version: 66.04
glider: 103
mission: 11
dive: 180
start: 4 1 109 10 30 38
data:
$ID,103
$MISSION,11
$DIVE,180
$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,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,-146546.69
$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,2650
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,20
$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
$GPS1,102436,6256.987,-1152.257,34,1.3,34,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-55.2
$GPS2,102949,6256.995,-1152.236,16,1.2,33,-11.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6130.000,-930.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.175,-0.131
$KALMAN_X,-5599.6,-468.1,165.4,10946.4,-8596.2
$KALMAN_Y,6412.1,-1178.8,870.8,-16030.6,8129.1
$MHEAD_RNG_PITCHd_Wd,138.2,204345,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,78,0.00,0.00,-59.65,0.000,6,0.000,0.000,51,2668,3501
$GC,81,-1.10,-146.6,5.5,-10.8,3,103,12.15,2.15,0.00,0.000,4,0.160,0.078,2193,3779,3501
$GC,198,-1.10,-146.6,28.0,-10.0,8,202,0.00,2.12,0.00,0.000,6,0.000,0.072,2194,2651,3501
$GC,527,-1.10,-146.6,54.0,-8.5,24,531,0.00,2.20,0.00,0.000,4,0.000,0.091,2194,3778,3501
$GC,618,-1.10,-146.6,61.9,-8.5,28,622,0.00,2.10,0.00,0.000,6,0.000,0.065,2194,2643,3501
$GC,952,-1.10,-146.6,90.8,-9.1,44,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,1261,-1.10,-146.6,119.8,-9.2,59,1264,0.00,2.20,0.00,0.000,4,0.000,0.091,2194,3776,3501
$GC,1339,-1.10,-146.6,127.1,-8.9,62,1343,0.00,2.08,0.00,0.000,6,0.000,0.064,2194,2649,3501
$GC,1661,-1.10,-146.6,155.0,-8.5,78,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3501
$GC,1970,-1.10,-146.6,180.6,-8.1,93,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3501
$GC,2279,-1.10,-146.6,207.2,-8.8,108,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3501
$GC,2589,-1.10,-146.6,235.8,-9.4,123,2592,0.00,2.20,0.00,0.000,4,0.000,0.089,2194,3785,3501
$GC,2645,-1.10,-146.6,241.4,-10.2,125,2648,0.00,2.10,0.00,0.000,6,0.000,0.062,2194,2641,3501
$GC,2966,-1.10,-146.6,271.9,-9.3,141,2970,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3780,3501
$GC,3001,-1.10,-146.6,275.1,-9.7,142,3004,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2648,3501
$GC,3322,-1.10,-146.6,303.1,-8.6,158,3326,0.00,2.17,0.00,0.000,4,0.000,0.087,2194,3779,3501
$GC,3373,-1.10,-146.6,307.9,-9.3,160,3376,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2645,3501
$GC,3700,-1.10,-146.6,336.8,-8.7,176,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3501
$GC,4010,-1.10,-146.6,361.8,-7.4,191,4013,0.00,2.17,0.00,0.000,4,0.000,0.084,2194,3777,3501
$GC,4078,-1.10,-146.6,367.1,-8.2,194,4082,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2640,3501
$GC,4411,-1.10,-146.6,391.9,-7.5,210,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3501
$GC,4720,-1.10,-146.6,419.1,-9.8,225,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3501
$GC,5029,-1.10,-146.6,448.1,-8.8,240,5033,0.00,2.17,0.00,0.000,4,0.000,0.084,2194,3777,3501
$GC,5126,-1.10,-146.6,456.4,-8.1,244,5130,0.00,2.05,0.00,0.000,6,0.000,0.058,2194,2648,3501
$GC,5453,-1.10,-146.6,484.4,-8.8,260,5457,0.00,2.17,0.00,0.000,4,0.000,0.086,2194,3782,3501
$GC,5622,-1.10,-146.6,498.6,-8.1,267,5625,0.00,2.05,0.00,0.000,6,0.000,0.056,2194,2650,3501
$STATE,5631,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5631,begin apogee
$GC,5640,-0.42,0.0,499.4,7.5,268,5765,0.77,0.00,122.05,1.009,6,0.093,0.000,2349,1998,2902
$STATE,5766,end apogee,CONTROL_FINISHED_OK
$STATE,5766,begin climb
$GC,5769,1.10,146.6,504.6,0.0,274,5897,1.55,2.67,120.07,0.971,4,0.057,0.064,2681,581,2304
$GC,6097,1.20,225.9,498.8,3.8,289,6168,0.00,2.53,65.93,0.961,6,0.000,0.038,2681,2017,1981
