version: 66.04
glider: 103
mission: 11
dive: 33
start: 2 28 109 3 24 38
data:
$ID,103
$MISSION,11
$DIVE,33
$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,300
$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,-143615.47
$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,1700
$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
$GPS1,031807,6140.961,-910.841,36,1.5,36,-9.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-61.1
$GPS2,032344,6140.937,-910.807,13,2.0,13,-9.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.064,0.209
$KALMAN_X,-20433.2,406.1,-371.1,36890.9,-2936.7
$KALMAN_Y,-57410.9,1084.8,-76.9,111382.9,-5212.6
$MHEAD_RNG_PITCHd_Wd,26.4,8375,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,79,0.00,0.00,-61.20,0.000,2,0.000,0.000,48,2743,3213
$GC,82,-1.10,-146.6,3.5,-5.6,3,106,12.20,2.70,-4.97,0.000,4,0.162,0.080,2195,1333,3503
$GC,359,-1.10,-146.6,32.7,-8.2,15,363,0.00,2.62,0.00,0.000,6,0.000,0.061,2195,2754,3503
$GC,680,-1.10,-146.6,58.8,-8.5,31,684,0.00,2.62,0.00,0.000,4,0.000,0.065,2195,1333,3503
$GC,775,-1.10,-146.6,66.8,-8.2,35,779,0.00,2.62,0.00,0.000,6,0.000,0.060,2195,2760,3503
$GC,1091,-1.10,-146.6,92.0,-8.1,50,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2760,3503
$GC,1400,-1.10,-146.6,116.8,-8.1,65,1404,0.00,2.62,0.00,0.000,4,0.000,0.064,2195,1336,3503
$GC,1445,-1.10,-146.6,120.5,-8.6,67,1449,0.00,2.60,0.00,0.000,6,0.000,0.058,2195,2756,3503
$GC,1766,-1.10,-146.6,144.8,-7.5,83,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2756,3503
$GC,2075,-1.10,-146.6,167.6,-7.1,98,2079,0.00,2.60,0.00,0.000,4,0.000,0.062,2195,1339,3503
$GC,2119,-1.10,-146.6,170.9,-7.2,100,2123,0.00,2.58,0.00,0.000,6,0.000,0.055,2195,2751,3502
$GC,2440,-1.10,-146.6,193.4,-7.1,116,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2751,3503
$GC,2749,-1.10,-146.6,214.9,-7.0,131,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2752,3503
$GC,3059,-1.10,-146.6,239.5,-8.6,146,3063,0.00,2.60,0.00,0.000,4,0.000,0.064,2195,1338,3503
$GC,3099,-1.10,-146.6,243.1,-9.0,148,3103,0.00,2.60,0.00,0.000,6,0.000,0.060,2195,2757,3503
$GC,3425,-1.10,-146.6,271.2,-9.0,164,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2757,3503
$GC,3735,-1.10,-146.6,300.0,-9.2,179,3740,0.00,2.60,0.00,0.000,4,0.000,0.062,2195,1339,3503
$GC,3776,-1.10,-146.6,303.6,-8.9,181,3780,0.00,2.58,0.00,0.000,6,0.000,0.057,2195,2750,3503
$GC,4102,-1.10,-146.6,330.6,-8.7,197,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2750,3503
$GC,4412,-1.10,-146.6,355.1,-7.8,212,4416,0.00,2.60,0.00,0.000,4,0.000,0.064,2195,1333,3502
$GC,4461,-1.10,-146.6,359.2,-8.1,214,4466,0.00,2.60,0.00,0.000,6,0.000,0.061,2195,2750,3503
$GC,4777,-1.10,-146.6,383.7,-7.2,229,4781,0.00,2.58,0.00,0.000,4,0.000,0.061,2195,1338,3503
$GC,4804,-1.10,-146.6,385.8,-6.6,230,4809,0.00,2.58,0.00,0.000,6,0.000,0.056,2195,2760,3503
$GC,5120,-1.10,-146.6,410.6,-8.2,245,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2760,3503
$GC,5429,-1.10,-146.6,437.0,-8.1,260,5434,0.00,2.60,0.00,0.000,4,0.000,0.061,2195,1336,3503
$GC,5474,-1.10,-146.6,440.7,-8.4,262,5479,0.00,2.60,0.00,0.000,6,0.000,0.059,2195,2759,3503
$GC,5796,-1.10,-146.6,469.2,-9.4,278,5800,0.00,2.62,0.00,0.000,4,0.000,0.063,2195,1324,3503
$GC,5845,-1.10,-146.6,473.7,-9.1,280,5850,0.00,2.62,0.00,0.000,6,0.000,0.059,2195,2758,3503
