version: 66.02
glider: 102
mission: 4
dive: 111
start: 12 3 107 7 54 54
data:
$ID,102
$MISSION,4
$DIVE,111
$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,-78351.938
$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,24
$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
$GPS1,074838,6203.539,-930.952,28,1.6,28,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-47.6
$GPS2,075402,6203.492,-930.794,14,1.8,31,-9.7
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,-0.021
$KALMAN_X,72212.5,-1149.4,-463.1,-124116.5,25483.4
$KALMAN_Y,126902.4,-147.4,-739.9,-69758.6,7065.2
$MHEAD_RNG_PITCHd_Wd,273.9,16886,-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,-146.6,0.0,0.0,0,65,0.00,0.00,-42.80,0.000,2,0.000,0.000,33,1893,1541
$GC,67,-0.95,-146.6,3.1,-0.9,2,195,11.35,2.55,-109.93,0.000,4,0.117,0.061,2284,3302,3477
$GC,446,-0.95,-146.6,33.4,-9.3,19,451,0.00,2.53,0.00,0.000,6,0.000,0.038,2284,1901,3477
$GC,768,-0.95,-146.6,49.5,-4.0,35,772,0.00,2.53,0.00,0.000,4,0.000,0.045,2284,3305,3477
$GC,822,-0.95,-146.6,51.7,-4.9,37,829,0.00,2.53,0.00,0.000,6,0.000,0.040,2284,1905,3477
$GC,1138,-0.95,-146.6,73.2,-9.3,53,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3477
$GC,1447,-0.95,-146.6,99.5,-7.6,68,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3477
$GC,1756,-0.95,-146.6,125.1,-8.0,83,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1905,3476
$GC,2066,-0.95,-146.6,151.5,-8.3,98,2070,0.00,2.53,0.00,0.000,4,0.000,0.046,2284,3310,3477
$GC,2128,-0.95,-146.6,156.8,-7.7,101,2132,0.00,2.53,0.00,0.000,6,0.000,0.041,2284,1894,3477
$GC,2453,-0.95,-146.6,183.2,-8.4,117,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1894,3477
$GC,2762,-0.95,-146.6,209.8,-9.1,132,2766,0.00,2.53,0.00,0.000,4,0.000,0.047,2284,3301,3477
$GC,2817,-0.95,-146.6,214.9,-8.7,134,2824,0.00,2.53,0.00,0.000,6,0.000,0.042,2284,1903,3477
$GC,3132,-0.95,-146.6,243.2,-9.0,150,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1903,3477
$GC,3441,-0.95,-146.6,270.0,-8.3,165,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1903,3477
$GC,3751,-0.95,-146.6,293.7,-7.5,180,3755,0.00,2.53,0.00,0.000,4,0.000,0.048,2284,3308,3477
$GC,3822,-0.95,-146.6,299.3,-8.2,183,3826,0.00,2.50,0.00,0.000,6,0.000,0.042,2284,1901,3477
$GC,4143,-0.95,-146.6,323.1,-7.5,199,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3477
$GC,4452,-0.95,-146.6,346.3,-7.6,214,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3477
$GC,4761,-0.95,-146.6,370.0,-7.5,229,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1901,3477
$GC,5070,-0.95,-146.6,392.8,-7.3,244,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3477
$GC,5380,-0.95,-146.6,415.3,-7.3,259,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3477
$GC,5689,-0.95,-146.6,437.3,-7.3,274,5693,0.00,2.53,0.00,0.000,4,0.000,0.048,2284,3304,3476
$GC,5788,-0.95,-146.6,445.2,-7.6,278,5795,0.00,2.55,0.00,0.000,6,0.000,0.045,2284,1901,3477
$GC,6104,-0.95,-146.6,468.5,-7.2,294,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3476
$GC,6414,-0.95,-146.6,487.0,-5.8,309,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1901,3476
$GC,6723,-0.95,-146.6,509.2,-7.8,324,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3476
$GC,7032,-0.95,-146.6,532.4,-7.7,339,7036,0.00,2.55,0.00,0.000,4,0.000,0.053,2284,3302,3476
$GC,7108,-0.95,-146.6,538.6,-7.8,342,7115,0.00,2.55,0.00,0.000,6,0.000,0.048,2284,1904,3476
$GC,7424,-0.95,-146.6,560.4,-7.3,358,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1904,3475
$STATE,7670,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7670,begin apogee
$GC,7675,-0.36,0.0,579.6,7.2,370,7799,0.62,0.00,121.12,1.167,6,0.080,0.000,2418,2101,2878
$STATE,7800,end apogee,CONTROL_FINISHED_OK
$STATE,7800,begin climb
$GC,7801,0.95,146.6,585.3,0.0,376,7926,1.30,0.00,120.25,1.135,6,0.055,0.000,2703,2101,2280
$GC,8243,0.97,161.8,572.6,5.5,398,8264,0.00,2.67,13.43,1.138,4,0.000,0.059,2703,3497,2218
$GC,8336,0.98,173.5,567.0,5.7,402,8354,0.00,2.53,10.60,1.130,6,0.000,0.047,2703,2102,2170
