version: 66.02
glider: 102
mission: 4
dive: 273
start: 1 13 108 4 15 50
data:
$ID,102
$MISSION,4
$DIVE,273
$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,-81833.266
$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,23
$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
$GPS1,040541,6349.964,-1250.480,73,1.3,73,-12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-50.5
$GPS2,041456,6349.886,-1250.426,14,1.1,14,-12.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.231,-0.054
$KALMAN_X,337652.9,-2014.0,-789.7,-564571.2,22978.9
$KALMAN_Y,-17434.4,-767.8,-1047.7,272520.1,9659.4
$MHEAD_RNG_PITCHd_Wd,269.1,15987,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.23,-146.6,0.0,0.0,0,96,0.00,0.00,-71.12,0.000,2,0.000,0.000,29,1894,2075
$GC,99,-1.23,-146.6,3.0,-0.3,4,224,11.32,2.58,-101.60,0.000,4,0.127,0.061,2221,3305,3476
$GC,476,-1.23,-146.6,29.8,-13.0,21,480,0.00,2.55,0.00,0.000,6,0.000,0.044,2221,1896,3475
$GC,797,-1.23,-146.6,67.2,-11.0,37,802,0.00,2.58,0.00,0.000,4,0.000,0.050,2222,3309,3476
$GC,914,-1.23,-146.6,81.4,-12.5,42,918,0.00,2.55,0.00,0.000,6,0.000,0.044,2221,1894,3476
$GC,1237,-1.23,-146.6,111.8,-9.7,58,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1894,3475
$GC,1545,-1.23,-146.6,146.8,-13.7,73,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1894,3476
$GC,1854,-1.23,-146.6,180.9,-11.3,88,1858,0.00,2.55,0.00,0.000,4,0.000,0.049,2221,3306,3475
$GC,1942,-1.23,-146.6,190.8,-11.5,92,1946,0.00,2.53,0.00,0.000,6,0.000,0.043,2221,1901,3476
$GC,2269,-1.23,-146.6,227.9,-11.8,108,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3476
$GC,2578,-1.23,-146.6,265.3,-11.3,123,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1901,3476
$GC,2887,-1.23,-146.6,299.6,-10.1,138,2892,0.00,2.55,0.00,0.000,4,0.000,0.049,2222,3307,3476
$GC,2999,-1.23,-146.6,312.8,-12.2,143,3004,0.00,2.53,0.00,0.000,6,0.000,0.044,2221,1902,3475
$GC,3326,-1.23,-146.6,349.6,-10.8,159,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3475
$GC,3635,-1.23,-146.6,382.8,-11.0,174,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1902,3476
$GC,3944,-1.23,-146.6,419.1,-11.9,189,3948,0.00,2.55,0.00,0.000,4,0.000,0.051,2221,3304,3475
$GC,4055,-1.23,-146.6,431.8,-12.3,194,4059,0.00,2.55,0.00,0.000,6,0.000,0.046,2221,1895,3476
$GC,4376,-1.23,-146.6,469.5,-12.2,210,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,1892,3474
$GC,4685,-1.23,-146.6,509.4,-13.0,225,4690,0.00,2.58,0.00,0.000,4,0.000,0.051,2221,3307,3475
$GC,4792,-1.23,-146.6,523.1,-12.6,230,4796,0.00,2.55,0.00,0.000,6,0.000,0.047,2221,1899,3475
$GC,5118,-1.23,-146.6,561.4,-11.0,246,5122,0.00,2.58,0.00,0.000,4,0.000,0.054,2222,3307,3475
$GC,5185,-1.23,-146.6,568.8,-10.1,249,5189,0.00,2.55,0.00,0.000,6,0.000,0.048,2221,1899,3475
$GC,5505,-1.23,-146.6,605.0,-10.6,265,5509,0.00,2.58,0.00,0.000,4,0.000,0.055,2221,3302,3475
$GC,5606,-1.23,-146.6,615.1,-9.9,269,5612,0.00,2.55,0.00,0.000,6,0.000,0.050,2221,1899,3475
$GC,5921,-1.23,-146.6,618.8,0.1,285,5926,0.00,2.62,0.00,0.000,4,0.000,0.072,2221,494,3474
$GC,5939,-1.23,-146.6,618.8,-0.0,286,5943,0.00,2.53,0.00,0.000,6,0.000,0.048,2221,1905,3475
$STATE,6015,end dive,NO_VERTICAL_VELOCITY
$STATE,6015,begin apogee
$GC,6021,-0.36,0.0,618.8,0.0,290,6147,0.88,0.00,122.47,1.180,6,0.059,0.000,2418,2101,2879
$STATE,6148,end apogee,CONTROL_FINISHED_OK
$STATE,6148,begin climb
$GC,6150,1.23,146.6,618.6,0.0,296,6281,1.55,2.70,121.10,1.144,4,0.051,0.061,2766,3500,2280
