version: 66.02
glider: 102
mission: 4
dive: 122
start: 12 5 107 20 25 50
data:
$ID,102
$MISSION,4
$DIVE,122
$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,-78511.945
$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,30
$R_STBD_OVSHOOT,34
$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
$GPS1,201438,6214.126,-938.625,29,0.9,29,-9.8
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,3.26
$_SM_ANGLEo,-58.2
$GPS2,202456,6214.177,-938.399,14,1.1,14,-9.8
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,-0.045
$KALMAN_X,115252.2,-145.7,2225.7,-177634.3,25466.3
$KALMAN_Y,142196.5,-162.4,1292.7,-67337.3,18099.8
$MHEAD_RNG_PITCHd_Wd,267.4,48832,-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,-146.6,0.0,0.0,0,43,0.00,0.00,-21.40,0.000,2,0.000,0.000,28,1882,1085
$GC,45,-0.95,-146.6,3.3,-0.0,1,237,11.32,2.55,-171.57,0.000,4,0.113,0.057,2287,3297,3475
$GC,320,-0.95,-146.6,7.8,-7.3,14,324,0.00,2.53,0.00,0.000,6,0.000,0.041,2287,1905,3475
$GC,648,-0.95,-146.6,32.0,-7.2,30,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,956,-0.95,-146.6,55.1,-7.6,45,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,1266,-0.95,-146.6,77.6,-7.6,60,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,1574,-0.95,-146.6,101.0,-7.9,75,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3475
$GC,1884,-0.95,-146.6,126.9,-8.5,90,1888,0.00,2.50,0.00,0.000,4,0.000,0.046,2287,3299,3475
$GC,1954,-0.95,-146.6,133.1,-8.8,93,1959,0.00,2.53,0.00,0.000,6,0.000,0.041,2287,1898,3475
$GC,2276,-0.95,-146.6,160.1,-8.5,109,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3475
$GC,2585,-0.95,-146.6,186.9,-8.6,124,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3475
$GC,2894,-0.95,-146.6,212.6,-8.2,139,2898,0.00,2.50,0.00,0.000,4,0.000,0.045,2287,3298,3475
$GC,2965,-0.95,-146.6,218.5,-8.5,142,2970,0.00,2.53,0.00,0.000,6,0.000,0.042,2287,1900,3475
$GC,3292,-0.95,-146.6,243.8,-7.7,158,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,3601,-0.95,-146.6,265.9,-7.0,173,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,3910,-0.95,-146.6,287.0,-6.5,188,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,4219,-0.95,-146.6,306.1,-6.1,203,4223,0.00,2.50,0.00,0.000,4,0.000,0.047,2287,3298,3475
$GC,4287,-0.95,-146.6,310.1,-5.7,206,4292,0.00,2.50,0.00,0.000,6,0.000,0.044,2287,1901,3475
$GC,4613,-0.95,-146.6,328.4,-5.2,222,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3475
$GC,4922,-0.95,-146.6,346.4,-6.1,237,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3475
$GC,5232,-0.95,-146.6,364.2,-5.5,252,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3474
$GC,5541,-0.95,-146.6,380.9,-4.9,267,5545,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3301,3475
$GC,5657,-0.95,-146.6,387.1,-5.7,272,5662,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1899,3475
$GC,5978,-0.95,-146.6,403.3,-5.2,288,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3475
$GC,6287,-0.95,-146.6,420.3,-5.7,303,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3475
$GC,6596,-0.95,-146.6,438.6,-6.0,318,6601,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3298,3475
$GC,6673,-0.95,-146.6,443.7,-6.6,321,6680,0.00,2.53,0.00,0.000,6,0.000,0.045,2287,1904,3474
$GC,6989,-0.95,-146.6,463.4,-6.1,337,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1904,3474
$GC,7298,-0.95,-146.6,483.5,-7.0,352,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1904,3474
$GC,7607,-0.95,-146.6,506.4,-7.2,367,7612,0.00,2.50,0.00,0.000,4,0.000,0.051,2287,3297,3474
$GC,7692,-0.95,-146.6,512.4,-7.3,371,7696,0.00,2.53,0.00,0.000,6,0.000,0.047,2287,1894,3474
$GC,8017,-0.95,-146.6,530.1,-4.5,387,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3474
$GC,8326,-0.95,-146.6,543.0,-4.2,402,8331,0.00,2.55,0.00,0.000,4,0.000,0.054,2287,3299,3474
$GC,8443,-0.95,-146.6,548.3,-5.5,407,8447,0.00,2.53,0.00,0.000,6,0.000,0.049,2287,1902,3474
$GC,8764,-0.95,-146.6,561.4,-4.0,423,8765,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3473
$GC,9073,-0.95,-146.6,575.6,-5.3,438,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3473
$GC,9382,-0.95,-146.6,595.8,-6.9,453,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3472
