version: 66.04
glider: 103
mission: 11
dive: 249
start: 4 17 109 7 3 56
data:
$ID,103
$MISSION,11
$DIVE,249
$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,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,-147711.66
$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,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,12
$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
$GPS1,065706,6347.882,-1314.325,39,1.9,39,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-64.8
$GPS2,070302,6347.834,-1314.235,14,1.7,14,-12.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.136,-0.016
$KALMAN_X,7805.6,-416.7,1867.0,-28217.1,7925.2
$KALMAN_Y,10241.8,-430.6,-2881.6,-22928.1,4535.0
$MHEAD_RNG_PITCHd_Wd,275.6,5296,-20.4,-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,12,begin dive
$GC,16,-1.76,-51.0,0.0,0.0,0,51,0.00,0.00,-33.40,0.000,6,0.000,0.000,50,2672,3112
$GC,54,-1.85,-127.1,2.3,-0.0,1,77,11.25,2.62,-5.53,0.000,4,0.159,0.078,2029,1259,3420
$GC,192,-1.85,-127.1,27.1,-14.5,7,196,0.00,2.65,0.00,0.000,6,0.000,0.067,2029,2679,3421
$GC,519,-1.85,-127.1,73.7,-14.5,23,522,0.00,2.10,0.00,0.000,4,0.000,0.083,2029,3785,3421
$GC,587,-1.85,-127.1,83.9,-14.5,26,591,0.00,1.98,0.00,0.000,6,0.000,0.050,2029,2681,3421
$GC,921,-1.85,-127.1,132.1,-14.5,42,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2681,3421
$GC,1230,-1.85,-127.1,176.6,-14.4,57,1234,0.00,2.10,0.00,0.000,4,0.000,0.079,2029,3786,3421
$GC,1280,-1.85,-127.1,184.1,-14.5,59,1283,0.00,2.00,0.00,0.000,6,0.000,0.048,2029,2664,3421
$GC,1607,-1.85,-127.1,230.0,-14.2,75,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2663,3422
$GC,1916,-1.85,-127.1,273.5,-14.1,90,1920,0.00,2.15,0.00,0.000,4,0.000,0.079,2028,3792,3421
$GC,1985,-1.85,-127.1,283.4,-15.0,93,1988,0.00,2.00,0.00,0.000,6,0.000,0.047,2029,2666,3421
$GC,2317,-1.85,-127.1,330.7,-13.9,109,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2665,3421
$GC,2627,-1.85,-127.1,373.4,-13.8,124,2630,0.00,2.12,0.00,0.000,4,0.000,0.079,2029,3786,3421
$GC,2695,-1.85,-127.1,383.2,-14.1,127,2699,0.00,1.98,0.00,0.000,6,0.000,0.044,2029,2662,3421
$GC,3028,-1.85,-127.1,428.9,-13.8,143,3032,0.00,2.12,0.00,0.000,4,0.000,0.077,2029,3786,3421
$GC,3074,-1.85,-127.1,435.5,-14.3,145,3078,0.00,1.98,0.00,0.000,6,0.000,0.044,2029,2662,3421
$GC,3407,-1.85,-127.1,479.5,-12.9,161,3411,0.00,2.12,0.00,0.000,4,0.000,0.077,2029,3785,3421
$GC,3486,-1.85,-127.1,490.3,-13.4,164,3490,0.00,1.95,0.00,0.000,6,0.000,0.043,2029,2672,3421
$GC,3808,-1.85,-127.1,532.1,-13.2,180,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2672,3421
$GC,4117,-1.85,-127.1,572.4,-13.1,195,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2672,3421
$GC,4426,-1.85,-127.1,614.6,-13.7,210,4429,0.00,2.10,0.00,0.000,4,0.000,0.077,2029,3786,3421
$GC,4494,-1.85,-127.1,624.3,-14.6,213,4499,0.00,1.95,0.00,0.000,6,0.000,0.042,2029,2673,3421
$GC,4827,-1.85,-127.1,673.3,-15.3,229,4831,0.00,2.58,0.00,0.000,4,0.000,0.064,2029,1255,3421
$GC,4882,-1.85,-127.1,682.1,-16.3,231,4889,0.00,2.62,0.00,0.000,6,0.000,0.065,2029,2681,3421
