version: 66.04
glider: 103
mission: 11
dive: 412
start: 5 17 109 13 35 52
data:
$ID,103
$MISSION,11
$DIVE,412
$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,0
$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,-151799.84
$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,2750
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,11
$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
$GPS1,132926,6320.834,-818.568,35,2.8,54,-9.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-58.8
$GPS2,133504,6320.821,-818.469,15,2.4,34,-9.5
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.030,0.241
$KALMAN_X,-18910.9,-690.2,-184.1,125477.3,7145.0
$KALMAN_Y,-22015.9,1250.3,1421.5,88049.8,-22473.4
$MHEAD_RNG_PITCHd_Wd,16.7,47266,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.42,-146.6,0.0,0.0,0,76,0.00,0.00,-52.72,0.000,6,0.000,0.000,50,2751,3500
$GC,79,-1.42,-146.6,6.6,-11.9,3,100,11.95,2.05,0.00,0.000,4,0.166,0.084,2125,3792,3500
$GC,225,-1.42,-146.6,34.2,-10.4,9,229,0.00,1.90,0.00,0.000,6,0.000,0.042,2125,2742,3501
$GC,547,-1.42,-146.6,69.9,-11.4,25,551,0.00,2.62,0.00,0.000,4,0.000,0.071,2125,1332,3501
$GC,633,-1.42,-146.6,80.0,-11.3,29,638,0.00,2.70,0.00,0.000,6,0.000,0.071,2125,2754,3501
$GC,962,-1.42,-146.6,120.1,-12.0,45,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3501
$GC,1269,-1.42,-146.6,155.2,-11.3,60,1272,0.00,2.00,0.00,0.000,4,0.000,0.090,2125,3790,3502
$GC,1337,-1.42,-146.6,163.1,-11.6,63,1340,0.00,1.90,0.00,0.000,6,0.000,0.051,2125,2734,3502
$GC,1670,-1.42,-146.6,198.9,-10.7,79,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2734,3502
$GC,1979,-1.42,-146.6,233.7,-11.1,94,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2733,3503
$GC,2288,-1.42,-146.6,269.1,-11.6,109,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2733,3503
$GC,2598,-1.42,-146.6,304.7,-11.1,124,2602,0.00,2.62,0.00,0.000,4,0.000,0.075,2125,1334,3503
$GC,2630,-1.42,-146.6,308.5,-11.7,125,2637,0.00,2.72,0.00,0.000,6,0.000,0.077,2125,2758,3503
$GC,2947,-1.42,-146.6,339.5,-9.8,141,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2758,3503
$GC,3256,-1.42,-146.6,370.2,-9.8,156,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2758,3503
$GC,3566,-1.42,-146.6,400.1,-9.2,171,3571,0.00,2.67,0.00,0.000,4,0.000,0.074,2125,1338,3502
$GC,3622,-1.42,-146.6,405.4,-9.1,173,3628,0.00,2.72,0.00,0.000,6,0.000,0.077,2125,2754,3502
$GC,3938,-1.42,-146.6,433.9,-9.2,189,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3502
$GC,4247,-1.42,-146.6,462.9,-9.6,204,4251,0.00,2.70,0.00,0.000,4,0.000,0.074,2125,1332,3501
$GC,4287,-1.42,-146.6,466.8,-9.9,206,4292,0.00,2.75,0.00,0.000,6,0.000,0.080,2125,2756,3501
$GC,4614,-1.42,-146.6,499.5,-10.2,222,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3500
$GC,4923,-1.42,-146.6,530.7,-10.1,237,4927,0.00,2.70,0.00,0.000,4,0.000,0.075,2125,1338,3499
$GC,4978,-1.42,-146.6,536.4,-10.4,239,4985,0.00,2.75,0.00,0.000,6,0.000,0.083,2125,2756,3498
$GC,5295,-1.42,-146.6,566.9,-9.4,255,5299,0.00,2.72,0.00,0.000,4,0.000,0.077,2125,1331,3498
$GC,5334,-1.42,-146.6,570.8,-9.4,257,5339,0.00,2.78,0.00,0.000,6,0.000,0.084,2125,2758,3497
$GC,5661,-1.42,-146.6,602.6,-9.7,273,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3496
$STATE,5844,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5844,begin apogee
$GC,5853,-0.42,0.0,621.1,10.7,282,5986,1.12,0.00,126.68,1.192,6,0.104,0.000,2344,2004,2902
$STATE,5987,end apogee,CONTROL_FINISHED_OK
$STATE,5987,begin climb
$GC,5990,1.42,146.6,629.1,0.0,289,6124,1.92,2.75,125.00,1.144,4,0.064,0.068,2747,3414,2304
$GC,6386,1.56,257.9,621.2,3.9,307,6490,0.15,2.62,95.45,1.133,6,0.044,0.051,2790,1981,1850
$GC,6799,1.56,257.9,586.9,8.6,327,6803,0.00,2.75,0.00,0.000,4,0.000,0.074,2789,3414,1849
