version: 66.02
glider: 102
mission: 4
dive: 235
start: 1 4 108 2 12 40
data:
$ID,102
$MISSION,4
$DIVE,235
$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,-80668.789
$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,32
$R_STBD_OVSHOOT,35
$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
$GPS1,015831,6317.718,-1316.128,36,1.9,41,-12.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.26
$_SM_ANGLEo,-46.5
$GPS2,021146,6317.865,-1316.359,11,1.3,12,-12.3
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.161,0.079
$KALMAN_X,305221.6,-274.7,13384.4,-570859.2,6458.8
$KALMAN_Y,-39413.2,-221.0,-7883.7,241441.3,-7886.8
$MHEAD_RNG_PITCHd_Wd,308.4,5426,-13.8,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.11,-98.9,0.0,0.0,0,28,0.00,0.00,-3.85,0.000,2,0.000,0.000,30,1876,697
$GC,31,-1.17,-146.6,3.3,-0.0,0,214,10.93,2.55,-163.18,0.000,4,0.107,0.073,2240,504,3476
$GC,469,-1.17,-146.6,29.4,-8.7,21,473,0.00,2.45,0.00,0.000,6,0.000,0.041,2240,1898,3476
$GC,795,-1.17,-146.6,62.1,-9.4,37,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1902,3476
$GC,1105,-1.17,-146.6,91.5,-9.0,52,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1901,3476
$GC,1413,-1.17,-146.6,117.4,-9.1,67,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1902,3476
$GC,1723,-1.17,-146.6,143.6,-7.0,82,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1902,3475
$GC,2031,-1.17,-146.6,168.5,-8.4,97,2035,0.00,2.53,0.00,0.000,4,0.000,0.049,2240,3298,3476
$GC,2111,-1.17,-146.6,175.2,-8.4,100,2118,0.00,2.50,0.00,0.000,6,0.000,0.044,2240,1902,3476
$GC,2427,-1.17,-146.6,203.1,-9.3,116,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1903,3476
$GC,2736,-1.17,-146.6,231.0,-8.5,131,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1903,3476
$GC,3045,-1.17,-146.6,258.6,-9.0,146,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1903,3476
$GC,3354,-1.17,-146.6,286.5,-8.8,161,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1903,3476
$GC,3663,-1.17,-146.6,312.5,-8.4,176,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1903,3476
$GC,3973,-1.17,-146.6,337.6,-8.4,191,3977,0.00,2.53,0.00,0.000,4,0.000,0.048,2239,3300,3476
$GC,4044,-1.17,-146.6,343.9,-9.1,194,4049,0.00,2.53,0.00,0.000,6,0.000,0.044,2240,1895,3476
$GC,4359,-1.17,-146.6,370.6,-8.6,209,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,1895,3476
$GC,4669,-1.17,-146.6,396.0,-8.3,224,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1895,3476
$GC,4978,-1.17,-146.6,421.3,-8.2,239,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1895,3476
$GC,5287,-1.17,-146.6,446.4,-8.2,254,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1895,3476
$GC,5597,-1.17,-146.6,470.3,-7.4,269,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1892,3475
$GC,5907,-1.17,-146.6,490.3,-5.7,284,5911,0.00,2.55,0.00,0.000,4,0.000,0.050,2240,3301,3475
$GC,5955,-1.17,-146.6,493.6,-7.1,286,5959,0.00,2.53,0.00,0.000,6,0.000,0.045,2240,1899,3475
