version: 66.02
glider: 102
mission: 4
dive: 236
start: 1 4 108 7 38 18
data:
$ID,102
$MISSION,4
$DIVE,236
$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,-80703.32
$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,28
$R_STBD_OVSHOOT,21
$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
$GPS1,073108,6321.763,-1323.484,42,1.1,42,-12.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.14
$_SM_ANGLEo,-45.3
$GPS2,073726,6321.883,-1323.586,32,1.3,32,-12.4
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,0.015
$KALMAN_X,302537.2,140.4,13819.7,-575425.5,25848.2
$KALMAN_Y,-31585.6,300.2,-10162.7,242787.6,-14008.5
$MHEAD_RNG_PITCHd_Wd,286.5,14620,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.95,-146.6,0.0,0.0,0,46,0.00,0.00,-21.58,0.000,2,0.000,0.000,28,1890,1101
$GC,49,-0.95,-146.6,3.1,-0.0,1,217,11.10,2.58,-150.25,0.000,4,0.103,0.061,2286,3311,3476
$GC,439,-0.95,-146.6,32.2,-16.7,19,443,0.00,2.53,0.00,0.000,6,0.000,0.042,2287,1906,3476
$GC,765,-0.95,-146.6,67.0,-7.1,35,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3476
$GC,1075,-0.95,-146.6,91.4,-8.2,50,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3476
$GC,1384,-0.95,-146.6,108.7,-5.5,65,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3476
$GC,1692,-0.95,-146.6,129.3,-8.5,80,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3476
$GC,2001,-0.95,-146.6,151.7,-6.5,95,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1906,3476
$GC,2310,-0.95,-146.6,173.7,-6.7,110,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3476
$GC,2620,-0.95,-146.6,194.0,-7.0,125,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1906,3476
$GC,2929,-0.95,-146.6,214.3,-7.0,140,2934,0.00,2.53,0.00,0.000,4,0.000,0.048,2287,3311,3476
$GC,3007,-0.95,-146.6,219.9,-7.1,143,3013,0.00,2.53,0.00,0.000,6,0.000,0.043,2287,1899,3476
$GC,3322,-0.95,-146.6,241.6,-7.3,159,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3476
$GC,3631,-0.95,-146.6,266.3,-8.2,174,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3476
$GC,3941,-0.95,-146.6,293.5,-9.1,189,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3476
$GC,4250,-0.95,-146.6,322.8,-8.8,204,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3476
$GC,4560,-0.95,-146.6,351.5,-9.8,219,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3475
$GC,4868,-0.95,-146.6,380.3,-9.1,234,4873,0.00,2.55,0.00,0.000,4,0.000,0.049,2287,3311,3476
$GC,4935,-0.95,-146.6,386.6,-10.4,237,4939,0.00,2.53,0.00,0.000,6,0.000,0.043,2287,1901,3476
$GC,5256,-0.95,-146.6,411.5,-7.1,253,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3476
$GC,5565,-0.95,-146.6,429.3,-5.5,268,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3476
$GC,5875,-0.95,-146.6,449.0,-7.1,283,5879,0.00,2.55,0.00,0.000,4,0.000,0.050,2287,3311,3476
$GC,5952,-0.95,-146.6,455.1,-7.7,286,5958,0.00,2.53,0.00,0.000,6,0.000,0.044,2287,1901,3476
$GC,6267,-0.95,-146.6,479.7,-7.6,302,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3476
$GC,6577,-0.95,-146.6,503.7,-7.5,317,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,6886,-0.95,-146.6,525.0,-6.4,332,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1900,3475
$GC,7195,-0.95,-146.6,546.0,-6.8,347,7199,0.00,2.60,0.00,0.000,4,0.000,0.067,2287,494,3475
$GC,7266,-0.95,-146.6,551.6,-8.8,350,7271,0.00,2.50,0.00,0.000,6,0.000,0.043,2287,1912,3475
$GC,7582,-0.95,-146.6,574.6,-7.2,365,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1916,3475