$GC,5200,-1.85,-127.1,726.9,-13.8,247,5203,0.00,2.08,0.00,0.000,4,0.000,0.080,2029,3790,3421
$GC,5323,-1.85,-127.1,744.6,-13.5,252,5326,0.00,1.98,0.00,0.000,6,0.000,0.044,2029,2667,3421
$GC,5644,-1.85,-127.1,784.0,-11.9,268,5648,0.00,2.12,0.00,0.000,4,0.000,0.081,2029,3783,3421
$GC,5791,-1.85,-127.1,802.4,-13.2,274,5795,0.00,1.98,0.00,0.000,6,0.000,0.045,2029,2666,3421
$GC,6113,-1.85,-127.1,843.5,-13.1,290,6116,0.00,2.15,0.00,0.000,4,0.000,0.084,2029,3790,3420
$STATE,6156,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6156,begin apogee
$GC,6167,-0.42,0.0,849.8,13.6,292,6282,1.65,0.00,110.88,1.236,6,0.119,0.000,2343,2021,2902
$STATE,6282,end apogee,CONTROL_FINISHED_OK
$STATE,6282,begin climb
$GC,6286,1.85,127.1,856.1,0.0,298,6404,2.30,2.67,108.07,1.205,4,0.056,0.061,2843,617,2384
$GC,6657,1.85,127.1,841.3,7.1,315,6662,0.00,2.53,0.00,0.000,6,0.000,0.038,2843,2056,2383
$GC,6984,1.85,127.1,819.3,7.1,331,6988,0.00,2.67,0.00,0.000,4,0.000,0.061,2843,607,2383
$GC,7130,1.85,127.1,807.4,8.0,337,7136,0.00,2.50,0.00,0.000,6,0.000,0.038,2843,2033,2383
$GC,7446,1.85,127.1,783.0,7.9,353,7450,0.00,2.55,0.00,0.000,4,0.000,0.059,2843,3434,2382
$GC,7519,1.85,127.1,777.1,8.2,356,7523,0.00,2.53,0.00,0.000,6,0.000,0.040,2843,2007,2382
$GC,7835,1.85,127.1,752.0,7.8,371,7839,0.00,2.53,0.00,0.000,4,0.000,0.061,2843,620,2381
$GC,7935,1.85,127.1,744.2,7.7,375,7942,0.00,2.45,0.00,0.000,6,0.000,0.038,2843,2032,2381
$GC,8252,1.85,127.1,723.6,6.3,391,8253,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2032,2381
$GC,8561,1.87,143.6,707.1,4.7,406,8583,0.00,2.65,15.00,1.108,4,0.000,0.059,2843,618,2316
$GC,8737,1.87,143.6,696.1,6.1,413,8744,0.00,2.47,0.00,0.000,6,0.000,0.038,2843,2035,2316
$GC,9053,1.87,143.6,678.6,6.2,429,9057,0.00,2.60,0.00,0.000,4,0.000,0.059,2843,615,2316
$GC,9236,1.87,143.6,666.2,7.3,437,9240,0.00,2.45,0.00,0.000,6,0.000,0.036,2843,2027,2316
$GC,9557,1.87,143.6,646.1,6.1,453,9561,0.00,2.58,0.00,0.000,4,0.000,0.058,2843,612,2316
$GC,9636,1.88,151.2,641.6,5.4,456,9650,0.00,2.45,8.32,0.981,6,0.000,0.035,2843,2029,2285
$GC,9974,1.88,151.2,618.7,7.7,473,9978,0.00,2.53,0.00,0.000,4,0.000,0.056,2843,3430,2285
$GC,10053,1.88,151.2,613.0,7.4,476,10059,0.00,2.47,0.00,0.000,6,0.000,0.037,2843,2014,2285
$GC,10369,1.88,151.2,591.3,6.7,492,10373,0.00,2.53,0.00,0.000,4,0.000,0.058,2843,616,2285
$GC,10620,1.88,151.2,573.0,6.8,503,10625,0.00,2.42,0.00,0.000,6,0.000,0.034,2843,2028,2285
$GC,10936,1.88,151.2,550.6,7.7,518,10937,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2028,2285
$GC,11246,1.88,151.2,528.2,6.8,533,11250,0.00,2.53,0.00,0.000,4,0.000,0.055,2843,624,2285
$GC,11409,1.88,151.2,516.3,6.9,540,11413,0.00,2.40,0.00,0.000,6,0.000,0.033,2843,2027,2285
$GC,11730,1.88,151.2,493.3,6.9,556,11735,0.00,2.53,0.00,0.000,4,0.000,0.054,2843,622,2285
$GC,11888,1.88,151.2,481.7,6.5,563,11892,0.00,2.40,0.00,0.000,6,0.000,0.033,2843,2026,2285
$GC,12209,1.88,151.2,459.7,6.9,579,12214,0.00,2.55,0.00,0.000,4,0.000,0.055,2843,615,2286
$GC,12345,1.88,151.2,449.5,6.7,585,12350,0.00,2.42,0.00,0.000,6,0.000,0.034,2843,2027,2286
