version: 66.04
glider: 103
mission: 11
dive: 290
start: 4 26 109 3 56 54
data:
$ID,103
$MISSION,11
$DIVE,290
$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,550
$T_MISSION,580
$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,-148590.62
$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,2675
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,9
$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
$GPS1,034924,6300.784,-1306.689,39,1.2,39,-12.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-60.5
$GPS2,035602,6300.795,-1306.836,15,1.3,15,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.167,-0.141
$KALMAN_X,-8493.6,-1184.7,-737.3,-2492.6,4667.6
$KALMAN_Y,88050.8,-226.6,-1549.7,-189357.9,16202.8
$MHEAD_RNG_PITCHd_Wd,241.8,20053,-11.1,-6.000
$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,16,-1.10,-146.6,0.0,0.0,0,77,0.00,0.00,-56.08,0.000,6,0.000,0.000,44,2677,3501
$GC,81,-1.10,-146.6,7.1,-14.4,3,102,12.10,2.15,0.00,0.000,4,0.158,0.078,2193,3787,3501
$GC,164,-1.10,-146.6,25.9,-10.0,6,171,0.00,2.05,0.00,0.000,6,0.000,0.066,2193,2679,3501
$GC,482,-1.10,-146.6,54.1,-9.2,22,486,0.00,2.67,0.00,0.000,4,0.000,0.077,2193,1255,3501
$GC,504,-1.10,-146.6,56.3,-9.4,23,509,0.00,2.67,0.00,0.000,6,0.000,0.067,2194,2685,3501
$GC,825,-1.10,-146.6,86.1,-9.6,39,829,0.00,2.12,0.00,0.000,4,0.000,0.092,2193,3786,3501
$GC,873,-1.10,-146.6,90.7,-9.5,41,877,0.00,2.05,0.00,0.000,6,0.000,0.058,2194,2666,3501
$GC,1207,-1.10,-146.6,125.4,-10.5,57,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2666,3501
$GC,1515,-1.10,-146.6,156.4,-9.6,72,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2666,3501
$GC,1824,-1.10,-146.6,183.4,-8.4,87,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2666,3501
$GC,2133,-1.10,-146.6,208.4,-7.9,102,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2666,3501
$GC,2443,-1.10,-146.6,231.2,-7.1,117,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2666,3501
$GC,2752,-1.10,-146.6,250.7,-7.0,132,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2666,3501
$GC,3061,-1.10,-146.6,272.7,-7.6,147,3064,0.00,2.20,0.00,0.000,4,0.000,0.093,2193,3792,3501
$GC,3129,-1.10,-146.6,278.1,-7.9,150,3133,0.00,2.05,0.00,0.000,6,0.000,0.058,2193,2666,3501
$GC,3463,-1.10,-146.6,303.7,-7.8,166,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2666,3501
$GC,3772,-1.10,-146.6,330.3,-9.3,181,3776,0.00,2.17,0.00,0.000,4,0.000,0.090,2193,3786,3501
$GC,3822,-1.10,-146.6,335.8,-10.7,183,3826,0.00,2.03,0.00,0.000,6,0.000,0.058,2193,2674,3501
$GC,4150,-1.10,-146.6,372.4,-11.6,199,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2674,3501
$GC,4459,-1.10,-146.6,411.1,-13.2,214,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2674,3501
$GC,4768,-1.10,-146.6,456.9,-15.4,229,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2674,3501
$GC,5078,-1.10,-146.6,502.8,-14.6,244,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2674,3501
$GC,5387,-1.10,-146.6,543.3,-12.5,259,5391,0.00,2.60,0.00,0.000,4,0.000,0.067,2193,1248,3501
