version: 66.02
glider: 102
mission: 4
dive: 204
start: 12 27 107 18 55 52
data:
$ID,102
$MISSION,4
$DIVE,204
$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,-80018.508
$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,23
$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
$GPS1,184825,6252.501,-1255.024,26,1.2,44,-11.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,3.56
$_SM_ANGLEo,-52.6
$GPS2,185457,6252.391,-1254.934,14,1.5,14,-11.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.181,0.104
$KALMAN_X,244770.1,16.8,-1745.0,-476730.5,12155.1
$KALMAN_Y,20390.8,-1053.9,427.1,127018.1,-18033.0
$MHEAD_RNG_PITCHd_Wd,311.7,45089,-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,-146.6,0.0,0.0,0,29,0.00,0.00,-6.97,0.000,2,0.000,0.000,27,1904,769
$GC,32,-0.95,-146.6,3.7,-0.0,1,225,11.12,0.00,-178.82,0.000,6,0.104,0.000,2287,1906,3475
$GC,526,-0.95,-146.6,32.7,-9.0,25,530,0.00,2.65,0.00,0.000,4,0.000,0.067,2288,488,3475
$GC,580,-0.95,-146.6,38.5,-10.4,27,587,0.00,2.53,0.00,0.000,6,0.000,0.041,2288,1910,3475
$GC,896,-0.95,-146.6,59.4,-7.3,43,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1910,3476
$GC,1205,-0.95,-146.6,79.2,-5.9,58,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1910,3475
$GC,1515,-0.95,-146.6,100.9,-3.3,73,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1910,3475
$GC,1824,-0.95,-146.6,118.7,-5.5,88,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1910,3475
$GC,2134,-0.95,-146.6,137.3,-7.0,103,2139,0.00,2.50,0.00,0.000,4,0.000,0.049,2287,3298,3475
$GC,2201,-0.95,-146.6,142.2,-7.4,106,2205,0.00,2.50,0.00,0.000,6,0.000,0.044,2288,1900,3475
$GC,2528,-0.95,-146.6,159.6,-6.9,122,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1900,3475
$GC,2836,-0.95,-146.6,186.9,-7.1,137,2841,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3301,3475
$GC,2908,-0.95,-146.6,191.7,-5.7,140,2913,0.00,2.50,0.00,0.000,6,0.000,0.043,2287,1895,3475
$GC,3230,-0.95,-146.6,211.2,-6.8,156,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1896,3475
$GC,3539,-0.95,-146.6,232.8,-3.2,171,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1895,3475
$GC,3848,-0.95,-146.6,247.0,-3.8,186,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1895,3475
$GC,4158,-0.95,-146.6,263.2,-6.5,201,4162,0.00,2.53,0.00,0.000,4,0.000,0.049,2287,3297,3475
$GC,4241,-0.95,-146.6,269.5,-7.8,205,4246,0.00,2.50,0.00,0.000,6,0.000,0.044,2288,1895,3475
$GC,4568,-0.95,-146.6,290.3,-6.4,221,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1895,3475
$GC,4877,-0.95,-146.6,311.1,-6.8,236,4882,0.00,2.53,0.00,0.000,4,0.000,0.050,2287,3295,3475
$GC,4932,-0.95,-146.6,314.9,-6.7,238,4939,0.00,2.50,0.00,0.000,6,0.000,0.044,2288,1902,3475
$GC,5248,-0.95,-146.6,335.0,-6.6,254,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1902,3475
$GC,5558,-0.95,-146.6,354.4,-6.0,269,5562,0.00,2.53,0.00,0.000,4,0.000,0.050,2288,3300,3475
$GC,5629,-0.95,-146.6,358.5,-5.3,272,5633,0.00,2.50,0.00,0.000,6,0.000,0.046,2288,1897,3475
$GC,5951,-0.95,-146.6,376.1,-5.5,288,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3475
$GC,6259,-0.95,-146.6,393.7,-6.0,303,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1897,3475
$GC,6568,-0.95,-146.6,414.4,-7.2,318,6573,0.00,2.50,0.00,0.000,4,0.000,0.051,2287,3295,3475
$GC,6640,-0.95,-146.6,419.7,-7.4,321,6644,0.00,2.53,0.00,0.000,6,0.000,0.047,2287,1894,3475
