version: 66.04
glider: 103
mission: 11
dive: 120
start: 3 18 109 21 52 41
data:
$ID,103
$MISSION,11
$DIVE,120
$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,200
$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,55
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,225
$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,225
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,-145392.84
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2440
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,2902
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.802039
$PRESSURE_SLOPE,0.0001162
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,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,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043321555
$SEABIRD_T_H,0.00063294952
$SEABIRD_T_I,2.4435583e-05
$SEABIRD_T_J,2.6458358e-06
$SEABIRD_C_G,-10.239935
$SEABIRD_C_H,1.1471217
$SEABIRD_C_I,-0.0012735804
$SEABIRD_C_J,0.00018857721
$GPS1,214754,6247.396,-1021.233,35,1.5,39,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-62.0
$GPS2,215225,6247.322,-1021.313,12,2.0,12,-10.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,6239.686,-1037.940
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.128,-0.177
$KALMAN_X,128972.2,-2223.1,-952.6,-183953.4,42292.5
$KALMAN_Y,65935.9,-5074.7,-858.3,47123.3,67423.9
$MHEAD_RNG_PITCHd_Wd,235.4,20000,-14.9,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.42,-146.6,0.0,0.0,0,59,0.00,0.00,-40.92,0.000,2,0.000,0.000,53,2658,3094
$GC,62,-1.42,-146.6,3.7,-9.2,2,88,11.75,2.70,-7.22,0.000,4,0.161,0.083,2125,1239,3501
$GC,232,-1.42,-146.6,25.5,-10.2,9,236,0.00,2.62,0.00,0.000,6,0.000,0.067,2125,2646,3501
$GC,548,-1.42,-146.6,58.1,-10.2,24,551,0.00,2.17,0.00,0.000,4,0.000,0.084,2125,3787,3501
$GC,643,-1.42,-146.6,68.3,-10.2,28,647,0.00,2.08,0.00,0.000,6,0.000,0.057,2125,2646,3501
$GC,972,-1.42,-146.6,101.6,-10.3,44,976,0.00,2.20,0.00,0.000,4,0.000,0.084,2125,3789,3501
$GC,1041,-1.42,-146.6,108.8,-10.3,47,1045,0.00,2.05,0.00,0.000,6,0.000,0.054,2125,2648,3502
$GC,1375,-1.42,-146.6,143.3,-10.5,63,1379,0.00,2.17,0.00,0.000,4,0.000,0.083,2125,3783,3501
$GC,1414,-1.42,-146.6,147.9,-11.1,64,1421,0.00,2.03,0.00,0.000,6,0.000,0.052,2125,2640,3502
$GC,1730,-1.42,-146.6,179.9,-9.8,80,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2641,3502
$GC,2039,-1.42,-146.6,210.2,-9.8,95,2043,0.00,2.20,0.00,0.000,4,0.000,0.081,2125,3792,3502
$GC,2085,-1.42,-146.6,214.7,-10.2,97,2089,0.00,2.05,0.00,0.000,6,0.000,0.051,2125,2643,3502
$GC,2417,-1.42,-146.6,248.6,-10.6,113,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2642,3502
$GC,2726,-1.42,-146.6,280.1,-9.9,128,2730,0.00,2.17,0.00,0.000,4,0.000,0.082,2125,3783,3502
$GC,2811,-1.42,-146.6,288.6,-10.3,131,2817,0.00,2.03,0.00,0.000,6,0.000,0.051,2125,2640,3502
$GC,3126,-1.42,-146.6,317.7,-9.3,147,3130,0.00,2.20,0.00,0.000,4,0.000,0.084,2125,3789,3502
$GC,3206,-1.42,-146.6,325.6,-10.2,150,3209,0.00,2.03,0.00,0.000,6,0.000,0.050,2125,2653,3502
$GC,3528,-1.42,-146.6,358.3,-10.6,166,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2652,3502
$GC,3837,-1.42,-146.6,393.0,-11.2,181,3840,0.00,2.17,0.00,0.000,4,0.000,0.087,2125,3785,3501
$GC,3876,-1.42,-146.6,397.6,-10.4,182,3882,0.00,2.05,0.00,0.000,6,0.000,0.051,2125,2639,3502
$GC,4192,-1.42,-146.6,427.5,-9.9,198,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2639,3502
$GC,4501,-1.42,-146.6,460.9,-9.7,213,4504,0.00,2.20,0.00,0.000,4,0.000,0.087,2125,3782,3502
