version: 66.02
glider: 102
mission: 4
dive: 211
start: 12 29 107 13 19 2
data:
$ID,102
$MISSION,4
$DIVE,211
$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,-80137.656
$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,26
$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
$GPS1,130832,6257.003,-1253.876,39,1.4,39,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.57
$_SM_ANGLEo,-54.6
$GPS2,131808,6257.006,-1253.821,13,1.2,13,-11.9
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.113,0.176
$KALMAN_X,292727.6,72.9,-32052.1,-493438.2,29864.2
$KALMAN_Y,-84424.4,-856.9,77940.2,162706.5,-65572.6
$MHEAD_RNG_PITCHd_Wd,44.5,37712,-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,-21.80,0.000,2,0.000,0.000,34,1888,1106
$GC,47,-0.95,-146.6,3.6,-0.0,1,223,11.15,2.60,-156.80,0.000,4,0.107,0.075,2284,496,3475
$GC,329,-0.95,-146.6,7.1,-6.7,14,334,0.00,2.50,0.00,0.000,6,0.000,0.041,2284,1915,3475
$GC,651,-0.95,-146.6,26.6,-6.7,30,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1914,3475
$GC,960,-0.95,-146.6,46.4,-6.3,45,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1915,3475
$GC,1269,-0.95,-146.6,67.7,-8.5,60,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1915,3475
$GC,1579,-0.95,-146.6,96.6,-11.1,75,1583,0.00,2.47,0.00,0.000,4,0.000,0.048,2284,3293,3475
$GC,1610,-0.95,-146.6,99.9,-9.8,76,1618,0.00,2.53,0.00,0.000,6,0.000,0.043,2285,1902,3475
$GC,1928,-0.95,-146.6,127.2,-8.0,92,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3475
$GC,2235,-0.95,-146.6,152.8,-10.2,107,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3475
$GC,2545,-0.95,-146.6,174.7,-7.5,122,2550,0.00,2.53,0.00,0.000,4,0.000,0.048,2284,3302,3475
$GC,2594,-0.95,-146.6,178.7,-7.8,124,2598,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1895,3475
$GC,2920,-0.95,-146.6,205.1,-8.2,140,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1895,3475
$GC,3230,-0.95,-146.6,229.9,-7.0,155,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1896,3475
$GC,3539,-0.95,-146.6,249.5,-6.4,170,3543,0.00,2.53,0.00,0.000,4,0.000,0.048,2284,3297,3475
$GC,3600,-0.95,-146.6,254.3,-8.0,173,3604,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1893,3475
$GC,3925,-0.95,-146.6,277.9,-8.1,189,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1892,3475
$GC,4234,-0.95,-146.6,299.1,-6.2,204,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1892,3475
$GC,4544,-0.95,-146.6,317.9,-6.2,219,4548,0.00,2.55,0.00,0.000,4,0.000,0.050,2284,3300,3474
$GC,4587,-0.95,-146.6,320.8,-6.1,221,4591,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1896,3474
$GC,4913,-0.95,-146.6,344.9,-7.9,237,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3475
$GC,5223,-0.95,-146.6,369.5,-7.6,252,5227,0.00,2.53,0.00,0.000,4,0.000,0.051,2284,3294,3475
$GC,5272,-0.95,-146.6,373.1,-7.0,254,5276,0.00,2.50,0.00,0.000,6,0.000,0.045,2284,1902,3475
$GC,5593,-0.95,-146.6,395.3,-6.8,270,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3475
$GC,5902,-0.95,-146.6,416.5,-6.7,285,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1902,3475
$GC,6212,-0.95,-146.6,437.4,-6.7,300,6216,0.00,2.53,0.00,0.000,4,0.000,0.051,2284,3294,3475