$GC,6961,-0.95,-146.6,445.0,-8.3,337,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3475
$GC,7270,-0.95,-146.6,473.0,-9.2,352,7275,0.00,2.55,0.00,0.000,4,0.000,0.052,2287,3298,3474
$GC,7359,-0.95,-146.6,481.2,-9.4,356,7363,0.00,2.53,0.00,0.000,6,0.000,0.048,2287,1902,3475
$GC,7686,-0.95,-146.6,505.7,-6.7,372,7690,0.00,2.53,0.00,0.000,4,0.000,0.051,2287,3295,3474
$GC,7752,-0.95,-146.6,510.1,-5.9,375,7756,0.00,2.53,0.00,0.000,6,0.000,0.046,2287,1894,3474
$GC,8079,-0.95,-146.6,529.6,-6.3,391,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3474
$GC,8388,-0.95,-146.6,552.5,-8.5,406,8389,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3474
$GC,8697,-0.95,-146.6,577.4,-7.3,421,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3474
$GC,9007,-0.95,-146.6,595.9,-5.8,436,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1894,3474
$GC,9316,-0.95,-146.6,613.8,-6.3,451,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,1894,3473
$GC,9625,-0.95,-146.6,634.1,-6.8,466,9630,0.00,2.58,0.00,0.000,4,0.000,0.060,2287,3297,3473
$GC,9709,-0.95,-146.6,639.7,-6.5,470,9713,0.00,2.55,0.00,0.000,6,0.000,0.051,2287,1895,3473
$GC,10035,-0.95,-146.6,659.5,-6.2,486,10036,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3473
$GC,10345,-0.95,-146.6,679.9,-6.6,501,10346,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3473
$GC,10656,-0.95,-146.6,701.0,-6.3,516,10658,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3473
$GC,10963,-0.95,-146.6,718.5,-5.0,531,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1895,3472
$STATE,11229,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11229,begin apogee
$GC,11234,-0.36,0.0,734.7,6.0,544,11362,0.60,0.00,124.07,1.292,6,0.071,0.000,2418,2089,2878
$STATE,11362,end apogee,CONTROL_FINISHED_OK
$STATE,11362,begin climb
$GC,11364,0.95,146.6,738.7,0.0,550,11496,1.27,2.72,123.22,1.251,4,0.052,0.066,2703,3494,2280
$GC,11592,0.96,156.0,731.8,5.7,560,11607,0.00,2.58,9.00,1.222,6,0.000,0.054,2703,2100,2241
$GC,11929,0.96,156.0,711.2,6.6,577,11930,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,2240
$GC,12239,0.96,160.0,692.1,5.9,592,12245,0.00,0.00,4.32,1.192,6,0.000,0.000,2703,2100,2225
$GC,12548,0.97,167.4,675.5,5.8,607,12557,0.00,0.00,7.32,1.260,6,0.000,0.000,2703,2100,2195
$GC,12857,0.97,167.4,657.0,6.1,622,12858,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2100,2193
$GC,13167,0.97,167.4,637.5,6.4,637,13168,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2100,2194
$GC,13476,1.01,201.4,620.2,5.0,652,13510,0.00,2.65,29.20,1.263,4,0.000,0.060,2703,3499,2056
$GC,13606,1.01,201.4,612.3,6.3,658,13611,0.00,2.55,0.00,0.000,6,0.000,0.051,2703,2098,2055
$GC,13932,1.01,201.4,589.1,7.0,674,13933,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,2055
$GC,14241,1.01,201.4,565.8,7.8,689,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2098,2055
$GC,14551,1.01,201.4,541.7,7.2,704,14555,0.00,2.62,0.00,0.000,4,0.000,0.071,2703,691,2055
$GC,14606,1.01,201.4,538.1,6.6,706,14612,0.00,2.53,0.00,0.000,6,0.000,0.046,2703,2105,2055
$GC,14921,1.01,201.4,518.9,6.1,722,14922,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2105,2055
$GC,15230,1.01,201.4,498.8,6.3,737,15235,0.00,2.55,0.00,0.000,4,0.000,0.058,2703,3499,2056
$GC,15324,1.01,201.4,492.7,6.4,741,15329,0.00,2.53,0.00,0.000,6,0.000,0.047,2703,2094,2055
$GC,15646,1.02,204.8,473.8,5.9,757,15651,0.00,0.00,3.88,1.096,6,0.000,0.000,2703,2094,2043
