version: 66.02
glider: 102
mission: 4
dive: 294
start: 1 17 108 3 27 14
data:
$ID,102
$MISSION,4
$DIVE,294
$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,-1
$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,-82174.734
$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,34
$R_STBD_OVSHOOT,26
$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
$GPS1,031345,6342.544,-1309.250,12,1.3,12,-12.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,4.29
$_SM_ANGLEo,-56.1
$GPS2,032609,6342.783,-1308.732,12,1.1,12,-12.4
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.174,-0.162
$KALMAN_X,365937.4,-310.1,-912.8,-610578.4,45855.4
$KALMAN_Y,49024.0,1403.8,164.6,189499.3,33501.2
$MHEAD_RNG_PITCHd_Wd,239.4,15312,-14.7,-8.000
$D_GRID,747
$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,-1.23,-146.6,0.0,0.0,0,27,0.00,0.00,-2.67,0.000,2,0.000,0.000,33,2831,667
$GC,30,-1.23,-146.6,4.3,-0.0,0,206,10.82,0.00,-159.68,0.000,6,0.106,0.000,2228,2832,3476
$GC,515,-1.23,-146.6,48.7,-14.8,24,523,0.00,6.07,0.00,0.000,4,0.000,0.044,2228,3298,3477
$GC,777,-1.23,-146.6,80.2,-12.4,35,784,0.00,2.50,0.00,0.000,6,0.000,0.044,2228,1912,3477
$GC,1094,-1.23,-146.6,118.5,-11.0,51,1099,0.00,2.50,0.00,0.000,4,0.000,0.048,2228,3308,3477
$GC,1247,-1.23,-146.6,137.4,-9.9,58,1251,0.00,2.53,0.00,0.000,6,0.000,0.045,2228,1893,3477
$GC,1573,-1.23,-146.6,178.0,-10.4,74,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1893,3477
$GC,1882,-1.23,-146.6,211.8,-10.9,89,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1893,3477
$GC,2191,-1.23,-146.6,244.6,-10.3,104,2196,0.00,2.53,0.00,0.000,4,0.000,0.050,2228,3305,3477
$GC,2291,-1.23,-146.6,253.3,-9.7,108,2298,0.00,2.50,0.00,0.000,6,0.000,0.045,2228,1899,3477
$GC,2607,-1.23,-146.6,283.3,-10.0,124,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1899,3477
$GC,2916,-1.23,-146.6,315.1,-10.5,139,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1898,3477
$GC,3225,-1.23,-146.6,349.8,-12.0,154,3233,0.00,2.53,0.00,0.000,4,0.000,0.051,2228,3304,3477
$GC,3284,-1.23,-146.6,356.9,-12.4,156,3288,0.00,2.50,0.00,0.000,6,0.000,0.046,2228,1901,3477
$GC,3599,-1.23,-146.6,395.0,-12.5,171,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1900,3476
$GC,3909,-1.23,-146.6,428.8,-10.0,186,3913,0.00,2.53,0.00,0.000,4,0.000,0.051,2228,3304,3476
$GC,3975,-1.23,-146.6,435.7,-10.3,189,3979,0.00,2.53,0.00,0.000,6,0.000,0.047,2228,1894,3476
$GC,4301,-1.23,-146.6,467.7,-9.6,205,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1892,3475
$GC,4611,-1.23,-146.6,497.4,-9.7,220,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1892,3475
$GC,4920,-1.23,-146.6,530.0,-11.5,235,4924,0.00,2.55,0.00,0.000,4,0.000,0.054,2228,3302,3475
$GC,5014,-1.23,-146.6,541.9,-13.0,239,5018,0.00,2.53,0.00,0.000,6,0.000,0.047,2228,1893,3475