$GC,6243,-0.95,-146.6,439.8,-7.1,301,6250,0.00,2.50,0.00,0.000,6,0.000,0.046,2284,1900,3475
$GC,6559,-0.95,-146.6,462.5,-7.3,317,6563,0.00,2.53,0.00,0.000,4,0.000,0.051,2284,3300,3474
$GC,6614,-0.95,-146.6,466.9,-8.0,319,6620,0.00,2.53,0.00,0.000,6,0.000,0.047,2284,1900,3474
$GC,6928,-0.95,-146.6,488.6,-6.6,335,6933,0.00,2.53,0.00,0.000,4,0.000,0.051,2284,3294,3473
$GC,6967,-0.95,-146.6,491.2,-6.7,337,6972,0.00,2.50,0.00,0.000,6,0.000,0.045,2284,1899,3474
$GC,7294,-0.95,-146.6,511.4,-6.0,353,7298,0.00,2.60,0.00,0.000,4,0.000,0.071,2284,495,3473
$GC,7371,-0.95,-146.6,516.0,-6.1,356,7377,0.00,2.47,0.00,0.000,6,0.000,0.045,2284,1896,3473
$GC,7686,-0.95,-146.6,537.0,-6.9,372,7690,0.00,2.62,0.00,0.000,4,0.000,0.071,2284,494,3473
$GC,7757,-0.95,-146.6,542.2,-7.0,375,7761,0.00,2.50,0.00,0.000,6,0.000,0.047,2284,1904,3473
$GC,8078,-0.95,-146.6,563.2,-7.0,391,8083,0.00,2.55,0.00,0.000,4,0.000,0.059,2284,3304,3473
$GC,8145,-0.95,-146.6,568.0,-7.4,394,8149,0.00,2.53,0.00,0.000,6,0.000,0.052,2284,1902,3473
$GC,8471,-0.95,-146.6,589.2,-6.2,410,8475,0.00,2.55,0.00,0.000,4,0.000,0.059,2284,3300,3473
$GC,8509,-0.95,-146.6,591.7,-7.3,412,8514,0.00,2.55,0.00,0.000,6,0.000,0.053,2284,1900,3473
$GC,8835,-0.95,-146.6,612.8,-6.5,428,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1899,3473
$STATE,9122,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9122,begin apogee
$GC,9128,-0.36,0.0,631.5,6.9,442,9253,0.62,0.00,122.47,1.233,6,0.074,0.000,2419,2098,2878
$STATE,9254,end apogee,CONTROL_FINISHED_OK
$STATE,9254,begin climb
$GC,9256,0.95,146.6,635.9,0.0,448,9387,1.27,2.72,121.72,1.183,4,0.054,0.065,2702,3499,2280
$GC,9550,0.97,165.0,626.1,5.5,461,9571,0.00,2.58,16.02,1.180,6,0.000,0.052,2703,2096,2205
$GC,9881,0.98,175.3,608.3,5.7,477,9892,0.00,0.00,9.85,1.187,6,0.000,0.000,2702,2097,2163
$GC,10189,0.98,175.3,589.3,6.5,492,10190,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2096,2162
$GC,10499,0.98,175.3,568.8,6.8,507,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2097,2161
$GC,10808,0.98,175.3,546.5,6.9,522,10813,0.00,2.62,0.00,0.000,4,0.000,0.062,2702,3505,2161
$GC,10897,0.98,175.3,540.3,7.0,526,10901,0.00,2.58,0.00,0.000,6,0.000,0.051,2702,2104,2161
$GC,11223,0.98,175.3,521.0,6.0,542,11228,0.00,2.65,0.00,0.000,4,0.000,0.072,2703,690,2160
$GC,11318,1.01,195.6,515.5,5.4,546,11342,0.00,2.50,17.35,1.206,6,0.000,0.048,2702,2097,2080
$GC,11659,1.04,219.8,498.2,5.3,563,11681,0.00,0.00,20.90,1.183,6,0.000,0.000,2703,2097,1981
$GC,11988,1.04,219.8,476.6,6.4,579,11992,0.00,2.62,0.00,0.000,4,0.000,0.069,2703,691,1981
$GC,12031,1.04,219.8,473.9,6.2,581,12035,0.00,2.50,0.00,0.000,6,0.000,0.045,2702,2103,1981
$GC,12358,1.04,219.8,452.0,6.4,597,12359,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2103,1981
$GC,12667,1.04,219.8,432.5,6.6,612,12668,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2103,1981
$GC,12976,1.04,219.8,411.0,6.6,627,12977,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2106,1981
$GC,13285,1.04,219.8,389.9,7.3,642,13290,0.00,2.62,0.00,0.000,4,0.000,0.065,2702,691,1981
