version: 66.02
glider: 102
mission: 4
dive: 278
start: 1 14 108 0 41 8
data:
$ID,102
$MISSION,4
$DIVE,278
$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,412.5
$T_MISSION,440
$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,300
$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,-81917.523
$T_RSLEEP,57
$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,24
$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,5
$ALTIM_SENSITIVITY,1
$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
$GPS1,002708,6343.707,-1250.940,34,1.3,34,-12.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-52.1
$GPS2,004014,6343.671,-1250.841,9,1.5,14,-12.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.220,-0.089
$KALMAN_X,354185.5,-2213.9,-687.4,-581289.2,17795.7
$KALMAN_Y,-20223.2,-557.7,674.1,261852.8,-242.2
$MHEAD_RNG_PITCHd_Wd,260.2,25576,-14.7,-8.000
$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,-1.23,-146.6,0.0,0.0,0,105,0.00,0.00,-81.32,0.000,2,0.000,0.000,31,1888,2247
$GC,108,-1.23,-146.6,3.2,-0.8,4,195,11.57,2.60,-69.07,0.000,4,0.138,0.064,2224,3305,3477
$GC,447,-1.23,-146.6,41.4,-16.5,19,454,0.00,2.58,0.00,0.000,6,0.000,0.044,2224,1902,3477
$GC,763,-1.23,-146.6,69.5,-7.2,35,768,0.00,2.58,0.00,0.000,4,0.000,0.050,2224,3311,3476
$GC,916,-1.23,-146.6,81.0,-7.6,42,921,0.00,2.55,0.00,0.000,6,0.000,0.041,2224,1891,3477
$GC,1243,-1.23,-146.6,112.3,-7.5,58,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1890,3477
$GC,1553,-1.23,-146.6,136.0,-8.3,73,1558,0.00,2.58,0.00,0.000,4,0.000,0.048,2224,3311,3477
$GC,1638,-1.23,-146.6,143.6,-8.0,77,1643,0.00,2.55,0.00,0.000,6,0.000,0.045,2224,1899,3477
$GC,1964,-1.23,-146.6,172.3,-9.0,93,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3477
$GC,2273,-1.23,-146.6,196.9,-9.0,108,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$GC,2583,-1.23,-146.6,220.9,-7.4,123,2587,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3306,3477
$GC,2700,-1.23,-146.6,230.1,-7.6,128,2704,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1900,3477
$GC,3016,-1.23,-146.6,254.9,-7.7,143,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1900,3477
$GC,3324,-1.23,-146.6,283.5,-9.0,158,3328,0.00,2.55,0.00,0.000,4,0.000,0.048,2224,3314,3477
$GC,3396,-1.23,-146.6,290.3,-9.6,161,3400,0.00,2.55,0.00,0.000,6,0.000,0.042,2224,1894,3477
$GC,3712,-1.23,-146.6,318.3,-7.9,176,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1893,3477
$GC,4021,-1.23,-146.6,345.4,-9.1,191,4025,0.00,2.58,0.00,0.000,4,0.000,0.050,2224,3311,3476
$GC,4120,-1.23,-146.6,355.0,-9.1,195,4127,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1892,3476
$GC,4436,-1.23,-146.6,382.5,-9.2,211,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1892,3476
$GC,4745,-1.23,-146.6,411.8,-10.1,226,4749,0.00,2.58,0.00,0.000,4,0.000,0.051,2224,3305,3477
$GC,4834,-1.23,-146.6,420.9,-10.5,230,4839,0.00,2.55,0.00,0.000,6,0.000,0.046,2224,1894,3476
$GC,5156,-1.23,-146.6,453.9,-10.4,246,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1890,3476
$GC,5465,-1.23,-146.6,484.5,-9.9,261,5469,0.00,2.58,0.00,0.000,4,0.000,0.051,2224,3305,3476
$GC,5542,-1.23,-146.6,492.6,-10.1,264,5548,0.00,2.53,0.00,0.000,6,0.000,0.046,2224,1902,3476
$GC,5857,-1.23,-146.6,524.5,-10.0,280,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1901,3476
$GC,6167,-1.23,-146.6,553.1,-8.8,295,6171,0.00,2.55,0.00,0.000,4,0.000,0.052,2224,3310,3476
$GC,6255,-1.23,-146.6,561.2,-8.3,299,6259,0.00,2.55,0.00,0.000,6,0.000,0.046,2224,1898,3476
$GC,6582,-1.23,-146.6,588.7,-8.5,315,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3476
$GC,6891,-1.23,-146.6,616.5,-9.3,330,6896,0.00,2.60,0.00,0.000,4,0.000,0.055,2224,3312,3476
$GC,7149,-1.23,-146.6,624.0,-0.1,341,7155,0.00,2.55,0.00,0.000,6,0.000,0.046,2224,1899,3476
$STATE,7297,end dive,NO_VERTICAL_VELOCITY
$STATE,7297,begin apogee
$GC,7303,-0.36,0.0,624.0,0.0,349,7430,0.88,0.00,122.90,1.175,6,0.059,0.000,2420,2106,2878