$GC,5335,-1.23,-146.6,572.4,-8.4,255,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1894,3475
$GC,5644,-1.23,-146.6,596.2,-6.5,270,5649,0.00,2.58,0.00,0.000,4,0.000,0.056,2228,3305,3475
$GC,5722,-1.23,-146.6,602.1,-9.3,273,5729,0.00,2.53,0.00,0.000,6,0.000,0.051,2228,1895,3475
$GC,6039,-1.23,-146.6,626.5,-9.1,289,6043,0.00,2.58,0.00,0.000,4,0.000,0.058,2228,3304,3475
$GC,6151,-1.23,-146.6,634.9,-5.7,294,6156,0.00,2.53,0.00,0.000,6,0.000,0.051,2228,1900,3475
$GC,6473,-1.23,-146.6,657.0,-6.0,310,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1900,3475
$GC,6782,-1.23,-146.6,678.5,-7.6,325,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1900,3474
$GC,7091,-1.23,-146.6,698.4,-7.5,340,7095,0.00,2.58,0.00,0.000,4,0.000,0.059,2228,3308,3474
$GC,7249,-1.23,-146.6,709.1,-7.3,347,7253,0.00,2.55,0.00,0.000,6,0.000,0.054,2228,1901,3474
$GC,7569,-1.23,-146.6,732.6,-7.6,363,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1896,3473
$GC,7879,-1.23,-146.6,732.5,-0.1,378,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1896,3472
$STATE,7939,end dive,NO_VERTICAL_VELOCITY
$STATE,7939,begin apogee
$GC,7944,-0.36,0.0,732.4,0.0,381,8072,0.88,0.00,124.25,1.279,6,0.064,0.000,2423,2101,2878
$STATE,8073,end apogee,CONTROL_FINISHED_OK
$STATE,8073,begin climb
$GC,8075,1.23,146.6,731.9,0.0,387,8207,1.52,2.67,123.20,1.236,4,0.054,0.064,2761,3503,2280
$GC,8275,1.23,146.6,720.9,8.9,396,8282,0.00,2.58,0.00,0.000,6,0.000,0.053,2761,2096,2279
$GC,8591,1.32,220.5,701.2,5.2,412,8660,0.00,2.80,61.85,1.232,4,0.000,0.078,2761,690,1979
$GC,8914,1.34,234.2,679.9,7.5,426,8934,0.12,2.53,12.68,1.228,6,0.051,0.046,2798,2106,1923
$GC,9250,1.34,234.2,651.2,8.4,443,9254,0.00,2.70,0.00,0.000,4,0.000,0.074,2798,686,1922
$GC,9289,1.34,234.2,647.4,9.8,445,9293,0.00,2.53,0.00,0.000,6,0.000,0.047,2798,2102,1922
$GC,9615,1.34,234.2,620.8,8.3,461,9619,0.00,2.58,0.00,0.000,4,0.000,0.061,2798,3502,1922
$GC,9726,1.34,234.2,610.1,9.7,466,9730,0.00,2.55,0.00,0.000,6,0.000,0.053,2798,2095,1921
$GC,10046,1.34,234.2,581.4,9.7,482,10050,0.00,2.58,0.00,0.000,4,0.000,0.058,2798,3501,1921
$GC,10158,1.34,234.2,569.0,10.0,487,10163,0.00,2.53,0.00,0.000,6,0.000,0.048,2798,2100,1921
$GC,10479,1.34,234.2,538.4,9.9,503,10483,0.00,2.65,0.00,0.000,4,0.000,0.074,2798,688,1921
$GC,10736,1.34,234.2,505.9,13.6,514,10742,0.00,2.47,0.00,0.000,6,0.000,0.042,2798,2103,1921
$GC,11051,1.34,234.2,469.0,11.2,530,11056,0.00,2.62,0.00,0.000,4,0.000,0.070,2798,688,1921
$GC,11094,1.34,234.2,463.6,12.8,532,11098,0.00,2.50,0.00,0.000,6,0.000,0.043,2798,2101,1920
$GC,11421,1.34,234.2,426.9,11.3,548,11423,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2102,1921
$GC,11730,1.34,234.2,393.8,10.3,563,11734,0.00,2.15,0.00,0.000,4,0.000,0.054,2799,3313,1921
$GC,11802,1.34,234.2,386.1,9.9,566,11807,0.00,2.15,0.00,0.000,6,0.000,0.044,2798,2098,1921