$GC,4596,-1.42,-146.6,470.5,-10.0,217,4599,0.00,2.00,0.00,0.000,6,0.000,0.046,2125,2650,3502
$GC,4923,-1.42,-146.6,501.5,-8.7,233,4927,0.00,2.55,0.00,0.000,4,0.000,0.064,2125,1238,3502
$STATE,4942,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4942,begin apogee
$GC,4951,-0.42,0.0,503.5,8.5,234,5076,1.08,0.00,121.90,0.989,6,0.094,0.000,2343,2007,2902
$STATE,5077,end apogee,CONTROL_FINISHED_OK
$STATE,5077,begin climb
$GC,5080,1.42,146.6,507.8,0.0,240,5209,1.90,2.72,119.32,0.956,4,0.058,0.063,2748,590,2304
$GC,5311,1.48,190.6,503.1,6.4,250,5353,0.00,2.50,37.12,0.933,6,0.000,0.036,2748,2026,2124
$GC,5663,1.48,190.6,482.1,8.1,267,5668,0.00,2.67,0.00,0.000,4,0.000,0.064,2748,586,2123
$GC,5775,1.48,190.6,469.9,9.7,272,5780,0.00,2.50,0.00,0.000,6,0.000,0.038,2748,2007,2123
$GC,6097,1.65,329.6,456.9,2.9,288,6221,0.20,2.62,113.38,0.964,4,0.036,0.064,2811,3405,1558
$GC,6235,1.65,329.6,445.2,12.1,294,6239,0.00,2.58,0.00,0.000,6,0.000,0.048,2811,1995,1558
$GC,6550,1.65,329.6,402.5,14.4,309,6555,0.00,2.60,0.00,0.000,4,0.000,0.065,2811,586,1557
$GC,6629,1.65,329.6,391.4,13.6,312,6635,0.00,2.50,0.00,0.000,6,0.000,0.040,2811,2001,1556
$GC,6945,1.65,329.6,351.3,12.8,328,6949,0.00,2.62,0.00,0.000,4,0.000,0.063,2811,585,1556
$GC,7011,1.65,329.6,342.5,13.1,331,7016,0.00,2.50,0.00,0.000,6,0.000,0.039,2811,2000,1556
$GC,7333,1.65,329.6,305.6,11.3,347,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2000,1556
$GC,7642,1.65,329.6,268.6,12.3,362,7646,0.00,2.60,0.00,0.000,4,0.000,0.063,2811,588,1556
$GC,7663,1.65,329.6,265.5,14.2,363,7668,0.00,2.50,0.00,0.000,6,0.000,0.039,2811,2006,1556
$GC,7985,1.65,329.6,222.1,13.8,379,7989,0.00,2.62,0.00,0.000,4,0.000,0.063,2811,584,1556
$GC,8052,1.65,329.6,212.4,14.3,382,8056,0.00,2.50,0.00,0.000,6,0.000,0.039,2811,2003,1556
$GC,8372,1.65,329.6,170.2,12.7,398,8377,0.00,2.60,0.00,0.000,4,0.000,0.062,2811,588,1556
$GC,8462,1.65,329.6,158.2,13.0,402,8466,0.00,2.50,0.00,0.000,6,0.000,0.040,2811,2008,1557
$GC,8784,1.65,329.6,116.5,13.2,418,8788,0.00,2.62,0.00,0.000,4,0.000,0.064,2810,586,1557
$GC,8839,1.65,329.6,108.7,14.5,420,8846,0.00,2.47,0.00,0.000,6,0.000,0.040,2811,2001,1557
$GC,9156,1.65,329.6,67.9,12.7,436,9160,0.00,2.62,0.00,0.000,4,0.000,0.065,2811,582,1557
$GC,9201,1.65,329.6,61.9,13.1,438,9206,0.00,2.50,0.00,0.000,6,0.000,0.040,2811,2003,1557
$GC,9523,1.65,329.6,21.4,12.8,454,9527,0.00,2.60,0.00,0.000,4,0.000,0.064,2811,590,1557
$GC,9579,1.65,329.6,13.7,14.2,456,9585,0.00,2.50,0.00,0.000,6,0.000,0.044,2811,2009,1557
$STATE,9686,end climb,SURFACE_DEPTH_REACHED
$STATE,9686,begin surface coast
$FINISH,0.6,1.002616
$STATE,9708,end surface coast,CONTROL_FINISHED_OK
$STATE,9708,begin surface
$SM_CCo,9793,0.00,0.000,0,0,1557,329.93
$SM_GC,1.69,12.07,0.00,0.00,0.026,0.000,0.000,44,2647,1557,-10.93,-0.08,329.93
$IRIDIUM_FIX,6225.82,-1016.60,120698,191946
$TT8_MAMPS,0.029146
$HUMID,1785
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.3,88.1
$24V_AH,23.5,26.158
$10V_AH,10.1,13.843
$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,Compass2
$DEVICE_SECS,27.000,100.775,391.725,0.000,0.000,27.960,28.475,109.827,3.250,0.000,0.000,12.955,889.285,7187.542,434.701,1184.460,370.241,0.000,1070.270,0.000,1154.618,0.000,23.783,0.000
$DEVICE_MAMPS,161.070,87.438,988.663,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,327.382,328.882,325.645,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22274,463
$CAP_FILE_SIZE,77072,0
$CFSIZE,260165632,250597376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190309,003706,6245.025,-1026.517,35,1.0,35,-10.5