$GC,6871,1.56,257.9,580.5,8.8,330,6875,0.00,2.60,0.00,0.000,6,0.000,0.052,2789,1996,1849
$GC,7187,1.56,257.9,551.7,9.3,345,7192,0.00,2.65,0.00,0.000,4,0.000,0.074,2789,588,1849
$GC,7238,1.56,257.9,546.5,9.9,347,7242,0.00,2.58,0.00,0.000,6,0.000,0.047,2789,2009,1849
$GC,7554,1.56,257.9,516.8,9.6,362,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2009,1848
$GC,7863,1.56,257.9,487.4,9.5,377,7868,0.00,2.70,0.00,0.000,4,0.000,0.073,2790,586,1847
$GC,7910,1.56,257.9,482.8,10.4,379,7914,0.00,2.58,0.00,0.000,6,0.000,0.048,2789,2005,1847
$GC,8231,1.56,257.9,452.2,9.6,395,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2006,1846
$GC,8540,1.56,257.9,422.7,9.5,410,8541,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2006,1846
$GC,8849,1.56,257.9,394.6,9.1,425,8854,0.00,2.67,0.00,0.000,4,0.000,0.073,2789,589,1847
$GC,8905,1.56,257.9,389.3,9.9,427,8911,0.00,2.55,0.00,0.000,6,0.000,0.048,2789,1996,1846
$GC,9220,1.56,257.9,361.3,9.3,443,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1996,1846
$GC,9530,1.56,257.9,333.9,9.4,458,9535,0.00,2.65,0.00,0.000,4,0.000,0.071,2789,594,1846
$GC,9631,1.56,257.9,323.2,10.9,462,9637,0.00,2.55,0.00,0.000,6,0.000,0.048,2789,2001,1846
$GC,9947,1.56,257.9,293.8,9.0,478,9951,0.00,2.67,0.00,0.000,4,0.000,0.075,2789,3417,1846
$GC,10010,1.56,257.9,288.3,8.5,481,10015,0.00,2.60,0.00,0.000,6,0.000,0.054,2789,1998,1846
$GC,10337,1.56,257.9,259.9,8.9,497,10341,0.00,2.65,0.00,0.000,4,0.000,0.072,2789,584,1845
$GC,10471,1.56,257.9,247.3,9.0,503,10476,0.00,2.58,0.00,0.000,6,0.000,0.045,2789,2014,1845
$GC,10793,1.56,258.9,221.0,8.0,519,10794,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2014,1845
$GC,11102,1.60,292.9,198.8,6.8,534,11137,0.00,2.78,29.33,0.912,4,0.000,0.070,2790,587,1708
$GC,11212,1.60,292.9,190.3,8.6,539,11217,0.00,2.58,0.00,0.000,6,0.000,0.047,2789,2002,1708
$GC,11539,1.60,292.9,163.3,8.9,555,11543,0.00,2.65,0.00,0.000,4,0.000,0.067,2790,589,1708
$GC,11629,1.60,292.9,154.6,10.2,559,11633,0.00,2.55,0.00,0.000,6,0.000,0.045,2789,2004,1707
$GC,11950,1.60,292.9,122.6,10.2,575,11951,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2005,1708
$GC,12259,1.60,292.9,90.1,10.8,590,12264,0.00,2.65,0.00,0.000,4,0.000,0.074,2789,3410,1708
$GC,12300,1.60,292.9,85.1,11.9,592,12305,0.00,2.58,0.00,0.000,6,0.000,0.054,2790,1998,1708
$GC,12628,1.60,292.9,47.6,10.6,608,12632,0.00,2.60,0.00,0.000,4,0.000,0.065,2789,589,1709
$GC,12762,1.60,292.9,34.0,10.2,614,12766,0.00,2.53,0.00,0.000,6,0.000,0.043,2789,2003,1709
$GC,13084,1.60,292.9,2.0,9.6,630,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2004,1710
$STATE,13101,end climb,SURFACE_DEPTH_REACHED
$STATE,13101,begin surface coast
$FINISH,-0.2,1.014376
$STATE,13123,end surface coast,CONTROL_FINISHED_OK
$STATE,13123,begin surface
$SM_CCo,13209,0.00,0.000,0,0,1710,292.64
$SM_GC,0.68,12.15,0.00,0.00,0.031,0.000,0.000,43,2741,1710,-10.93,-0.25,292.64
$IRIDIUM_FIX,6254.00,-824.74,110898,101013
$TT8_MAMPS,0.028379
$HUMID,1867
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,15.50
$XPDR_PINGS,56
$ALTIM_BOTTOM_PING,551.2,78.2
$24V_AH,22.8,65.905
$10V_AH,10.1,37.179
$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,27.300,106.375,376.450,0.000,0.000,23.179,27.511,146.638,18.500,0.000,0.000,35.189,1167.080,9973.215,447.855,1499.015,457.641,33.352,1206.795,0.000,1443.612,0.000,35.183,0.000
$DEVICE_MAMPS,165.672,97.409,1191.918,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.995,440.492,391.928,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31727,632
$CAP_FILE_SIZE,93587,0
$CFSIZE,260165632,233656320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170509,171707,6321.822,-814.637,28,1.2,28,-9.5