version: 66.04
glider: 103
mission: 11
dive: 125
start: 3 19 109 14 32 2
data:
$ID,103
$MISSION,11
$DIVE,125
$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,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$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,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,-145476.12
$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,20
$R_STBD_OVSHOOT,8
$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
$GPS1,142500,6234.830,-1113.073,39,1.6,39,-10.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-62.0
$GPS2,143114,6234.838,-1113.361,16,1.3,16,-10.8
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.230,-0.079
$KALMAN_X,-7936.6,-1906.1,-1071.9,-14618.8,-3431.0
$KALMAN_Y,-2819.3,-673.1,-95.1,-5563.7,-1641.3
$MHEAD_RNG_PITCHd_Wd,261.8,24479,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.42,-146.6,0.0,0.0,0,59,0.00,0.00,-41.78,0.000,2,0.000,0.000,48,2648,3314
$GC,62,-1.42,-146.6,4.2,-10.0,2,85,11.82,2.62,-3.05,0.000,4,0.163,0.080,2125,1241,3502
$GC,186,-1.42,-146.6,26.0,-11.6,7,191,0.00,2.65,0.00,0.000,6,0.000,0.069,2125,2654,3503
$GC,503,-1.42,-146.6,59.8,-10.4,22,506,0.00,2.15,0.00,0.000,4,0.000,0.084,2125,3783,3503
$GC,572,-1.42,-146.6,67.3,-11.2,25,575,0.00,2.05,0.00,0.000,6,0.000,0.056,2125,2653,3503
$GC,905,-1.42,-146.6,102.8,-10.8,41,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2653,3503
$GC,1214,-1.42,-146.6,134.1,-9.5,56,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2653,3503
$GC,1523,-1.42,-146.6,163.4,-9.7,71,1527,0.00,2.17,0.00,0.000,4,0.000,0.081,2125,3789,3503
$GC,1585,-1.42,-146.6,170.1,-10.0,73,1591,0.00,2.05,0.00,0.000,6,0.000,0.053,2125,2646,3503
$GC,1901,-1.42,-146.6,204.6,-11.3,89,1905,0.00,2.55,0.00,0.000,4,0.000,0.063,2125,1237,3503
$GC,1956,-1.42,-146.6,210.9,-11.2,91,1962,0.00,2.65,0.00,0.000,6,0.000,0.071,2125,2654,3503
$GC,2272,-1.42,-146.6,244.9,-10.7,107,2276,0.00,2.15,0.00,0.000,4,0.000,0.084,2125,3790,3503
$GC,2334,-1.42,-146.6,251.8,-11.2,109,2340,0.00,2.05,0.00,0.000,6,0.000,0.055,2125,2652,3503
$GC,2650,-1.42,-146.6,284.4,-10.4,125,2653,0.00,2.17,0.00,0.000,4,0.000,0.081,2125,3793,3503
$GC,2689,-1.42,-146.6,288.8,-11.1,126,2695,0.00,2.05,0.00,0.000,6,0.000,0.051,2125,2649,3503
$GC,3005,-1.42,-146.6,323.0,-11.1,142,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2649,3503
$GC,3314,-1.42,-146.6,357.8,-11.1,157,3318,0.00,2.17,0.00,0.000,4,0.000,0.081,2125,3789,3503
$GC,3382,-1.42,-146.6,365.8,-11.7,160,3386,0.00,2.03,0.00,0.000,6,0.000,0.044,2125,2642,3503
$GC,3715,-1.42,-146.6,404.2,-11.9,176,3719,0.00,2.20,0.00,0.000,4,0.000,0.081,2125,3794,3503
$GC,3755,-1.42,-146.6,409.4,-12.5,177,3761,0.00,2.03,0.00,0.000,6,0.000,0.046,2125,2649,3503
$GC,4071,-1.42,-146.6,446.7,-11.4,193,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2649,3503
