version: 66.02
glider: 102
mission: 4
dive: 228
start: 1 2 108 10 37 15
data:
$ID,102
$MISSION,4
$DIVE,228
$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,-80485.805
$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,25
$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
$GPS1,102638,6313.221,-1255.555,32,1.3,32,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.34
$_SM_ANGLEo,-52.1
$GPS2,103621,6313.172,-1255.407,13,1.9,13,-12.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.187,0.092
$KALMAN_X,301997.1,279.7,5189.5,-541564.8,17891.5
$KALMAN_Y,-37610.1,411.5,-4429.6,226886.0,-13892.7
$MHEAD_RNG_PITCHd_Wd,308.3,16679,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.95,-146.6,0.0,0.0,0,45,0.00,0.00,-21.77,0.000,2,0.000,0.000,34,1886,1108
$GC,48,-0.95,-146.6,3.4,-0.0,1,220,11.25,2.60,-152.23,0.000,4,0.111,0.074,2285,489,3474
$GC,459,-0.95,-146.6,21.9,-7.6,20,463,0.00,2.47,0.00,0.000,6,0.000,0.039,2285,1906,3474
$GC,785,-0.95,-146.6,46.5,-5.7,36,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1908,3474
$GC,1096,-0.95,-146.6,71.5,-7.6,51,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1909,3474
$GC,1404,-0.95,-146.6,96.0,-7.7,66,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1909,3474
$GC,1712,-0.95,-146.6,115.4,-7.5,81,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1909,3474
$GC,2022,-0.95,-146.6,137.2,-7.3,96,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1909,3474
$GC,2331,-0.95,-146.6,159.0,-7.2,111,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1909,3474
$GC,2640,-0.95,-146.6,180.7,-6.7,126,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1909,3474
$GC,2950,-0.95,-146.6,202.2,-7.3,141,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1909,3474
$GC,3259,-0.95,-146.6,224.3,-7.0,156,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1909,3474
$GC,3568,-0.95,-146.6,247.2,-7.7,171,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1909,3474
$GC,3878,-0.95,-146.6,269.7,-7.2,186,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1909,3474
$GC,4187,-0.95,-146.6,292.6,-7.3,201,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1909,3474
$GC,4496,-0.95,-146.6,314.7,-7.0,216,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1909,3474
$GC,4806,-0.95,-146.6,336.0,-6.9,231,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1909,3474
$GC,5114,-0.95,-146.6,358.4,-7.4,246,5119,0.00,2.50,0.00,0.000,4,0.000,0.051,2285,3293,3474
$GC,5192,-0.95,-146.6,363.9,-6.9,249,5198,0.00,2.50,0.00,0.000,6,0.000,0.045,2285,1901,3474
$GC,5508,-0.95,-146.6,385.6,-7.1,265,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3474
$GC,5817,-0.95,-146.6,406.8,-6.8,280,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1901,3474
$GC,6126,-0.95,-146.6,428.4,-7.4,295,6130,0.00,2.50,0.00,0.000,4,0.000,0.050,2285,3295,3474
$GC,6232,-0.95,-146.6,436.8,-7.9,299,6238,0.00,2.53,0.00,0.000,6,0.000,0.046,2285,1895,3474
$GC,6547,-0.95,-146.6,459.6,-7.5,315,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1895,3474
$GC,6856,-0.95,-146.6,480.6,-6.5,330,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1891,3473
$GC,7166,-0.95,-146.6,501.5,-6.7,345,7170,0.00,2.55,0.00,0.000,4,0.000,0.052,2285,3297,3473
$GC,7282,-0.95,-146.6,509.7,-7.0,350,7286,0.00,2.53,0.00,0.000,6,0.000,0.047,2285,1897,3473
$GC,7604,-0.95,-146.6,532.1,-6.9,366,7608,0.00,2.55,0.00,0.000,4,0.000,0.053,2285,3295,3473
$GC,7687,-0.95,-146.6,538.0,-7.3,370,7692,0.00,2.53,0.00,0.000,6,0.000,0.048,2285,1899,3473
$GC,8014,-0.95,-146.6,559.7,-6.9,386,8018,0.00,2.55,0.00,0.000,4,0.000,0.055,2285,3295,3473
$GC,8091,-0.95,-146.6,565.3,-7.1,389,8097,0.00,2.53,0.00,0.000,6,0.000,0.048,2285,1894,3473
$GC,8406,-0.95,-146.6,585.0,-5.8,405,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1894,3473
$STATE,8590,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8590,begin apogee
$GC,8595,-0.36,0.0,595.8,5.7,414,8721,0.62,0.00,122.45,1.177,6,0.075,0.000,2420,2093,2879
$STATE,8722,end apogee,CONTROL_FINISHED_OK
$STATE,8722,begin climb
$GC,8724,0.95,146.6,599.3,0.0,420,8854,1.27,2.70,121.97,1.143,4,0.053,0.065,2703,688,2280
$GC,8927,0.95,146.6,595.1,6.0,430,8931,0.00,2.55,0.00,0.000,6,0.000,0.048,2703,2098,2280
$GC,9254,0.96,154.2,576.6,5.8,446,9264,0.00,0.00,7.43,1.141,6,0.000,0.000,2703,2098,2249
