version: 66.04
glider: 103
mission: 11
dive: 305
start: 4 29 109 23 35 41
data:
$ID,103
$MISSION,11
$DIVE,305
$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,-148867.47
$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,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
$GPS1,232406,6249.249,-1305.326,41,1.7,41,-12.0
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-63.9
$GPS2,233450,6249.330,-1305.309,13,1.8,13,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.218,-0.008
$KALMAN_X,-55257.5,-765.2,16067.5,28254.8,-2325.8
$KALMAN_Y,126144.5,565.5,-15948.3,-235137.0,-2037.7
$MHEAD_RNG_PITCHd_Wd,104.0,42227,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-40.75,0.000,2,0.000,0.000,48,2672,3313
$GC,62,-1.10,-146.6,4.3,-11.6,2,80,12.23,0.00,-2.97,0.000,6,0.157,0.000,2192,2672,3502
$GC,389,-1.10,-146.6,41.5,-8.2,18,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2672,3502
$GC,697,-1.10,-146.6,66.5,-8.1,33,700,0.00,2.17,0.00,0.000,4,0.000,0.092,2193,3790,3502
$GC,747,-1.10,-146.6,70.4,-7.3,35,751,0.00,2.05,0.00,0.000,6,0.000,0.064,2193,2677,3502
$GC,1074,-1.10,-146.6,97.0,-9.0,51,1079,0.00,2.65,0.00,0.000,4,0.000,0.076,2193,1258,3502
$GC,1108,-1.10,-146.6,99.9,-8.6,52,1114,0.00,2.65,0.00,0.000,6,0.000,0.067,2193,2682,3502
$GC,1426,-1.10,-146.6,124.9,-7.7,68,1429,0.00,2.12,0.00,0.000,4,0.000,0.091,2193,3786,3502
$GC,1472,-1.10,-146.6,128.8,-8.6,70,1476,0.00,2.05,0.00,0.000,6,0.000,0.060,2193,2669,3502
$GC,1805,-1.10,-146.6,156.4,-8.5,86,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2670,3502
$GC,2115,-1.10,-146.6,182.2,-8.2,101,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2669,3502
$GC,2424,-1.10,-146.6,207.0,-7.8,116,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2669,3502
$GC,2734,-1.10,-146.6,232.0,-8.2,131,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2669,3502
$GC,3042,-1.10,-146.6,255.8,-7.8,146,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2669,3502
$GC,3352,-1.10,-146.6,282.0,-8.6,161,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2669,3501
$GC,3661,-1.10,-146.6,307.7,-8.5,176,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2668,3501
$GC,3971,-1.10,-146.6,333.7,-8.4,191,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2668,3502
$GC,4280,-1.10,-146.6,360.2,-8.6,206,4284,0.00,2.17,0.00,0.000,4,0.000,0.091,2193,3787,3501
$GC,4330,-1.10,-146.6,365.0,-9.4,208,4334,0.00,2.03,0.00,0.000,6,0.000,0.057,2193,2671,3501
$GC,4658,-1.10,-146.6,392.3,-8.3,224,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2671,3502
$GC,4967,-1.10,-146.6,417.4,-8.0,239,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2671,3502
$GC,5276,-1.10,-146.6,443.8,-8.8,254,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2671,3501
$GC,5585,-1.10,-146.6,470.2,-8.2,269,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2671,3502
$GC,5895,-1.10,-146.6,492.6,-7.0,284,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2671,3501
$GC,6204,-1.10,-146.6,515.9,-7.7,299,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2671,3501
