version: 66.02
glider: 102
mission: 4
dive: 282
start: 1 14 108 16 23 20
data:
$ID,102
$MISSION,4
$DIVE,282
$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,-81974.719
$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,26
$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,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
$GPS1,161728,6342.694,-1306.564,36,2.8,55,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-49.9
$GPS2,162226,6342.718,-1306.662,12,2.0,12,-12.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.218,-0.094
$KALMAN_X,352838.1,-654.9,-507.0,-595684.4,8671.1
$KALMAN_Y,-11280.0,821.7,-259.2,250683.0,8659.8
$MHEAD_RNG_PITCHd_Wd,259.1,15860,-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,-146.5,0.0,0.0,0,126,0.00,0.00,-102.03,0.000,2,0.000,0.000,35,1886,2616
$GC,129,-1.23,-146.6,4.0,-1.4,5,184,11.48,2.58,-38.28,0.000,4,0.134,0.061,2220,3304,3476
$GC,439,-1.23,-146.6,32.7,-9.7,19,443,0.00,2.53,0.00,0.000,6,0.000,0.044,2220,1903,3476
$GC,765,-1.23,-146.6,64.5,-10.0,35,769,0.00,2.53,0.00,0.000,4,0.000,0.047,2220,3299,3476
$GC,999,-1.23,-146.6,86.3,-8.9,45,1006,0.00,2.55,0.00,0.000,6,0.000,0.044,2220,1899,3476
$GC,1317,-1.23,-146.6,124.3,-13.4,61,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1899,3476
$GC,1625,-1.23,-146.6,164.1,-11.4,76,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1900,3476
$GC,1934,-1.23,-146.6,196.3,-10.8,91,1938,0.00,2.53,0.00,0.000,4,0.000,0.048,2220,3303,3476
$GC,2017,-1.23,-146.6,205.2,-11.4,95,2021,0.00,2.53,0.00,0.000,6,0.000,0.044,2220,1899,3476
$GC,2345,-1.23,-146.6,251.1,-16.2,111,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1899,3476
$GC,2653,-1.23,-146.6,295.0,-14.1,126,2657,0.00,2.53,0.00,0.000,4,0.000,0.048,2220,3306,3476
$GC,2724,-1.23,-146.6,305.0,-13.4,129,2728,0.00,2.53,0.00,0.000,6,0.000,0.043,2220,1899,3476
$GC,3046,-1.23,-146.6,345.5,-13.2,145,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1899,3476
$GC,3354,-1.23,-146.6,383.5,-11.9,160,3359,0.00,2.55,0.00,0.000,4,0.000,0.049,2220,3307,3476
$GC,3432,-1.23,-146.6,392.3,-11.0,163,3438,0.00,2.53,0.00,0.000,6,0.000,0.044,2220,1901,3476
$GC,3750,-1.23,-146.6,425.9,-10.8,179,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1901,3476
$GC,4057,-1.23,-146.6,457.9,-10.6,194,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1899,3476
$GC,4366,-1.23,-146.6,490.0,-10.2,209,4370,0.00,2.55,0.00,0.000,4,0.000,0.049,2220,3304,3475
$GC,4479,-1.23,-146.6,499.9,-7.8,214,4484,0.00,2.53,0.00,0.000,6,0.000,0.044,2220,1901,3475
$GC,4805,-1.23,-146.6,530.3,-10.5,230,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1901,3475
$GC,5114,-1.23,-146.6,566.4,-11.6,245,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1901,3475
$GC,5423,-1.23,-146.6,596.9,-10.9,260,5427,0.00,2.55,0.00,0.000,4,0.000,0.053,2220,3297,3475
$GC,5486,-1.23,-146.6,603.2,-10.8,263,5490,0.00,2.53,0.00,0.000,6,0.000,0.048,2220,1895,3475
$GC,5812,-1.23,-146.6,643.9,-14.8,279,5816,0.00,2.58,0.00,0.000,4,0.000,0.055,2220,3299,3475
$GC,5906,-1.23,-146.6,655.4,-11.9,283,5910,0.00,2.50,0.00,0.000,6,0.000,0.050,2220,1902,3475
$GC,6227,-1.23,-146.6,692.2,-10.3,299,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1902,3475
$GC,6536,-1.23,-146.6,721.3,-11.4,314,6540,0.00,2.58,0.00,0.000,4,0.000,0.058,2220,3295,3475
$GC,6602,-1.23,-146.6,728.8,-10.9,317,6606,0.00,2.55,0.00,0.000,6,0.000,0.052,2220,1901,3475
$GC,6929,-1.23,-146.6,756.9,-10.5,333,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1901,3475
$GC,7238,-1.23,-146.6,758.0,0.0,348,7242,0.00,2.62,0.00,0.000,4,0.000,0.072,2220,494,3475
$STATE,7330,end dive,NO_VERTICAL_VELOCITY
$STATE,7330,begin apogee
$GC,7339,-0.36,0.0,758.1,0.0,352,7471,0.85,0.00,124.88,1.287,6,0.057,0.000,2416,2096,2878