$GC,13324,1.04,219.8,386.7,8.4,644,13328,0.00,2.50,0.00,0.000,6,0.000,0.043,2702,2101,1981
$GC,13649,1.04,219.8,361.6,7.3,660,13651,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2104,1981
$GC,13959,1.04,219.8,341.0,6.5,675,13960,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2105,1981
$GC,14269,1.05,227.7,322.9,5.8,690,14278,0.00,0.00,7.72,1.062,6,0.000,0.000,2703,2105,1949
$GC,14577,1.06,238.3,306.0,5.7,705,14593,0.10,2.67,9.80,1.043,4,0.052,0.064,2747,691,1906
$GC,14631,1.06,238.3,302.0,7.6,706,14639,0.12,2.50,0.00,0.000,6,0.087,0.041,2723,2105,1906
$GC,14947,1.06,238.3,279.5,7.0,722,14951,0.00,2.53,0.00,0.000,4,0.000,0.053,2723,3499,1906
$GC,14990,1.06,238.3,276.2,7.8,724,14995,0.00,2.53,0.00,0.000,6,0.000,0.044,2723,2098,1906
$GC,15317,1.06,238.3,253.2,7.3,740,15318,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2098,1906
$GC,15626,1.06,238.3,231.4,7.0,755,15627,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2098,1907
$GC,15935,1.06,238.3,210.5,6.0,770,15940,0.00,2.55,0.00,0.000,4,0.000,0.052,2723,3499,1907
$GC,16007,1.06,238.3,205.3,6.6,773,16011,0.00,2.50,0.00,0.000,6,0.000,0.041,2723,2091,1907
$GC,16328,1.06,238.3,184.6,6.4,789,16329,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2091,1907
$GC,16637,1.12,283.0,166.9,4.7,804,16680,0.00,2.62,36.47,0.921,4,0.000,0.063,2723,695,1723
$GC,16730,1.12,283.0,159.5,8.0,808,16734,0.00,2.50,0.00,0.000,6,0.000,0.040,2723,2103,1723
$GC,17057,1.12,283.0,129.9,9.1,824,17058,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2106,1723
$GC,17366,1.12,283.0,100.6,10.5,839,17370,0.00,2.62,0.00,0.000,4,0.000,0.062,2723,690,1723
$GC,17405,1.12,283.0,96.3,11.4,841,17409,0.00,2.47,0.00,0.000,6,0.000,0.041,2723,2098,1723
$GC,17731,1.12,283.0,64.3,9.2,857,17732,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2102,1723
$GC,18040,1.12,283.0,39.7,7.6,872,18044,0.00,2.60,0.00,0.000,4,0.000,0.062,2723,696,1723
$GC,18101,1.12,283.0,34.6,7.6,875,18106,0.00,2.47,0.00,0.000,6,0.000,0.041,2722,2102,1723
$GC,18428,1.12,283.0,9.9,7.9,891,18429,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2105,1723
$GC,18738,1.36,484.5,3.0,-0.0,906,18852,0.28,2.58,107.40,0.772,4,0.049,0.050,2794,3494,902
$STATE,18894,end climb,NO_VERTICAL_VELOCITY
$STATE,18894,begin surface
$SM_CCo,18897,38.53,0.753,0,0,602,558.06
$SM_GC,3.65,11.98,0.00,0.00,0.031,0.000,0.000,27,1898,603,-11.27,-0.06,558.30
$IRIDIUM_FIX,6230.49,-1251.19,291207,171727
$TT8_MAMPS,0.026845
$HUMID,2048
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,18.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.7,65.5
$24V_AH,23.3,47.145
$10V_AH,10.1,22.802
$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,25.525,128.100,469.725,38.525,0.000,73.384,98.101,229.541,5.500,0.000,0.000,14.807,1627.732,15057.606,659.299,1977.647,616.929,33.349,1686.584,0.000,1941.344,0.000,35.940
$DEVICE_MAMPS,106.613,75.166,1233.336,753.194,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,681.217,616.462,593.068,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47400,913
$CFSIZE,260165632,245252096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,291207,184333,6256.783,-1249.421,40,3.2,76,-11.9