version: 66.04
glider: 103
mission: 11
dive: 426
start: 5 19 109 23 36 4
data:
$ID,103
$MISSION,11
$DIVE,426
$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,-152046.98
$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,20
$R_STBD_OVSHOOT,7
$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
$GPS1,232936,6336.832,-824.247,35,1.1,35,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-59.6
$GPS2,233514,6336.862,-824.281,15,1.1,15,-9.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.147,0.194
$KALMAN_X,-16868.1,-266.5,-915.1,118801.8,5670.1
$KALMAN_Y,-44457.5,900.5,116.3,141897.2,-4591.7
$MHEAD_RNG_PITCHd_Wd,46.8,24955,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.42,-146.6,0.0,0.0,0,61,0.00,0.00,-41.25,0.000,2,0.000,0.000,49,2748,3139
$GC,64,-1.42,-146.6,3.3,-10.9,2,88,11.93,2.10,-6.32,0.000,4,0.164,0.106,2124,3787,3501
$GC,135,-1.42,-146.6,17.1,-12.6,5,139,0.00,1.88,0.00,0.000,6,0.000,0.048,2124,2741,3502
$GC,470,-1.42,-146.6,58.2,-11.6,21,474,0.00,2.58,0.00,0.000,4,0.000,0.064,2124,1342,3502
$GC,510,-1.42,-146.6,63.1,-11.7,23,515,0.00,2.67,0.00,0.000,6,0.000,0.071,2124,2757,3502
$GC,837,-1.42,-146.6,99.4,-10.4,39,842,0.00,2.62,0.00,0.000,4,0.000,0.062,2124,1340,3503
$GC,888,-1.42,-146.6,104.9,-10.6,41,892,0.00,2.67,0.00,0.000,6,0.000,0.070,2124,2758,3503
$GC,1204,-1.42,-146.6,136.9,-9.5,56,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3504
$GC,1514,-1.42,-146.6,166.6,-10.5,71,1517,0.00,1.98,0.00,0.000,4,0.000,0.091,2123,3783,3504
$GC,1564,-1.42,-146.6,172.4,-10.6,73,1568,0.00,1.88,0.00,0.000,6,0.000,0.053,2124,2745,3504
$GC,1891,-1.42,-146.6,207.7,-10.4,89,1896,0.00,2.62,0.00,0.000,4,0.000,0.070,2123,1331,3504
$GC,1931,-1.42,-146.6,211.7,-9.5,91,1936,0.00,2.72,0.00,0.000,6,0.000,0.075,2124,2758,3504
$GC,2259,-1.42,-146.6,243.3,-9.9,107,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2758,3504
$GC,2568,-1.42,-146.6,275.0,-10.7,122,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3504
$GC,2877,-1.42,-146.6,308.2,-11.3,137,2882,0.00,2.70,0.00,0.000,4,0.000,0.074,2124,1339,3504
$GC,2940,-1.42,-146.6,315.4,-11.4,140,2945,0.00,2.75,0.00,0.000,6,0.000,0.082,2124,2760,3503
$GC,3267,-1.42,-146.6,352.7,-11.2,156,3272,0.00,2.67,0.00,0.000,4,0.000,0.072,2124,1343,3502
$GC,3330,-1.42,-146.6,359.7,-11.4,159,3334,0.00,2.72,0.00,0.000,6,0.000,0.081,2123,2758,3502
$GC,3656,-1.42,-146.6,394.8,-10.0,175,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2758,3501
$GC,3966,-1.42,-146.6,425.0,-9.6,190,3971,0.00,2.70,0.00,0.000,4,0.000,0.074,2124,1332,3500
$GC,3995,-1.42,-146.6,427.9,-9.9,191,3999,0.00,2.75,0.00,0.000,6,0.000,0.081,2123,2751,3500
$GC,4311,-1.42,-146.6,458.4,-9.6,206,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2751,3499
$GC,4621,-1.42,-146.6,488.4,-9.6,221,4624,0.00,2.03,0.00,0.000,4,0.000,0.100,2124,3785,3498
$GC,4660,-1.42,-146.6,492.5,-10.2,222,4666,0.00,1.90,0.00,0.000,6,0.000,0.058,2124,2750,3498
$GC,4976,-1.42,-146.6,522.8,-9.2,238,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2750,3497
