version: 66.04
glider: 103
mission: 11
dive: 335
start: 5 5 109 18 55 29
data:
$ID,103
$MISSION,11
$DIVE,335
$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,-150360.38
$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,25
$R_STBD_OVSHOOT,13
$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
$GPS1,184507,6243.439,-1222.385,60,1.5,60,-11.5
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-51.0
$GPS2,185441,6243.434,-1222.173,17,1.6,17,-11.5
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.194,-0.146
$KALMAN_X,-102893.9,-1760.6,1983.6,135155.6,-8300.9
$KALMAN_Y,18321.9,-365.4,239.7,-31300.4,1306.8
$MHEAD_RNG_PITCHd_Wd,138.5,6622,-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,-146.6,0.0,0.0,0,73,0.00,0.00,-51.78,0.000,6,0.000,0.000,50,2672,3501
$GC,76,-1.42,-146.6,6.3,-9.7,3,97,11.70,2.15,0.00,0.000,4,0.158,0.074,2126,3789,3501
$GC,350,-1.42,-146.6,49.6,-12.3,15,353,0.00,2.00,0.00,0.000,6,0.000,0.050,2126,2674,3501
$GC,679,-1.42,-146.6,92.1,-12.3,31,682,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3785,3501
$GC,757,-1.42,-146.6,101.6,-11.9,34,761,0.00,1.98,0.00,0.000,6,0.000,0.045,2126,2670,3501
$GC,1081,-1.42,-146.6,137.6,-12.3,50,1085,0.00,2.15,0.00,0.000,4,0.000,0.083,2126,3787,3501
$GC,1137,-1.42,-146.6,145.1,-13.5,52,1140,0.00,1.98,0.00,0.000,6,0.000,0.048,2126,2674,3501
$GC,1458,-1.42,-146.6,184.5,-12.1,68,1462,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3785,3501
$GC,1565,-1.42,-146.6,197.7,-11.9,72,1571,0.00,2.00,0.00,0.000,6,0.000,0.050,2126,2663,3501
$GC,1881,-1.42,-146.6,232.4,-10.9,88,1885,0.00,2.12,0.00,0.000,4,0.000,0.078,2126,3785,3500
$GC,1995,-1.42,-146.6,244.8,-10.9,93,1999,0.00,1.98,0.00,0.000,6,0.000,0.048,2126,2667,3500
$GC,2328,-1.42,-146.6,278.8,-10.5,109,2331,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3786,3501
$GC,2423,-1.42,-146.6,289.3,-11.1,113,2426,0.00,1.98,0.00,0.000,6,0.000,0.046,2126,2668,3501
$GC,2750,-1.42,-146.6,324.0,-10.6,129,2754,0.00,2.12,0.00,0.000,4,0.000,0.080,2126,3788,3501
$GC,2819,-1.42,-146.6,331.6,-11.3,132,2822,0.00,1.95,0.00,0.000,6,0.000,0.042,2126,2669,3501
$GC,3151,-1.42,-146.6,366.7,-10.6,148,3155,0.00,2.12,0.00,0.000,4,0.000,0.079,2126,3790,3501
$GC,3221,-1.42,-146.6,373.9,-10.9,151,3224,0.00,1.95,0.00,0.000,6,0.000,0.039,2126,2671,3501
$GC,3553,-1.42,-146.6,406.8,-9.9,167,3557,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3790,3501
$GC,3660,-1.42,-146.6,417.4,-9.4,171,3666,0.00,1.98,0.00,0.000,6,0.000,0.042,2126,2659,3501
$GC,3976,-1.42,-146.6,447.2,-9.4,187,3980,0.00,2.12,0.00,0.000,4,0.000,0.079,2126,3785,3501
$GC,4067,-1.42,-146.6,455.9,-9.5,191,4071,0.00,1.95,0.00,0.000,6,0.000,0.044,2126,2675,3501
$GC,4400,-1.42,-146.6,486.7,-9.2,207,4404,0.00,2.12,0.00,0.000,4,0.000,0.083,2126,3789,3501
