version: 66.04
glider: 103
mission: 11
dive: 393
start: 5 15 109 1 1 57
data:
$ID,103
$MISSION,11
$DIVE,393
$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,-151414.61
$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,22
$R_STBD_OVSHOOT,13
$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
$GPS1,005206,6313.302,-926.056,42,1.3,47,-10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-59.2
$GPS2,010107,6313.494,-926.067,9,1.3,14,-10.1
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,M3
$TGT_LATLONG,6311.000,-902.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.200,-0.137
$KALMAN_X,-33224.5,1604.4,1375.1,78481.1,-24780.2
$KALMAN_Y,18625.6,-1769.5,-820.5,39201.5,26379.4
$MHEAD_RNG_PITCHd_Wd,134.5,20631,-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,-41.40,0.000,2,0.000,0.000,45,2757,3171
$GC,63,-1.42,-146.6,3.7,-10.7,2,87,11.95,2.65,-5.50,0.000,4,0.161,0.072,2126,1349,3503
$GC,133,-1.42,-146.6,18.2,-11.0,5,137,0.00,2.67,0.00,0.000,6,0.000,0.074,2126,2751,3503
$GC,449,-1.42,-146.6,52.2,-10.8,20,453,0.00,2.62,0.00,0.000,4,0.000,0.066,2126,1343,3503
$GC,476,-1.42,-146.6,55.3,-10.5,21,481,0.00,2.65,0.00,0.000,6,0.000,0.067,2126,2757,3503
$GC,794,-1.42,-146.6,88.9,-10.6,36,799,0.00,2.62,0.00,0.000,4,0.000,0.063,2126,1340,3503
$GC,828,-1.42,-146.6,92.9,-10.5,37,834,0.00,2.62,0.00,0.000,6,0.000,0.067,2126,2750,3503
$GC,1144,-1.42,-146.6,127.6,-10.8,53,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2750,3503
$GC,1453,-1.42,-146.6,159.9,-10.3,68,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2750,3503
$GC,1762,-1.42,-146.6,190.9,-9.8,83,1767,0.00,2.60,0.00,0.000,4,0.000,0.065,2126,1340,3503
$GC,1802,-1.42,-146.6,195.0,-10.1,85,1807,0.00,2.65,0.00,0.000,6,0.000,0.067,2126,2755,3503
$GC,2130,-1.42,-146.6,228.9,-10.6,101,2134,0.00,1.95,0.00,0.000,4,0.000,0.085,2126,3783,3503
$GC,2158,-1.42,-146.6,232.3,-11.7,102,2162,0.00,1.85,0.00,0.000,6,0.000,0.050,2126,2750,3504
$GC,2485,-1.42,-146.6,270.4,-12.5,118,2490,0.00,2.58,0.00,0.000,4,0.000,0.064,2126,1339,3504
$GC,2514,-1.42,-146.6,273.9,-12.3,119,2518,0.00,2.65,0.00,0.000,6,0.000,0.068,2126,2756,3503
$GC,2830,-1.42,-146.6,312.1,-11.7,134,2833,0.00,1.95,0.00,0.000,4,0.000,0.086,2126,3789,3503
$GC,2869,-1.42,-146.6,316.9,-11.9,135,2875,0.00,1.88,0.00,0.000,6,0.000,0.048,2126,2752,3503
$GC,3186,-1.42,-146.6,350.2,-10.1,151,3191,0.00,2.60,0.00,0.000,4,0.000,0.064,2126,1324,3503
$GC,3254,-1.42,-146.6,357.3,-10.7,154,3258,0.00,2.67,0.00,0.000,6,0.000,0.067,2126,2757,3503
$GC,3574,-1.42,-146.6,390.2,-10.7,170,3578,0.00,1.95,0.00,0.000,4,0.000,0.087,2126,3783,3503
$GC,3608,-1.42,-146.6,394.2,-11.6,171,3612,0.00,1.85,0.00,0.000,6,0.000,0.049,2126,2745,3503
$GC,3930,-1.42,-146.6,431.2,-11.6,187,3934,0.00,2.00,0.00,0.000,4,0.000,0.086,2126,3783,3503
$GC,4036,-1.42,-146.6,444.0,-11.6,191,4042,0.00,1.85,0.00,0.000,6,0.000,0.051,2126,2751,3503
$GC,4353,-1.42,-146.6,478.4,-10.6,207,4357,0.00,2.60,0.00,0.000,4,0.000,0.068,2126,1339,3502
$GC,4442,-1.42,-146.6,486.6,-8.6,211,4447,0.00,2.67,0.00,0.000,6,0.000,0.074,2126,2752,3502
$STATE,4513,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4513,begin apogee