$GC,5416,-1.10,-146.6,546.7,-11.9,260,5421,0.00,2.65,0.00,0.000,6,0.000,0.063,2193,2687,3501
$GC,5732,-1.10,-146.6,579.8,-9.4,275,5735,0.00,2.10,0.00,0.000,4,0.000,0.087,2193,3790,3501
$GC,5783,-1.10,-146.6,584.6,-10.1,277,5787,0.00,2.03,0.00,0.000,6,0.000,0.052,2193,2661,3501
$GC,6110,-1.10,-146.6,615.0,-9.5,293,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2661,3501
$GC,6419,-1.10,-146.6,644.8,-9.4,308,6423,0.00,2.15,0.00,0.000,4,0.000,0.087,2193,3783,3501
$GC,6537,-1.10,-146.6,655.0,-8.1,313,6541,0.00,2.00,0.00,0.000,6,0.000,0.052,2193,2668,3501
$GC,6865,-1.10,-146.6,676.7,-5.6,329,6868,0.00,2.17,0.00,0.000,4,0.000,0.091,2193,3787,3501
$GC,6966,-1.10,-146.6,682.4,-5.3,333,6969,0.00,2.00,0.00,0.000,6,0.000,0.053,2194,2675,3501
$GC,7288,-1.10,-146.6,699.8,-6.5,349,7293,0.00,2.15,0.00,0.000,4,0.000,0.090,2193,3782,3501
$GC,7344,-1.10,-146.6,703.1,-5.4,351,7348,0.00,2.00,0.00,0.000,6,0.000,0.053,2194,2671,3501
$GC,7666,-1.10,-146.6,721.4,-5.2,367,7670,0.00,2.17,0.00,0.000,4,0.000,0.094,2193,3785,3501
$GC,7736,-1.10,-146.6,724.9,-4.7,370,7745,0.00,2.03,0.00,0.000,6,0.000,0.058,2193,2669,3501
$GC,8073,-1.10,-146.6,741.4,-7.2,386,8076,0.00,2.20,0.00,0.000,4,0.000,0.097,2193,3787,3500
$GC,8102,-1.10,-146.6,742.6,-2.8,387,8105,0.00,2.05,0.00,0.000,6,0.000,0.062,2193,2672,3500
$GC,8429,-1.10,-146.6,768.1,-7.2,403,8433,0.00,2.65,0.00,0.000,4,0.000,0.078,2193,1256,3498
$GC,8473,-1.10,-146.6,770.3,-1.3,405,8478,0.00,2.67,0.00,0.000,6,0.000,0.074,2193,2674,3498
$STATE,8689,end dive,NO_VERTICAL_VELOCITY
$STATE,8689,begin apogee
$GC,8698,-0.42,0.0,770.8,0.0,416,8831,0.73,0.00,125.95,1.218,6,0.063,0.000,2350,2058,2902
$STATE,8832,end apogee,CONTROL_FINISHED_OK
$STATE,8832,begin climb
$GC,8835,1.10,146.6,770.4,0.0,423,8968,1.62,2.80,123.62,1.187,4,0.086,0.082,2679,661,2304
$GC,9227,1.36,359.5,770.8,0.1,440,9417,0.28,2.62,179.60,1.193,6,0.049,0.059,2744,2084,1436
$GC,9724,1.36,359.5,744.0,13.8,464,9728,0.00,2.67,0.00,0.000,4,0.000,0.069,2744,656,1436
$GC,9976,1.36,359.5,714.1,15.5,475,9980,0.00,2.55,0.00,0.000,6,0.000,0.046,2744,2075,1435
$GC,10292,1.36,359.5,670.9,11.5,490,10296,0.00,2.67,0.00,0.000,4,0.000,0.076,2744,3492,1435
$GC,10331,1.36,359.5,666.7,10.4,492,10336,0.00,2.60,0.00,0.000,6,0.000,0.052,2744,2071,1435
$GC,10659,1.44,421.2,646.3,4.3,508,10722,0.00,2.80,52.83,1.151,4,0.000,0.075,2744,3490,1184
$GC,10750,1.51,475.8,642.4,4.5,512,10808,0.12,2.60,47.35,1.118,6,0.051,0.051,2780,2075,962
$GC,11117,1.51,475.8,613.9,9.5,530,11118,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2075,962
$GC,11426,1.51,475.8,581.0,11.2,545,11431,0.00,2.65,0.00,0.000,4,0.000,0.068,2780,3488,962
$GC,11448,1.51,475.8,578.4,11.8,546,11452,0.00,2.55,0.00,0.000,6,0.000,0.048,2780,2075,962
$GC,11769,1.51,475.8,544.4,11.2,562,11774,0.00,2.58,0.00,0.000,4,0.000,0.061,2780,662,962
$GC,11791,1.51,475.8,541.5,12.5,563,11796,0.00,2.53,0.00,0.000,6,0.000,0.042,2780,2079,962
$GC,12113,1.51,475.8,498.0,14.8,579,12117,0.00,2.62,0.00,0.000,4,0.000,0.068,2780,3497,962
