version: 66.02
glider: 102
mission: 4
dive: 277
start: 1 13 108 20 28 3
data:
$ID,102
$MISSION,4
$DIVE,277
$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,-81899.367
$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,23
$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
$GPS1,201808,6344.468,-1250.881,26,1.9,26,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-52.8
$GPS2,202709,6344.432,-1251.000,11,1.8,11,-12.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.216,-0.098
$KALMAN_X,350839.6,-1543.6,-1630.4,-577789.1,20369.1
$KALMAN_Y,-20799.6,360.2,-610.4,264234.3,1443.7
$MHEAD_RNG_PITCHd_Wd,257.7,26385,-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,-81.70,0.000,2,0.000,0.000,27,1881,2288
$GC,108,-1.23,-146.6,3.6,-1.5,4,202,11.57,2.62,-75.40,0.000,4,0.137,0.064,2225,3303,3475
$GC,456,-1.23,-146.6,26.7,-10.5,20,460,0.00,2.53,0.00,0.000,6,0.000,0.043,2225,1904,3475
$GC,782,-1.23,-146.6,63.5,-14.0,36,786,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3307,3475
$GC,973,-1.23,-146.6,95.3,-21.2,44,979,0.00,2.55,0.00,0.000,6,0.000,0.045,2226,1895,3475
$GC,1290,-1.23,-146.6,144.0,-12.7,60,1295,0.00,2.58,0.00,0.000,4,0.000,0.048,2225,3314,3475
$GC,1345,-1.23,-146.6,152.5,-15.6,62,1352,0.00,2.58,0.00,0.000,6,0.000,0.044,2226,1900,3475
$GC,1662,-1.23,-146.6,202.2,-15.6,78,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1900,3475
$GC,1970,-1.23,-146.6,244.6,-11.9,93,1975,0.00,2.55,0.00,0.000,4,0.000,0.048,2225,3309,3475
$GC,2065,-1.23,-146.6,257.1,-12.7,97,2069,0.00,2.55,0.00,0.000,6,0.000,0.044,2226,1892,3475
$GC,2386,-1.23,-146.6,288.6,-11.2,113,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1893,3475
$GC,2696,-1.23,-146.6,315.6,-7.3,128,2700,0.00,2.58,0.00,0.000,4,0.000,0.050,2226,3309,3475
$GC,2829,-1.23,-146.6,329.0,-13.3,134,2833,0.00,2.55,0.00,0.000,6,0.000,0.044,2225,1895,3475
$GC,3156,-1.23,-146.6,364.6,-10.3,150,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3475
$GC,3465,-1.23,-146.6,397.5,-10.7,165,3469,0.00,2.58,0.00,0.000,4,0.000,0.051,2226,3308,3475
$GC,3553,-1.23,-146.6,407.6,-10.8,169,3557,0.00,2.55,0.00,0.000,6,0.000,0.045,2226,1896,3475
$GC,3880,-1.23,-146.6,442.8,-11.4,185,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1894,3474
$GC,4189,-1.23,-146.6,477.9,-11.1,200,4193,0.00,2.58,0.00,0.000,4,0.000,0.052,2226,3307,3474
$GC,4260,-1.23,-146.6,486.0,-11.1,203,4265,0.00,2.55,0.00,0.000,6,0.000,0.047,2225,1895,3474
$GC,4575,-1.23,-146.6,520.1,-9.9,218,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1895,3474
$GC,4886,-1.23,-146.6,550.2,-10.3,233,4890,0.00,2.58,0.00,0.000,4,0.000,0.052,2225,3308,3474
$GC,4992,-1.23,-146.6,560.3,-9.7,238,4996,0.00,2.55,0.00,0.000,6,0.000,0.047,2226,1900,3474
$GC,5318,-1.23,-146.6,592.5,-10.2,254,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,1900,3474
$GC,5627,-1.23,-146.6,622.5,-10.1,269,5631,0.00,2.58,0.00,0.000,4,0.000,0.054,2226,3305,3474
$GC,5688,-1.23,-146.6,628.6,-9.2,272,5693,0.00,2.55,0.00,0.000,6,0.000,0.049,2226,1896,3475
$GC,6014,-1.23,-146.6,637.6,-0.1,288,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1896,3474
$STATE,6177,end dive,NO_VERTICAL_VELOCITY
$STATE,6177,begin apogee
$GC,6184,-0.36,0.0,637.6,0.0,296,6310,0.85,0.00,122.68,1.189,6,0.054,0.000,2419,2108,2878
$STATE,6310,end apogee,CONTROL_FINISHED_OK
$STATE,6310,begin climb
$GC,6313,1.23,146.6,637.3,0.0,302,6444,1.55,2.75,121.18,1.155,4,0.055,0.064,2763,695,2280
$GC,6698,1.30,206.2,630.8,5.7,319,6753,0.00,2.53,49.65,1.155,6,0.000,0.044,2763,2096,2037
