version: 66.04
glider: 103
mission: 11
dive: 420
start: 5 18 109 22 22 33
data:
$ID,103
$MISSION,11
$DIVE,420
$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,-151942.25
$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,18
$R_STBD_OVSHOOT,7
$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
$GPS1,221625,6325.773,-828.029,40,1.7,40,-9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-58.9
$GPS2,222143,6325.715,-828.110,12,1.3,12,-9.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.109,0.217
$KALMAN_X,-23985.9,586.7,-139.9,121029.3,-1930.3
$KALMAN_Y,-42930.5,1860.0,676.6,118181.3,-15669.2
$MHEAD_RNG_PITCHd_Wd,36.2,42495,-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,-41.62,0.000,2,0.000,0.000,46,2745,3125
$GC,62,-1.42,-146.6,3.1,-9.9,2,86,11.95,2.10,-6.65,0.000,4,0.164,0.103,2125,3793,3501
$GC,133,-1.42,-146.6,16.5,-12.7,5,137,0.00,1.90,0.00,0.000,6,0.000,0.052,2125,2743,3502
$GC,468,-1.42,-146.6,53.9,-11.1,21,472,0.00,2.58,0.00,0.000,4,0.000,0.064,2124,1334,3503
$GC,535,-1.42,-146.6,61.3,-10.6,24,539,0.00,2.70,0.00,0.000,6,0.000,0.070,2125,2763,3503
$GC,856,-1.42,-146.6,94.9,-10.3,40,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2763,3503
$GC,1167,-1.42,-146.6,126.4,-10.1,55,1171,0.00,2.65,0.00,0.000,4,0.000,0.062,2125,1332,3504
$GC,1222,-1.42,-146.6,132.5,-10.1,57,1229,0.00,2.70,0.00,0.000,6,0.000,0.071,2125,2757,3504
$GC,1539,-1.42,-146.6,165.0,-10.2,73,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2757,3504
$GC,1847,-1.42,-146.6,197.4,-10.6,88,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2757,3504
$GC,2157,-1.42,-146.6,229.5,-10.4,103,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2757,3505
$GC,2466,-1.42,-146.6,260.9,-10.1,118,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2757,3505
$GC,2775,-1.42,-146.6,292.2,-10.1,133,2780,0.00,2.67,0.00,0.000,4,0.000,0.069,2125,1331,3505
$GC,2822,-1.42,-146.6,296.8,-9.9,135,2826,0.00,2.72,0.00,0.000,6,0.000,0.075,2125,2758,3505
$GC,3144,-1.42,-146.6,328.9,-10.1,151,3148,0.00,2.67,0.00,0.000,4,0.000,0.071,2125,1335,3504
$GC,3188,-1.42,-146.6,333.6,-10.1,153,3192,0.00,2.70,0.00,0.000,6,0.000,0.076,2125,2748,3504
$GC,3509,-1.42,-146.6,365.6,-10.1,169,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2748,3503
$GC,3819,-1.42,-146.6,396.4,-9.9,184,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2748,3502
$GC,4128,-1.42,-146.6,426.5,-9.7,199,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2749,3501
$GC,4437,-1.42,-146.6,455.8,-9.6,214,4441,0.00,2.70,0.00,0.000,4,0.000,0.075,2125,1331,3500
$GC,4470,-1.42,-146.6,459.0,-9.6,215,4477,0.00,2.72,0.00,0.000,6,0.000,0.077,2125,2760,3500
$GC,4787,-1.42,-146.6,490.2,-10.1,231,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3499
$GC,5096,-1.42,-146.6,521.2,-9.9,246,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3499
$GC,5407,-1.42,-146.6,551.7,-9.7,261,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3497
$GC,5715,-1.42,-146.6,582.4,-10.4,276,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3497
$GC,6024,-1.42,-146.6,611.7,-9.0,291,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3496
$GC,6334,-1.42,-146.6,633.7,-0.2,306,6338,0.00,1.95,0.00,0.000,4,0.000,0.084,2126,3785,3495
$STATE,6530,end dive,NO_VERTICAL_VELOCITY
$STATE,6531,begin apogee
$GC,6541,-0.42,0.0,633.7,0.0,314,6672,0.98,0.00,127.62,1.179,6,0.042,0.000,2347,1997,2902
$STATE,6673,end apogee,CONTROL_FINISHED_OK
$STATE,6673,begin climb
