version: 66.04
glider: 103
mission: 11
dive: 23
start: 2 26 109 3 24 16
data:
$ID,103
$MISSION,11
$DIVE,23
$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,300
$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,-143418.33
$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,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,10
$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
$GPS1,031822,6122.867,-922.500,41,2.1,60,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.1
$GPS2,032328,6122.819,-922.593,11,2.1,30,-9.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,AW
$TGT_LATLONG,6130.000,-930.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.045,0.239
$KALMAN_X,-8258.5,310.2,-647.3,14581.6,-744.1
$KALMAN_Y,-48160.8,1769.3,512.7,67310.4,-17843.1
$MHEAD_RNG_PITCHd_Wd,358.7,14823,-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,16,-1.42,-146.6,0.0,0.0,0,59,0.00,0.00,-41.33,0.000,2,0.000,0.000,46,2736,3032
$GC,62,-1.42,-146.6,3.2,-8.4,2,89,11.90,2.62,-8.77,0.000,4,0.165,0.081,2124,1330,3502
$GC,162,-1.42,-146.6,15.6,-7.7,6,169,0.00,2.67,0.00,0.000,6,0.000,0.067,2123,2757,3502
$GC,478,-1.42,-146.6,49.3,-12.4,22,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3502
$GC,788,-1.42,-146.6,87.8,-9.9,37,791,0.00,1.98,0.00,0.000,4,0.000,0.090,2123,3784,3502
$GC,827,-1.42,-146.6,91.5,-9.5,38,833,0.00,1.90,0.00,0.000,6,0.000,0.056,2124,2750,3502
$GC,1144,-1.42,-146.6,122.8,-11.3,54,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2749,3502
$GC,1452,-1.42,-146.6,153.4,-8.7,69,1456,0.00,2.58,0.00,0.000,4,0.000,0.064,2124,1329,3502
$GC,1484,-1.42,-146.6,156.5,-9.5,70,1491,0.00,2.65,0.00,0.000,6,0.000,0.067,2124,2757,3502
$GC,1801,-1.42,-146.6,188.8,-11.4,86,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3502
$GC,2110,-1.42,-146.6,220.9,-10.2,101,2114,0.00,1.95,0.00,0.000,4,0.000,0.086,2124,3786,3502
$GC,2138,-1.42,-146.6,224.7,-12.5,102,2143,0.00,1.88,0.00,0.000,6,0.000,0.053,2124,2753,3502
$GC,2464,-1.42,-146.6,260.6,-11.4,118,2469,0.00,2.58,0.00,0.000,4,0.000,0.062,2124,1330,3502
$GC,2492,-1.42,-146.6,263.7,-10.6,119,2496,0.00,2.65,0.00,0.000,6,0.000,0.068,2124,2751,3501
$GC,2810,-1.42,-146.6,300.4,-10.4,134,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3501
$GC,3117,-1.42,-146.6,332.2,-10.3,149,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3501
$GC,3426,-1.42,-146.6,363.4,-10.1,164,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3501
$GC,3736,-1.42,-146.6,394.4,-10.1,179,3739,0.00,1.95,0.00,0.000,4,0.000,0.086,2124,3782,3501
$GC,3775,-1.42,-146.6,398.5,-9.6,180,3781,0.00,1.88,0.00,0.000,6,0.000,0.053,2124,2745,3501
$GC,4091,-1.42,-146.6,430.8,-10.2,196,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2745,3501
$GC,4400,-1.42,-146.6,462.1,-10.0,211,4405,0.00,2.55,0.00,0.000,4,0.000,0.061,2124,1328,3501
$GC,4434,-1.42,-146.6,465.6,-10.3,212,4440,0.00,2.65,0.00,0.000,6,0.000,0.066,2124,2758,3501
$GC,4750,-1.42,-146.6,497.6,-10.2,228,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3501
$GC,5059,-1.42,-146.6,528.2,-9.8,243,5062,0.00,1.95,0.00,0.000,4,0.000,0.087,2124,3786,3501
$GC,5092,-1.42,-146.6,531.6,-9.8,244,5096,0.00,1.83,0.00,0.000,6,0.000,0.048,2124,2750,3501
$GC,5414,-1.42,-146.6,562.4,-9.7,260,5418,0.00,2.53,0.00,0.000,4,0.000,0.058,2124,1335,3501
$GC,5463,-1.42,-146.6,567.4,-10.3,262,5468,0.00,2.62,0.00,0.000,6,0.000,0.064,2124,2757,3501
$GC,5779,-1.42,-146.6,598.7,-10.3,277,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3501
$STATE,6003,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6003,begin apogee
$GC,6013,-0.42,0.0,621.8,9.7,288,6139,1.10,0.00,123.15,1.108,6,0.093,0.000,2344,1694,2902
$STATE,6140,end apogee,CONTROL_FINISHED_OK
$STATE,6140,begin climb
$GC,6143,1.42,146.6,626.9,0.0,294,6275,1.90,2.65,121.25,1.074,4,0.058,0.061,2748,289,2304
$GC,6424,1.52,230.1,622.0,4.9,307,6500,0.10,2.50,70.12,1.062,6,0.052,0.031,2779,1744,1965