$GC,7076,1.30,206.2,599.4,8.8,338,7080,0.00,2.65,0.00,0.000,4,0.000,0.066,2763,690,2037
$GC,7251,1.30,206.2,585.0,8.3,346,7256,0.00,2.53,0.00,0.000,6,0.000,0.044,2763,2103,2036
$GC,7578,1.32,218.3,559.9,7.5,362,7591,0.00,0.00,11.12,1.154,6,0.000,0.000,2763,2103,1987
$GC,7887,1.32,218.3,535.2,8.6,377,7891,0.00,2.58,0.00,0.000,4,0.000,0.057,2763,3501,1987
$GC,7964,1.32,218.3,528.3,8.6,380,7971,0.00,2.55,0.00,0.000,6,0.000,0.046,2763,2090,1986
$GC,8280,1.32,218.3,500.3,9.1,396,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2090,1986
$GC,8589,1.32,218.3,468.8,10.9,411,8594,0.00,2.60,0.00,0.000,4,0.000,0.054,2764,3505,1987
$GC,8689,1.32,218.3,457.1,11.2,415,8696,0.00,2.55,0.00,0.000,6,0.000,0.045,2763,2102,1986
$GC,9005,1.32,218.3,425.9,9.2,431,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2102,1987
$GC,9314,1.32,218.3,397.7,8.6,446,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2102,1986
$GC,9623,1.32,218.3,368.0,9.4,461,9628,0.00,2.58,0.00,0.000,4,0.000,0.051,2763,3506,1987
$GC,9695,1.32,218.3,362.3,8.3,464,9699,0.00,2.53,0.00,0.000,6,0.000,0.042,2763,2088,1986
$GC,10017,1.32,218.3,333.8,10.1,480,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2088,1986
$GC,10326,1.32,218.3,305.2,8.5,495,10330,0.00,2.60,0.00,0.000,4,0.000,0.052,2763,3504,1986
$GC,10414,1.32,218.3,297.3,8.1,499,10418,0.00,2.50,0.00,0.000,6,0.000,0.042,2763,2100,1986
$GC,10741,1.32,218.3,266.8,10.1,515,10742,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2100,1986
$GC,11050,1.32,218.3,236.8,8.9,530,11054,0.00,2.58,0.00,0.000,4,0.000,0.051,2764,3505,1986
$GC,11115,1.32,218.3,229.1,11.9,533,11120,0.00,2.50,0.00,0.000,6,0.000,0.041,2763,2098,1986
$GC,11442,1.32,218.3,195.3,9.6,549,11444,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2098,1986
$GC,11752,1.33,228.8,168.4,7.6,564,11766,0.00,2.62,9.07,0.948,4,0.000,0.051,2763,3516,1945
$GC,11873,1.33,228.8,156.9,9.8,569,11877,0.00,2.55,0.00,0.000,6,0.000,0.041,2764,2097,1945
$GC,12190,1.35,241.1,130.2,7.5,584,12208,0.10,0.00,11.02,0.920,6,0.058,0.000,2795,2097,1894
$GC,12518,1.35,241.1,103.0,9.1,600,12522,0.00,2.58,0.00,0.000,4,0.000,0.050,2796,3504,1894
$GC,12595,1.35,241.1,96.8,8.2,603,12602,0.00,2.50,0.00,0.000,6,0.000,0.041,2795,2098,1894
$GC,12911,1.39,280.7,76.1,6.5,619,12952,0.00,2.60,31.50,0.848,4,0.000,0.048,2795,3503,1732
$GC,13082,1.39,280.7,60.1,11.9,626,13089,0.00,2.53,0.00,0.000,6,0.000,0.041,2795,2099,1732
$GC,13398,1.39,280.7,24.9,10.8,642,13399,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2099,1732
$STATE,13684,end climb,SURFACE_DEPTH_REACHED
$STATE,13684,begin surface coast
$FINISH,2.0,1.013563
$STATE,13996,end surface coast,NO_VERTICAL_VELOCITY
$STATE,13996,begin surface
$SM_CCo,14000,148.88,0.749,3,0,603,558.06
$SM_GC,2.68,12.00,0.00,0.00,0.028,0.000,0.000,30,1891,602,-11.27,-0.23,558.30
$IRIDIUM_FIX,6317.84,-1249.12,140108,000059
$TT8_MAMPS,0.026845
$HUMID,2009
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,16.50
$XPDR_PINGS,2
$24V_AH,23.3,59.088
$10V_AH,10.1,28.746
$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,26.075,98.225,356.225,148.875,0.000,76.194,77.091,213.419,5.500,0.000,0.000,14.549,1253.215,10648.293,678.661,1672.959,570.176,33.372,1516.688,0.000,1639.111,0.000,33.249
$DEVICE_MAMPS,136.526,65.962,1188.850,748.592,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,494.336,451.408,450.870,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34839,671
$CFSIZE,260165632,241270784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,3,0
$GPS,140108,002708,6343.707,-1250.940,34,1.3,34,-12.2