$GC,12140,1.51,475.8,493.8,15.5,580,12145,0.00,2.58,0.00,0.000,6,0.000,0.046,2780,2068,962
$GC,12456,1.51,475.8,447.3,14.1,595,12461,0.00,2.55,0.00,0.000,4,0.000,0.060,2780,661,963
$GC,12484,1.51,475.8,443.2,14.3,596,12489,0.00,2.53,0.00,0.000,6,0.000,0.041,2780,2084,963
$GC,12801,1.51,475.8,402.2,12.5,611,12804,0.00,2.60,0.00,0.000,4,0.000,0.068,2780,3494,963
$GC,12829,1.51,475.8,398.3,13.9,612,12833,0.00,2.58,0.00,0.000,6,0.000,0.048,2780,2065,963
$GC,13150,1.51,475.8,356.3,13.8,628,13154,0.00,2.55,0.00,0.000,4,0.000,0.061,2780,662,963
$GC,13177,1.51,475.8,352.3,15.0,629,13181,0.00,2.53,0.00,0.000,6,0.000,0.042,2780,2084,963
$GC,13498,1.51,475.8,312.2,12.0,645,13502,0.00,2.60,0.00,0.000,4,0.000,0.070,2780,3486,963
$GC,13520,1.51,475.8,309.4,11.1,646,13524,0.00,2.55,0.00,0.000,6,0.000,0.049,2780,2074,964
$GC,13841,1.51,475.8,271.9,11.8,662,13842,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2074,964
$GC,14150,1.51,475.8,235.5,11.5,677,14152,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2074,964
$GC,14459,1.51,475.8,200.8,10.9,692,14464,0.00,2.67,0.00,0.000,4,0.000,0.071,2780,3495,964
$GC,14477,1.51,475.8,198.8,10.7,693,14481,0.00,2.58,0.00,0.000,6,0.000,0.051,2780,2072,964
$GC,14804,1.51,475.8,163.6,10.8,709,14808,0.00,2.58,0.00,0.000,4,0.000,0.064,2780,664,964
$GC,14833,1.51,475.8,160.3,11.9,710,14837,0.00,2.53,0.00,0.000,6,0.000,0.046,2780,2078,965
$GC,15149,1.51,475.8,126.2,10.8,725,15153,0.00,2.62,0.00,0.000,4,0.000,0.071,2780,3491,965
$GC,15182,1.51,475.8,122.4,10.9,726,15188,0.00,2.55,0.00,0.000,6,0.000,0.051,2780,2076,965
$GC,15500,1.51,475.8,86.0,12.2,742,15501,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2076,965
$GC,15807,1.51,475.8,47.5,12.3,757,15809,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2075,965
$GC,16117,1.51,475.8,9.8,12.4,772,16121,0.00,2.62,0.00,0.000,4,0.000,0.071,2780,655,965
$GC,16139,1.51,475.8,6.9,12.3,773,16143,0.00,2.53,0.00,0.000,6,0.000,0.044,2780,2075,965
$STATE,16189,end climb,SURFACE_DEPTH_REACHED
$STATE,16189,begin surface coast
$FINISH,0.2,1.015686
$STATE,16211,end surface coast,CONTROL_FINISHED_OK
$STATE,16211,begin surface
$SM_CCo,16297,0.00,0.000,0,0,965,475.15
$SM_GC,0.92,12.02,0.00,0.00,0.030,0.000,0.000,48,2669,965,-10.93,-0.17,475.15
$IRIDIUM_FIX,6239.86,-1300.03,200798,232304
$TT8_MAMPS,0.028379
$HUMID,1811
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,15.80
$XPDR_PINGS,1
$24V_AH,23.2,49.694
$10V_AH,10.1,28.451
$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,26.875,138.125,529.350,0.000,0.000,28.339,28.654,205.053,6.750,0.000,0.000,15.163,1424.409,12339.948,576.663,1766.734,582.403,33.366,1516.103,0.000,1719.416,0.000,45.318,0.000
$DEVICE_MAMPS,158.002,96.642,1217.996,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,548.116,565.389,443.682,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37956,777
$CAP_FILE_SIZE,117906,0
$CFSIZE,260165632,239976448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260409,082937,6301.072,-1316.072,29,0.9,29,-12.2