version: 66.02
glider: 102
mission: 4
dive: 229
start: 1 2 108 16 4 8
data:
$ID,102
$MISSION,4
$DIVE,229
$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,-80503.484
$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,29
$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
$GPS1,155738,6313.955,-1255.833,29,1.1,29,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.25
$_SM_ANGLEo,-49.8
$GPS2,160314,6313.976,-1255.772,15,1.3,15,-12.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.193,0.079
$KALMAN_X,303759.7,-88.1,8737.9,-546772.6,15589.1
$KALMAN_Y,-36116.8,802.4,-6920.8,228922.5,-11369.3
$MHEAD_RNG_PITCHd_Wd,304.3,16140,-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,21,-0.95,-146.6,0.0,0.0,0,44,0.00,0.00,-21.42,0.000,2,0.000,0.000,28,1876,1103
$GC,47,-0.95,-146.6,3.4,-0.0,1,212,11.30,2.58,-143.10,0.000,4,0.111,0.074,2288,503,3477
$GC,395,-0.95,-146.6,22.6,-9.7,17,399,0.00,2.47,0.00,0.000,6,0.000,0.042,2288,1902,3477
$GC,720,-0.95,-146.6,50.5,-9.7,33,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1905,3476
$GC,1031,-0.95,-146.6,74.6,-7.7,48,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1905,3476
$GC,1339,-0.95,-146.6,97.0,-6.8,63,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1905,3476
$GC,1648,-0.95,-146.6,118.5,-7.0,78,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1905,3476
$GC,1958,-0.95,-146.6,140.6,-7.1,93,1962,0.00,2.53,0.00,0.000,4,0.000,0.050,2288,3297,3476
$GC,2019,-0.95,-146.6,144.8,-6.7,96,2024,0.00,2.50,0.00,0.000,6,0.000,0.045,2288,1906,3476
$GC,2345,-0.95,-146.6,168.6,-7.5,112,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1906,3476
$GC,2655,-0.95,-146.6,191.8,-7.3,127,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1906,3476
$GC,2964,-0.95,-146.6,214.1,-7.3,142,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1906,3476
$GC,3273,-0.95,-146.6,237.3,-7.4,157,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1906,3476
$GC,3583,-0.95,-146.6,257.9,-6.6,172,3587,0.00,2.53,0.00,0.000,4,0.000,0.050,2288,3297,3477
$GC,3654,-0.95,-146.6,262.6,-6.3,175,3658,0.00,2.55,0.00,0.000,6,0.000,0.045,2288,1901,3476
$GC,3975,-0.95,-146.6,283.9,-7.0,191,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,4285,-0.95,-146.6,305.5,-7.0,206,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1901,3476
$GC,4594,-0.95,-146.6,326.7,-7.2,221,4598,0.00,2.55,0.00,0.000,4,0.000,0.050,2288,3305,3476
$GC,4656,-0.95,-146.6,331.2,-7.0,224,4660,0.00,2.55,0.00,0.000,6,0.000,0.046,2288,1893,3476
$GC,4981,-0.95,-146.6,353.8,-7.1,240,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1893,3476
$GC,5291,-0.95,-146.6,375.6,-7.0,255,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1893,3476
$GC,5600,-0.95,-146.6,398.3,-7.3,270,5604,0.00,2.55,0.00,0.000,4,0.000,0.051,2288,3302,3476
$GC,5665,-0.95,-146.6,403.2,-7.2,273,5670,0.00,2.53,0.00,0.000,6,0.000,0.047,2288,1900,3476
$GC,5986,-0.95,-146.6,424.9,-6.7,289,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3477
$GC,6296,-0.95,-146.6,445.9,-6.9,304,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3476
$GC,6605,-0.95,-146.6,467.0,-6.6,319,6609,0.00,2.55,0.00,0.000,4,0.000,0.052,2288,3302,3476
$GC,6672,-0.95,-146.6,471.5,-6.8,322,6676,0.00,2.53,0.00,0.000,6,0.000,0.048,2288,1901,3476
$GC,6992,-0.95,-146.6,492.0,-6.6,338,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1897,3475
$GC,7301,-0.95,-146.6,514.2,-6.9,353,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1897,3475
$GC,7610,-0.95,-146.6,535.8,-6.9,368,7614,0.00,2.55,0.00,0.000,4,0.000,0.054,2288,3297,3475
$GC,7704,-0.95,-146.6,542.6,-6.9,372,7708,0.00,2.53,0.00,0.000,6,0.000,0.048,2288,1897,3475
$GC,8019,-0.95,-146.6,562.1,-5.8,387,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1897,3475
$GC,8328,-0.95,-146.6,579.9,-6.0,402,8333,0.00,2.58,0.00,0.000,4,0.000,0.060,2288,3295,3475
$GC,8424,-0.95,-146.6,586.2,-7.3,406,8429,0.00,2.53,0.00,0.000,6,0.000,0.051,2288,1902,3475
$STATE,8593,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8593,begin apogee
$GC,8598,-0.36,0.0,596.5,6.0,414,8725,0.60,0.00,122.93,1.176,6,0.071,0.000,2418,2098,2878
$STATE,8725,end apogee,CONTROL_FINISHED_OK
$STATE,8725,begin climb
$GC,8727,0.95,146.6,599.7,0.0,420,8853,1.25,0.00,122.07,1.140,6,0.054,0.000,2700,2098,2280
$GC,9160,0.96,157.9,579.8,5.7,441,9175,0.00,2.72,10.57,1.144,4,0.000,0.071,2700,691,2233
