version: 66.04
glider: 103
mission: 11
dive: 275
start: 4 22 109 22 8 12
data:
$ID,103
$MISSION,11
$DIVE,275
$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,-148263.38
$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,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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
$GPS1,215936,6316.399,-1259.378,27,1.2,27,-12.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-62.0
$GPS2,220722,6316.410,-1259.156,18,3.2,37,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.064,-0.209
$KALMAN_X,-1944.3,143.6,178.4,-5110.5,13642.3
$KALMAN_Y,46306.4,-196.6,578.2,-120908.8,11374.4
$MHEAD_RNG_PITCHd_Wd,209.1,49160,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,57,0.00,0.00,-36.25,0.000,2,0.000,0.000,53,2659,3180
$GC,61,-1.10,-146.6,3.3,-6.4,2,84,12.15,2.67,-5.60,0.000,4,0.160,0.086,2196,1276,3502
$GC,95,-1.10,-146.6,12.6,-19.8,3,100,0.00,2.60,0.00,0.000,6,0.000,0.062,2196,2677,3503
$GC,411,-1.10,-146.6,42.5,-10.9,18,415,0.00,2.12,0.00,0.000,4,0.000,0.089,2196,3785,3502
$GC,473,-1.10,-146.6,47.1,-7.3,20,480,0.00,2.00,0.00,0.000,6,0.000,0.055,2196,2676,3502
$GC,789,-1.10,-146.6,70.1,-7.4,36,793,0.00,2.15,0.00,0.000,4,0.000,0.089,2196,3783,3502
$GC,837,-1.10,-146.6,73.7,-8.3,38,841,0.00,2.03,0.00,0.000,6,0.000,0.056,2196,2669,3502
$GC,1171,-1.10,-146.6,98.6,-7.0,54,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2669,3502
$GC,1479,-1.10,-146.6,121.6,-7.3,69,1483,0.00,2.17,0.00,0.000,4,0.000,0.091,2197,3783,3502
$GC,1525,-1.10,-146.6,125.2,-7.4,71,1529,0.00,2.03,0.00,0.000,6,0.000,0.058,2196,2668,3502
$GC,1859,-1.10,-146.6,150.5,-7.9,87,1864,0.00,2.60,0.00,0.000,4,0.000,0.073,2196,1259,3502
$GC,1888,-1.10,-146.6,153.1,-8.6,88,1892,0.00,2.62,0.00,0.000,6,0.000,0.062,2196,2682,3502
$GC,2203,-1.10,-146.6,179.1,-8.2,103,2207,0.00,2.10,0.00,0.000,4,0.000,0.088,2196,3783,3502
$GC,2249,-1.10,-146.6,183.0,-8.9,105,2253,0.00,2.03,0.00,0.000,6,0.000,0.057,2196,2668,3502
$GC,2582,-1.10,-146.6,209.0,-7.6,121,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2667,3502
$GC,2891,-1.10,-146.6,232.8,-7.8,136,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2668,3502
$GC,3200,-1.10,-146.6,255.9,-7.4,151,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2668,3502
$GC,3510,-1.10,-146.6,278.9,-7.4,166,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2667,3502
$GC,3819,-1.10,-146.6,301.9,-7.3,181,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2667,3502
$GC,4128,-1.10,-146.6,323.7,-7.0,196,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2667,3502
$GC,4438,-1.10,-146.6,345.4,-7.1,211,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2667,3502
$GC,4747,-1.10,-146.6,369.9,-8.2,226,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2667,3502
$GC,5056,-1.10,-146.6,395.0,-8.4,241,5060,0.00,2.60,0.00,0.000,4,0.000,0.069,2197,1245,3502
$GC,5084,-1.10,-146.6,397.4,-8.2,242,5088,0.00,2.62,0.00,0.000,6,0.000,0.062,2196,2675,3502
$GC,5399,-1.10,-146.6,423.5,-8.0,257,5403,0.00,2.10,0.00,0.000,4,0.000,0.089,2197,3785,3502