$GC,12129,1.34,234.2,354.7,9.2,582,12134,0.00,2.53,0.00,0.000,4,0.000,0.053,2798,3499,1921
$GC,12173,1.34,234.2,350.4,9.8,584,12177,0.00,2.50,0.00,0.000,6,0.000,0.044,2798,2097,1921
$GC,12499,1.34,234.2,320.3,9.1,600,12504,0.00,2.55,0.00,0.000,4,0.000,0.053,2798,3500,1921
$GC,12588,1.34,234.2,311.7,9.3,604,12593,0.00,2.50,0.00,0.000,6,0.000,0.044,2798,2098,1921
$GC,12909,1.34,234.2,283.1,8.9,620,12913,0.00,2.53,0.00,0.000,4,0.000,0.052,2798,3501,1922
$GC,12994,1.34,234.2,275.4,8.9,624,12998,0.00,2.50,0.00,0.000,6,0.000,0.043,2798,2099,1922
$GC,13320,1.34,234.2,246.3,8.9,640,13324,0.00,2.55,0.00,0.000,4,0.000,0.051,2798,3505,1922
$GC,13385,1.34,234.2,239.7,9.9,643,13389,0.00,2.50,0.00,0.000,6,0.000,0.042,2798,2099,1922
$GC,13712,1.34,234.2,210.1,8.7,659,13716,0.00,2.55,0.00,0.000,4,0.000,0.051,2798,3505,1923
$GC,13811,1.34,234.2,200.0,11.3,663,13818,0.00,2.50,0.00,0.000,6,0.000,0.042,2798,2099,1923
$GC,14127,1.34,234.2,172.2,8.6,679,14131,0.00,2.53,0.00,0.000,4,0.000,0.050,2798,3500,1923
$GC,14215,1.34,234.2,164.1,9.2,683,14220,0.00,2.50,0.00,0.000,6,0.000,0.041,2798,2090,1923
$GC,14537,1.34,234.8,138.4,8.0,699,14542,0.00,2.55,0.00,0.000,4,0.000,0.051,2798,3499,1923
$GC,14667,1.34,234.8,126.0,9.8,705,14672,0.00,2.50,0.00,0.000,6,0.000,0.041,2798,2088,1923
$GC,14994,1.34,234.8,95.6,9.5,721,14998,0.00,2.55,0.00,0.000,4,0.000,0.051,2798,3500,1923
$GC,15133,1.34,234.8,82.9,8.4,727,15137,0.00,2.47,0.00,0.000,6,0.000,0.041,2798,2102,1923
$GC,15454,1.34,234.8,49.3,11.4,743,15459,0.00,2.53,0.00,0.000,4,0.000,0.051,2798,3501,1923
$GC,15554,1.34,234.8,37.3,10.2,747,15561,0.00,2.50,0.00,0.000,6,0.000,0.041,2798,2087,1923
$GC,15871,1.34,234.8,6.6,9.1,763,15875,0.00,2.55,0.00,0.000,4,0.000,0.050,2798,3503,1924
$GC,15903,1.34,234.8,3.3,10.9,764,15909,0.00,2.53,0.00,0.000,6,0.000,0.042,2798,2082,1923
$STATE,15928,end climb,SURFACE_DEPTH_REACHED
$STATE,15928,begin surface coast
$FINISH,1.6,1.021086
$STATE,15950,end surface coast,CONTROL_FINISHED_OK
$STATE,15950,begin surface
$SM_CCo,15971,53.62,0.801,6,0,1654,300.00
$SM_GC,2.24,0.00,0.00,53.62,0.000,0.000,0.801,31,1892,1654,-11.33,-0.20,300.00
$IRIDIUM_FIX,6317.84,-1308.04,170108,060610
$TT8_MAMPS,0.026845
$HUMID,2036
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,1
$24V_AH,23.2,62.092
$10V_AH,10.1,30.098
$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,25.225,140.750,321.975,53.625,0.000,0.000,0.000,0.000,6.250,0.000,0.000,13.829,1456.213,11924.236,585.725,1977.890,195.347,33.358,1585.043,0.000,1937.064,0.000,40.067
$DEVICE_MAMPS,105.846,78.234,1279.356,800.748,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,567.761,517.014,454.283,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37913,767
$CFSIZE,260165632,240246784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,6,0
$GPS,170108,075607,6343.939,-1304.464,40,1.0,40,-12.4