version: 66.04
glider: 103
mission: 11
dive: 359
start: 5 10 109 16 5 46
data:
$ID,103
$MISSION,11
$DIVE,359
$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,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,-150859.94
$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,2750
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,11
$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
$GPS1,155926,6233.090,-1054.612,26,2.5,45,-10.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-59.4
$GPS2,160456,6233.071,-1054.623,16,1.7,16,-10.7
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P2
$TGT_LATLONG,6245.000,-1000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.199,0.140
$KALMAN_X,-115699.2,-908.8,-1167.8,224349.0,5846.2
$KALMAN_Y,-15258.1,760.1,-212.3,-17600.0,-6351.8
$MHEAD_RNG_PITCHd_Wd,65.5,51318,-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,16,-1.42,-146.6,0.0,0.0,0,59,0.00,0.00,-41.03,0.000,2,0.000,0.000,53,2744,3170
$GC,62,-1.42,-146.6,3.8,-10.1,2,86,11.68,2.67,-5.72,0.000,4,0.157,0.077,2125,1340,3503
$GC,339,-1.42,-146.6,39.5,-10.3,14,344,0.00,2.67,0.00,0.000,6,0.000,0.072,2125,2757,3503
$GC,660,-1.42,-146.6,76.1,-11.4,30,665,0.00,2.62,0.00,0.000,4,0.000,0.066,2125,1343,3503
$GC,751,-1.42,-146.6,86.7,-11.7,34,755,0.00,2.62,0.00,0.000,6,0.000,0.066,2125,2750,3503
$GC,1072,-1.42,-146.6,124.2,-11.7,50,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2750,3503
$GC,1381,-1.42,-146.6,159.7,-11.6,65,1385,0.00,2.60,0.00,0.000,4,0.000,0.062,2125,1338,3503
$GC,1421,-1.42,-146.6,164.2,-11.4,67,1425,0.00,2.62,0.00,0.000,6,0.000,0.064,2125,2755,3503
$GC,1748,-1.42,-146.6,200.7,-11.0,83,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3503
$GC,2057,-1.42,-146.6,234.6,-10.7,98,2061,0.00,2.58,0.00,0.000,4,0.000,0.060,2125,1338,3503
$GC,2097,-1.42,-146.6,239.2,-11.0,100,2101,0.00,2.62,0.00,0.000,6,0.000,0.065,2125,2751,3503
$GC,2425,-1.42,-146.6,276.6,-11.1,116,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2752,3503
$GC,2733,-1.42,-146.6,311.5,-11.7,131,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2752,3503
$GC,3043,-1.42,-146.6,348.4,-12.0,146,3047,0.00,2.60,0.00,0.000,4,0.000,0.063,2125,1334,3503
$GC,3070,-1.42,-146.6,352.0,-12.1,147,3075,0.00,2.62,0.00,0.000,6,0.000,0.063,2125,2755,3503
$GC,3386,-1.42,-146.6,389.0,-11.6,162,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3503
$GC,3696,-1.42,-146.6,422.0,-9.8,177,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3503
$GC,4005,-1.42,-146.6,448.4,-7.3,192,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3503
$GC,4314,-1.42,-146.6,473.6,-8.7,207,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3503
$GC,4624,-1.42,-146.6,503.5,-10.2,222,4628,0.00,2.60,0.00,0.000,4,0.000,0.061,2125,1335,3503
$GC,4663,-1.42,-146.6,507.6,-10.5,224,4668,0.00,2.62,0.00,0.000,6,0.000,0.062,2125,2762,3503
$GC,4990,-1.42,-146.6,541.6,-10.3,240,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2762,3503
$GC,5300,-1.42,-146.6,573.8,-10.2,255,5304,0.00,2.58,0.00,0.000,4,0.000,0.060,2125,1342,3503
$GC,5333,-1.42,-146.6,577.4,-10.3,256,5339,0.00,2.60,0.00,0.000,6,0.000,0.061,2125,2755,3503
$GC,5649,-1.42,-146.6,604.9,-7.8,272,5653,0.00,2.60,0.00,0.000,4,0.000,0.063,2125,1337,3502
$GC,5705,-1.42,-146.6,609.5,-8.2,274,5711,0.00,2.62,0.00,0.000,6,0.000,0.064,2125,2754,3503
$STATE,6018,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6018,begin apogee
$GC,6027,-0.42,0.0,637.1,9.2,290,6160,1.10,0.00,126.12,1.089,6,0.092,0.000,2345,2008,2902
$STATE,6161,end apogee,CONTROL_FINISHED_OK
$STATE,6161,begin climb
$GC,6164,1.42,146.6,643.4,0.0,297,6297,1.88,2.67,123.12,1.065,4,0.055,0.055,2749,3412,2304