$GC,6817,1.52,230.1,591.5,9.1,326,6821,0.00,2.40,0.00,0.000,4,0.000,0.045,2779,3095,1965
$GC,6902,1.52,230.1,583.8,8.8,330,6906,0.00,2.47,0.00,0.000,6,0.000,0.038,2779,1693,1964
$GC,7228,1.52,230.1,555.1,8.6,346,7233,0.00,2.55,0.00,0.000,4,0.000,0.060,2779,300,1964
$GC,7268,1.52,230.1,551.5,9.7,348,7273,0.00,2.40,0.00,0.000,6,0.000,0.033,2779,1698,1965
$GC,7595,1.52,230.1,523.1,9.0,364,7600,0.00,2.47,0.00,0.000,4,0.000,0.048,2779,3093,1965
$GC,7691,1.52,230.1,513.8,9.8,368,7695,0.00,2.47,0.00,0.000,6,0.000,0.041,2779,1693,1964
$GC,8006,1.52,230.1,482.7,10.0,383,8011,0.00,2.50,0.00,0.000,4,0.000,0.048,2779,3091,1964
$GC,8051,1.52,230.1,478.0,10.2,385,8055,0.00,2.47,0.00,0.000,6,0.000,0.041,2779,1691,1965
$GC,8372,1.52,230.1,446.0,9.9,401,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1691,1964
$GC,8682,1.52,230.1,414.5,10.4,416,8686,0.00,2.50,0.00,0.000,4,0.000,0.050,2779,3090,1964
$GC,8767,1.52,230.1,405.7,9.8,420,8771,0.00,2.47,0.00,0.000,6,0.000,0.044,2779,1696,1964
$GC,9094,1.52,230.1,372.8,9.9,436,9095,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1696,1964
$GC,9403,1.52,230.1,342.7,9.7,451,9407,0.00,2.53,0.00,0.000,4,0.000,0.052,2779,3099,1964
$GC,9452,1.52,230.1,337.9,9.2,453,9457,0.00,2.50,0.00,0.000,6,0.000,0.045,2779,1694,1964
$GC,9768,1.52,230.1,307.4,9.8,468,9772,0.00,2.53,0.00,0.000,4,0.000,0.053,2779,3097,1964
$GC,9801,1.52,230.1,304.0,10.0,469,9808,0.00,2.50,0.00,0.000,6,0.000,0.047,2779,1694,1964
$GC,10117,1.52,230.1,273.8,9.6,485,10121,0.00,2.53,0.00,0.000,4,0.000,0.054,2779,3097,1964
$GC,10163,1.52,230.1,269.3,9.5,487,10167,0.00,2.50,0.00,0.000,6,0.000,0.046,2779,1693,1964
$GC,10489,1.52,230.1,236.9,10.4,503,10494,0.00,2.53,0.00,0.000,4,0.000,0.054,2779,3093,1964
$GC,10522,1.52,230.1,233.4,10.4,504,10528,0.00,2.50,0.00,0.000,6,0.000,0.048,2779,1693,1964
$GC,10838,1.52,230.1,199.2,11.1,520,10842,0.00,2.53,0.00,0.000,4,0.000,0.056,2779,3093,1964
$GC,10878,1.52,230.1,194.7,11.2,521,10884,0.00,2.50,0.00,0.000,6,0.000,0.048,2779,1694,1964
$GC,11194,1.52,230.1,158.1,11.4,537,11198,0.00,2.53,0.00,0.000,4,0.000,0.056,2779,3091,1964
$GC,11243,1.52,230.1,152.2,11.5,539,11248,0.00,2.50,0.00,0.000,6,0.000,0.048,2779,1693,1964
$GC,11560,1.52,230.1,117.2,10.0,554,11564,0.00,2.53,0.00,0.000,4,0.000,0.057,2779,3090,1964
$GC,11615,1.52,230.1,111.0,11.2,556,11621,0.00,2.47,0.00,0.000,6,0.000,0.049,2779,1699,1964
$GC,11931,1.52,230.1,79.9,9.8,572,11935,0.00,2.53,0.00,0.000,4,0.000,0.057,2779,3095,1964
$GC,11971,1.52,230.1,75.8,10.6,574,11975,0.00,2.50,0.00,0.000,6,0.000,0.050,2778,1698,1964
$GC,12299,1.52,230.1,47.9,8.9,590,12303,0.00,2.58,0.00,0.000,4,0.000,0.062,2779,287,1964
$GC,12338,1.52,230.1,43.8,11.1,592,12343,0.00,2.42,0.00,0.000,6,0.000,0.037,2779,1682,1964
$GC,12672,1.52,230.1,11.1,9.6,608,12676,0.00,2.58,0.00,0.000,4,0.000,0.056,2779,3121,1964
$GC,12727,1.52,230.1,4.4,10.5,610,12733,0.00,2.53,0.00,0.000,6,0.000,0.045,2779,1693,1964
$STATE,12752,end climb,SURFACE_DEPTH_REACHED
$STATE,12752,begin surface coast
$FINISH,0.4,1.008817
$STATE,12774,end surface coast,CONTROL_FINISHED_OK
$STATE,12774,begin surface
$SM_CCo,12800,45.60,0.728,0,0,1677,300.00
$SM_GC,1.33,0.00,0.00,45.60,0.000,0.000,0.728,53,2745,1677,-10.98,-0.17,300.00
$IRIDIUM_FIX,6103.81,-910.74,220598,232358
$TT8_MAMPS,0.029146
$HUMID,1772
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.0,30.6
$24V_AH,23.4,13.232
$10V_AH,10.1,5.815
$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,27.025,125.575,314.525,45.600,0.000,24.173,28.113,126.892,5.000,0.000,0.000,31.174,1139.659,9740.710,455.958,1396.330,422.155,33.357,1179.736,0.000,1346.921,0.000,34.973,0.000
$DEVICE_MAMPS,164.905,89.739,1107.548,727.883,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.438,451.267,400.569,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31686,613
$CAP_FILE_SIZE,95447,0
$CFSIZE,260165632,256421888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260209,065937,6124.281,-926.512,34,1.6,34,-9.4