version: 66.02
glider: 102
mission: 4
dive: 246
start: 1 6 108 21 29 44
data:
$ID,102
$MISSION,4
$DIVE,246
$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,-80894.383
$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,19
$R_STBD_OVSHOOT,33
$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
$GPS1,212307,6340.025,-1305.825,31,0.8,31,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-53.6
$GPS2,212850,6339.966,-1305.655,11,1.6,11,-12.3
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.113,0.175
$KALMAN_X,328739.1,61.1,-1302.7,-570621.4,11935.4
$KALMAN_Y,-37374.0,-158.8,991.7,271425.7,-5842.9
$MHEAD_RNG_PITCHd_Wd,339.4,18918,-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,23,-0.95,-146.6,0.0,0.0,0,75,0.00,0.00,-50.40,0.000,2,0.000,0.000,27,1896,1684
$GC,78,-0.95,-146.6,3.0,-0.3,3,226,11.32,2.62,-129.50,0.000,4,0.114,0.075,2284,496,3475
$GC,358,-0.95,-146.6,17.6,-13.1,16,362,0.00,2.50,0.00,0.000,6,0.000,0.041,2283,1910,3475
$GC,684,-0.95,-146.6,41.1,-8.1,32,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1914,3475
$GC,995,-0.95,-146.6,67.3,-7.2,47,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1914,3475
$GC,1302,-0.95,-146.6,91.0,-8.1,62,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1914,3475
$GC,1611,-0.95,-146.6,115.7,-7.7,77,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1914,3475
$GC,1921,-0.95,-146.6,139.6,-7.8,92,1925,0.00,2.50,0.00,0.000,4,0.000,0.049,2283,3297,3475
$GC,1987,-0.95,-146.6,144.7,-7.1,95,1991,0.00,2.53,0.00,0.000,6,0.000,0.043,2284,1892,3475
$GC,2314,-0.95,-146.6,167.7,-6.8,111,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1892,3475
$GC,2624,-0.95,-146.6,187.7,-6.5,126,2628,0.00,2.55,0.00,0.000,4,0.000,0.048,2284,3301,3475
$GC,2713,-0.95,-146.6,193.4,-6.3,130,2718,0.00,2.53,0.00,0.000,6,0.000,0.043,2284,1893,3475
$GC,3034,-0.95,-146.6,216.1,-7.7,146,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1893,3475
$GC,3344,-0.95,-146.6,238.5,-6.8,161,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1893,3475
$GC,3653,-0.95,-146.6,261.2,-7.6,176,3657,0.00,2.55,0.00,0.000,4,0.000,0.048,2284,3300,3475
$GC,3729,-0.95,-146.6,267.5,-8.3,179,3736,0.00,2.50,0.00,0.000,6,0.000,0.044,2284,1900,3475
$GC,4045,-0.95,-146.6,291.3,-7.6,195,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1899,3475
$GC,4354,-0.95,-146.6,314.0,-7.2,210,4358,0.00,2.53,0.00,0.000,4,0.000,0.048,2283,3299,3475
$GC,4415,-0.95,-146.6,318.8,-8.2,213,4419,0.00,2.53,0.00,0.000,6,0.000,0.044,2284,1892,3475
$GC,4741,-0.95,-146.6,343.3,-7.8,229,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1893,3475
$GC,5050,-0.95,-146.6,365.9,-7.1,244,5054,0.00,2.55,0.00,0.000,4,0.000,0.050,2284,3300,3475
$GC,5104,-0.95,-146.6,370.2,-8.2,246,5111,0.00,2.53,0.00,0.000,6,0.000,0.045,2283,1897,3475
$GC,5420,-0.95,-146.6,396.4,-7.8,262,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1897,3475
$GC,5729,-0.95,-146.6,420.4,-7.7,277,5733,0.00,2.53,0.00,0.000,4,0.000,0.051,2284,3297,3475
$GC,5800,-0.95,-146.6,426.1,-7.6,280,5804,0.00,2.53,0.00,0.000,6,0.000,0.046,2283,1895,3475