$GC,7891,-0.95,-146.6,596.4,-6.9,380,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1916,3475
$GC,8200,-0.95,-146.6,618.7,-7.3,395,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1916,3475
$GC,8509,-0.95,-146.6,641.8,-7.7,410,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1916,3475
$GC,8819,-0.95,-146.6,663.4,-6.7,425,8820,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1916,3475
$GC,9128,-0.95,-146.6,685.1,-6.4,440,9129,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1916,3475
$GC,9437,-0.95,-146.6,706.8,-7.3,455,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1916,3474
$GC,9746,-0.95,-146.6,733.4,-9.3,470,9748,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1917,3475
$GC,10056,-0.95,-146.6,761.3,-8.1,485,10057,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1916,3474
$GC,10365,-0.95,-146.6,789.1,-9.6,500,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1916,3474
$GC,10674,-0.95,-146.6,814.5,-6.9,515,10679,0.00,2.53,0.00,0.000,4,0.000,0.058,2287,3300,3474
$GC,10763,-0.95,-146.6,820.4,-6.2,519,10768,0.00,2.58,0.00,0.000,6,0.000,0.054,2287,1898,3474
$GC,11084,-0.95,-146.6,835.2,-3.9,535,11086,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1898,3474
$GC,11394,-0.95,-146.6,841.2,-1.8,550,11398,0.00,2.62,0.00,0.000,4,0.000,0.065,2287,3304,3474
$GC,11488,-0.95,-146.6,844.8,-4.5,554,11492,0.00,2.58,0.00,0.000,6,0.000,0.056,2287,1901,3474
$GC,11803,-0.95,-146.6,865.1,-7.8,569,11804,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1901,3474
$GC,12113,-0.95,-146.6,882.4,-3.9,584,12114,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1902,3474
$GC,12422,-0.95,-146.6,901.7,-7.5,599,12423,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3473
$GC,12731,-0.95,-146.6,928.1,-9.8,614,12732,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1901,3472
$STATE,12832,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12832,begin apogee
$GC,12838,-0.36,0.0,936.0,7.3,619,12968,0.60,0.00,126.68,1.434,6,0.077,0.000,2416,2105,2878
$STATE,12969,end apogee,CONTROL_FINISHED_OK
$STATE,12969,begin climb
$GC,12971,0.95,146.6,940.2,0.0,625,13106,1.27,2.80,125.65,1.395,4,0.054,0.078,2701,693,2279
$GC,13361,1.04,219.0,931.4,3.8,643,13428,0.00,2.58,61.70,1.401,6,0.000,0.057,2701,2092,1985
$GC,13749,1.04,219.0,900.8,6.4,662,13750,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2096,1984
$GC,14059,1.04,219.7,881.1,6.0,677,14060,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2096,1983
$GC,14368,1.12,288.8,865.2,3.9,692,14434,0.15,2.70,59.45,1.399,4,0.047,0.064,2753,3506,1700
$GC,14517,1.12,288.8,855.7,6.9,699,14521,0.00,2.62,0.00,0.000,6,0.000,0.058,2753,2099,1700
$GC,14844,1.12,288.8,828.6,9.4,715,14848,0.00,2.65,0.00,0.000,4,0.000,0.063,2753,3509,1700
$GC,14921,1.12,288.8,821.1,8.8,718,14927,0.00,2.60,0.00,0.000,6,0.000,0.055,2753,2098,1699
$GC,15236,1.12,288.8,792.8,8.8,734,15237,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2098,1699
$GC,15545,1.12,288.8,761.6,10.1,749,15549,0.00,2.60,0.00,0.000,4,0.000,0.057,2753,3506,1699
$GC,15611,1.12,288.8,753.8,11.7,752,15616,0.00,2.58,0.00,0.000,6,0.000,0.051,2753,2091,1699
$GC,15932,1.12,288.8,720.8,9.6,768,15933,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2091,1699
$GC,16241,1.12,288.8,688.3,10.4,783,16242,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2091,1699
$GC,16550,1.12,288.8,658.9,9.0,798,16551,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2091,1699
$GC,16859,1.12,288.8,629.5,9.4,813,16861,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2091,1700
