version: 66.04
glider: 103
mission: 11
dive: 287
start: 4 25 109 13 19 24
data:
$ID,103
$MISSION,11
$DIVE,287
$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,-148544.41
$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,19
$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
$GPS1,130942,6303.940,-1250.936,40,1.8,51,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-64.6
$GPS2,131832,6303.849,-1250.974,12,1.0,12,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.212,-0.054
$KALMAN_X,-1585.2,-143.2,-1598.4,3279.9,19142.5
$KALMAN_Y,88567.0,-1571.1,-1608.5,-182794.9,29178.3
$MHEAD_RNG_PITCHd_Wd,267.6,28258,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,60,0.00,0.00,-41.55,0.000,2,0.000,0.000,50,2670,3365
$GC,63,-1.10,-146.6,4.6,-13.2,2,86,12.05,2.20,-2.17,0.000,4,0.156,0.100,2195,3789,3503
$GC,338,-1.10,-146.6,37.6,-8.7,14,342,0.00,2.08,0.00,0.000,6,0.000,0.066,2195,2676,3504
$GC,667,-1.10,-146.6,65.0,-8.4,30,671,0.00,2.17,0.00,0.000,4,0.000,0.088,2195,3793,3504
$GC,826,-1.10,-146.6,78.8,-8.0,37,830,0.00,2.08,0.00,0.000,6,0.000,0.062,2196,2665,3504
$GC,1161,-1.10,-146.6,106.3,-7.8,53,1165,0.00,2.20,0.00,0.000,4,0.000,0.091,2196,3793,3504
$GC,1217,-1.10,-146.6,111.4,-8.6,55,1221,0.00,2.05,0.00,0.000,6,0.000,0.061,2195,2675,3504
$GC,1539,-1.10,-146.6,136.1,-7.9,71,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3504
$GC,1848,-1.10,-146.6,161.2,-8.2,86,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2675,3504
$GC,2157,-1.10,-146.6,185.3,-7.8,101,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2675,3504
$GC,2466,-1.10,-146.6,209.7,-7.6,116,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3504
$GC,2775,-1.10,-146.6,234.9,-7.9,131,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2675,3503
$GC,3085,-1.10,-146.6,259.7,-7.9,146,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2675,3503
$GC,3394,-1.10,-146.6,284.7,-8.2,161,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3503
$GC,3703,-1.10,-146.6,311.7,-9.1,176,3707,0.00,2.15,0.00,0.000,4,0.000,0.087,2195,3792,3503
$GC,3782,-1.10,-146.6,319.4,-9.6,179,3785,0.00,2.05,0.00,0.000,6,0.000,0.058,2195,2667,3503
$GC,4106,-1.10,-146.6,350.0,-9.9,195,4110,0.00,2.60,0.00,0.000,4,0.000,0.071,2196,1255,3503
$GC,4150,-1.10,-146.6,354.9,-10.3,197,4155,0.00,2.65,0.00,0.000,6,0.000,0.064,2195,2688,3503
$GC,4471,-1.10,-146.6,386.8,-10.2,213,4475,0.00,2.08,0.00,0.000,4,0.000,0.087,2195,3782,3503
$GC,4522,-1.10,-146.6,392.3,-11.1,215,4525,0.00,2.03,0.00,0.000,6,0.000,0.055,2195,2663,3503
$GC,4849,-1.10,-146.6,425.0,-9.7,231,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2663,3503
$GC,5159,-1.10,-146.6,452.8,-8.7,246,5162,0.00,2.17,0.00,0.000,4,0.000,0.089,2196,3786,3503
$GC,5209,-1.10,-146.6,457.4,-8.7,248,5213,0.00,2.03,0.00,0.000,6,0.000,0.054,2195,2664,3503
