version: 66.02
glider: 102
mission: 4
dive: 110
start: 12 3 107 2 53 57
data:
$ID,102
$MISSION,4
$DIVE,110
$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,-78318.148
$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,19
$R_STBD_OVSHOOT,36
$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
$GPS1,024732,6203.822,-933.195,37,1.9,37,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-49.7
$GPS2,025303,6203.831,-933.039,14,1.3,14,-9.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,-0.046
$KALMAN_X,65571.0,-1865.6,79.3,-119299.2,24613.2
$KALMAN_Y,127541.1,-1104.4,-108.6,-69465.4,11022.5
$MHEAD_RNG_PITCHd_Wd,267.1,14865,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.95,-146.6,0.0,0.0,0,24,0.00,0.00,-3.78,0.000,2,0.000,0.000,32,1905,697
$GC,26,-0.95,-146.6,3.0,-0.0,0,219,10.93,2.50,-172.70,0.000,4,0.097,0.056,2285,3302,3476
$GC,471,-0.95,-146.6,26.8,-6.2,20,475,0.00,2.50,0.00,0.000,6,0.000,0.041,2285,1897,3476
$GC,797,-0.95,-146.6,54.3,-10.2,36,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3476
$GC,1106,-0.95,-146.6,80.7,-8.2,51,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1897,3475
$GC,1416,-0.95,-146.6,104.5,-7.5,66,1420,0.00,2.50,0.00,0.000,4,0.000,0.045,2285,3297,3476
$GC,1477,-0.95,-146.6,109.5,-8.3,69,1482,0.00,2.50,0.00,0.000,6,0.000,0.041,2285,1891,3476
$GC,1803,-0.95,-146.6,134.2,-7.5,85,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1891,3476
$GC,2112,-0.95,-146.6,157.2,-7.6,100,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1891,3476
$GC,2421,-0.95,-146.6,180.5,-7.6,115,2426,0.00,2.53,0.00,0.000,4,0.000,0.046,2285,3299,3475
$GC,2487,-0.95,-146.6,186.0,-7.8,118,2492,0.00,2.53,0.00,0.000,6,0.000,0.042,2285,1898,3476
$GC,2814,-0.95,-146.6,211.4,-7.6,134,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3475
$GC,3123,-0.95,-146.6,234.9,-7.7,149,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1898,3476
$GC,3432,-0.95,-146.6,256.9,-6.9,164,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3476
$GC,3742,-0.95,-146.6,278.2,-6.7,179,3746,0.00,2.50,0.00,0.000,4,0.000,0.046,2285,3295,3476
$GC,3819,-0.95,-146.6,283.6,-6.7,182,3825,0.00,2.50,0.00,0.000,6,0.000,0.042,2285,1907,3475
$GC,4134,-0.95,-146.6,304.2,-6.6,198,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1907,3476
$GC,4443,-0.95,-146.6,324.9,-6.6,213,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1906,3475
$GC,4753,-0.95,-146.6,344.6,-6.1,228,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1907,3476
$GC,5062,-0.95,-146.6,361.7,-5.1,243,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1907,3476
$GC,5372,-0.95,-146.6,378.4,-5.6,258,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1907,3475
$GC,5681,-0.95,-146.6,399.0,-7.3,273,5685,0.00,2.50,0.00,0.000,4,0.000,0.049,2285,3295,3475
$GC,5752,-0.95,-146.6,404.1,-7.5,276,5757,0.00,2.53,0.00,0.000,6,0.000,0.044,2285,1902,3475
$GC,6075,-0.95,-146.6,425.8,-6.8,292,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3475
$GC,6382,-0.95,-146.6,445.6,-6.9,307,6387,0.00,2.53,0.00,0.000,4,0.000,0.051,2285,3301,3475
$GC,6482,-0.95,-146.6,452.5,-7.1,311,6489,0.00,2.55,0.00,0.000,6,0.000,0.046,2285,1897,3475
$GC,6797,-0.95,-146.6,470.5,-5.5,327,6802,0.00,2.50,0.00,0.000,4,0.000,0.051,2285,3295,3475
$GC,6859,-0.95,-146.6,474.2,-5.9,330,6863,0.00,2.50,0.00,0.000,6,0.000,0.045,2285,1899,3475
$GC,7185,-0.95,-146.6,494.4,-6.7,346,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1899,3475
$GC,7494,-0.95,-146.6,515.6,-6.9,361,7498,0.00,2.60,0.00,0.000,4,0.000,0.069,2285,495,3475
$GC,7564,-0.95,-146.6,521.1,-7.8,364,7569,0.00,2.50,0.00,0.000,6,0.000,0.045,2285,1895,3475
$GC,7885,-0.95,-146.6,544.1,-7.0,380,7890,0.00,2.55,0.00,0.000,4,0.000,0.054,2285,3301,3474
$GC,7992,-0.95,-146.6,553.1,-8.7,385,7996,0.00,2.53,0.00,0.000,6,0.000,0.049,2285,1902,3474
$GC,8317,-0.95,-146.6,579.1,-7.5,401,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1902,3474
$GC,8627,-0.95,-146.6,597.6,-4.9,416,8631,0.00,2.58,0.00,0.000,4,0.000,0.059,2285,3304,3474