$STATE,7430,end apogee,CONTROL_FINISHED_OK
$STATE,7431,begin climb
$GC,7433,1.23,146.6,623.8,0.0,355,7560,1.52,0.00,121.57,1.142,6,0.052,0.000,2761,2106,2280
$GC,7870,1.25,164.6,600.9,7.3,377,7891,0.00,2.62,15.98,1.140,4,0.000,0.057,2761,3498,2205
$GC,8143,1.25,164.6,577.0,9.8,389,8148,0.00,2.53,0.00,0.000,6,0.000,0.044,2761,2098,2204
$GC,8470,1.25,164.6,545.4,9.8,405,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2098,2204
$GC,8779,1.25,164.6,517.0,8.7,420,8784,0.00,2.60,0.00,0.000,4,0.000,0.054,2761,3506,2204
$GC,8841,1.25,164.6,511.7,8.5,423,8846,0.00,2.53,0.00,0.000,6,0.000,0.044,2761,2098,2204
$GC,9167,1.28,189.4,487.7,7.1,439,9190,0.00,0.00,20.80,1.115,6,0.000,0.000,2761,2098,2105
$GC,9496,1.28,189.4,462.0,8.0,455,9500,0.00,2.55,0.00,0.000,4,0.000,0.052,2761,3500,2105
$GC,9612,1.28,189.4,451.3,9.2,460,9617,0.00,2.50,0.00,0.000,6,0.000,0.043,2761,2099,2105
$GC,9928,1.28,189.4,423.8,8.9,475,9929,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2100,2105
$GC,10237,1.28,189.4,395.9,9.0,490,10242,0.00,2.58,0.00,0.000,4,0.000,0.051,2761,3500,2105
$GC,10304,1.28,189.4,389.3,9.5,493,10308,0.00,2.50,0.00,0.000,6,0.000,0.042,2761,2099,2105
$GC,10625,1.28,189.4,359.6,9.4,509,10626,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2099,2104
$GC,10934,1.28,189.4,329.7,9.8,524,10938,0.00,2.55,0.00,0.000,4,0.000,0.051,2761,3500,2105
$GC,11006,1.28,189.4,322.1,10.4,527,11010,0.00,2.50,0.00,0.000,6,0.000,0.042,2761,2098,2105
$GC,11321,1.28,189.4,292.7,9.1,542,11322,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2098,2105
$GC,11630,1.29,195.1,267.6,7.8,557,11638,0.00,0.00,5.72,0.999,6,0.000,0.000,2761,2098,2082
$GC,11940,1.35,243.7,243.8,6.1,572,11985,0.12,2.62,39.15,0.950,4,0.050,0.051,2800,3500,1884
$GC,12052,1.35,243.7,232.5,10.9,577,12056,0.00,2.53,0.00,0.000,6,0.000,0.041,2799,2093,1884
$GC,12379,1.35,248.2,205.2,7.8,593,12388,0.00,2.60,4.50,0.938,4,0.000,0.051,2799,3504,1866
$GC,12446,1.35,248.2,198.7,9.6,596,12451,0.00,2.53,0.00,0.000,6,0.000,0.042,2799,2099,1866
$GC,12772,1.35,248.2,170.3,8.3,612,12776,0.00,2.55,0.00,0.000,4,0.000,0.049,2799,3500,1866
$GC,12821,1.35,248.2,166.0,8.3,614,12826,0.00,2.50,0.00,0.000,6,0.000,0.041,2799,2096,1865
$GC,13137,1.35,248.2,135.7,11.0,629,13138,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2096,1866
$GC,13448,1.35,248.2,103.4,9.8,644,13449,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2096,1866
$GC,13756,1.35,248.2,76.4,9.8,659,13760,0.00,2.58,0.00,0.000,4,0.000,0.050,2799,3506,1866
$GC,13856,1.42,301.9,69.1,6.0,663,13905,0.00,2.53,42.40,0.835,6,0.000,0.040,2799,2096,1647
$GC,14216,1.42,301.9,34.7,10.5,681,14217,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2096,1647
$GC,14522,1.44,319.0,9.2,7.4,696,14542,0.00,0.00,14.20,0.827,6,0.000,0.000,2799,2096,1577
$STATE,14643,end climb,SURFACE_DEPTH_REACHED
$STATE,14643,begin surface coast
$FINISH,2.1,1.027321
$STATE,14685,end surface coast,CONTROL_FINISHED_OK
$STATE,14686,begin surface
$SM_CCo,14689,132.77,0.739,4,0,603,558.06
$SM_GC,2.51,12.07,0.00,0.00,0.031,0.000,0.000,30,1880,603,-11.27,-0.57,558.06
$IRIDIUM_FIX,6317.84,-1248.04,140108,040437
$TT8_MAMPS,0.026845
$HUMID,2024
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,16.50
$XPDR_PINGS,3
$24V_AH,23.3,59.263
$10V_AH,10.1,28.823
$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,26.175,97.800,387.225,132.775,0.000,111.186,107.067,324.566,5.500,0.000,0.000,17.522,1312.912,11312.211,712.888,1682.824,756.316,33.373,1541.766,0.000,1652.624,0.000,31.636
$DEVICE_MAMPS,138.060,64.428,1175.044,738.621,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,514.979,476.072,462.875,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34880,704
$CFSIZE,260165632,241213440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,4,0
$GPS,140108,045208,6342.266,-1252.730,40,1.0,40,-12.2