$GC,15955,1.02,206.1,455.3,6.0,772,15956,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2094,2043
$GC,16264,1.03,212.9,436.9,5.8,787,16278,0.00,2.65,8.05,1.118,4,0.000,0.055,2703,3498,2009
$GC,16346,1.03,212.9,431.5,6.7,790,16353,0.00,2.53,0.00,0.000,6,0.000,0.045,2703,2096,2009
$GC,16662,1.04,225.0,413.6,5.6,806,16675,0.00,0.00,11.20,1.100,6,0.000,0.000,2703,2096,1960
$GC,16971,1.06,238.4,396.5,5.6,821,16993,0.10,2.72,11.88,1.079,4,0.056,0.067,2741,691,1905
$GC,17031,1.06,238.4,392.1,8.6,823,17038,0.00,2.50,0.00,0.000,6,0.000,0.042,2741,2101,1905
$GC,17346,1.06,238.4,368.9,7.7,839,17348,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2105,1905
$GC,17656,1.06,238.4,344.5,7.8,854,17657,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2106,1905
$GC,17965,1.06,238.4,319.8,8.2,869,17966,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2105,1906
$GC,18274,1.06,238.4,291.2,9.6,884,18278,0.00,2.53,0.00,0.000,4,0.000,0.052,2741,3500,1906
$GC,18375,1.06,238.4,281.4,9.3,888,18381,0.00,2.53,0.00,0.000,6,0.000,0.044,2741,2094,1906
$GC,18690,1.06,238.4,253.7,7.8,904,18691,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2094,1907
$GC,18999,1.06,238.4,228.2,8.0,919,19003,0.00,2.58,0.00,0.000,4,0.000,0.051,2741,3503,1907
$GC,19092,1.06,238.4,219.3,9.4,923,19096,0.00,2.50,0.00,0.000,6,0.000,0.042,2741,2097,1907
$GC,19413,1.06,238.4,190.7,9.2,939,19415,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2097,1907
$GC,19722,1.06,238.4,162.6,8.4,954,19727,0.00,2.58,0.00,0.000,4,0.000,0.051,2741,3507,1907
$GC,19817,1.06,238.4,153.9,9.6,958,19821,0.00,2.50,0.00,0.000,6,0.000,0.042,2741,2099,1907
$GC,20138,1.06,238.4,126.6,7.9,974,20139,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2099,1908
$GC,20447,1.06,238.4,104.0,7.4,989,20451,0.00,2.55,0.00,0.000,4,0.000,0.050,2741,3501,1907
$GC,20554,1.06,238.4,94.7,9.1,994,20559,0.00,2.50,0.00,0.000,6,0.000,0.041,2741,2094,1907
$GC,20881,1.06,238.4,65.6,8.8,1010,20882,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2094,1907
$GC,21190,1.06,238.4,39.6,7.2,1025,21194,0.00,2.55,0.00,0.000,4,0.000,0.050,2741,3501,1908
$GC,21335,1.06,241.3,31.7,5.9,1031,21344,0.00,2.47,4.40,0.876,6,0.000,0.041,2741,2101,1893
$GC,21672,1.06,241.3,4.8,8.5,1048,21673,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2100,1893
$GC,21982,1.31,440.9,3.1,0.1,1063,22078,0.15,0.00,92.78,0.765,2,0.057,0.000,2785,2094,1173
$STATE,22079,end climb,NO_VERTICAL_VELOCITY
$STATE,22079,begin surface
$SM_CCo,22081,71.70,0.730,0,0,603,558.06
$SM_CCo,22515,0.00,0.000,0,0,604,558.06
$SM_GC,3.77,0.00,0.00,0.00,0.000,0.000,0.000,28,1891,604,-11.35,-0.25,558.06
$IRIDIUM_FIX,6230.49,-1241.98,271207,161653
$TT8_MAMPS,0.026845
$HUMID,2038
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,18.70
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,701.0,42.7
$24V_AH,23.3,45.901
$10V_AH,10.1,22.153
$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,25.100,107.650,429.325,71.700,0.000,37.561,33.505,210.202,8.250,0.000,0.000,15.891,1883.947,17607.150,684.466,2229.354,504.231,33.360,1789.332,0.000,2190.868,0.000,46.854
$DEVICE_MAMPS,103.545,71.331,1291.628,730.184,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,791.981,722.413,670.382,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53775,1067
$CFSIZE,260165632,245682176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,281207,011207,6252.197,-1259.036,23,1.4,23,-11.9