$GC,6162,-1.10,-146.6,501.7,-9.2,295,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2758,3503
$GC,6470,-1.10,-146.6,531.1,-9.0,310,6475,0.00,2.60,0.00,0.000,4,0.000,0.061,2195,1332,3502
$GC,6520,-1.10,-146.6,535.6,-8.8,312,6525,0.00,2.60,0.00,0.000,6,0.000,0.058,2195,2756,3502
$GC,6842,-1.10,-146.6,560.8,-7.6,328,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2756,3502
$GC,7151,-1.10,-146.6,584.5,-7.8,343,7155,0.00,2.60,0.00,0.000,4,0.000,0.061,2195,1329,3502
$GC,7191,-1.10,-146.6,587.5,-7.4,345,7195,0.00,2.60,0.00,0.000,6,0.000,0.057,2195,2757,3502
$GC,7518,-1.10,-146.6,612.6,-7.7,361,7522,0.00,2.58,0.00,0.000,4,0.000,0.059,2195,1331,3502
$GC,7567,-1.10,-146.6,616.6,-7.9,363,7572,0.00,2.60,0.00,0.000,6,0.000,0.055,2195,2762,3502
$GC,7883,-1.10,-146.6,639.8,-7.2,378,7887,0.00,2.58,0.00,0.000,4,0.000,0.059,2195,1333,3502
$GC,7927,-1.10,-146.6,643.2,-7.6,380,7932,0.00,2.58,0.00,0.000,6,0.000,0.055,2195,2753,3502
$GC,8250,-1.10,-146.6,664.1,-6.2,396,8254,0.00,2.58,0.00,0.000,4,0.000,0.059,2195,1332,3502
$GC,8289,-1.10,-146.6,666.6,-6.2,398,8293,0.00,2.58,0.00,0.000,6,0.000,0.054,2195,2754,3502
$GC,8616,-1.10,-146.6,694.1,-9.7,414,8620,0.00,2.58,0.00,0.000,4,0.000,0.060,2195,1329,3502
$GC,8690,-1.10,-146.6,701.1,-9.6,417,8694,0.00,2.60,0.00,0.000,6,0.000,0.056,2195,2757,3502
$GC,9016,-1.10,-146.6,725.7,-9.4,433,9020,0.00,2.60,0.00,0.000,4,0.000,0.059,2195,1326,3502
$GC,9273,-1.10,-146.6,745.7,-2.4,444,9280,0.00,2.62,0.00,0.000,6,0.000,0.063,2195,2750,3502
$GC,9590,-1.10,-146.6,749.4,-4.2,460,9594,0.00,2.62,0.00,0.000,4,0.000,0.066,2195,1329,3501
$GC,9640,-1.10,-146.6,751.7,-4.3,462,9644,0.00,2.62,0.00,0.000,6,0.000,0.062,2195,2749,3501
$GC,9956,-1.10,-146.6,768.1,-6.5,477,9959,0.00,2.00,0.00,0.000,4,0.000,0.093,2195,3792,3499
$GC,9972,-1.10,-146.6,770.4,-8.9,477,9978,0.00,1.85,0.00,0.000,6,0.000,0.046,2195,2743,3500
$STATE,10079,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10079,begin apogee
$GC,10088,-0.42,0.0,787.7,17.1,483,10216,0.75,0.00,124.38,1.269,6,0.083,0.000,2349,1699,2902
$STATE,10217,end apogee,CONTROL_FINISHED_OK
$STATE,10217,begin climb
$GC,10220,1.10,146.6,802.9,0.0,489,10356,1.52,2.70,122.90,1.245,4,0.056,0.060,2676,3121,2304
$GC,10558,1.10,146.6,772.9,9.9,504,10563,0.00,2.62,0.00,0.000,6,0.000,0.055,2676,1696,2303
$GC,10874,1.36,351.9,761.8,0.3,519,11056,0.22,2.78,171.12,1.233,4,0.038,0.077,2741,294,1467
$GC,11146,1.36,351.9,731.4,10.9,531,11153,0.00,2.55,0.00,0.000,6,0.000,0.039,2741,1726,1467
$GC,11462,1.36,351.9,708.0,8.8,547,11467,0.00,2.78,0.00,0.000,4,0.000,0.078,2741,288,1466
$GC,11639,1.36,351.9,692.4,9.9,555,11644,0.00,2.53,0.00,0.000,6,0.000,0.041,2741,1704,1466
$GC,11967,1.36,351.9,655.1,11.4,571,11971,0.00,2.58,0.00,0.000,4,0.000,0.061,2741,3112,1465
$GC,12062,1.36,351.9,643.3,12.6,575,12066,0.00,2.58,0.00,0.000,6,0.000,0.052,2741,1697,1465
$GC,12378,1.36,351.9,604.6,11.5,590,12382,0.00,2.58,0.00,0.000,4,0.000,0.055,2741,3111,1465
$GC,12455,1.36,351.9,597.0,9.5,593,12462,0.00,2.55,0.00,0.000,6,0.000,0.049,2741,1694,1465
$GC,12771,1.36,351.9,563.4,11.4,609,12775,0.00,2.58,0.00,0.000,4,0.000,0.054,2741,3114,1465
$GC,12821,1.36,351.9,557.1,12.1,611,12825,0.00,2.55,0.00,0.000,6,0.000,0.047,2741,1692,1465