$GC,6513,-1.10,-146.6,539.2,-7.1,314,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2671,3501
$GC,6823,-1.10,-146.6,561.4,-7.4,329,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2671,3501
$GC,7132,-1.10,-146.6,583.1,-6.9,344,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2671,3501
$GC,7441,-1.10,-146.6,602.3,-5.9,359,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2671,3501
$GC,7751,-1.10,-146.6,622.5,-7.0,374,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2671,3501
$GC,8060,-1.10,-146.6,644.5,-7.2,389,8064,0.00,2.60,0.00,0.000,4,0.000,0.067,2193,1246,3501
$GC,8109,-1.10,-146.6,648.4,-7.9,391,8114,0.00,2.62,0.00,0.000,6,0.000,0.062,2193,2677,3501
$GC,8426,-1.10,-146.6,672.0,-7.2,406,8430,0.00,2.10,0.00,0.000,4,0.000,0.087,2193,3786,3501
$GC,8477,-1.10,-146.6,676.0,-7.7,408,8481,0.00,2.00,0.00,0.000,6,0.000,0.051,2193,2661,3501
$GC,8806,-1.10,-146.6,700.5,-7.1,424,8810,0.00,2.55,0.00,0.000,4,0.000,0.068,2193,1258,3501
$GC,8835,-1.10,-146.6,702.7,-7.2,425,8839,0.00,2.62,0.00,0.000,6,0.000,0.061,2193,2687,3501
$GC,9156,-1.10,-146.6,724.9,-6.5,441,9166,0.00,2.65,0.00,0.000,4,0.000,0.066,2193,1248,3501
$GC,9185,-1.10,-146.6,726.6,-5.9,442,9190,0.00,2.62,0.00,0.000,6,0.000,0.062,2193,2676,3501
$GC,9513,-1.10,-146.6,748.8,-6.7,458,9516,0.00,2.12,0.00,0.000,4,0.000,0.089,2193,3791,3501
$STATE,9617,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9617,begin apogee
$GC,9627,-0.42,0.0,756.8,7.7,462,9757,0.75,0.00,126.68,1.167,6,0.100,0.000,2344,2069,2902
$STATE,9758,end apogee,CONTROL_FINISHED_OK
$STATE,9758,begin climb
$GC,9762,1.10,146.6,762.3,0.0,469,9895,1.58,2.65,124.28,1.141,4,0.060,0.061,2679,659,2304
$GC,9959,1.23,254.1,760.7,3.0,478,10059,0.15,2.55,92.32,1.123,6,0.040,0.039,2727,2091,1865
$GC,10367,1.23,254.1,731.8,7.4,498,10371,0.00,2.58,0.00,0.000,4,0.000,0.064,2727,3483,1864
$GC,10422,1.23,254.1,727.7,7.1,500,10429,0.00,2.53,0.00,0.000,6,0.000,0.044,2727,2068,1864
$GC,10739,1.23,254.1,699.8,9.0,516,10743,0.00,2.58,0.00,0.000,4,0.000,0.061,2727,658,1863
$GC,10795,1.23,254.1,694.4,9.6,518,10800,0.00,2.53,0.00,0.000,6,0.000,0.038,2727,2085,1863
$GC,11111,1.23,254.1,666.7,8.6,533,11112,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2085,1863
$GC,11421,1.23,254.1,638.0,9.6,548,11422,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2085,1862
$GC,11730,1.23,254.1,607.8,9.7,563,11734,0.00,2.60,0.00,0.000,4,0.000,0.057,2727,659,1862
$GC,11847,1.23,254.1,595.5,9.7,568,11851,0.00,2.50,0.00,0.000,6,0.000,0.038,2727,2081,1862
$GC,12163,1.23,254.1,565.5,9.4,583,12165,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2081,1862
$GC,12472,1.23,254.1,535.4,9.5,598,12473,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2081,1862
$GC,12782,1.23,254.1,505.8,9.3,613,12786,0.00,2.60,0.00,0.000,4,0.000,0.058,2727,656,1862
$GC,12849,1.23,254.1,499.2,8.9,616,12853,0.00,2.50,0.00,0.000,6,0.000,0.037,2727,2082,1862
$GC,13170,1.23,254.1,470.2,9.2,632,13174,0.00,2.58,0.00,0.000,4,0.000,0.058,2727,666,1863
$GC,13219,1.23,254.1,465.6,9.9,634,13224,0.00,2.47,0.00,0.000,6,0.000,0.037,2727,2081,1862