$GC,4380,-1.42,-146.6,477.8,-9.8,208,4383,0.00,2.17,0.00,0.000,4,0.000,0.083,2125,3787,3503
$GC,4442,-1.42,-146.6,484.0,-9.8,210,4448,0.00,2.00,0.00,0.000,6,0.000,0.044,2125,2642,3503
$GC,4758,-1.42,-146.6,517.5,-11.2,226,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2642,3503
$GC,5067,-1.42,-146.6,548.7,-9.3,241,5071,0.00,2.17,0.00,0.000,4,0.000,0.082,2125,3787,3503
$GC,5094,-1.42,-146.6,551.4,-8.8,242,5098,0.00,2.00,0.00,0.000,6,0.000,0.045,2125,2644,3503
$GC,5422,-1.42,-146.6,577.2,-7.1,258,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2644,3503
$GC,5731,-1.42,-146.6,604.0,-9.9,273,5734,0.00,2.20,0.00,0.000,4,0.000,0.084,2125,3792,3503
$GC,5787,-1.42,-146.6,610.1,-10.7,275,5791,0.00,2.03,0.00,0.000,6,0.000,0.050,2125,2651,3503
$GC,6109,-1.42,-146.6,643.3,-10.3,291,6112,0.00,2.20,0.00,0.000,4,0.000,0.088,2125,3790,3503
$GC,6183,-1.42,-146.6,650.9,-10.0,294,6187,0.00,2.05,0.00,0.000,6,0.000,0.052,2125,2644,3503
$GC,6511,-1.42,-146.6,677.5,-6.2,310,6515,0.00,2.58,0.00,0.000,4,0.000,0.071,2125,1240,3502
$GC,6573,-1.42,-146.6,684.0,-13.4,313,6577,0.00,2.62,0.00,0.000,6,0.000,0.069,2125,2652,3502
$STATE,6670,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6670,begin apogee
$GC,6678,-0.42,0.0,697.1,13.1,318,6807,1.10,0.00,124.70,1.147,6,0.094,0.000,2345,1993,2902
$STATE,6807,end apogee,CONTROL_FINISHED_OK
$STATE,6807,begin climb
$GC,6810,1.42,146.6,701.8,0.0,324,6942,1.90,2.72,121.82,1.111,4,0.058,0.059,2748,3416,2304
$GC,7055,1.43,154.4,696.9,7.7,335,7070,0.00,2.58,8.40,0.960,6,0.000,0.044,2748,1985,2272
$GC,7399,1.46,173.6,679.4,7.3,352,7421,0.00,2.70,17.42,1.068,4,0.000,0.068,2748,594,2194
$GC,7512,1.46,173.6,673.7,8.1,357,7517,0.00,2.53,0.00,0.000,6,0.000,0.039,2748,2027,2193
$GC,7840,1.55,250.0,656.9,5.2,373,7911,0.12,2.80,63.67,1.125,4,0.044,0.067,2790,590,1882
$GC,8075,1.55,250.0,632.4,12.4,383,8082,0.00,2.50,0.00,0.000,6,0.000,0.040,2790,2002,1882
$GC,8391,1.55,250.0,597.6,10.5,399,8395,0.00,2.65,0.00,0.000,4,0.000,0.067,2790,586,1881
$GC,8469,1.55,250.0,589.1,10.1,402,8475,0.00,2.53,0.00,0.000,6,0.000,0.041,2790,2007,1881
$GC,8785,1.55,250.0,557.6,9.5,418,8789,0.00,2.62,0.00,0.000,4,0.000,0.064,2790,592,1880
$GC,8908,1.55,250.0,545.3,9.9,423,8914,0.00,2.50,0.00,0.000,6,0.000,0.039,2790,2008,1880
$GC,9224,1.55,250.0,514.8,9.8,439,9228,0.00,2.60,0.00,0.000,4,0.000,0.061,2790,593,1880
$GC,9302,1.55,250.0,506.5,10.2,442,9308,0.00,2.47,0.00,0.000,6,0.000,0.038,2790,2006,1880
$GC,9617,1.55,250.0,473.4,11.5,458,9622,0.00,2.60,0.00,0.000,4,0.000,0.060,2790,587,1880
$GC,9707,1.55,250.0,462.4,13.1,462,9711,0.00,2.47,0.00,0.000,6,0.000,0.036,2790,2004,1880
$GC,10028,1.55,250.0,427.5,10.2,478,10032,0.00,2.60,0.00,0.000,4,0.000,0.060,2790,585,1881
$GC,10083,1.55,250.0,421.3,11.5,480,10090,0.00,2.47,0.00,0.000,6,0.000,0.037,2790,2010,1881