$GC,6115,-0.95,-146.6,448.4,-6.9,295,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1895,3475
$GC,6424,-0.95,-146.6,471.4,-7.8,310,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1891,3474
$GC,6734,-0.95,-146.6,495.0,-7.4,325,6738,0.00,2.55,0.00,0.000,4,0.000,0.051,2283,3305,3474
$GC,6818,-0.95,-146.6,501.1,-7.5,329,6822,0.00,2.53,0.00,0.000,6,0.000,0.046,2283,1895,3474
$GC,7143,-0.95,-146.6,521.7,-5.8,345,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1895,3474
$GC,7453,-0.95,-146.6,541.9,-6.6,360,7457,0.00,2.55,0.00,0.000,4,0.000,0.053,2283,3297,3474
$GC,7501,-0.95,-146.6,545.3,-7.1,362,7506,0.00,2.55,0.00,0.000,6,0.000,0.048,2283,1902,3474
$GC,7822,-0.95,-146.6,566.3,-6.8,378,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1902,3474
$GC,8132,-0.95,-146.6,586.9,-6.2,393,8136,0.00,2.55,0.00,0.000,4,0.000,0.054,2283,3297,3474
$GC,8209,-0.95,-146.6,592.0,-6.3,396,8216,0.00,2.53,0.00,0.000,6,0.000,0.048,2283,1898,3474
$GC,8524,-0.95,-146.6,615.2,-8.1,412,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3474
$GC,8834,-0.95,-146.6,636.6,-6.1,427,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3474
$GC,9143,-0.95,-146.6,653.7,-5.5,442,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3474
$GC,9452,-0.95,-146.6,673.4,-7.6,457,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,1898,3474
$STATE,9657,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9657,begin apogee
$GC,9663,-0.36,0.0,687.8,6.7,467,9790,0.62,0.00,124.07,1.246,6,0.068,0.000,2422,2096,2878
$STATE,9791,end apogee,CONTROL_FINISHED_OK
$STATE,9791,begin climb
$GC,9793,0.95,146.6,691.3,0.0,473,9924,1.23,2.70,121.93,1.230,4,0.051,0.064,2699,3493,2280
$GC,9990,0.95,146.6,686.3,6.1,483,9995,0.00,2.55,0.00,0.000,6,0.000,0.050,2699,2101,2279
$GC,10317,0.97,166.3,669.6,5.4,499,10337,0.00,0.00,17.00,1.257,6,0.000,0.000,2700,2101,2200
$GC,10647,1.00,187.7,651.4,5.4,515,10668,0.00,0.00,19.02,1.263,6,0.000,0.000,2700,2101,2112
$GC,10976,1.00,187.7,629.5,6.4,531,10977,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2101,2111
$GC,11286,1.00,191.5,610.9,5.9,546,11295,0.00,2.60,4.07,1.180,4,0.000,0.058,2700,3497,2097
$GC,11398,1.00,191.5,603.7,6.8,551,11402,0.00,2.53,0.00,0.000,6,0.000,0.048,2699,2099,2097
$GC,11724,1.02,209.3,585.8,5.5,567,11744,0.00,0.00,15.68,1.227,6,0.000,0.000,2700,2099,2023
$GC,12053,1.06,239.7,569.4,5.1,583,12082,0.12,0.00,26.30,1.213,6,0.050,0.000,2741,2099,1900
$GC,12382,1.06,239.7,542.3,9.4,599,12383,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2099,1900
$GC,12691,1.06,239.7,513.9,8.4,614,12696,0.00,2.60,0.00,0.000,4,0.000,0.053,2741,3504,1900
$GC,12757,1.06,239.7,507.9,8.8,617,12762,0.00,2.53,0.00,0.000,6,0.000,0.044,2741,2098,1900
$GC,13078,1.06,239.7,478.5,9.0,633,13079,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2098,1900
$GC,13387,1.06,239.7,450.8,9.0,648,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2098,1900
$GC,13697,1.06,239.7,422.7,8.6,663,13698,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2098,1900
$GC,14006,1.06,239.7,399.1,7.0,678,14010,0.00,2.53,0.00,0.000,4,0.000,0.051,2741,3499,1900