$GC,6498,1.23,146.6,598.9,8.5,312,6502,0.00,2.55,0.00,0.000,6,0.000,0.048,2766,2101,2279
$GC,6824,1.23,148.6,571.4,7.9,328,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2101,2278
$GC,7133,1.30,202.2,551.5,6.0,343,7185,0.00,2.67,46.05,1.140,4,0.000,0.055,2766,3503,2052
$GC,7416,1.30,202.2,528.4,8.6,356,7420,0.00,2.55,0.00,0.000,6,0.000,0.047,2765,2099,2051
$GC,7742,1.32,221.1,504.9,7.3,372,7764,0.00,2.65,16.35,1.127,4,0.000,0.053,2766,3500,1976
$GC,7847,1.32,221.1,495.7,9.1,376,7854,0.00,2.55,0.00,0.000,6,0.000,0.045,2766,2092,1975
$GC,8164,1.33,225.0,470.7,7.9,392,8170,0.00,0.00,4.43,1.069,6,0.000,0.000,2765,2092,1960
$GC,8472,1.33,225.0,444.0,8.5,407,8477,0.00,2.62,0.00,0.000,4,0.000,0.054,2766,3507,1959
$GC,8557,1.33,225.0,436.3,9.3,411,8561,0.00,2.55,0.00,0.000,6,0.000,0.044,2766,2093,1960
$GC,8883,1.33,225.0,408.0,9.2,427,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2093,1960
$GC,9192,1.36,250.4,383.3,7.0,442,9215,0.10,0.00,20.98,1.063,6,0.058,0.000,2799,2093,1858
$GC,9521,1.36,250.4,354.8,8.7,458,9525,0.00,2.60,0.00,0.000,4,0.000,0.052,2800,3507,1858
$GC,9622,1.36,250.4,343.5,11.5,462,9628,0.00,2.55,0.00,0.000,6,0.000,0.043,2800,2097,1857
$GC,9937,1.36,250.4,309.5,10.3,478,9938,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2097,1857
$GC,10246,1.36,250.4,277.1,11.0,493,10251,0.00,2.58,0.00,0.000,4,0.000,0.051,2800,3502,1857
$GC,10319,1.36,250.4,267.5,12.9,496,10323,0.00,2.50,0.00,0.000,6,0.000,0.042,2800,2098,1857
$GC,10634,1.36,250.4,228.6,12.7,511,10635,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2098,1857
$GC,10944,1.36,250.4,189.9,12.5,526,10945,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2098,1858
$GC,11253,1.36,250.4,156.4,10.2,541,11257,0.00,2.58,0.00,0.000,4,0.000,0.051,2800,3505,1857
$GC,11360,1.36,250.4,143.8,12.2,546,11364,0.00,2.50,0.00,0.000,6,0.000,0.040,2800,2098,1857
$GC,11686,1.36,250.4,105.2,11.7,562,11688,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2097,1857
$GC,11997,1.36,250.4,67.4,12.9,577,12001,0.00,2.58,0.00,0.000,4,0.000,0.050,2800,3507,1857
$GC,12058,1.36,250.4,59.3,12.8,580,12063,0.00,2.47,0.00,0.000,6,0.000,0.041,2800,2099,1857
$GC,12385,1.36,250.4,23.6,12.2,596,12386,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2099,1858
$GC,12694,1.61,458.8,2.2,0.1,611,12758,0.17,0.00,60.55,0.775,2,0.087,0.000,2839,2094,1397
$STATE,12759,end climb,SURFACE_DEPTH_REACHED
$STATE,12759,begin surface coast
$FINISH,2.2,1.015748
$STATE,13046,end surface coast,NO_VERTICAL_VELOCITY
$STATE,13046,begin surface
$SM_CCo,13049,98.38,0.746,0,0,602,558.06
$SM_GC,2.90,12.12,0.00,0.00,0.028,0.000,0.000,28,1888,604,-11.27,-0.34,558.06
$IRIDIUM_FIX,6322.64,-1252.36,130108,080838
$TT8_MAMPS,0.026078
$HUMID,2053
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.50
$XPDR_PINGS,2
$24V_AH,23.3,58.426
$10V_AH,10.1,28.465
$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,26.150,87.900,391.925,98.375,0.000,77.338,75.892,228.192,5.250,0.000,0.000,15.507,1181.770,10154.609,629.575,1566.795,564.653,33.362,1433.572,0.000,1530.073,0.000,31.646
$DEVICE_MAMPS,126.555,72.098,1179.646,746.291,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.339,423.169,433.700,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31726,628
$CFSIZE,260165632,241471488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,130108,080238,6347.534,-1253.411,36,1.3,36,-12.3