$GC,5286,-1.42,-146.6,551.1,-9.0,253,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3496
$GC,5595,-1.42,-146.6,578.7,-9.0,268,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3496
$GC,5904,-1.42,-146.6,606.3,-9.3,283,5908,0.00,2.65,0.00,0.000,4,0.000,0.076,2124,1335,3495
$GC,5954,-1.42,-146.6,611.0,-9.2,285,5959,0.00,2.75,0.00,0.000,6,0.000,0.081,2124,2758,3495
$GC,6270,-1.42,-146.6,639.8,-9.2,300,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2758,3494
$GC,6579,-1.42,-146.6,667.8,-9.0,315,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3494
$GC,6888,-1.42,-146.6,694.9,-8.7,330,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3493
$GC,7198,-1.42,-146.6,722.8,-9.5,345,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3492
$GC,7507,-1.42,-146.6,752.1,-9.3,360,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3492
$STATE,7772,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7772,begin apogee
$GC,7781,-0.42,0.0,778.7,9.6,373,7915,1.15,0.00,128.15,1.309,6,0.109,0.000,2345,1989,2902
$STATE,7916,end apogee,CONTROL_FINISHED_OK
$STATE,7916,begin climb
$GC,7920,1.42,146.6,785.5,0.0,380,8058,1.92,2.78,128.02,1.258,4,0.064,0.072,2747,589,2304
$GC,8317,1.51,220.0,773.4,5.3,398,8389,0.10,2.58,64.65,1.243,6,0.054,0.044,2779,2026,2005
$GC,8711,1.51,220.0,743.4,8.0,417,8715,0.00,2.72,0.00,0.000,4,0.000,0.070,2779,588,2004
$GC,8806,1.51,220.0,735.1,8.4,421,8811,0.00,2.55,0.00,0.000,6,0.000,0.044,2779,2006,2004
$GC,9122,1.51,220.0,709.5,8.1,436,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2007,2004
$GC,9432,1.51,220.0,684.2,8.2,451,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2007,2003
$GC,9741,1.51,220.0,657.3,8.8,466,9746,0.00,2.67,0.00,0.000,4,0.000,0.071,2779,588,2003
$GC,9797,1.51,220.0,652.0,9.1,468,9803,0.00,2.55,0.00,0.000,6,0.000,0.045,2779,2008,2003
$GC,10114,1.53,237.7,627.4,7.4,484,10133,0.00,0.00,16.55,1.159,6,0.000,0.000,2779,2010,1933
$GC,10443,1.57,264.5,604.2,7.0,500,10470,0.00,0.00,25.12,1.164,6,0.000,0.000,2779,2010,1823
$GC,10773,1.57,266.2,578.7,7.9,516,10774,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2010,1822
$GC,11082,1.57,266.2,553.4,8.2,531,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2011,1821
$GC,11391,1.57,268.9,529.0,7.9,546,11398,0.00,0.00,5.40,0.919,6,0.000,0.000,2779,2011,1805
$GC,11700,1.57,268.9,504.3,8.0,561,11701,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2011,1805
$GC,12010,1.57,268.9,478.6,8.3,576,12014,0.00,2.70,0.00,0.000,4,0.000,0.072,2779,581,1805
$GC,12056,1.57,268.9,474.7,8.4,578,12060,0.00,2.58,0.00,0.000,6,0.000,0.048,2779,2002,1805
$GC,12377,1.60,293.3,450.9,7.1,594,12401,0.00,0.00,22.17,1.081,6,0.000,0.000,2779,2003,1706
$GC,12706,1.60,293.3,423.8,8.8,610,12711,0.00,2.67,0.00,0.000,4,0.000,0.071,2779,588,1707
$GC,12751,1.60,293.3,419.9,8.9,612,12756,0.00,2.58,0.00,0.000,6,0.000,0.049,2779,2001,1707
$GC,13072,1.61,295.8,392.7,7.9,628,13079,0.00,0.00,4.53,0.803,6,0.000,0.000,2779,2002,1695