$GC,9691,-0.95,-146.6,615.4,-6.1,468,9693,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3472
$STATE,9896,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9896,begin apogee
$GC,9901,-0.36,0.0,628.0,6.0,478,10025,0.60,0.00,121.28,1.217,6,0.077,0.000,2416,2096,2878
$STATE,10026,end apogee,CONTROL_FINISHED_OK
$STATE,10026,begin climb
$GC,10028,0.95,146.6,632.0,0.0,484,10161,1.30,2.75,120.32,1.177,4,0.055,0.064,2700,3505,2280
$GC,10194,1.00,186.7,628.4,4.8,492,10234,0.00,2.58,33.95,1.165,6,0.000,0.050,2700,2097,2115
$GC,10556,1.02,204.9,608.6,5.5,510,10576,0.00,0.00,15.95,1.183,6,0.000,0.000,2699,2097,2042
$GC,10885,1.03,214.3,587.9,5.7,526,10899,0.00,2.67,8.62,1.184,4,0.000,0.059,2700,3499,2004
$GC,10977,1.07,245.4,583.1,5.1,530,11009,0.12,2.55,26.17,1.183,6,0.052,0.050,2740,2101,1877
$GC,11321,1.15,315.2,565.7,3.9,546,11381,0.00,0.00,57.53,1.173,6,0.000,0.000,2739,2101,1593
$GC,11688,1.25,391.9,548.4,3.7,564,11758,0.12,2.75,62.22,1.158,4,0.051,0.074,2780,694,1280
$GC,11796,1.25,391.9,541.9,6.9,569,11801,0.00,2.55,0.00,0.000,6,0.000,0.046,2780,2098,1280
$GC,12123,1.25,392.5,523.8,6.0,585,12125,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2101,1280
$GC,12433,1.25,392.5,497.7,9.7,600,12437,0.00,2.65,0.00,0.000,4,0.000,0.068,2780,688,1280
$GC,12509,1.25,392.5,488.5,12.8,603,12516,0.00,2.53,0.00,0.000,6,0.000,0.044,2780,2098,1280
$GC,12824,1.25,392.5,454.7,10.7,619,12829,0.00,2.65,0.00,0.000,4,0.000,0.067,2780,690,1280
$GC,12873,1.25,392.5,449.1,11.5,621,12878,0.00,2.50,0.00,0.000,6,0.000,0.043,2780,2094,1280
$GC,13194,1.25,392.5,411.0,12.2,637,13195,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2098,1281
$GC,13503,1.25,392.5,372.4,12.4,652,13507,0.00,2.62,0.00,0.000,4,0.000,0.065,2780,688,1281
$GC,13564,1.25,392.5,363.9,14.9,655,13568,0.00,2.50,0.00,0.000,6,0.000,0.041,2780,2109,1281
$GC,13889,1.25,392.5,323.2,12.1,671,13894,0.00,2.65,0.00,0.000,4,0.000,0.065,2780,692,1281
$GC,13932,1.25,392.5,317.7,12.5,673,13937,0.00,2.50,0.00,0.000,6,0.000,0.041,2780,2095,1281
$GC,14259,1.25,392.5,278.2,12.0,689,14264,0.00,2.60,0.00,0.000,4,0.000,0.064,2780,691,1282
$GC,14314,1.25,392.5,271.2,12.7,691,14321,0.00,2.47,0.00,0.000,6,0.000,0.040,2780,2095,1282
$GC,14630,1.25,392.5,234.0,11.9,707,14634,0.00,2.60,0.00,0.000,4,0.000,0.064,2780,692,1282
$GC,14668,1.25,392.5,229.3,13.0,709,14672,0.00,2.47,0.00,0.000,6,0.000,0.040,2780,2103,1282
$GC,14993,1.25,392.5,190.6,11.7,725,14994,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2106,1282
$GC,15303,1.25,392.5,154.6,11.5,740,15307,0.00,2.62,0.00,0.000,4,0.000,0.064,2780,691,1283
$GC,15390,1.25,392.5,143.6,11.9,744,15395,0.00,2.50,0.00,0.000,6,0.000,0.039,2780,2104,1283
$GC,15717,1.25,392.5,105.6,11.6,760,15722,0.00,2.62,0.00,0.000,4,0.000,0.063,2780,688,1283
$GC,15766,1.25,392.5,99.4,11.7,762,15771,0.00,2.50,0.00,0.000,6,0.000,0.039,2780,2101,1283
$GC,16088,1.25,392.5,63.0,10.9,778,16089,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2102,1283
$GC,16397,1.25,392.5,29.2,10.4,793,16401,0.00,2.62,0.00,0.000,4,0.000,0.065,2780,691,1283
$GC,16480,1.25,392.5,20.1,11.2,797,16485,0.00,2.47,0.00,0.000,6,0.000,0.039,2781,2103,1283
$GC,16807,1.50,596.4,2.7,-0.1,813,16903,0.15,2.67,89.80,0.772,4,0.083,0.060,2816,689,602
$STATE,17024,end climb,NO_VERTICAL_VELOCITY
$STATE,17024,begin surface
$SM_CCo,17447,0.00,0.000,0,0,603,558.06
$SM_GC,3.36,12.00,0.00,0.00,0.029,0.000,0.000,33,1905,603,-11.26,0.14,558.06
$IRIDIUM_FIX,6148.92,-934.56,061207,000018
$TT8_MAMPS,0.026845
$HUMID,2064
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,18.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,550.9,86.5
$24V_AH,23.4,31.004
$10V_AH,10.1,13.984
$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,25.625,107.425,535.850,0.000,0.000,66.254,96.522,268.487,5.500,0.000,0.000,16.066,1472.692,13463.013,681.220,1834.062,619.453,33.358,1635.202,0.000,1805.589,0.000,31.441
$DEVICE_MAMPS,112.749,73.632,1217.229,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,602.270,555.724,536.534,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41164,823
$CFSIZE,260165632,251269120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,061207,011758,6213.709,-941.543,28,3.4,47,-9.9