version: 66.04
glider: 103
mission: 11
dive: 310
start: 5 1 109 2 5 52
data:
$ID,103
$MISSION,11
$DIVE,310
$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,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,-148963.78
$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,21
$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
$GPS1,020007,6248.312,-1259.241,32,1.4,32,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-56.1
$GPS2,020502,6248.356,-1259.311,12,1.5,12,-11.9
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.241,-0.030
$KALMAN_X,-21277.6,-252.2,354.9,22291.5,-13765.4
$KALMAN_Y,7004.5,-277.4,-63.6,-10655.6,4372.9
$MHEAD_RNG_PITCHd_Wd,109.0,36837,-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,15,-1.42,-146.6,0.0,0.0,0,78,0.00,0.00,-60.75,0.000,6,0.000,0.000,45,2682,3501
$GC,82,-1.42,-146.6,5.6,-10.6,3,102,11.80,2.15,0.00,0.000,4,0.161,0.080,2124,3789,3502
$GC,257,-1.42,-146.6,36.5,-11.3,10,263,0.00,2.00,0.00,0.000,6,0.000,0.044,2124,2654,3502
$GC,575,-1.42,-146.6,71.6,-11.1,26,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2654,3502
$GC,882,-1.42,-146.6,105.9,-11.0,41,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2654,3502
$GC,1192,-1.42,-146.6,138.8,-10.7,56,1196,0.00,2.20,0.00,0.000,4,0.000,0.086,2124,3792,3502
$GC,1270,-1.42,-146.6,147.5,-11.4,59,1274,0.00,1.98,0.00,0.000,6,0.000,0.043,2124,2672,3502
$GC,1592,-1.42,-146.6,181.2,-10.5,75,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2672,3502
$GC,1902,-1.42,-146.6,213.7,-10.3,90,1905,0.00,2.15,0.00,0.000,4,0.000,0.083,2124,3793,3502
$GC,1942,-1.42,-146.6,218.0,-10.1,91,1948,0.00,1.98,0.00,0.000,6,0.000,0.044,2124,2675,3502
$GC,2258,-1.42,-146.6,249.6,-9.9,107,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2675,3502
$GC,2568,-1.42,-146.6,280.0,-9.6,122,2571,0.00,2.12,0.00,0.000,4,0.000,0.081,2124,3790,3502
$GC,2613,-1.42,-146.6,284.6,-10.4,124,2617,0.00,2.00,0.00,0.000,6,0.000,0.051,2124,2672,3502
$GC,2946,-1.42,-146.6,316.0,-9.5,140,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2672,3502
$GC,3256,-1.42,-146.6,345.7,-9.5,155,3259,0.00,2.15,0.00,0.000,4,0.000,0.084,2124,3793,3502
$GC,3289,-1.42,-146.6,349.2,-9.7,156,3293,0.00,2.00,0.00,0.000,6,0.000,0.048,2124,2669,3502
$GC,3611,-1.42,-146.6,379.2,-9.2,172,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2669,3502
$GC,3920,-1.42,-146.6,408.6,-9.4,187,3924,0.00,2.15,0.00,0.000,4,0.000,0.084,2124,3789,3502
$GC,3959,-1.42,-146.6,412.8,-10.7,188,3965,0.00,2.00,0.00,0.000,6,0.000,0.049,2124,2668,3502
$GC,4275,-1.42,-146.6,443.5,-10.0,204,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2668,3502
$GC,4585,-1.42,-146.6,474.7,-10.1,219,4590,0.00,2.15,0.00,0.000,4,0.000,0.084,2124,3790,3502
$GC,4631,-1.42,-146.6,479.5,-11.3,221,4635,0.00,2.00,0.00,0.000,6,0.000,0.047,2124,2660,3502
$GC,4963,-1.42,-146.6,514.0,-10.7,237,4967,0.00,2.17,0.00,0.000,4,0.000,0.082,2124,3796,3502
$GC,5003,-1.42,-146.6,518.5,-11.4,238,5009,0.00,2.00,0.00,0.000,6,0.000,0.045,2124,2666,3502