$GC,6677,1.42,146.6,633.5,0.0,321,6809,1.85,0.00,126.78,1.130,6,0.045,0.000,2750,1997,2304
$GC,7132,1.69,362.6,633.3,0.1,343,7325,0.25,2.80,186.10,1.145,4,0.037,0.071,2816,3419,1423
$GC,7368,1.69,362.6,627.3,10.2,354,7372,0.00,2.62,0.00,0.000,6,0.000,0.050,2816,1998,1423
$GC,7684,1.69,362.6,591.6,11.1,369,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1998,1422
$GC,7993,1.69,362.6,555.6,11.4,384,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1998,1421
$GC,8302,1.69,362.6,520.3,11.8,399,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1998,1420
$GC,8611,1.69,362.6,482.3,12.5,414,8616,0.00,2.72,0.00,0.000,4,0.000,0.080,2816,3418,1420
$GC,8652,1.69,362.6,477.1,13.5,416,8657,0.00,2.62,0.00,0.000,6,0.000,0.055,2815,1995,1420
$GC,8979,1.69,362.6,434.9,12.9,432,8983,0.00,2.67,0.00,0.000,4,0.000,0.077,2816,585,1420
$GC,9023,1.69,362.6,428.9,14.1,434,9028,0.00,2.60,0.00,0.000,6,0.000,0.051,2816,2009,1419
$GC,9345,1.69,362.6,388.3,12.4,450,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2009,1419
$GC,9653,1.69,362.6,352.1,11.5,465,9654,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2009,1419
$GC,9963,1.69,362.6,316.3,11.4,480,9967,0.00,2.72,0.00,0.000,4,0.000,0.077,2816,586,1419
$GC,10020,1.69,362.6,309.6,11.8,482,10026,0.00,2.60,0.00,0.000,6,0.000,0.051,2816,2010,1419
$GC,10336,1.69,362.6,272.3,12.0,498,10337,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2010,1419
$GC,10645,1.69,362.6,236.4,11.6,513,10646,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2010,1419
$GC,10955,1.69,362.6,201.7,11.3,528,10956,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2010,1419
$GC,11264,1.69,362.6,167.0,11.4,543,11268,0.00,2.70,0.00,0.000,4,0.000,0.072,2816,585,1419
$GC,11309,1.69,362.6,161.8,12.1,545,11314,0.00,2.58,0.00,0.000,6,0.000,0.048,2816,2010,1419
$GC,11631,1.69,362.6,124.8,12.1,561,11632,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2010,1420
$GC,11941,1.69,362.6,89.4,11.6,576,11945,0.00,2.67,0.00,0.000,4,0.000,0.070,2816,588,1421
$GC,11985,1.69,362.6,83.6,11.7,578,11989,0.00,2.55,0.00,0.000,6,0.000,0.045,2816,2008,1421
$GC,12306,1.69,362.6,46.9,11.3,594,12311,0.00,2.67,0.00,0.000,4,0.000,0.069,2816,585,1422
$GC,12352,1.69,362.6,41.2,13.0,596,12356,0.00,2.55,0.00,0.000,6,0.000,0.044,2816,2009,1422
$GC,12673,1.69,362.6,2.7,12.1,612,12675,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2010,1422
$STATE,12691,end climb,SURFACE_DEPTH_REACHED
$STATE,12691,begin surface coast
$FINISH,-0.2,1.014524
$STATE,12713,end surface coast,CONTROL_FINISHED_OK
$STATE,12713,begin surface
$SM_CCo,12800,0.00,0.000,0,0,1422,363.04
$SM_GC,0.57,12.38,0.00,0.00,0.037,0.000,0.000,53,2744,1422,-10.92,-0.17,363.04
$IRIDIUM_FIX,6258.74,-826.15,120898,181842
$TT8_MAMPS,0.028379
$HUMID,1856
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,14.70
$XPDR_PINGS,43
$ALTIM_BOTTOM_PING,600.7,45.6
$24V_AH,22.8,67.070
$10V_AH,10.0,37.715
$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,27.400,74.700,440.500,0.000,0.000,24.122,28.595,143.844,16.000,0.000,0.000,12.937,1091.390,9834.803,475.943,1267.770,445.926,33.356,1133.924,0.000,1243.259,0.000,41.244,0.000
$DEVICE_MAMPS,164.138,107.380,1178.879,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.469,433.761,386.363,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31710,614
$CAP_FILE_SIZE,82655,0
$CFSIZE,260165632,233291776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190509,015706,6327.227,-827.765,35,1.3,35,-9.6