$GC,6493,1.50,206.7,634.4,5.8,312,6554,0.00,2.55,51.95,1.047,6,0.000,0.040,2748,1978,2059
$GC,6869,1.53,237.3,607.5,6.9,330,6901,0.12,2.72,26.67,1.030,4,0.046,0.058,2787,3420,1934
$GC,6980,1.54,244.5,598.7,7.7,335,6998,0.00,2.55,7.70,0.886,6,0.000,0.040,2787,1990,1905
$GC,7308,1.59,279.5,576.9,6.7,351,7344,0.00,2.62,30.75,1.035,4,0.000,0.062,2788,592,1762
$GC,7439,1.59,279.5,565.4,9.5,356,7444,0.00,2.53,0.00,0.000,6,0.000,0.039,2788,2013,1762
$GC,7761,1.59,279.5,535.8,9.4,372,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2014,1761
$GC,8070,1.59,279.5,504.5,10.4,387,8074,0.00,2.60,0.00,0.000,4,0.000,0.059,2788,598,1761
$GC,8114,1.59,279.5,499.4,11.4,389,8118,0.00,2.47,0.00,0.000,6,0.000,0.038,2788,2002,1761
$GC,8436,1.59,279.5,466.6,9.9,405,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2002,1761
$GC,8745,1.59,279.5,440.3,8.4,420,8746,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2002,1761
$GC,9054,1.59,279.5,413.5,8.8,435,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2002,1761
$GC,9364,1.59,279.5,385.9,9.3,450,9365,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2002,1761
$GC,9673,1.59,279.5,358.6,8.7,465,9677,0.00,2.55,0.00,0.000,4,0.000,0.058,2788,597,1761
$GC,9728,1.59,279.5,353.4,10.0,467,9734,0.00,2.47,0.00,0.000,6,0.000,0.038,2788,2005,1761
$GC,10045,1.59,279.5,326.4,8.8,483,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2004,1762
$GC,10353,1.59,279.5,299.0,9.1,498,10358,0.00,2.58,0.00,0.000,4,0.000,0.058,2788,597,1762
$GC,10398,1.59,279.5,294.6,9.3,500,10402,0.00,2.47,0.00,0.000,6,0.000,0.038,2788,2007,1762
$GC,10720,1.59,279.5,263.9,9.8,516,10721,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2007,1762
$GC,11029,1.59,279.5,231.8,10.5,531,11033,0.00,2.58,0.00,0.000,4,0.000,0.059,2788,596,1762
$GC,11073,1.59,279.5,226.8,11.1,533,11077,0.00,2.47,0.00,0.000,6,0.000,0.039,2788,2003,1762
$GC,11394,1.59,279.5,193.0,10.5,549,11395,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2004,1762
$GC,11703,1.59,279.5,162.2,9.6,564,11704,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2004,1763
$GC,12013,1.59,279.5,132.7,9.5,579,12017,0.00,2.58,0.00,0.000,4,0.000,0.060,2788,595,1762
$GC,12057,1.59,279.5,128.4,9.2,581,12061,0.00,2.47,0.00,0.000,6,0.000,0.040,2788,2003,1763
$GC,12380,1.59,279.5,99.2,8.9,597,12381,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2003,1763
$GC,12690,1.59,279.5,69.9,10.1,612,12691,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2003,1764
$GC,12998,1.59,279.5,35.9,11.1,627,13002,0.00,2.60,0.00,0.000,4,0.000,0.061,2788,586,1764
$GC,13083,1.59,279.5,25.9,12.4,631,13087,0.00,2.47,0.00,0.000,6,0.000,0.041,2788,2001,1764
$STATE,13330,end climb,SURFACE_DEPTH_REACHED
$STATE,13330,begin surface coast
$FINISH,0.5,1.015233
$STATE,13352,end surface coast,CONTROL_FINISHED_OK
$STATE,13352,begin surface
$SM_CCo,13438,0.00,0.000,0,0,1762,279.40
$SM_GC,1.44,12.05,0.00,0.00,0.031,0.000,0.000,49,2748,1762,-10.93,-0.06,279.40
$IRIDIUM_FIX,6207.28,-1056.65,040898,121216
$TT8_MAMPS,0.028379
$HUMID,1789
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.5,95.0
$24V_AH,23.2,59.482
$10V_AH,10.1,34.236
$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,26.825,90.725,366.325,0.000,0.000,28.226,33.989,145.658,4.500,0.000,0.000,16.036,1166.908,10292.594,428.068,1413.454,466.137,33.351,1149.373,0.000,1386.208,0.000,35.199,0.000
$DEVICE_MAMPS,157.235,77.467,1089.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.605,480.438,402.963,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31611,644
$CAP_FILE_SIZE,90395,0
$CFSIZE,260165632,235819008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100509,195100,6234.500,-1051.797,38,1.8,38,-10.6