$GC,5536,-1.10,-146.6,482.0,-7.5,264,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2664,3503
$GC,5846,-1.10,-146.6,506.7,-8.5,279,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2664,3503
$GC,6155,-1.10,-146.6,531.1,-7.5,294,6159,0.00,2.17,0.00,0.000,4,0.000,0.088,2195,3789,3503
$GC,6368,-1.10,-146.6,547.8,-7.9,303,6372,0.00,2.03,0.00,0.000,6,0.000,0.053,2196,2663,3503
$GC,6690,-1.10,-146.6,570.8,-7.2,319,6694,0.00,2.17,0.00,0.000,4,0.000,0.089,2195,3789,3503
$GC,6736,-1.10,-146.6,573.9,-7.3,321,6740,0.00,2.03,0.00,0.000,6,0.000,0.054,2196,2665,3503
$STATE,6840,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6840,begin apogee
$GC,6849,-0.42,0.0,581.7,7.6,326,6976,0.75,0.00,124.07,1.061,6,0.094,0.000,2345,2069,2902
$STATE,6977,end apogee,CONTROL_FINISHED_OK
$STATE,6977,begin climb
$GC,6980,1.10,146.6,587.1,0.0,332,7109,1.55,2.62,120.90,1.035,4,0.052,0.061,2681,662,2304
$GC,7368,1.12,161.2,574.9,5.6,349,7388,0.00,2.53,14.15,0.960,6,0.000,0.038,2681,2094,2244
$GC,7706,1.19,220.1,559.6,4.4,366,7761,0.00,2.65,49.45,1.028,4,0.000,0.067,2681,3484,2004
$GC,7840,1.22,238.2,553.0,5.5,372,7862,0.10,2.58,16.35,0.964,6,0.049,0.045,2715,2058,1931
$GC,8187,1.24,261.1,533.8,5.4,389,8213,0.00,2.72,20.52,0.989,4,0.000,0.067,2715,3484,1836
$GC,8275,1.24,261.1,528.5,6.5,393,8279,0.00,2.55,0.00,0.000,6,0.000,0.047,2715,2076,1836
$GC,8596,1.24,261.1,508.8,6.4,409,8600,0.00,2.65,0.00,0.000,4,0.000,0.068,2715,3484,1836
$GC,8658,1.24,261.1,504.4,7.5,412,8662,0.00,2.55,0.00,0.000,6,0.000,0.047,2715,2069,1836
$GC,8985,1.24,261.1,479.0,7.9,428,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2069,1835
$GC,9294,1.24,261.1,455.8,6.9,443,9298,0.00,2.65,0.00,0.000,4,0.000,0.067,2715,3488,1835
$GC,9321,1.24,261.1,453.8,7.8,444,9325,0.00,2.55,0.00,0.000,6,0.000,0.046,2715,2068,1835
$GC,9637,1.24,261.1,433.9,6.2,459,9638,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2069,1835
$GC,9946,1.29,302.3,417.2,4.9,474,9989,0.00,2.70,34.92,0.953,4,0.000,0.069,2715,3481,1669
$GC,10028,1.31,316.0,412.8,5.6,477,10048,0.00,2.55,13.15,0.885,6,0.000,0.048,2715,2077,1613
$GC,10366,1.36,352.5,395.7,5.0,494,10402,0.00,2.70,31.20,0.925,4,0.000,0.070,2715,3475,1465
$GC,10436,1.36,352.5,391.8,6.1,496,10440,0.00,2.58,0.00,0.000,6,0.000,0.051,2715,2069,1465
$GC,10753,1.36,352.5,373.4,6.3,511,10757,0.00,2.65,0.00,0.000,4,0.000,0.071,2715,3475,1464
$GC,10780,1.36,352.5,371.5,7.0,512,10784,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,2073,1464
$GC,11096,1.36,352.5,349.8,7.1,527,11097,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2073,1464
$GC,11405,1.36,352.5,326.8,7.6,542,11409,0.00,2.65,0.00,0.000,4,0.000,0.072,2715,3477,1465
$GC,11432,1.36,352.5,324.5,7.9,543,11437,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,2074,1465