$GC,5450,-1.10,-146.6,427.8,-8.0,259,5453,0.00,2.03,0.00,0.000,6,0.000,0.055,2197,2664,3502
$GC,5777,-1.10,-146.6,454.6,-8.7,275,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2664,3502
$GC,6086,-1.10,-146.6,480.2,-8.2,290,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2664,3502
$GC,6395,-1.10,-146.6,504.5,-7.8,305,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2664,3502
$GC,6705,-1.10,-146.6,528.4,-7.8,320,6709,0.00,2.55,0.00,0.000,4,0.000,0.067,2196,1256,3502
$GC,6755,-1.10,-146.6,532.4,-8.0,322,6759,0.00,2.60,0.00,0.000,6,0.000,0.061,2197,2676,3502
$GC,7071,-1.10,-146.6,557.4,-8.2,337,7074,0.00,2.12,0.00,0.000,4,0.000,0.090,2197,3790,3502
$GC,7117,-1.10,-146.6,561.3,-9.0,339,7120,0.00,2.00,0.00,0.000,6,0.000,0.053,2197,2672,3501
$GC,7449,-1.10,-146.6,592.5,-8.9,355,7453,0.00,2.15,0.00,0.000,4,0.000,0.092,2196,3783,3501
$GC,7488,-1.10,-146.6,595.9,-8.3,356,7494,0.00,2.00,0.00,0.000,6,0.000,0.054,2197,2668,3501
$STATE,7760,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7760,begin apogee
$GC,7769,-0.42,0.0,619.6,9.1,370,7897,0.75,0.00,124.53,1.078,6,0.097,0.000,2345,2069,2902
$STATE,7897,end apogee,CONTROL_FINISHED_OK
$STATE,7897,begin climb
$GC,7901,1.10,146.6,626.0,0.0,376,8031,1.58,2.62,121.95,1.052,4,0.059,0.058,2680,659,2304
$GC,8204,1.17,204.0,621.9,4.4,390,8260,0.00,2.53,49.33,1.029,6,0.000,0.038,2680,2095,2070
$GC,8580,1.22,243.9,603.3,4.9,408,8623,0.12,2.62,34.38,1.024,4,0.043,0.063,2723,3486,1906
$GC,8647,1.22,243.9,598.6,7.4,411,8651,0.00,2.55,0.00,0.000,6,0.000,0.042,2723,2063,1907
$GC,8973,1.22,243.9,576.3,6.2,427,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2063,1906
$GC,9283,1.22,243.9,558.1,6.4,442,9287,0.00,2.65,0.00,0.000,4,0.000,0.065,2723,3485,1906
$GC,9345,1.22,243.9,553.7,6.9,445,9349,0.00,2.53,0.00,0.000,6,0.000,0.044,2723,2071,1906
$GC,9672,1.22,243.9,530.9,7.3,461,9676,0.00,2.55,0.00,0.000,4,0.000,0.059,2723,661,1905
$GC,9722,1.22,243.9,526.7,8.0,463,9727,0.00,2.50,0.00,0.000,6,0.000,0.039,2723,2082,1905
$GC,10038,1.22,243.9,500.4,8.8,478,10042,0.00,2.58,0.00,0.000,4,0.000,0.058,2723,666,1905
$GC,10116,1.22,243.9,492.3,11.2,481,10122,0.00,2.47,0.00,0.000,6,0.000,0.038,2723,2076,1905
$GC,10432,1.22,243.9,464.5,8.0,497,10436,0.00,2.55,0.00,0.000,4,0.000,0.057,2723,669,1905
$GC,10459,1.22,243.9,462.0,8.6,498,10464,0.00,2.47,0.00,0.000,6,0.000,0.038,2723,2080,1905
$GC,10781,1.22,243.9,434.8,8.9,514,10785,0.00,2.58,0.00,0.000,4,0.000,0.066,2723,3484,1905
$GC,10808,1.22,243.9,432.2,9.6,515,10812,0.00,2.50,0.00,0.000,6,0.000,0.044,2723,2069,1905
$GC,11129,1.22,243.9,402.7,9.1,531,11134,0.00,2.53,0.00,0.000,4,0.000,0.059,2723,667,1905
$GC,11185,1.22,243.9,397.0,10.1,533,11191,0.00,2.47,0.00,0.000,6,0.000,0.038,2723,2080,1905
$GC,11502,1.22,243.9,367.6,8.9,549,11506,0.00,2.60,0.00,0.000,4,0.000,0.067,2723,3493,1905
$GC,11529,1.22,243.9,364.8,9.5,550,11533,0.00,2.53,0.00,0.000,6,0.000,0.045,2723,2076,1905
$GC,11845,1.22,243.9,338.0,8.4,565,11849,0.00,2.55,0.00,0.000,4,0.000,0.061,2723,659,1905