$GC,5319,-1.42,-146.6,552.7,-10.7,254,5322,0.00,2.17,0.00,0.000,4,0.000,0.086,2124,3794,3501
$GC,5365,-1.42,-146.6,557.9,-11.1,256,5368,0.00,1.98,0.00,0.000,6,0.000,0.044,2124,2674,3502
$GC,5698,-1.42,-146.6,591.2,-9.6,272,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2673,3502
$GC,6007,-1.42,-146.6,621.1,-9.7,287,6010,0.00,2.15,0.00,0.000,4,0.000,0.088,2124,3787,3502
$GC,6098,-1.42,-146.6,630.7,-10.6,291,6102,0.00,1.98,0.00,0.000,6,0.000,0.048,2124,2671,3502
$GC,6431,-1.42,-146.6,665.5,-10.6,307,6435,0.00,2.17,0.00,0.000,4,0.000,0.087,2124,3796,3502
$GC,6504,-1.42,-146.6,673.8,-11.5,310,6508,0.00,2.00,0.00,0.000,6,0.000,0.046,2124,2667,3502
$GC,6831,-1.42,-146.6,706.7,-9.8,326,6835,0.00,2.55,0.00,0.000,4,0.000,0.062,2124,1259,3502
$GC,6887,-1.42,-146.6,712.2,-9.3,328,6893,0.00,2.65,0.00,0.000,6,0.000,0.070,2124,2676,3502
$GC,7203,-1.42,-146.6,742.5,-9.2,344,7206,0.00,2.12,0.00,0.000,4,0.000,0.086,2124,3794,3502
$GC,7242,-1.42,-146.6,746.2,-9.4,345,7248,0.00,2.00,0.00,0.000,6,0.000,0.047,2124,2658,3502
$STATE,7390,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7390,begin apogee
$GC,7399,-0.42,0.0,760.6,9.0,353,7533,1.15,0.00,126.72,1.180,6,0.107,0.000,2347,2076,2902
$STATE,7533,end apogee,CONTROL_FINISHED_OK
$STATE,7533,begin climb
$GC,7537,1.42,146.6,766.4,0.0,360,7670,1.88,2.67,124.43,1.151,4,0.061,0.060,2745,655,2304
$GC,7928,1.50,206.7,752.5,5.8,377,7988,0.00,2.55,52.25,1.134,6,0.000,0.038,2745,2099,2059
$GC,8308,1.52,229.9,725.2,7.2,396,8335,0.12,2.72,20.95,1.100,4,0.042,0.061,2788,663,1964
$GC,8542,1.52,229.9,704.0,8.9,406,8549,0.00,2.50,0.00,0.000,6,0.000,0.040,2787,2071,1963
$GC,8858,1.52,229.9,676.6,8.4,422,8863,0.00,2.60,0.00,0.000,4,0.000,0.059,2787,661,1962
$GC,8976,1.52,229.9,666.3,9.0,427,8980,0.00,2.53,0.00,0.000,6,0.000,0.039,2787,2086,1962
$GC,9292,1.55,248.5,642.5,7.3,442,9314,0.00,2.72,16.48,1.061,4,0.000,0.058,2787,662,1889
$GC,9365,1.55,248.5,636.5,8.7,445,9369,0.00,2.50,0.00,0.000,6,0.000,0.038,2788,2084,1888
$GC,9686,1.55,248.5,608.9,9.4,461,9691,0.00,2.60,0.00,0.000,4,0.000,0.058,2787,662,1888
$GC,9743,1.55,248.5,603.1,10.6,463,9749,0.00,2.50,0.00,0.000,6,0.000,0.037,2787,2083,1888
$GC,10058,1.55,248.5,572.2,9.7,479,10063,0.00,2.60,0.00,0.000,4,0.000,0.057,2788,658,1888
$GC,10176,1.55,248.5,560.5,9.7,484,10180,0.00,2.50,0.00,0.000,6,0.000,0.037,2787,2082,1888
$GC,10492,1.55,248.5,533.3,8.3,499,10496,0.00,2.60,0.00,0.000,4,0.000,0.056,2788,655,1889
$GC,10564,1.55,248.5,526.7,9.2,502,10568,0.00,2.50,0.00,0.000,6,0.000,0.036,2788,2084,1889
$GC,10880,1.55,248.5,498.7,9.0,517,10884,0.00,2.60,0.00,0.000,4,0.000,0.055,2787,655,1889
$GC,10952,1.55,248.5,491.6,10.4,520,10957,0.00,2.50,0.00,0.000,6,0.000,0.036,2788,2083,1889
$GC,11268,1.55,248.5,463.2,9.2,535,11273,0.00,2.60,0.00,0.000,4,0.000,0.056,2788,655,1889
$GC,11336,1.55,248.5,456.3,10.5,538,11340,0.00,2.50,0.00,0.000,6,0.000,0.036,2787,2083,1889
$GC,11657,1.55,248.5,425.8,9.5,554,11662,0.00,2.60,0.00,0.000,4,0.000,0.056,2787,655,1890