$GC,4427,-1.42,-146.6,489.2,-9.2,208,4431,0.00,1.95,0.00,0.000,6,0.000,0.041,2126,2671,3501
$GC,4755,-1.42,-146.6,519.6,-9.3,224,4758,0.00,2.12,0.00,0.000,4,0.000,0.082,2126,3788,3501
$GC,4856,-1.42,-146.6,529.5,-10.2,228,4859,0.00,1.98,0.00,0.000,6,0.000,0.043,2126,2662,3501
$GC,5177,-1.42,-146.6,558.8,-9.0,244,5181,0.00,2.15,0.00,0.000,4,0.000,0.083,2126,3790,3501
$GC,5269,-1.42,-146.6,566.9,-9.2,248,5272,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2665,3501
$GC,5601,-1.42,-146.6,597.4,-9.3,264,5605,0.00,2.15,0.00,0.000,4,0.000,0.081,2126,3793,3501
$GC,5640,-1.42,-146.6,601.2,-9.7,265,5647,0.00,2.00,0.00,0.000,6,0.000,0.044,2126,2642,3501
$GC,5957,-1.42,-146.6,630.4,-9.9,281,5961,0.00,2.17,0.00,0.000,4,0.000,0.078,2126,3790,3501
$GC,6097,-1.42,-146.6,644.1,-9.8,287,6100,0.00,1.98,0.00,0.000,6,0.000,0.045,2126,2667,3501
$GC,6424,-1.42,-146.6,675.0,-9.9,303,6429,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3784,3501
$GC,6469,-1.42,-146.6,679.9,-10.9,305,6473,0.00,1.95,0.00,0.000,6,0.000,0.044,2126,2674,3501
$GC,6803,-1.42,-146.6,715.2,-11.0,321,6806,0.00,2.10,0.00,0.000,4,0.000,0.079,2126,3783,3501
$GC,6926,-1.42,-146.6,728.6,-10.3,326,6930,0.00,1.98,0.00,0.000,6,0.000,0.047,2126,2665,3501
$STATE,7205,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7205,begin apogee
$GC,7214,-0.42,0.0,756.9,9.9,340,7347,1.08,0.00,126.93,1.157,6,0.081,0.000,2346,2072,2902
$STATE,7347,end apogee,CONTROL_FINISHED_OK
$STATE,7347,begin climb
$GC,7351,1.42,146.6,762.3,0.0,347,7484,1.88,2.65,124.57,1.127,4,0.058,0.058,2746,654,2304
$GC,7496,1.59,285.0,764.1,2.9,354,7621,0.17,2.55,118.62,1.112,6,0.038,0.035,2795,2097,1740
$GC,7930,1.59,285.0,720.7,11.2,375,7934,0.00,2.55,0.00,0.000,4,0.000,0.064,2795,3478,1740
$GC,7985,1.59,285.0,713.7,12.9,377,7992,0.00,2.53,0.00,0.000,6,0.000,0.041,2795,2062,1739
$GC,8301,1.59,285.0,670.7,16.0,393,8305,0.00,2.53,0.00,0.000,4,0.000,0.060,2795,669,1739
$GC,8386,1.59,285.0,656.2,17.6,396,8392,0.00,2.47,0.00,0.000,6,0.000,0.038,2795,2073,1738
$GC,8702,1.59,285.0,601.7,16.6,412,8705,0.00,2.55,0.00,0.000,4,0.000,0.057,2795,669,1738
$GC,8763,1.59,285.0,591.4,17.4,414,8769,0.00,2.47,0.00,0.000,6,0.000,0.037,2795,2081,1738
$GC,9079,1.59,285.0,547.0,13.0,430,9084,0.00,2.58,0.00,0.000,4,0.000,0.055,2795,662,1738
$GC,9180,1.59,285.0,533.0,13.8,434,9186,0.00,2.47,0.00,0.000,6,0.000,0.036,2795,2078,1738
$GC,9496,1.59,285.0,496.6,10.7,450,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2078,1738
$GC,9806,1.59,285.0,465.7,9.5,465,9810,0.00,2.58,0.00,0.000,4,0.000,0.055,2795,659,1738
$GC,9917,1.59,285.0,454.7,9.5,470,9922,0.00,2.50,0.00,0.000,6,0.000,0.037,2795,2085,1738
$GC,10239,1.59,285.0,424.9,9.2,486,10243,0.00,2.55,0.00,0.000,4,0.000,0.055,2795,669,1738