$GC,11913,1.22,243.9,332.4,7.5,568,11918,0.00,2.50,0.00,0.000,6,0.000,0.040,2723,2085,1905
$GC,12240,1.22,243.9,307.7,7.6,584,12245,0.00,2.60,0.00,0.000,4,0.000,0.060,2723,659,1905
$GC,12263,1.22,243.9,306.1,7.5,585,12267,0.00,2.47,0.00,0.000,6,0.000,0.039,2723,2078,1905
$GC,12590,1.22,243.9,280.1,8.5,601,12595,0.00,2.58,0.00,0.000,4,0.000,0.059,2723,664,1905
$GC,12624,1.22,243.9,277.1,8.6,602,12630,0.00,2.50,0.00,0.000,6,0.000,0.041,2723,2085,1905
$GC,12940,1.22,243.9,250.4,8.6,618,12944,0.00,2.60,0.00,0.000,4,0.000,0.060,2723,658,1906
$GC,12973,1.22,243.9,247.4,9.2,619,12979,0.00,2.50,0.00,0.000,6,0.000,0.041,2723,2080,1906
$GC,13289,1.22,243.9,221.0,8.4,635,13293,0.00,2.58,0.00,0.000,4,0.000,0.060,2723,664,1906
$GC,13322,1.22,243.9,218.0,8.3,636,13328,0.00,2.50,0.00,0.000,6,0.000,0.040,2723,2085,1906
$GC,13638,1.22,243.9,193.6,7.5,652,13639,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2085,1906
$GC,13947,1.22,243.9,169.8,7.7,667,13952,0.00,2.60,0.00,0.000,4,0.000,0.061,2723,662,1906
$GC,13975,1.22,243.9,167.7,7.7,668,13979,0.00,2.50,0.00,0.000,6,0.000,0.040,2723,2084,1906
$GC,14293,1.22,243.9,146.8,6.9,683,14294,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2084,1906
$GC,14601,1.22,243.9,123.2,7.6,698,14605,0.00,2.60,0.00,0.000,4,0.000,0.061,2723,662,1907
$GC,14651,1.22,243.9,118.9,8.1,700,14655,0.00,2.47,0.00,0.000,6,0.000,0.041,2723,2076,1907
$GC,14972,1.22,243.9,93.8,7.9,716,14974,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2076,1907
$GC,15282,1.22,243.9,68.2,8.4,731,15286,0.00,2.60,0.00,0.000,4,0.000,0.062,2723,658,1907
$GC,15326,1.22,243.9,64.2,8.5,733,15330,0.00,2.50,0.00,0.000,6,0.000,0.041,2723,2076,1907
$GC,15648,1.22,243.9,38.5,8.6,749,15652,0.00,2.60,0.00,0.000,4,0.000,0.064,2723,662,1907
$GC,15704,1.22,243.9,33.1,9.8,751,15710,0.00,2.50,0.00,0.000,6,0.000,0.044,2723,2080,1907
$GC,16022,1.22,243.9,6.5,8.3,767,16023,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2081,1907
$STATE,16079,end climb,SURFACE_DEPTH_REACHED
$STATE,16079,begin surface coast
$FINISH,0.3,1.026700
$STATE,16101,end surface coast,CONTROL_FINISHED_OK
$STATE,16101,begin surface
$SM_CCo,16186,0.00,0.000,0,0,1906,244.32
$SM_GC,1.62,11.65,0.00,0.00,0.026,0.000,0.000,46,2669,1906,-10.92,-0.17,244.32
$IRIDIUM_FIX,6249.28,-1305.41,170798,181818
$TT8_MAMPS,0.029146
$HUMID,1778
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.0,53.3
$24V_AH,23.3,47.607
$10V_AH,10.1,27.181
$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,26.250,143.750,330.175,0.000,0.000,31.291,31.805,254.581,4.750,0.000,0.000,38.067,1412.944,12500.627,416.752,1693.115,624.834,33.352,1278.389,0.000,1634.465,0.000,34.055,0.000
$DEVICE_MAMPS,159.536,92.040,1078.402,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,534.730,573.252,504.828,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38017,771
$CAP_FILE_SIZE,114919,0
$CFSIZE,260165632,240906240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230409,023927,6314.747,-1301.360,31,3.0,50,-12.1