$STATE,8713,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8713,begin apogee
$GC,8719,-0.36,0.0,604.7,7.7,420,8844,0.60,0.00,121.03,1.194,6,0.080,0.000,2416,2100,2878
$STATE,8844,end apogee,CONTROL_FINISHED_OK
$STATE,8844,begin climb
$GC,8846,0.95,146.6,608.3,0.0,426,8974,1.27,2.67,119.62,1.160,4,0.057,0.059,2700,3500,2280
$GC,9227,1.08,250.9,601.0,2.9,443,9318,0.12,2.55,85.20,1.159,6,0.052,0.050,2740,2102,1856
$GC,9644,1.08,250.9,566.4,11.3,464,9648,0.00,2.58,0.00,0.000,4,0.000,0.058,2739,3503,1855
$GC,9783,1.08,250.9,551.3,10.4,470,9787,0.00,2.58,0.00,0.000,6,0.000,0.049,2739,2100,1854
$GC,10105,1.08,250.9,522.2,8.5,486,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2100,1853
$GC,10414,1.08,250.9,495.3,8.9,501,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2100,1852
$GC,10723,1.08,250.9,466.6,9.3,516,10724,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2100,1852
$GC,11032,1.08,250.9,439.1,8.5,531,11034,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2100,1851
$GC,11341,1.08,250.9,413.8,8.2,546,11346,0.00,2.53,0.00,0.000,4,0.000,0.050,2740,3500,1852
$GC,11413,1.08,250.9,407.4,8.5,549,11417,0.00,2.53,0.00,0.000,6,0.000,0.044,2739,2101,1851
$GC,11734,1.08,250.9,382.4,7.5,565,11735,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2101,1851
$GC,12043,1.08,250.9,360.1,7.4,580,12044,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2101,1851
$GC,12352,1.08,250.9,337.3,7.3,595,12353,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2101,1852
$GC,12662,1.08,250.9,315.6,6.8,610,12663,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2101,1852
$GC,12971,1.08,250.9,294.8,6.4,625,12972,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2101,1852
$GC,13280,1.08,254.7,276.3,5.9,640,13286,0.00,0.00,3.92,0.994,6,0.000,0.000,2740,2101,1840
$GC,13590,1.08,254.7,256.7,6.7,655,13591,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2101,1840
$GC,13899,1.08,254.7,234.4,7.4,670,13902,0.00,2.47,0.00,0.000,4,0.000,0.046,2740,3500,1840
$GC,13959,1.08,254.7,229.5,7.5,672,13966,0.00,2.50,0.00,0.000,6,0.000,0.039,2739,2095,1840
$GC,14274,1.08,254.7,206.2,7.4,688,14276,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2095,1840
$GC,14583,1.08,254.7,182.4,7.7,703,14585,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2095,1841
$GC,14893,1.08,254.7,159.0,7.7,718,14894,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2095,1841
$GC,15203,1.08,254.7,134.3,8.4,733,15204,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2095,1841
$GC,15512,1.08,254.7,106.8,9.8,748,15513,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2095,1841
$GC,15821,1.08,254.7,76.4,9.8,763,15822,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2095,1842
$GC,16130,1.08,254.7,48.6,8.4,778,16135,0.00,2.53,0.00,0.000,4,0.000,0.046,2740,3502,1842
$GC,16192,1.08,254.7,43.0,8.8,781,16196,0.00,2.47,0.00,0.000,6,0.000,0.039,2739,2094,1842
$GC,16518,1.17,327.5,24.7,3.8,797,16579,0.00,0.00,56.75,0.808,6,0.000,0.000,2739,2094,1541
$GC,16890,1.41,523.4,2.3,0.2,815,16999,0.25,0.00,105.62,0.752,6,0.048,0.000,2805,2089,744
$STATE,17177,end climb,NO_VERTICAL_VELOCITY
$STATE,17177,begin surface
$SM_CCo,17179,18.90,0.770,0,0,603,558.30
$SM_GC,2.96,11.98,0.00,0.00,0.031,0.000,0.000,34,1898,603,-11.25,-0.06,558.06
$IRIDIUM_FIX,6139.81,-926.98,031207,010105
$TT8_MAMPS,0.026845
$HUMID,2045
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.70
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,526.2,88.2
$24V_AH,23.4,28.971
$10V_AH,10.1,12.953
$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,25.150,75.825,492.150,18.900,0.000,40.086,37.493,158.264,6.000,0.000,0.000,15.833,1465.950,13658.507,616.952,1841.711,372.986,33.369,1555.090,0.000,1810.605,0.000,29.832
$DEVICE_MAMPS,96.642,69.030,1194.219,770.068,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,605.722,559.796,559.022,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41110,829
$CFSIZE,260165632,251973632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,031207,074838,6203.539,-930.952,28,1.6,28,-9.7