$GC,9578,-0.95,-146.6,651.7,-7.1,463,9583,0.00,2.53,0.00,0.000,6,0.000,0.052,2289,1901,3474
$GC,9905,-0.95,-146.6,671.7,-6.1,479,9906,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1901,3474
$GC,10215,-0.95,-146.6,690.5,-6.3,494,10216,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3473
$GC,10524,-0.95,-146.6,708.9,-5.7,509,10525,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1902,3473
$STATE,10707,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10708,begin apogee
$GC,10713,-0.36,0.0,720.1,6.3,518,10840,0.60,0.00,123.93,1.302,6,0.076,0.000,2418,2093,2877
$STATE,10841,end apogee,CONTROL_FINISHED_OK
$STATE,10841,begin climb
$GC,10843,0.95,146.6,724.1,0.0,524,10971,1.27,0.00,122.90,1.272,6,0.056,0.000,2702,2093,2280
$GC,11279,0.95,146.6,704.7,6.4,546,11280,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2093,2278
$GC,11589,0.95,146.6,684.6,6.6,561,11590,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2093,2278
$GC,11898,0.96,154.5,665.7,5.8,576,11907,0.00,0.00,7.28,1.276,6,0.000,0.000,2702,2093,2248
$GC,12207,0.99,180.3,650.0,5.2,591,12232,0.00,0.00,22.88,1.289,6,0.000,0.000,2702,2093,2141
$GC,12537,0.99,184.0,631.1,5.9,607,12543,0.00,0.00,4.25,1.207,6,0.000,0.000,2702,2092,2127
$GC,12845,0.99,184.0,611.9,6.6,622,12850,0.00,2.60,0.00,0.000,4,0.000,0.060,2702,3500,2127
$GC,12941,0.99,184.0,605.5,6.5,626,12945,0.00,2.58,0.00,0.000,6,0.000,0.053,2702,2098,2126
$GC,13256,1.04,223.2,588.1,4.8,641,13298,0.00,2.70,33.12,1.249,4,0.000,0.060,2702,3500,1968
$GC,13433,1.04,223.2,576.3,6.4,649,13437,0.00,2.55,0.00,0.000,6,0.000,0.051,2703,2101,1967
$GC,13758,1.04,223.2,551.3,7.9,665,13759,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2101,1967
$GC,14067,1.04,223.2,529.8,6.3,680,14068,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2101,1967
$GC,14376,1.04,223.2,510.1,6.8,695,14381,0.00,2.65,0.00,0.000,4,0.000,0.071,2702,687,1967
$GC,14431,1.04,223.2,505.9,7.5,697,14438,0.00,2.50,0.00,0.000,6,0.000,0.044,2702,2103,1967
$GC,14746,1.04,223.2,481.5,7.9,713,14748,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2103,1967
$GC,15056,1.04,223.2,458.0,7.5,728,15057,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2104,1968
$GC,15365,1.04,223.2,436.2,7.1,743,15366,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2104,1968
$GC,15674,1.04,223.2,414.8,6.9,758,15675,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2103,1969
$GC,15984,1.04,223.2,392.9,7.0,773,15988,0.00,2.65,0.00,0.000,4,0.000,0.065,2703,685,1969
$GC,16038,1.04,223.2,388.4,8.2,775,16045,0.00,2.53,0.00,0.000,6,0.000,0.043,2702,2115,1969
$GC,16354,1.04,223.2,365.7,7.2,791,16355,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2118,1970
$GC,16663,1.04,223.2,345.1,6.5,806,16664,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2118,1970
$GC,16972,1.04,223.2,325.4,6.2,821,16977,0.00,2.62,0.00,0.000,4,0.000,0.063,2702,690,1970
$GC,17027,1.04,223.2,321.6,7.2,823,17034,0.00,2.50,0.00,0.000,6,0.000,0.041,2702,2103,1970
$GC,17343,1.04,223.2,301.5,6.2,839,17344,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2107,1971
$GC,17652,1.04,224.8,283.3,6.0,854,17658,0.00,0.00,3.50,0.979,6,0.000,0.000,2702,2107,1961
$GC,17961,1.04,224.8,264.3,6.2,869,17962,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2107,1961
$GC,18270,1.04,224.8,245.0,6.3,884,18275,0.00,2.60,0.00,0.000,4,0.000,0.063,2702,690,1961
$GC,18332,1.05,231.6,240.9,5.8,887,18346,0.00,2.50,6.70,0.991,6,0.000,0.041,2703,2108,1933
$GC,18662,1.07,246.7,221.6,5.6,903,18678,0.12,0.00,13.02,0.975,6,0.048,0.000,2750,2108,1871
$GC,18972,1.07,246.7,198.9,7.5,918,18974,0.12,0.00,0.00,0.000,6,0.085,0.000,2725,2108,1872
$GC,19281,1.07,246.7,178.0,6.7,933,19282,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2108,1871
$GC,19590,1.07,246.7,156.8,6.7,948,19592,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2108,1871
$GC,19901,1.07,246.7,135.3,7.1,963,19902,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2108,1872
$GC,20209,1.07,246.7,112.7,6.3,978,20211,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2108,1873
$GC,20519,1.07,246.7,94.2,6.7,993,20523,0.00,2.62,0.00,0.000,4,0.000,0.061,2724,685,1872
$GC,20567,1.07,246.7,90.1,9.3,995,20572,0.00,2.47,0.00,0.000,6,0.000,0.040,2724,2097,1872
$GC,20889,1.07,246.7,63.6,9.9,1011,20890,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2102,1872
$GC,21200,1.07,246.7,39.7,7.4,1026,21201,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2102,1873
$GC,21508,1.10,272.4,12.7,5.2,1041,21531,0.00,0.00,21.25,0.828,6,0.000,0.000,2724,2102,1767
$GC,21838,1.35,474.0,3.2,-0.0,1057,21947,0.25,0.00,105.53,0.759,6,0.048,0.000,2790,2105,945
$STATE,22042,end climb,NO_VERTICAL_VELOCITY
$STATE,22042,begin surface
$SM_CCo,22045,43.78,0.752,0,0,602,558.06
$SM_CCo,22451,0.00,0.000,0,0,603,558.06
$SM_GC,3.95,0.00,0.00,0.00,0.000,0.000,0.000,29,1885,603,-11.34,-0.42,558.06
$IRIDIUM_FIX,6225.82,-1245.54,241207,171705
$TT8_MAMPS,0.026845
$HUMID,2046
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.60
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,625.4,103.9
$24V_AH,23.3,43.918
$10V_AH,10.1,21.041
$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,25.475,77.250,464.350,43.775,0.000,38.740,34.141,184.871,7.250,0.000,0.000,30.950,1839.006,17770.107,671.945,2079.829,474.134,33.357,1682.704,0.000,2043.323,0.000,36.341
$DEVICE_MAMPS,106.613,75.933,1301.599,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,798.582,720.997,667.154,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53801,1067
$CFSIZE,260165632,246456320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,251207,014226,6250.015,-1251.655,42,1.1,42,-11.9