$GC,9563,0.96,158.8,558.6,5.9,461,9573,0.00,2.65,4.90,1.118,4,0.000,0.061,2703,3506,2230
$GC,9692,0.97,166.1,550.8,5.8,467,9706,0.00,2.55,7.12,1.157,6,0.000,0.050,2703,2102,2201
$GC,10022,0.97,166.1,531.2,6.4,483,10026,0.00,2.60,0.00,0.000,4,0.000,0.058,2703,3502,2200
$GC,10177,0.97,166.1,520.6,6.7,490,10181,0.00,2.55,0.00,0.000,6,0.000,0.049,2703,2096,2199
$GC,10505,0.98,171.5,500.4,5.8,506,10512,0.00,0.00,5.40,1.149,6,0.000,0.000,2703,2097,2178
$GC,10814,0.99,178.9,481.8,5.8,521,10828,0.00,2.65,7.30,1.151,4,0.000,0.056,2703,3500,2148
$GC,10997,0.99,178.9,470.0,6.0,529,11001,0.00,2.53,0.00,0.000,6,0.000,0.047,2703,2096,2147
$GC,11318,1.03,212.3,453.4,5.0,545,11348,0.00,0.00,28.25,1.128,6,0.000,0.000,2703,2096,2012
$GC,11648,1.03,212.3,433.4,6.3,561,11649,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2097,2012
$GC,11957,1.03,212.3,412.2,7.1,576,11961,0.00,2.58,0.00,0.000,4,0.000,0.054,2703,3505,2012
$GC,12022,1.03,212.3,407.4,7.4,579,12026,0.00,2.53,0.00,0.000,6,0.000,0.044,2703,2099,2012
$GC,12349,1.03,212.3,384.3,7.1,595,12350,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,2012
$GC,12658,1.03,212.3,362.5,7.2,610,12659,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,2012
$GC,12967,1.03,212.3,341.5,6.5,625,12969,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,2012
$GC,13277,1.03,212.3,321.2,6.3,640,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2100,2013
$GC,13586,1.03,212.3,301.4,6.4,655,13587,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,2013
$GC,13895,1.03,212.3,282.7,6.0,670,13896,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,2013
$GC,14205,1.03,217.3,264.5,5.9,685,14216,0.00,2.60,5.72,1.009,4,0.000,0.064,2703,692,1991
$GC,14277,1.03,217.3,259.8,6.1,688,14281,0.00,2.50,0.00,0.000,6,0.000,0.041,2703,2114,1991
$GC,14598,1.03,217.3,239.7,6.4,704,14599,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2118,1991
$GC,14908,1.04,218.8,219.1,6.0,719,14909,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2118,1991
$GC,15217,1.04,224.2,199.9,5.8,734,15225,0.00,0.00,6.80,0.972,6,0.000,0.000,2703,2118,1964
$GC,15526,1.05,226.3,179.0,5.9,749,15535,0.00,2.67,3.20,0.925,4,0.000,0.061,2703,692,1955
$GC,15597,1.05,226.3,173.8,7.4,752,15601,0.00,2.50,0.00,0.000,6,0.000,0.041,2703,2105,1954
$GC,15923,1.05,228.1,153.8,5.9,768,15924,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2108,1954
$GC,16233,1.05,228.1,134.0,6.3,783,16234,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2108,1955
$GC,16543,1.05,232.8,115.5,5.9,798,16551,0.00,0.00,6.07,0.926,6,0.000,0.000,2703,2108,1929
$GC,16853,1.05,232.8,96.1,7.1,813,16857,0.00,2.62,0.00,0.000,4,0.000,0.062,2702,691,1929
$GC,16902,1.05,232.8,92.4,6.7,815,16906,0.00,2.50,0.00,0.000,6,0.000,0.041,2703,2106,1928
$GC,17219,1.05,233.1,73.0,6.0,830,17220,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2110,1929
$GC,17527,1.05,233.1,52.8,7.4,845,17528,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2110,1929
$GC,17836,1.05,233.1,28.7,8.0,860,17837,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2110,1929
$GC,18145,1.05,233.1,7.5,6.8,875,18149,0.00,2.62,0.00,0.000,4,0.000,0.062,2703,691,1929
$GC,18231,1.07,243.2,2.8,5.7,879,18245,0.10,2.47,9.27,0.860,6,0.067,0.042,2730,2102,1885
$STATE,18559,end climb,NO_VERTICAL_VELOCITY
$STATE,18559,begin surface
$SM_CCo,18562,164.55,0.743,2,0,603,558.06
$SM_GC,3.41,11.60,0.00,0.00,0.026,0.000,0.000,28,1881,604,-11.27,-0.57,558.06
$IRIDIUM_FIX,6244.56,-1258.61,020108,141434
$TT8_MAMPS,0.026078
$HUMID,2054
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.40
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,500.1,105.4
$24V_AH,23.3,50.118
$10V_AH,10.1,24.318
$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,24.850,77.425,335.900,164.550,0.000,75.464,71.634,257.607,5.000,0.000,0.000,16.785,1594.226,14944.237,691.637,1888.786,625.844,33.358,1605.389,0.000,1871.981,0.000,28.260
$DEVICE_MAMPS,111.215,74.399,1176.578,743.223,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,662.036,604.977,622.235,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44309,895
$CFSIZE,260165632,244273152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
$GPS,020108,155738,6313.955,-1255.833,29,1.1,29,-12.1