$GC,8662,1.00,193.5,548.9,5.4,418,8684,0.00,2.67,17.08,1.142,4,0.000,0.056,2703,3498,2089
$GC,8773,1.00,193.5,542.2,6.9,423,8778,0.00,2.55,0.00,0.000,6,0.000,0.047,2703,2093,2089
$GC,9099,1.00,193.5,521.4,6.1,439,9103,0.00,2.58,0.00,0.000,4,0.000,0.056,2703,3498,2089
$GC,9187,1.00,193.5,515.9,6.8,443,9191,0.00,2.55,0.00,0.000,6,0.000,0.046,2703,2100,2088
$GC,9514,1.03,214.7,498.1,5.4,459,9534,0.00,0.00,18.10,1.140,6,0.000,0.000,2703,2100,2002
$GC,9843,1.04,223.5,479.3,5.7,475,9857,0.00,2.62,8.18,1.124,4,0.000,0.054,2703,3494,1967
$GC,9901,1.04,223.5,475.4,6.4,477,9908,0.00,2.55,0.00,0.000,6,0.000,0.044,2703,2096,1966
$GC,10217,1.04,223.5,455.4,6.7,493,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2096,1966
$GC,10526,1.04,223.5,436.8,7.0,508,10527,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2096,1966
$GC,10835,1.04,223.5,412.8,7.7,523,10840,0.00,2.58,0.00,0.000,4,0.000,0.052,2703,3503,1966
$GC,10902,1.04,223.5,407.7,8.0,526,10907,0.00,2.53,0.00,0.000,6,0.000,0.044,2703,2098,1965
$GC,11222,1.04,223.5,384.5,7.3,542,11223,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,1966
$GC,11532,1.04,223.5,363.1,6.8,557,11533,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,1966
$GC,11841,1.05,228.0,343.9,5.9,572,11851,0.00,2.62,4.85,1.046,4,0.000,0.064,2703,690,1948
$GC,11911,1.05,228.0,339.3,6.1,575,11916,0.00,2.53,0.00,0.000,6,0.000,0.040,2703,2102,1948
$GC,12233,1.07,246.4,321.1,5.4,591,12253,0.12,0.00,15.70,1.030,6,0.048,0.000,2754,2105,1873
$GC,12561,1.07,246.4,296.7,7.2,607,12563,0.12,0.00,0.00,0.000,6,0.085,0.000,2729,2105,1873
$GC,12871,1.07,246.4,275.4,7.2,622,12872,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2105,1873
$GC,13180,1.07,246.4,252.3,7.4,637,13181,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2105,1873
$GC,13489,1.07,246.4,228.4,7.6,652,13490,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2105,1873
$GC,13799,1.07,246.4,204.3,7.8,667,13803,0.00,2.60,0.00,0.000,4,0.000,0.061,2728,691,1874
$GC,13852,1.07,246.4,199.7,7.9,669,13859,0.00,2.50,0.00,0.000,6,0.000,0.039,2728,2101,1874
$GC,14168,1.07,246.4,176.0,7.5,685,14169,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2102,1874
$GC,14477,1.07,246.4,153.9,6.8,700,14478,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2102,1874
$GC,14787,1.07,246.4,132.6,7.2,715,14788,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2101,1873
$GC,15096,1.07,246.4,110.3,7.9,730,15097,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2101,1874
$GC,15405,1.07,246.4,87.3,9.1,745,15407,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2101,1874
$GC,15715,1.07,246.4,60.5,9.7,760,15719,0.00,2.50,0.00,0.000,4,0.000,0.048,2729,3496,1874
$GC,15763,1.07,246.4,57.0,6.4,762,15768,0.00,2.47,0.00,0.000,6,0.000,0.039,2728,2101,1874
$GC,16085,1.19,347.9,41.2,3.0,778,16167,0.12,0.00,78.72,0.803,6,0.048,0.000,2773,2102,1458
$GC,16476,1.19,347.9,7.9,8.2,797,16480,0.00,2.53,0.00,0.000,4,0.000,0.046,2773,3497,1458
$GC,16563,1.35,477.3,2.5,2.1,801,16643,0.00,2.47,73.65,0.756,6,0.000,0.038,2773,2099,932
$STATE,16951,end climb,NO_VERTICAL_VELOCITY
$STATE,16951,begin surface
$SM_CCo,16953,41.50,0.755,0,0,603,558.06
$SM_GC,3.16,11.80,0.00,0.00,0.028,0.000,0.000,28,1886,604,-11.26,-0.40,558.06
$IRIDIUM_FIX,6139.81,-936.03,031207,060615
$TT8_MAMPS,0.026845
$HUMID,2041
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,16.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,526.0,62.5
$24V_AH,23.4,29.131
$10V_AH,10.1,13.032
$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,25.450,82.175,481.675,41.500,0.000,37.094,36.422,140.414,6.500,0.000,0.000,33.167,1442.805,13536.271,679.013,1738.547,347.385,33.365,1535.537,0.000,1691.066,0.000,32.717
$DEVICE_MAMPS,116.584,64.428,1166.607,755.495,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,603.246,554.337,576.058,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41145,820
$CFSIZE,260165632,251920384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,031207,124625,6202.084,-931.264,25,1.8,42,-9.7