$GC,10335,1.59,285.0,415.7,9.1,490,10339,0.00,2.47,0.00,0.000,6,0.000,0.037,2795,2081,1738
$GC,10656,1.59,285.0,385.7,9.6,506,10661,0.00,2.58,0.00,0.000,4,0.000,0.055,2795,659,1738
$GC,10737,1.59,285.0,377.4,10.3,509,10743,0.00,2.50,0.00,0.000,6,0.000,0.038,2795,2085,1738
$GC,11052,1.59,285.0,345.9,9.6,525,11057,0.00,2.58,0.00,0.000,4,0.000,0.056,2795,665,1739
$GC,11142,1.59,285.0,336.4,10.6,529,11146,0.00,2.47,0.00,0.000,6,0.000,0.038,2795,2076,1739
$GC,11463,1.59,285.0,305.1,9.4,545,11468,0.00,2.55,0.00,0.000,4,0.000,0.056,2795,669,1739
$GC,11587,1.59,285.0,293.0,9.5,550,11593,0.00,2.45,0.00,0.000,6,0.000,0.038,2795,2075,1739
$GC,11903,1.59,285.0,262.3,10.4,566,11907,0.00,2.55,0.00,0.000,4,0.000,0.057,2795,669,1739
$GC,12015,1.59,285.0,249.9,11.5,571,12019,0.00,2.47,0.00,0.000,6,0.000,0.038,2795,2078,1738
$GC,12336,1.59,285.0,213.6,12.0,587,12340,0.00,2.58,0.00,0.000,4,0.000,0.056,2795,659,1739
$GC,12425,1.59,285.0,201.9,12.4,591,12430,0.00,2.50,0.00,0.000,6,0.000,0.039,2795,2081,1739
$GC,12747,1.59,285.0,168.0,10.2,607,12751,0.00,2.58,0.00,0.000,4,0.000,0.057,2795,662,1739
$GC,12912,1.59,285.0,150.9,9.6,614,12916,0.00,2.50,0.00,0.000,6,0.000,0.040,2795,2082,1739
$GC,13233,1.59,285.0,116.8,11.0,630,13238,0.00,2.60,0.00,0.000,4,0.000,0.060,2795,657,1739
$GC,13368,1.59,285.0,100.6,11.4,636,13372,0.00,2.50,0.00,0.000,6,0.000,0.038,2795,2082,1739
$GC,13690,1.59,285.0,60.7,11.2,652,13694,0.00,2.60,0.00,0.000,4,0.000,0.061,2795,660,1740
$GC,13813,1.59,285.0,44.3,12.9,657,13819,0.00,2.47,0.00,0.000,6,0.000,0.039,2795,2079,1740
$GC,14131,1.59,285.0,10.9,8.6,673,14135,0.00,2.58,0.00,0.000,4,0.000,0.060,2795,668,1740
$GC,14198,1.59,285.0,2.1,12.7,676,14202,0.00,2.22,0.00,0.000,3,0.000,0.049,2795,1915,1739
$STATE,14202,end climb,SURFACE_DEPTH_REACHED
$STATE,14202,begin surface coast
$FINISH,0.9,1.027429
$STATE,14206,end surface coast,CONTROL_FINISHED_OK
$STATE,14206,begin surface
$SM_CCo,14292,0.00,0.000,0,0,1739,285.53
$SM_GC,1.30,12.10,0.00,0.00,0.031,0.000,0.000,52,2682,1739,-10.93,0.20,285.53
$IRIDIUM_FIX,6221.17,-1223.07,300798,181858
$TT8_MAMPS,0.029146
$HUMID,1787
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.8,15.3
$24V_AH,23.2,55.993
$10V_AH,10.1,32.271
$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,26.925,153.075,370.125,0.000,0.000,52.776,55.895,263.453,6.750,0.000,0.000,17.100,1336.314,10511.725,456.823,1881.461,671.073,33.346,1418.397,0.000,1820.926,0.000,49.102,0.000
$DEVICE_MAMPS,158.002,82.836,1157.403,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.120,500.460,389.209,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34887,676
$CAP_FILE_SIZE,118412,0
$CFSIZE,260165632,237240320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050509,225506,6241.812,-1220.589,43,1.5,48,-11.5