$GC,10400,1.55,250.0,389.9,9.8,496,10404,0.00,2.60,0.00,0.000,4,0.000,0.059,2790,585,1881
$GC,10478,1.55,250.0,382.0,9.7,499,10482,0.00,2.47,0.00,0.000,6,0.000,0.036,2790,2002,1881
$GC,10794,1.55,250.0,354.9,8.6,514,10798,0.00,2.58,0.00,0.000,4,0.000,0.060,2790,590,1882
$GC,10879,1.55,250.0,347.1,10.0,518,10883,0.00,2.47,0.00,0.000,6,0.000,0.036,2790,2014,1882
$GC,11205,1.55,250.0,317.6,9.4,534,11210,0.00,2.60,0.00,0.000,4,0.000,0.059,2790,588,1882
$GC,11300,1.55,250.0,307.8,11.2,538,11305,0.00,2.47,0.00,0.000,6,0.000,0.036,2790,2010,1883
$GC,11616,1.55,250.0,277.3,9.7,553,11621,0.00,2.60,0.00,0.000,4,0.000,0.058,2790,585,1883
$GC,11724,1.55,250.0,265.9,10.3,558,11728,0.00,2.47,0.00,0.000,6,0.000,0.037,2790,2008,1884
$GC,12056,1.55,250.0,233.3,10.1,574,12061,0.00,2.60,0.00,0.000,4,0.000,0.059,2790,584,1884
$GC,12141,1.55,250.0,223.8,11.7,578,12146,0.00,2.47,0.00,0.000,6,0.000,0.037,2790,2005,1884
$GC,12468,1.55,250.0,190.2,9.8,594,12473,0.00,2.58,0.00,0.000,4,0.000,0.058,2791,589,1884
$GC,12536,1.55,250.0,183.2,9.9,597,12540,0.00,2.47,0.00,0.000,6,0.000,0.037,2790,2008,1884
$GC,12857,1.55,250.0,148.9,11.4,613,12861,0.00,2.60,0.00,0.000,4,0.000,0.060,2790,583,1885
$GC,12929,1.55,250.0,140.4,11.0,616,12933,0.00,2.47,0.00,0.000,6,0.000,0.037,2791,2004,1885
$GC,13245,1.55,250.0,110.1,8.9,631,13250,0.00,2.60,0.00,0.000,4,0.000,0.061,2790,584,1884
$GC,13286,1.55,250.0,106.4,9.6,633,13290,0.00,2.45,0.00,0.000,6,0.000,0.036,2790,2001,1885
$GC,13619,1.55,250.0,75.7,8.8,649,13623,0.00,2.58,0.00,0.000,4,0.000,0.061,2790,591,1885
$GC,13669,1.55,250.0,71.1,9.3,651,13673,0.00,2.47,0.00,0.000,6,0.000,0.038,2790,2010,1885
$GC,13985,1.55,250.0,42.6,9.3,666,13989,0.00,2.60,0.00,0.000,4,0.000,0.062,2790,590,1886
$GC,14080,1.55,250.0,32.4,10.1,670,14084,0.00,2.47,0.00,0.000,6,0.000,0.037,2790,2010,1886
$STATE,14393,end climb,SURFACE_DEPTH_REACHED
$STATE,14393,begin surface coast
$FINISH,0.6,1.022023
$STATE,14415,end surface coast,CONTROL_FINISHED_OK
$STATE,14415,begin surface
$SM_CCo,14500,0.00,0.000,0,0,1885,249.47
$SM_GC,1.90,12.05,0.00,0.00,0.031,0.000,0.000,52,2648,1885,-10.93,-0.06,249.47
$IRIDIUM_FIX,6211.90,-1053.84,130698,101004
$TT8_MAMPS,0.028379
$HUMID,1775
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.1,55.9
$24V_AH,23.4,26.756
$10V_AH,10.1,14.157
$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,27.000,152.250,336.025,0.000,0.000,22.628,26.042,208.884,5.750,0.000,0.000,16.221,1316.293,10850.587,440.894,1731.009,533.480,31.428,1321.893,0.000,1687.993,0.000,44.217,0.000
$DEVICE_MAMPS,163.371,88.205,1147.432,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,488.963,494.913,422.886,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34943,686
$CAP_FILE_SIZE,113512,0
$CFSIZE,260165632,250327040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190309,183501,6233.498,-1124.664,42,1.0,42,-10.9