$GC,11748,1.36,352.5,300.0,8.3,558,11753,0.00,2.65,0.00,0.000,4,0.000,0.073,2715,3485,1464
$GC,11776,1.36,352.5,297.6,8.3,559,11780,0.00,2.58,0.00,0.000,6,0.000,0.052,2715,2069,1465
$GC,12092,1.36,352.5,273.0,7.9,574,12093,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2069,1465
$GC,12401,1.36,352.5,249.0,7.7,589,12405,0.00,2.65,0.00,0.000,4,0.000,0.071,2716,3478,1465
$GC,12451,1.36,352.5,244.8,7.5,591,12455,0.00,2.55,0.00,0.000,6,0.000,0.052,2715,2074,1465
$GC,12772,1.36,352.5,219.3,8.0,607,12777,0.00,2.65,0.00,0.000,4,0.000,0.070,2715,3486,1466
$GC,12795,1.36,352.5,217.4,8.2,608,12799,0.00,2.58,0.00,0.000,6,0.000,0.052,2715,2066,1466
$GC,13115,1.36,352.5,191.9,7.8,624,13120,0.00,2.67,0.00,0.000,4,0.000,0.072,2716,3486,1466
$GC,13149,1.36,352.5,189.1,8.5,625,13155,0.00,2.55,0.00,0.000,6,0.000,0.053,2715,2074,1466
$GC,13465,1.36,352.5,164.3,7.8,641,13470,0.00,2.65,0.00,0.000,4,0.000,0.073,2715,3480,1466
$GC,13487,1.36,352.5,162.4,8.3,642,13491,0.00,2.55,0.00,0.000,6,0.000,0.053,2715,2075,1466
$GC,13809,1.36,352.5,137.8,7.7,658,13813,0.00,2.65,0.00,0.000,4,0.000,0.073,2715,3482,1466
$GC,13849,1.36,352.5,134.4,8.2,660,13853,0.00,2.58,0.00,0.000,6,0.000,0.054,2715,2066,1466
$GC,14176,1.36,352.5,107.4,8.4,676,14180,0.00,2.65,0.00,0.000,4,0.000,0.071,2715,3478,1466
$GC,14209,1.36,352.5,104.4,7.9,677,14215,0.00,2.55,0.00,0.000,6,0.000,0.054,2716,2068,1466
$GC,14527,1.36,352.5,78.5,8.3,693,14528,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2069,1466
$GC,14834,1.36,352.5,52.6,8.5,708,14839,0.00,2.65,0.00,0.000,4,0.000,0.071,2716,3480,1466
$GC,14884,1.36,352.5,48.2,8.6,710,14888,0.00,2.55,0.00,0.000,6,0.000,0.055,2715,2074,1466
$GC,15201,1.36,352.5,21.3,8.5,725,15202,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2074,1466
$STATE,15424,end climb,SURFACE_DEPTH_REACHED
$STATE,15424,begin surface coast
$FINISH,0.2,1.015854
$STATE,15446,end surface coast,CONTROL_FINISHED_OK
$STATE,15446,begin surface
$SM_CCo,15531,0.00,0.000,0,0,1464,352.50
$SM_GC,1.12,11.75,0.00,0.00,0.032,0.000,0.000,52,2668,1464,-10.93,-0.20,352.50
$IRIDIUM_FIX,6239.86,-1249.73,200798,131332
$TT8_MAMPS,0.028379
$HUMID,1773
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,526.3,63.9
$24V_AH,23.3,49.241
$10V_AH,10.1,28.211
$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,26.200,129.875,424.725,0.000,0.000,61.497,56.613,217.957,4.250,0.000,0.000,12.532,1372.015,11838.188,471.816,1727.357,649.415,33.367,1361.390,0.000,1694.498,0.000,31.449,0.000
$DEVICE_MAMPS,155.701,99.710,1060.761,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,513.574,549.017,479.445,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37972,737
$CAP_FILE_SIZE,114545,0
$CFSIZE,260165632,240160768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250409,173936,6302.609,-1258.369,39,1.4,44,-12.0