$GC,14067,1.06,239.7,394.6,8.5,681,14071,0.00,2.50,0.00,0.000,6,0.000,0.044,2741,2099,1900
$GC,14393,1.06,239.7,371.4,6.5,697,14394,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2099,1901
$GC,14702,1.06,239.7,352.9,6.7,712,14703,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2099,1901
$GC,15011,1.06,239.7,327.0,7.6,727,15015,0.00,2.55,0.00,0.000,4,0.000,0.051,2741,3506,1901
$GC,15072,1.06,239.7,322.6,6.6,730,15077,0.00,2.53,0.00,0.000,6,0.000,0.042,2741,2090,1901
$GC,15398,1.06,239.7,296.4,6.5,746,15399,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2090,1901
$GC,15708,1.09,259.6,280.4,5.4,761,15728,0.00,0.00,17.52,1.022,6,0.000,0.000,2741,2090,1819
$GC,16037,1.09,259.6,256.3,9.0,777,16038,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2090,1819
$GC,16346,1.09,259.6,231.6,8.7,792,16350,0.00,2.58,0.00,0.000,4,0.000,0.051,2741,3504,1819
$GC,16417,1.09,259.6,225.1,9.2,795,16421,0.00,2.50,0.00,0.000,6,0.000,0.041,2741,2098,1818
$GC,16739,1.09,259.6,194.9,9.6,811,16740,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2098,1818
$GC,17048,1.09,259.6,168.8,8.1,826,17049,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2098,1818
$GC,17358,1.09,263.1,147.2,5.9,841,17363,0.00,0.00,4.10,0.950,6,0.000,0.000,2741,2098,1804
$GC,17668,1.09,263.1,124.2,8.5,856,17669,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2098,1804
$GC,17976,1.09,263.1,100.7,7.4,871,17977,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2098,1804
$GC,18285,1.09,263.1,74.4,8.3,886,18286,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2098,1804
$GC,18594,1.09,263.1,52.8,8.1,901,18599,0.00,2.55,0.00,0.000,4,0.000,0.049,2741,3500,1805
$GC,18672,1.09,263.1,46.0,8.3,904,18678,0.00,2.50,0.00,0.000,6,0.000,0.041,2741,2101,1805
$GC,18989,1.09,263.1,16.5,11.1,920,18990,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2101,1804
$GC,19298,1.34,466.6,2.3,-0.1,935,19369,0.17,0.00,68.45,0.794,2,0.045,0.000,2793,2095,1284
$STATE,19370,end climb,SURFACE_DEPTH_REACHED
$STATE,19370,begin surface coast
$FINISH,2.2,1.004196
$STATE,19670,end surface coast,NO_VERTICAL_VELOCITY
$STATE,19670,begin surface
$SM_CCo,19673,85.53,0.775,0,0,602,558.06
$SM_GC,2.90,11.93,0.00,0.00,0.028,0.000,0.000,26,1887,603,-11.27,-0.37,558.06
$IRIDIUM_FIX,6313.04,-1310.55,060108,191933
$TT8_MAMPS,0.026845
$HUMID,2040
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,15.30
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,626.3,71.5
$24V_AH,23.3,53.267
$10V_AH,10.1,26.024
$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,25.400,87.125,418.150,85.525,0.000,38.857,33.891,158.080,7.500,0.000,0.000,12.985,1668.733,15788.749,677.931,1931.649,458.197,33.367,1637.287,0.000,1909.469,0.000,36.586
$DEVICE_MAMPS,113.516,75.166,1263.249,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,705.844,643.097,618.877,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47405,953
$CFSIZE,260165632,243089408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,070108,030707,6340.478,-1307.353,27,1.5,27,-12.4