$GC,9225,0.96,157.9,575.7,6.7,443,9229,0.00,2.55,0.00,0.000,6,0.000,0.048,2700,2099,2233
$GC,9552,0.96,157.9,556.2,6.0,459,9556,0.00,2.62,0.00,0.000,4,0.000,0.063,2700,3506,2232
$GC,9738,0.96,157.9,544.8,6.1,467,9743,0.00,2.58,0.00,0.000,6,0.000,0.051,2700,2101,2232
$GC,10054,1.01,199.7,529.7,4.8,482,10095,0.00,2.65,34.83,1.164,4,0.000,0.060,2700,3501,2062
$GC,10185,1.01,199.7,522.0,6.9,488,10190,0.00,2.55,0.00,0.000,6,0.000,0.049,2700,2100,2062
$GC,10512,1.01,199.7,502.2,6.1,504,10516,0.00,2.60,0.00,0.000,4,0.000,0.058,2700,3504,2062
$GC,10595,1.01,199.7,496.8,6.6,508,10600,0.00,2.55,0.00,0.000,6,0.000,0.048,2700,2097,2061
$GC,10921,1.01,200.7,477.4,6.0,524,10922,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2096,2062
$GC,11230,1.01,200.7,458.2,6.1,539,11231,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2097,2061
$GC,11539,1.01,201.0,439.0,6.0,554,11540,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2096,2062
$GC,11848,1.01,201.0,419.7,6.4,569,11853,0.00,2.60,0.00,0.000,4,0.000,0.054,2700,3505,2061
$GC,11920,1.01,201.0,414.6,7.2,572,11925,0.00,2.53,0.00,0.000,6,0.000,0.044,2700,2094,2061
$GC,12235,1.01,201.0,393.2,7.0,587,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2094,2061
$GC,12545,1.01,201.0,372.3,6.7,602,12546,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2094,2061
$GC,12854,1.01,201.0,352.1,6.6,617,12855,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2094,2061
$GC,13163,1.01,201.0,330.8,7.0,632,13167,0.00,2.60,0.00,0.000,4,0.000,0.054,2700,3507,2062
$GC,13224,1.01,201.0,326.4,7.4,635,13229,0.00,2.53,0.00,0.000,6,0.000,0.043,2700,2092,2062
$GC,13550,1.01,201.0,305.6,6.2,651,13551,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2092,2061
$GC,13859,1.01,201.0,286.4,6.1,666,13860,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2092,2062
$GC,14168,1.01,201.0,266.7,6.2,681,14173,0.00,2.60,0.00,0.000,4,0.000,0.053,2700,3506,2063
$GC,14230,1.01,201.0,262.4,7.0,684,14235,0.00,2.50,0.00,0.000,6,0.000,0.043,2700,2099,2063
$GC,14556,1.01,201.0,242.1,6.2,700,14557,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2099,2063
$GC,14865,1.01,201.0,222.7,6.3,715,14867,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2099,2063
$GC,15175,1.01,201.0,202.7,6.6,730,15176,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2099,2064
$GC,15484,1.02,201.9,183.3,6.0,745,15489,0.00,0.00,3.38,0.925,6,0.000,0.000,2700,2100,2054
$GC,15793,1.02,201.9,162.9,6.4,760,15798,0.00,2.58,0.00,0.000,4,0.000,0.051,2700,3505,2053
$GC,15860,1.02,201.9,158.3,7.1,763,15864,0.00,2.50,0.00,0.000,6,0.000,0.041,2700,2095,2054
$GC,16181,1.04,225.0,140.3,5.3,779,16202,0.10,0.00,19.10,0.914,6,0.058,0.000,2739,2095,1960
$GC,16511,1.04,225.0,120.4,6.0,795,16513,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2095,1960
$GC,16819,1.04,225.0,101.9,6.5,810,16823,0.00,2.58,0.00,0.000,4,0.000,0.051,2739,3505,1960
$GC,16941,1.04,225.0,92.4,8.0,815,16948,0.00,2.53,0.00,0.000,6,0.000,0.041,2739,2096,1960
$GC,17259,1.05,231.7,71.6,5.8,831,17267,0.00,0.00,6.55,0.897,6,0.000,0.000,2739,2096,1933
$GC,17567,1.05,231.7,45.5,8.7,846,17572,0.00,2.58,0.00,0.000,4,0.000,0.050,2739,3506,1933
$GC,17630,1.06,239.7,40.5,5.8,849,17644,0.00,2.50,7.57,0.874,6,0.000,0.041,2739,2099,1899
$GC,17961,1.06,239.7,17.5,9.6,865,17962,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,1899
$GC,18270,1.31,439.3,2.6,0.0,880,18378,0.17,0.00,104.60,0.756,6,0.051,0.000,2786,2094,1087
$STATE,18535,end climb,NO_VERTICAL_VELOCITY
$STATE,18535,begin surface
$SM_CCo,18538,61.00,0.746,0,0,603,558.06
$SM_CCo,18961,1.05,0.868,0,0,603,558.06
$SM_GC,3.48,0.00,0.00,1.05,0.000,0.000,0.868,28,1886,603,-11.35,-0.37,558.06
$IRIDIUM_FIX,6249.28,-1259.68,020108,141411
$TT8_MAMPS,0.026845
$HUMID,2044
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,525.9,80.3
$24V_AH,23.3,50.269
$10V_AH,10.1,24.404
$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,25.350,92.700,431.600,62.050,0.000,39.591,37.104,149.166,4.750,0.000,0.000,17.045,1597.849,14715.834,653.074,1907.770,428.341,33.357,1595.312,0.000,1878.743,0.000,29.802
$DEVICE_MAMPS,111.215,74.399,1175.811,868.244,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,657.317,602.753,612.033,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44179,893
$CFSIZE,260165632,244215808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,020108,212126,6313.249,-1257.557,39,1.3,39,-12.1