$GC,13382,1.61,295.8,366.6,8.5,643,13383,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2002,1695
$GC,13691,1.61,295.8,337.9,9.5,658,13692,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2003,1695
$GC,14000,1.61,295.8,307.9,9.8,673,14004,0.00,2.67,0.00,0.000,4,0.000,0.071,2779,590,1695
$GC,14067,1.61,295.8,300.6,10.8,676,14071,0.00,2.58,0.00,0.000,6,0.000,0.049,2779,2006,1695
$GC,14388,1.61,295.8,269.0,9.5,692,14392,0.00,2.67,0.00,0.000,4,0.000,0.079,2779,3408,1695
$GC,14421,1.61,295.8,265.7,9.3,693,14427,0.00,2.60,0.00,0.000,6,0.000,0.056,2779,1998,1695
$GC,14737,1.61,295.8,238.0,8.2,709,14742,0.00,2.65,0.00,0.000,4,0.000,0.072,2779,585,1695
$GC,14816,1.61,295.8,230.8,8.4,712,14822,0.00,2.58,0.00,0.000,6,0.000,0.048,2779,2006,1695
$GC,15132,1.61,295.8,203.2,9.3,728,15133,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2006,1695
$GC,15441,1.61,295.8,174.4,9.1,743,15446,0.00,2.67,0.00,0.000,4,0.000,0.071,2779,588,1696
$GC,15474,1.61,295.8,170.8,10.5,744,15481,0.00,2.55,0.00,0.000,6,0.000,0.048,2779,1997,1696
$GC,15791,1.61,295.8,141.6,9.0,760,15795,0.00,2.67,0.00,0.000,4,0.000,0.070,2779,580,1696
$GC,15858,1.61,295.8,135.1,9.7,763,15862,0.00,2.58,0.00,0.000,6,0.000,0.047,2779,2005,1696
$GC,16179,1.61,295.8,105.6,9.9,779,16183,0.00,2.67,0.00,0.000,4,0.000,0.067,2779,577,1696
$GC,16223,1.61,295.8,100.7,10.7,781,16228,0.00,2.55,0.00,0.000,6,0.000,0.044,2779,2000,1696
$GC,16546,1.61,295.8,69.8,9.1,797,16547,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2000,1697
$GC,16854,1.61,295.8,41.7,9.2,812,16859,0.00,2.62,0.00,0.000,4,0.000,0.065,2779,588,1698
$GC,16895,1.61,295.8,37.7,10.8,814,16899,0.00,2.53,0.00,0.000,6,0.000,0.044,2779,2004,1698
$GC,17222,1.61,295.8,7.7,9.2,830,17227,0.00,2.65,0.00,0.000,4,0.000,0.072,2779,3416,1698
$GC,17245,1.61,295.8,5.6,8.0,831,17249,0.00,2.60,0.00,0.000,6,0.000,0.051,2779,1986,1698
$STATE,17295,end climb,SURFACE_DEPTH_REACHED
$STATE,17295,begin surface coast
$FINISH,-0.3,1.023151
$STATE,17317,end surface coast,CONTROL_FINISHED_OK
$STATE,17317,begin surface
$SM_CCo,17403,0.00,0.000,0,0,1698,295.34
$SM_GC,0.48,12.12,0.00,0.00,0.032,0.000,0.000,52,2748,1698,-10.93,-0.06,295.34
$IRIDIUM_FIX,6308.26,-839.26,130898,181823
$TT8_MAMPS,0.029146
$HUMID,1851
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,14.40
$XPDR_PINGS,58
$ALTIM_BOTTOM_PING,750.2,37.5
$24V_AH,22.7,67.945
$10V_AH,10.0,38.142
$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,27.225,120.675,394.600,0.000,0.000,27.213,36.145,142.223,21.000,0.000,0.000,15.853,1495.791,13493.838,484.302,1737.364,525.129,33.356,1356.803,0.000,1697.671,0.000,45.308,0.000
$DEVICE_MAMPS,164.138,105.846,1308.502,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,622.596,589.672,481.791,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41082,835
$CAP_FILE_SIZE,114505,0
$CFSIZE,260165632,232960000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200509,042736,6339.247,-821.153,39,1.2,51,-9.6