$STATE,7471,end apogee,CONTROL_FINISHED_OK
$STATE,7471,begin climb
$GC,7474,1.23,146.6,757.7,0.0,359,7606,1.58,2.72,122.90,1.253,4,0.051,0.069,2763,694,2280
$GC,7861,1.23,146.6,729.4,14.1,377,7865,0.00,2.58,0.00,0.000,6,0.000,0.050,2763,2109,2280
$GC,8187,1.23,146.6,682.1,13.7,393,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2110,2278
$GC,8496,1.34,239.8,654.3,4.4,408,8580,0.10,2.67,77.00,1.237,4,0.060,0.061,2794,3503,1900
$GC,8720,1.44,320.9,641.6,4.9,418,8797,0.00,2.58,67.40,1.208,6,0.000,0.052,2794,2101,1569
$GC,9108,1.47,338.2,619.6,7.3,437,9126,0.00,0.00,15.32,1.203,6,0.000,0.000,2795,2100,1499
$GC,9435,1.47,338.2,582.5,12.2,453,9439,0.00,2.60,0.00,0.000,4,0.000,0.056,2795,3503,1499
$GC,9512,1.47,338.2,570.7,14.3,456,9519,0.00,2.55,0.00,0.000,6,0.000,0.049,2795,2099,1499
$GC,9828,1.48,351.3,530.2,7.5,472,9842,0.10,0.00,11.68,1.175,6,0.059,0.000,2827,2098,1446
$GC,10137,1.51,378.3,509.9,7.0,487,10162,0.00,0.00,23.35,1.147,6,0.000,0.000,2828,2099,1335
$GC,10466,1.51,378.3,483.8,8.2,503,10467,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2099,1335
$GC,10775,1.51,378.3,461.9,8.3,518,10779,0.00,2.62,0.00,0.000,4,0.000,0.071,2827,691,1335
$GC,10820,1.51,378.3,457.3,10.6,520,10824,0.00,2.53,0.00,0.000,6,0.000,0.042,2827,2114,1335
$GC,11141,1.51,378.3,420.9,11.5,536,11142,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2118,1336
$GC,11450,1.51,378.3,384.6,12.3,551,11454,0.00,2.67,0.00,0.000,4,0.000,0.067,2827,690,1336
$GC,11488,1.51,378.3,379.4,13.7,553,11493,0.00,2.47,0.00,0.000,6,0.000,0.042,2827,2100,1336
$GC,11815,1.51,378.3,339.6,11.6,569,11816,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2105,1336
$GC,12124,1.51,378.3,307.2,10.8,584,12128,0.00,2.65,0.00,0.000,4,0.000,0.066,2827,688,1337
$GC,12163,1.51,378.3,302.7,11.6,586,12167,0.00,2.50,0.00,0.000,6,0.000,0.041,2827,2100,1337
$GC,12489,1.51,378.3,265.4,12.3,602,12490,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2105,1337
$GC,12798,1.51,378.3,225.3,11.8,617,12799,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2105,1337
$GC,13107,1.51,378.3,185.9,13.9,632,13111,0.00,2.65,0.00,0.000,4,0.000,0.066,2827,687,1337
$GC,13162,1.51,378.3,177.4,15.9,634,13168,0.00,2.47,0.00,0.000,6,0.000,0.041,2827,2103,1337
$GC,13479,1.51,378.3,130.7,13.0,650,13480,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2107,1337
$GC,13787,1.51,378.3,87.1,17.8,665,13788,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2107,1337
$GC,14096,1.51,378.3,41.7,12.9,680,14100,0.00,2.62,0.00,0.000,4,0.000,0.063,2827,689,1338
$GC,14139,1.51,378.3,35.8,13.8,682,14143,0.00,2.47,0.00,0.000,6,0.000,0.040,2827,2107,1338
$STATE,14444,end climb,SURFACE_DEPTH_REACHED
$STATE,14444,begin surface coast
$FINISH,1.9,1.023288
$STATE,14466,end surface coast,CONTROL_FINISHED_OK
$STATE,14466,begin surface
$SM_CCo,14548,0.00,0.000,0,0,1336,378.25
$SM_GC,2.73,12.10,0.00,0.00,0.034,0.000,0.000,32,1884,1336,-11.27,-0.45,378.25
$IRIDIUM_FIX,6317.84,-1308.04,140108,161635
$TT8_MAMPS,0.026845
$HUMID,2074
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.40
$XPDR_PINGS,1
$24V_AH,23.3,59.880
$10V_AH,10.1,29.090
$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,26.200,93.025,442.525,0.000,0.000,37.436,34.404,125.351,6.500,0.000,0.000,15.542,1286.433,10972.398,572.621,1632.790,388.341,33.378,1399.614,0.000,1598.411,0.000,41.340
$DEVICE_MAMPS,134.225,72.098,1287.026,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,513.780,470.189,411.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34874,698
$CFSIZE,260165632,241037312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,140108,202702,6342.373,-1314.873,40,1.2,40,-12.4