$GC,6277,-1.17,-146.6,512.1,-5.7,302,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1899,3475
$GC,6586,-1.17,-146.6,534.3,-7.8,317,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1899,3475
$GC,6895,-1.17,-146.6,563.4,-9.6,332,6899,0.00,2.55,0.00,0.000,4,0.000,0.052,2240,3300,3475
$GC,6961,-1.17,-146.6,569.7,-9.8,335,6965,0.00,2.53,0.00,0.000,6,0.000,0.047,2240,1899,3474
$GC,7288,-1.17,-146.6,595.0,-6.7,351,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1899,3474
$GC,7597,-1.17,-146.6,620.3,-10.1,366,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1900,3474
$GC,7906,-1.17,-146.6,656.8,-11.6,381,7911,0.00,2.55,0.00,0.000,4,0.000,0.056,2240,3295,3474
$GC,7978,-1.17,-146.6,665.3,-11.7,384,7982,0.00,2.50,0.00,0.000,6,0.000,0.049,2240,1902,3474
$GC,8299,-1.17,-146.6,693.7,-8.0,400,8304,0.00,2.55,0.00,0.000,4,0.000,0.057,2240,3303,3474
$GC,8388,-1.17,-146.6,700.4,-7.3,404,8392,0.00,2.55,0.00,0.000,6,0.000,0.050,2240,1899,3474
$GC,8709,-1.17,-146.6,724.2,-8.5,420,8710,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1899,3474
$GC,9018,-1.17,-146.6,756.1,-10.8,435,9022,0.00,2.58,0.00,0.000,4,0.000,0.058,2240,3304,3474
$GC,9125,-1.17,-146.6,766.3,-9.3,440,9129,0.00,2.55,0.00,0.000,6,0.000,0.052,2240,1898,3474
$GC,9451,-1.17,-146.6,783.9,-3.6,456,9452,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1898,3474
$GC,9760,-1.17,-146.6,807.3,-8.0,471,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1897,3473
$STATE,9778,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9778,begin apogee
$GC,9784,-0.36,0.0,808.4,8.4,472,9912,0.82,0.00,125.32,1.320,6,0.076,0.000,2418,2099,2878
$STATE,9913,end apogee,CONTROL_FINISHED_OK
$STATE,9913,begin climb
$GC,9915,1.17,146.6,811.7,0.0,478,10047,1.50,2.75,124.05,1.289,4,0.055,0.073,2750,693,2280
$GC,10125,1.29,245.2,805.0,1.8,489,10216,0.12,2.58,82.62,1.276,6,0.051,0.054,2786,2096,1878
$GC,10537,1.29,245.2,756.1,18.0,509,10542,0.00,2.62,0.00,0.000,4,0.000,0.063,2786,3505,1876
$GC,10794,1.29,245.2,711.2,18.5,520,10801,0.00,2.58,0.00,0.000,6,0.000,0.052,2787,2110,1875
$GC,11111,1.29,245.2,649.7,20.1,536,11115,0.00,2.55,0.00,0.000,4,0.000,0.056,2786,3508,1875
$GC,11288,1.29,245.2,617.4,15.3,544,11293,0.00,2.55,0.00,0.000,6,0.000,0.048,2786,2099,1875
$GC,11615,1.29,245.2,588.9,9.1,560,11620,0.00,2.58,0.00,0.000,4,0.000,0.054,2786,3511,1875
$GC,11754,1.29,245.2,574.9,9.6,566,11758,0.00,2.53,0.00,0.000,6,0.000,0.045,2786,2096,1875
$GC,12075,1.29,245.2,544.5,8.6,582,12079,0.00,2.58,0.00,0.000,4,0.000,0.054,2786,3506,1875
$GC,12208,1.29,245.2,531.5,9.5,588,12212,0.00,2.53,0.00,0.000,6,0.000,0.045,2786,2095,1875
$GC,12534,1.29,245.2,500.8,9.4,604,12539,0.00,2.58,0.00,0.000,4,0.000,0.052,2786,3506,1875
$GC,12619,1.29,245.2,492.4,10.0,608,12623,0.00,2.53,0.00,0.000,6,0.000,0.044,2786,2098,1875
$GC,12944,1.29,245.2,461.2,9.7,624,12948,0.00,2.58,0.00,0.000,4,0.000,0.051,2786,3506,1875
$GC,13056,1.29,245.2,449.6,10.0,629,13060,0.00,2.55,0.00,0.000,6,0.000,0.044,2786,2091,1875