$GC,6488,1.20,225.9,480.4,6.1,308,6493,0.00,2.60,0.00,0.000,4,0.000,0.071,2681,3407,1979
$GC,6618,1.20,225.9,471.7,6.7,314,6623,0.00,2.58,0.00,0.000,6,0.000,0.051,2681,1985,1979
$GC,6946,1.20,226.0,450.9,6.0,330,6950,0.00,2.65,0.00,0.000,4,0.000,0.067,2681,3399,1978
$GC,7008,1.22,244.9,447.5,5.5,333,7031,0.12,2.55,16.45,0.946,6,0.046,0.050,2720,1988,1903
$GC,7339,1.22,244.9,426.4,7.2,349,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1988,1902
$GC,7648,1.22,244.9,402.7,7.2,364,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1988,1902
$GC,7958,1.22,244.9,381.5,7.1,379,7962,0.00,2.62,0.00,0.000,4,0.000,0.067,2720,3400,1902
$GC,8007,1.22,244.9,377.5,7.8,381,8012,0.00,2.55,0.00,0.000,6,0.000,0.051,2720,1994,1902
$GC,8324,1.22,244.9,353.5,7.5,396,8328,0.00,2.62,0.00,0.000,4,0.000,0.067,2720,3402,1902
$GC,8379,1.22,244.9,349.2,8.2,398,8385,0.00,2.55,0.00,0.000,6,0.000,0.052,2720,1992,1901
$GC,8695,1.22,244.9,327.2,6.9,414,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1992,1901
$GC,9004,1.22,244.9,307.0,6.2,429,9008,0.00,2.62,0.00,0.000,4,0.000,0.067,2720,3402,1901
$GC,9060,1.22,244.9,303.2,7.3,431,9066,0.00,2.55,0.00,0.000,6,0.000,0.051,2720,1989,1902
$GC,9375,1.22,244.9,282.2,6.8,447,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1989,1902
$GC,9685,1.22,244.9,260.1,7.3,462,9689,0.00,2.62,0.00,0.000,4,0.000,0.067,2720,3401,1902
$GC,9740,1.22,244.9,255.7,8.2,464,9746,0.00,2.55,0.00,0.000,6,0.000,0.052,2720,1989,1902
$GC,10056,1.22,244.9,229.5,8.5,480,10057,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1989,1903
$GC,10365,1.22,244.9,203.0,8.6,495,10370,0.00,2.62,0.00,0.000,4,0.000,0.069,2720,3402,1903
$GC,10406,1.22,244.9,199.3,9.0,497,10410,0.00,2.55,0.00,0.000,6,0.000,0.053,2720,1989,1903
$GC,10732,1.22,244.9,170.4,9.0,513,10737,0.00,2.62,0.00,0.000,4,0.000,0.069,2719,3399,1903
$GC,10766,1.22,244.9,167.1,9.3,514,10772,0.00,2.53,0.00,0.000,6,0.000,0.053,2720,2000,1903
$GC,11082,1.22,244.9,139.1,8.9,530,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2000,1903
$GC,11391,1.22,244.9,110.1,9.6,545,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2000,1904
$GC,11702,1.22,244.9,82.5,8.7,560,11706,0.00,2.60,0.00,0.000,4,0.000,0.068,2720,3402,1904
$GC,11735,1.22,244.9,79.1,9.7,561,11741,0.00,2.55,0.00,0.000,6,0.000,0.056,2720,1989,1904
$GC,12051,1.22,244.9,51.0,7.9,577,12052,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1989,1904
$GC,12362,1.22,244.9,26.7,6.8,592,12366,0.00,2.62,0.00,0.000,4,0.000,0.068,2720,3399,1904
$GC,12406,1.22,244.9,22.5,8.9,594,12411,0.00,2.58,0.00,0.000,6,0.000,0.061,2720,1996,1904
$STATE,12706,end climb,SURFACE_DEPTH_REACHED
$STATE,12706,begin surface coast
$FINISH,0.4,1.027478
$STATE,12726,end surface coast,CONTROL_FINISHED_OK
$STATE,12726,begin surface
$SM_CCo,12811,0.00,0.000,0,0,1904,244.81
$SM_GC,1.55,11.73,0.00,0.00,0.029,0.000,0.000,50,2665,1904,-10.93,0.42,244.81
$IRIDIUM_FIX,6235.17,-1151.12,260698,060619
$TT8_MAMPS,0.028379
$HUMID,1776
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.2,58.8
$24V_AH,23.5,34.385
$10V_AH,10.1,19.001
$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,26.325,97.775,324.500,0.000,0.000,29.383,26.769,122.445,3.500,0.000,0.000,33.449,1137.638,9733.855,401.509,1431.405,418.912,32.357,1117.728,0.000,1385.657,0.000,25.969,0.000
$DEVICE_MAMPS,160.303,90.506,1008.605,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.833,446.224,426.272,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31740,610
$CAP_FILE_SIZE,89242,0
$CFSIZE,260165632,246853632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010409,140600,6254.719,-1149.810,74,1.2,74,-11.3