$GC,13138,1.36,351.9,525.4,8.2,626,13142,0.00,2.58,0.00,0.000,4,0.000,0.054,2741,3110,1466
$GC,13210,1.36,351.9,518.8,9.4,629,13215,0.00,2.53,0.00,0.000,6,0.000,0.048,2741,1700,1466
$GC,13526,1.36,351.9,484.7,11.5,644,13530,0.00,2.55,0.00,0.000,4,0.000,0.056,2741,3113,1466
$GC,13604,1.36,351.9,475.2,12.0,647,13608,0.00,2.55,0.00,0.000,6,0.000,0.048,2741,1693,1466
$GC,13920,1.36,351.9,439.4,11.2,662,13924,0.00,2.58,0.00,0.000,4,0.000,0.056,2741,3113,1466
$GC,14004,1.36,351.9,429.9,11.1,665,14010,0.00,2.53,0.00,0.000,6,0.000,0.050,2741,1701,1466
$GC,14320,1.36,351.9,396.3,10.3,681,14324,0.00,2.55,0.00,0.000,4,0.000,0.057,2741,3107,1467
$GC,14410,1.36,351.9,387.0,10.1,685,14414,0.00,2.55,0.00,0.000,6,0.000,0.051,2741,1693,1467
$GC,14737,1.36,351.9,354.2,10.2,701,14741,0.00,2.58,0.00,0.000,4,0.000,0.057,2741,3108,1467
$GC,14832,1.36,351.9,344.2,10.0,705,14836,0.00,2.55,0.00,0.000,6,0.000,0.053,2741,1698,1467
$GC,15148,1.36,351.9,309.3,11.4,720,15152,0.00,2.58,0.00,0.000,4,0.000,0.059,2741,3108,1468
$GC,15232,1.36,351.9,299.7,11.3,724,15236,0.00,2.55,0.00,0.000,6,0.000,0.052,2741,1699,1468
$GC,15559,1.36,351.9,263.3,11.2,740,15563,0.00,2.58,0.00,0.000,4,0.000,0.058,2741,3110,1469
$GC,15626,1.36,351.9,255.7,10.9,743,15631,0.00,2.55,0.00,0.000,6,0.000,0.053,2741,1700,1469
$GC,15948,1.36,351.9,219.7,11.4,759,15952,0.00,2.58,0.00,0.000,4,0.000,0.060,2741,3113,1469
$GC,16042,1.36,351.9,209.1,11.0,763,16047,0.00,2.58,0.00,0.000,6,0.000,0.054,2741,1691,1469
$GC,16358,1.36,351.9,174.4,11.2,778,16363,0.00,2.60,0.00,0.000,4,0.000,0.060,2741,3113,1469
$GC,16454,1.36,351.9,163.7,10.5,782,16458,0.00,2.58,0.00,0.000,6,0.000,0.054,2741,1691,1469
$GC,16771,1.36,351.9,131.8,10.1,797,16776,0.00,2.60,0.00,0.000,4,0.000,0.060,2741,3116,1469
$GC,16857,1.36,351.9,122.8,10.7,801,16861,0.00,2.58,0.00,0.000,6,0.000,0.054,2741,1694,1469
$GC,17184,1.36,351.9,88.3,10.9,817,17188,0.00,2.58,0.00,0.000,4,0.000,0.059,2741,3108,1469
$GC,17262,1.36,351.9,79.8,10.6,820,17268,0.00,2.55,0.00,0.000,6,0.000,0.054,2741,1698,1470
$GC,17578,1.36,351.9,47.9,10.5,836,17582,0.00,2.60,0.00,0.000,4,0.000,0.061,2741,3117,1470
$GC,17663,1.36,351.9,39.5,10.8,840,17667,0.00,2.58,0.00,0.000,6,0.000,0.055,2741,1698,1470
$GC,17990,1.36,351.9,6.8,10.3,856,17994,0.00,2.60,0.00,0.000,4,0.000,0.064,2741,3108,1470
$STATE,18037,end climb,SURFACE_DEPTH_REACHED
$STATE,18037,begin surface coast
$FINISH,0.4,1.027431
$STATE,18055,end surface coast,CONTROL_FINISHED_OK
$STATE,18055,begin surface
$SM_CCo,18139,0.00,0.000,0,0,1470,351.51
$SM_GC,1.15,11.90,0.00,0.00,0.034,0.000,0.000,51,2735,1470,-10.93,-0.42,351.51
$IRIDIUM_FIX,6112.75,-909.88,240598,222221
$TT8_MAMPS,0.028379
$HUMID,1786
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.7,71.5
$24V_AH,23.3,14.731
$10V_AH,10.1,6.606
$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,26.600,195.700,418.400,0.000,0.000,29.457,28.117,152.929,6.500,0.000,0.000,13.196,1633.610,13584.888,531.017,2171.780,552.078,33.358,1641.212,0.000,2123.540,0.000,46.124,0.000
$DEVICE_MAMPS,161.837,92.807,1269.385,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,605.280,629.143,506.331,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44275,859
$CAP_FILE_SIZE,138933,0
$CFSIZE,260165632,255803392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280209,082827,6143.875,-910.395,33,2.1,52,-9.4