$GC,13376,1.29,245.2,420.3,8.0,645,13381,0.00,2.60,0.00,0.000,4,0.000,0.051,2786,3512,1875
$GC,13460,1.29,245.2,413.4,7.8,649,13465,0.00,2.53,0.00,0.000,6,0.000,0.042,2787,2096,1875
$GC,13787,1.29,245.2,387.5,8.3,665,13791,0.00,2.58,0.00,0.000,4,0.000,0.051,2786,3506,1875
$GC,13858,1.29,245.2,380.9,9.1,668,13862,0.00,2.50,0.00,0.000,6,0.000,0.044,2787,2101,1875
$GC,14179,1.29,245.2,352.3,8.6,684,14183,0.00,2.55,0.00,0.000,4,0.000,0.051,2786,3508,1875
$GC,14250,1.29,245.2,345.4,9.2,687,14254,0.00,2.50,0.00,0.000,6,0.000,0.044,2787,2096,1876
$GC,14571,1.29,245.2,314.7,10.1,703,14572,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2096,1876
$GC,14880,1.29,245.2,284.5,9.9,718,14885,0.00,2.58,0.00,0.000,4,0.000,0.051,2786,3506,1876
$GC,15020,1.29,245.2,270.1,11.3,724,15024,0.00,2.50,0.00,0.000,6,0.000,0.042,2786,2099,1876
$GC,15335,1.29,245.2,239.1,9.7,739,15336,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2099,1876
$GC,15644,1.29,245.2,208.6,10.3,754,15648,0.00,2.58,0.00,0.000,4,0.000,0.050,2786,3510,1876
$GC,15744,1.29,245.2,198.7,9.3,758,15750,0.00,2.50,0.00,0.000,6,0.000,0.041,2786,2098,1876
$GC,16059,1.29,245.2,171.6,8.2,774,16060,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2098,1876
$GC,16369,1.29,245.2,144.4,9.7,789,16370,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2098,1877
$GC,16678,1.29,245.2,111.3,11.0,804,16682,0.00,2.55,0.00,0.000,4,0.000,0.048,2787,3506,1877
$GC,16829,1.29,245.2,90.1,15.3,811,16834,0.00,2.50,0.00,0.000,6,0.000,0.041,2786,2094,1877
$GC,17156,1.29,245.2,46.5,12.3,827,17157,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2093,1877
$GC,17467,1.29,245.2,16.9,8.2,842,17471,0.00,2.58,0.00,0.000,4,0.000,0.049,2787,3510,1877
$GC,17550,1.29,245.2,7.9,10.3,846,17555,0.00,2.50,0.00,0.000,6,0.000,0.039,2786,2094,1877
$GC,17877,1.46,383.5,2.7,0.1,862,17959,0.12,2.62,73.80,0.781,4,0.066,0.049,2818,3507,1313
$GC,18211,1.65,535.7,2.9,-0.5,877,18294,0.15,2.55,76.53,0.753,6,0.059,0.043,2858,2088,694
$STATE,18593,end climb,NO_VERTICAL_VELOCITY
$STATE,18593,begin surface
$SM_CCo,18596,13.18,0.798,0,0,602,558.06
$SM_GC,3.27,12.18,0.00,0.00,0.028,0.000,0.000,28,1894,602,-11.27,-0.17,558.30
$IRIDIUM_FIX,6249.28,-1320.45,040108,060659
$TT8_MAMPS,0.026078
$HUMID,2048
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,15.40
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,725.9,91.6
$24V_AH,23.2,51.319
$10V_AH,10.1,24.952
$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,25.825,117.950,482.325,13.175,0.000,113.070,134.746,300.319,9.750,0.000,0.000,13.502,1646.358,14587.751,632.167,2176.957,783.706,33.359,1720.193,0.000,2134.035,0.000,42.770
$DEVICE_MAMPS,107.380,72.865,1320.007,797.680,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,657.565,603.869,576.107,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44196,896
$CFSIZE,260165632,243826688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,040108,073108,6321.763,-1323.484,42,1.1,42,-12.4