$GC,4522,-0.42,0.0,493.2,9.1,215,4649,1.12,0.00,123.47,1.025,6,0.105,0.000,2343,1997,2902
$STATE,4650,end apogee,CONTROL_FINISHED_OK
$STATE,4650,begin climb
$GC,4653,1.42,146.6,498.5,0.0,221,4782,1.92,2.70,120.35,0.990,4,0.066,0.066,2747,583,2304
$GC,5040,1.48,197.3,486.1,6.1,238,5089,0.00,2.55,43.20,0.979,6,0.000,0.039,2747,2025,2097
$GC,5400,1.61,295.4,466.8,4.4,256,5485,0.20,0.00,81.82,0.992,6,0.038,0.000,2804,2026,1697
$GC,5787,1.61,295.4,432.5,10.0,275,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2027,1695
$GC,6096,1.61,295.4,400.4,11.3,290,6100,0.00,2.58,0.00,0.000,4,0.000,0.071,2804,3400,1694
$GC,6136,1.61,295.4,395.7,11.9,292,6140,0.00,2.55,0.00,0.000,6,0.000,0.050,2805,1996,1694
$GC,6463,1.61,295.4,355.7,11.8,308,6467,0.00,2.60,0.00,0.000,4,0.000,0.065,2805,587,1694
$GC,6602,1.61,295.4,337.7,13.2,314,6607,0.00,2.50,0.00,0.000,6,0.000,0.041,2805,1992,1693
$GC,6919,1.61,295.4,300.8,10.8,329,6923,0.00,2.62,0.00,0.000,4,0.000,0.065,2804,3412,1693
$GC,6959,1.61,295.4,296.2,11.6,331,6963,0.00,2.55,0.00,0.000,6,0.000,0.048,2805,1996,1693
$GC,7285,1.61,295.4,262.0,10.3,347,7289,0.00,2.58,0.00,0.000,4,0.000,0.063,2805,588,1693
$GC,7348,1.61,295.4,255.0,11.8,350,7352,0.00,2.50,0.00,0.000,6,0.000,0.039,2805,2007,1693
$GC,7675,1.61,295.4,219.8,10.6,366,7679,0.00,2.60,0.00,0.000,4,0.000,0.060,2805,590,1693
$GC,7737,1.61,295.4,212.8,11.0,369,7741,0.00,2.50,0.00,0.000,6,0.000,0.041,2805,2006,1694
$GC,8064,1.61,295.4,178.8,10.4,385,8068,0.00,2.60,0.00,0.000,4,0.000,0.061,2805,589,1694
$GC,8104,1.61,295.4,174.4,11.2,387,8108,0.00,2.50,0.00,0.000,6,0.000,0.039,2805,2009,1694
$GC,8431,1.61,295.4,140.6,10.2,403,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2008,1695
$GC,8740,1.61,295.4,108.4,10.2,418,8745,0.00,2.62,0.00,0.000,4,0.000,0.061,2805,586,1695
$GC,8819,1.61,295.4,99.7,10.4,421,8826,0.00,2.50,0.00,0.000,6,0.000,0.040,2805,2009,1695
$GC,9135,1.61,295.4,66.8,11.3,437,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2009,1696
$GC,9445,1.61,295.4,31.9,12.0,452,9449,0.00,2.62,0.00,0.000,4,0.000,0.064,2805,591,1696
$GC,9489,1.61,295.4,26.3,12.4,454,9493,0.00,2.47,0.00,0.000,6,0.000,0.038,2805,2009,1696
$STATE,9730,end climb,SURFACE_DEPTH_REACHED
$STATE,9730,begin surface coast
$FINISH,0.3,1.004102
$STATE,9752,end surface coast,CONTROL_FINISHED_OK
$STATE,9752,begin surface
$SM_CCo,9839,0.00,0.000,0,0,1695,296.08
$SM_GC,1.07,12.10,0.00,0.00,0.028,0.000,0.000,49,2754,1695,-10.93,0.11,296.08
$IRIDIUM_FIX,6249.28,-920.68,090898,010144
$TT8_MAMPS,0.028379
$HUMID,1805
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,426.3,75.0
$24V_AH,23.2,63.540
$10V_AH,10.1,36.100
$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,27.300,101.225,368.850,0.000,0.000,56.702,72.100,216.387,3.500,0.000,0.000,14.721,895.961,7326.695,439.994,1133.497,585.581,33.360,1035.677,0.000,1104.002,0.000,25.339,0.000
$DEVICE_MAMPS,161.070,89.739,1025.479,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,330.151,342.771,339.938,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22252,467
$CAP_FILE_SIZE,78648,0
$CFSIZE,260165632,234463232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150509,034706,6314.023,-922.918,32,1.2,32,-10.1