$GC,17169,1.12,288.8,601.3,8.8,828,17170,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2091,1700
$GC,17478,1.12,288.8,577.8,7.7,843,17479,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2091,1701
$GC,17787,1.12,288.8,548.6,10.7,858,17788,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2091,1701
$GC,18097,1.12,288.8,517.7,9.9,873,18098,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2091,1701
$GC,18406,1.12,288.8,484.8,11.1,888,18407,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2091,1702
$GC,18715,1.12,288.8,449.5,11.5,903,18716,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2091,1702
$GC,19024,1.12,288.8,415.8,10.6,918,19025,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2091,1702
$GC,19334,1.12,288.8,382.9,10.3,933,19335,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2091,1702
$GC,19643,1.12,288.8,351.7,9.0,948,19644,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2091,1703
$GC,19952,1.12,288.8,324.0,9.1,963,19953,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2091,1703
$GC,20262,1.12,288.8,297.9,8.1,978,20263,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2091,1703
$GC,20571,1.12,288.8,272.4,8.7,993,20572,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2091,1704
$GC,20880,1.12,288.8,243.2,9.2,1008,20884,0.00,2.58,0.00,0.000,4,0.000,0.064,2753,690,1704
$GC,20923,1.12,288.8,238.5,11.1,1010,20927,0.00,2.50,0.00,0.000,6,0.000,0.040,2753,2112,1704
$GC,21250,1.12,288.8,208.3,9.1,1026,21252,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2116,1704
$GC,21560,1.12,288.8,178.6,10.7,1041,21561,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2116,1704
$GC,21869,1.12,288.8,150.6,10.4,1056,21870,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2116,1704
$GC,22178,1.12,288.8,122.3,7.7,1071,22179,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2116,1704
$GC,22487,1.12,288.8,93.4,11.3,1086,22488,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2116,1704
$GC,22797,1.12,288.8,74.2,6.8,1101,22798,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2116,1704
$GC,23106,1.12,288.8,39.6,10.7,1116,23107,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2116,1704
$GC,23415,1.12,288.8,4.6,10.5,1131,23416,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2116,1705
$GC,23726,1.37,490.2,2.6,-0.0,1146,23839,0.15,2.72,106.22,0.786,4,0.056,0.061,2796,688,879
$GC,23861,1.63,704.9,2.5,-0.4,1152,23902,0.25,2.53,35.25,0.762,6,0.053,0.041,2854,2117,603
$STATE,24198,end climb,NO_VERTICAL_VELOCITY
$STATE,24198,begin surface
$SM_CCo,24621,0.00,0.000,0,0,603,558.06
$SM_GC,3.22,12.10,0.00,0.00,0.026,0.000,0.000,35,1889,603,-11.26,-0.28,558.06
$IRIDIUM_FIX,6254.00,-1316.90,040108,060652
$TT8_MAMPS,0.026845
$HUMID,2065
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,16.50
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,851.0,94.5
$24V_AH,23.2,51.512
$10V_AH,10.1,25.054
$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,25.625,67.925,514.950,0.000,0.000,36.832,33.618,176.972,11.500,0.000,0.000,33.902,1988.777,19564.781,609.771,2350.342,483.707,33.366,1760.741,0.000,2290.373,0.000,50.868
$DEVICE_MAMPS,102.778,78.234,1434.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,846.259,790.100,684.462,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59996,1169
$CFSIZE,260165632,243736576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,040108,143007,6325.164,-1333.488,54,1.6,54,-12.5