$GC,13536,1.23,254.1,437.4,9.0,649,13537,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2081,1863
$GC,13845,1.23,254.1,409.6,9.1,664,13846,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2081,1863
$GC,14154,1.23,254.1,382.0,9.0,679,14155,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2081,1863
$GC,14464,1.23,254.1,355.5,8.4,694,14465,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2081,1864
$GC,14772,1.23,254.1,329.4,8.3,709,14776,0.00,2.58,0.00,0.000,4,0.000,0.061,2727,666,1863
$GC,14823,1.23,254.1,324.8,9.0,711,14827,0.00,2.47,0.00,0.000,6,0.000,0.038,2727,2078,1863
$GC,15144,1.23,254.1,299.2,8.0,727,15145,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2078,1864
$GC,15453,1.23,254.1,275.3,7.8,742,15454,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2078,1864
$GC,15762,1.23,254.1,251.4,7.7,757,15763,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2078,1864
$GC,16072,1.23,254.1,226.4,8.1,772,16076,0.00,2.58,0.00,0.000,4,0.000,0.061,2727,668,1864
$GC,16105,1.23,254.1,223.5,7.9,773,16109,0.00,2.47,0.00,0.000,6,0.000,0.040,2727,2075,1864
$GC,16421,1.23,254.1,197.3,8.4,788,16422,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2075,1865
$GC,16730,1.23,254.1,172.2,8.0,803,16731,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2075,1865
$GC,17040,1.23,254.1,147.5,8.0,818,17041,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2075,1865
$GC,17349,1.23,254.1,123.0,7.8,833,17350,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2075,1865
$GC,17659,1.23,254.1,99.6,7.5,848,17663,0.00,2.60,0.00,0.000,4,0.000,0.063,2727,659,1865
$GC,17721,1.23,254.1,94.7,7.4,851,17725,0.00,2.50,0.00,0.000,6,0.000,0.041,2727,2077,1865
$GC,18049,1.23,254.1,70.6,7.1,867,18050,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2077,1865
$GC,18358,1.23,254.1,49.8,6.7,882,18360,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2077,1865
$GC,18668,1.26,271.2,27.9,5.5,897,18690,0.00,2.65,14.95,0.683,4,0.000,0.066,2727,661,1796
$GC,18723,1.26,271.2,23.0,9.2,899,18728,0.00,2.53,0.00,0.000,6,0.000,0.042,2727,2076,1796
$STATE,18995,end climb,SURFACE_DEPTH_REACHED
$STATE,18995,begin surface coast
$FINISH,0.5,1.027413
$STATE,19017,end surface coast,CONTROL_FINISHED_OK
$STATE,19017,begin surface
$SM_CCo,19103,0.00,0.000,0,0,1794,271.79
$SM_GC,1.39,11.90,0.00,0.00,0.035,0.000,0.000,50,2674,1794,-10.94,-0.03,271.79
$IRIDIUM_FIX,6221.17,-1302.85,240798,232309
$TT8_MAMPS,0.029146
$HUMID,1791
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.3,41.2
$24V_AH,23.3,51.780
$10V_AH,10.1,29.863
$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,26.600,95.150,358.225,0.000,0.000,61.450,60.037,316.651,6.500,0.000,0.000,13.059,1593.837,15148.222,423.057,1794.917,778.638,33.359,1315.543,0.000,1768.484,0.000,47.590,0.000
$DEVICE_MAMPS,157.235,92.040,1167.374,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,636.081,687.460,556.128,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44365,913
$CAP_FILE_SIZE,120818,0
$CFSIZE,260165632,238964736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300409,045507,6250.451,-1300.411,26,1.7,26,-11.9