$GC,11736,1.55,248.5,417.7,9.5,557,11742,0.00,2.50,0.00,0.000,6,0.000,0.037,2788,2083,1890
$GC,12052,1.55,248.5,387.4,9.8,573,12056,0.00,2.60,0.00,0.000,4,0.000,0.057,2788,656,1890
$GC,12141,1.55,248.5,378.1,10.6,577,12146,0.00,2.50,0.00,0.000,6,0.000,0.038,2787,2081,1890
$GC,12462,1.55,248.5,346.7,9.9,593,12466,0.00,2.60,0.00,0.000,4,0.000,0.057,2788,654,1890
$GC,12557,1.55,248.5,336.5,10.0,597,12561,0.00,2.50,0.00,0.000,6,0.000,0.038,2788,2077,1890
$GC,12873,1.55,248.5,304.9,9.8,612,12877,0.00,2.60,0.00,0.000,4,0.000,0.058,2788,652,1890
$GC,13007,1.55,248.5,291.2,9.7,618,13012,0.00,2.50,0.00,0.000,6,0.000,0.038,2787,2075,1890
$GC,13329,1.55,248.5,261.6,9.2,634,13333,0.00,2.58,0.00,0.000,4,0.000,0.058,2788,659,1891
$GC,13395,1.55,248.5,255.2,9.0,637,13400,0.00,2.50,0.00,0.000,6,0.000,0.039,2788,2081,1891
$GC,13717,1.55,248.5,226.5,8.7,653,13722,0.00,2.60,0.00,0.000,4,0.000,0.058,2787,652,1891
$GC,13818,1.55,248.5,217.2,9.0,657,13824,0.00,2.50,0.00,0.000,6,0.000,0.038,2788,2077,1891
$GC,14134,1.55,248.5,190.1,8.7,673,14139,0.00,2.58,0.00,0.000,4,0.000,0.057,2788,660,1891
$GC,14220,1.55,248.5,182.3,9.1,677,14224,0.00,2.50,0.00,0.000,6,0.000,0.040,2788,2081,1891
$GC,14546,1.55,248.5,152.6,9.4,693,14551,0.00,2.60,0.00,0.000,4,0.000,0.058,2787,655,1891
$GC,14659,1.55,248.5,141.6,9.3,698,14663,0.00,2.50,0.00,0.000,6,0.000,0.039,2788,2081,1891
$GC,14986,1.55,248.5,110.7,9.4,714,14991,0.00,2.60,0.00,0.000,4,0.000,0.059,2787,654,1891
$GC,15082,1.55,248.5,101.5,9.5,718,15086,0.00,2.50,0.00,0.000,6,0.000,0.040,2788,2075,1891
$GC,15398,1.55,248.5,74.7,8.6,733,15403,0.00,2.58,0.00,0.000,4,0.000,0.060,2788,661,1891
$GC,15439,1.55,248.5,71.1,8.5,735,15443,0.00,2.47,0.00,0.000,6,0.000,0.039,2788,2076,1891
$GC,15766,1.55,248.5,43.0,8.6,751,15767,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2076,1891
$GC,16075,1.55,248.5,10.5,13.2,766,16080,0.00,2.65,0.00,0.000,4,0.000,0.070,2788,658,1892
$STATE,16185,end climb,SURFACE_DEPTH_REACHED
$STATE,16185,begin surface coast
$FINISH,0.9,1.027433
$STATE,16191,end surface coast,CONTROL_FINISHED_OK
$STATE,16191,begin surface
$SM_CCo,16280,0.00,0.000,0,0,1890,248.24
$SM_GC,2.03,12.15,0.00,0.00,0.035,0.000,0.000,49,2667,1890,-10.94,-0.23,248.24
$IRIDIUM_FIX,6221.17,-1258.27,250798,222258
$TT8_MAMPS,0.027612
$HUMID,1772
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.1,43.7
$24V_AH,23.2,52.469
$10V_AH,10.1,30.273
$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,27.100,159.675,340.825,0.000,0.000,29.751,27.666,120.719,6.500,0.000,0.000,12.066,1466.520,12199.565,463.259,1954.956,487.388,33.380,1449.320,0.000,1903.922,0.000,49.299,0.000
$DEVICE_MAMPS,161.070,88.205,1179.646,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,538.005,566.995,448.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37934,771
$CAP_FILE_SIZE,122851,0
$CFSIZE,260165632,238665728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010509,063937,6247.729,-1300.083,108,1.1,108,-11.9