$GC,12667,1.88,151.2,426.6,7.2,601,12671,0.00,2.53,0.00,0.000,4,0.000,0.054,2843,622,2286
$GC,12925,1.88,151.2,406.6,7.7,612,12931,0.00,2.40,0.00,0.000,6,0.000,0.033,2843,2022,2286
$GC,13241,1.88,151.2,384.7,7.0,628,13245,0.00,2.53,0.00,0.000,4,0.000,0.055,2843,616,2286
$GC,13499,1.88,151.2,364.6,8.0,639,13503,0.00,2.42,0.00,0.000,6,0.000,0.034,2843,2023,2286
$GC,13820,1.88,151.2,341.0,7.8,655,13825,0.00,2.53,0.00,0.000,4,0.000,0.056,2843,622,2287
$GC,14079,1.88,151.2,319.2,8.8,666,14085,0.00,2.42,0.00,0.000,6,0.000,0.034,2843,2031,2287
$GC,14395,1.88,151.2,294.3,7.9,682,14399,0.00,2.55,0.00,0.000,4,0.000,0.056,2844,618,2288
$GC,14652,1.88,151.2,273.6,7.9,693,14659,0.00,2.45,0.00,0.000,6,0.000,0.035,2843,2040,2288
$GC,14969,1.88,151.2,250.5,7.1,709,14973,0.00,2.55,0.00,0.000,4,0.000,0.055,2843,624,2288
$GC,15187,1.88,151.2,233.9,7.0,718,15194,0.00,2.42,0.00,0.000,6,0.000,0.035,2843,2031,2288
$GC,15504,1.88,151.2,212.1,6.8,734,15508,0.00,2.55,0.00,0.000,4,0.000,0.055,2843,618,2288
$GC,15732,1.88,151.2,195.9,7.0,744,15737,0.00,2.45,0.00,0.000,6,0.000,0.035,2843,2036,2288
$GC,16049,1.88,151.2,175.1,6.7,759,16053,0.00,2.55,0.00,0.000,4,0.000,0.055,2843,618,2288
$GC,16272,1.88,151.2,159.3,6.7,769,16277,0.00,2.42,0.00,0.000,6,0.000,0.035,2843,2024,2288
$GC,16595,1.88,151.2,138.0,6.5,785,16599,0.00,2.53,0.00,0.000,4,0.000,0.055,2843,619,2289
$GC,16779,1.88,151.2,124.6,7.1,793,16783,0.00,2.42,0.00,0.000,6,0.000,0.035,2843,2025,2289
$GC,17096,1.88,151.2,103.3,6.8,808,17100,0.00,2.53,0.00,0.000,4,0.000,0.055,2843,619,2289
$GC,17325,1.88,151.2,87.1,7.0,818,17329,0.00,2.42,0.00,0.000,6,0.000,0.035,2843,2029,2289
$GC,17648,1.88,151.2,65.7,6.6,834,17652,0.00,2.55,0.00,0.000,4,0.000,0.055,2843,615,2289
$GC,17804,1.88,151.2,55.0,6.0,841,17808,0.00,2.45,0.00,0.000,6,0.000,0.035,2843,2032,2289
$GC,18126,1.88,151.2,34.6,6.5,857,18130,0.00,2.55,0.00,0.000,4,0.000,0.055,2843,618,2289
$GC,18323,1.88,151.2,21.2,6.9,866,18327,0.00,2.45,0.00,0.000,6,0.000,0.036,2843,2033,2289
$STATE,18626,end climb,SURFACE_DEPTH_REACHED
$STATE,18627,begin surface coast
$FINISH,0.5,1.027469
$STATE,18648,end surface coast,CONTROL_FINISHED_OK
$STATE,18648,begin surface
$SM_CCo,18674,59.05,0.697,0,0,1984,225.19
$SM_GC,1.22,0.00,0.00,59.05,0.000,0.000,0.697,49,2669,1984,-11.00,-0.17,225.19
$IRIDIUM_FIX,6322.64,-1316.10,120798,010155
$TT8_MAMPS,0.029146
$HUMID,1764
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.8,58.6
$24V_AH,23.3,43.961
$10V_AH,10.1,25.028
$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,27.500,168.975,242.275,59.050,0.000,27.577,30.659,161.026,7.250,0.000,0.000,14.046,1761.151,13719.714,426.426,2594.090,587.357,33.344,1655.473,0.000,2529.678,0.000,51.566,0.000
$DEVICE_MAMPS,158.769,83.603,1235.637,697.203,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,615.801,645.847,509.786,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44181,882
$CAP_FILE_SIZE,145793,0
$CFSIZE,260165632,242442240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170409,121731,6347.113,-1316.653,41,1.4,41,-12.5