version: 66.04
glider: 103
mission: 11
dive: 39
start: 3 1 109 8 54 10
data:
$ID,103
$MISSION,11
$DIVE,39
$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,-143706.06
$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,12
$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
$GPS1,084500,6154.488,-914.110,39,1.6,44,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-58.8
$GPS2,085319,6154.643,-913.979,14,1.5,14,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.202,0.082
$KALMAN_X,-20.0,-442.9,-595.1,14780.5,17245.9
$KALMAN_Y,-55363.2,846.0,1083.6,133784.9,-888.1
$MHEAD_RNG_PITCHd_Wd,301.6,36653,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.10,-146.6,0.0,0.0,0,78,0.00,0.00,-53.53,0.000,6,0.000,0.000,48,2749,3501
$GC,82,-1.10,-146.6,7.0,-14.2,3,96,12.30,0.00,0.00,0.000,6,0.165,0.000,2193,2749,3501
$GC,409,-1.10,-146.6,44.3,-7.8,18,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2749,3501
$GC,717,-1.10,-146.6,72.2,-8.7,33,722,0.00,2.62,0.00,0.000,4,0.000,0.069,2193,1337,3501
$GC,773,-1.10,-146.6,77.2,-8.7,35,779,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2753,3501
$GC,1089,-1.10,-146.6,101.7,-7.4,51,1093,0.00,2.62,0.00,0.000,4,0.000,0.067,2193,1340,3501
$GC,1116,-1.10,-146.6,103.7,-7.2,52,1120,0.00,2.60,0.00,0.000,6,0.000,0.060,2193,2750,3502
$GC,1434,-1.10,-146.6,127.5,-7.9,67,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2750,3502
$GC,1741,-1.10,-146.6,149.8,-7.2,82,1746,0.00,2.62,0.00,0.000,4,0.000,0.067,2193,1332,3501
$GC,1791,-1.10,-146.6,153.6,-7.7,84,1795,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2753,3501
$GC,2112,-1.10,-146.6,176.6,-7.1,100,2116,0.00,2.62,0.00,0.000,4,0.000,0.066,2193,1334,3501
$GC,2145,-1.10,-146.6,178.6,-6.2,101,2151,0.00,2.62,0.00,0.000,6,0.000,0.061,2193,2760,3502
$GC,2460,-1.10,-146.6,198.2,-6.2,117,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2760,3502
$GC,2770,-1.10,-146.6,219.2,-6.7,132,2774,0.00,2.65,0.00,0.000,4,0.000,0.066,2193,1328,3501
$GC,2837,-1.10,-146.6,224.0,-7.3,135,2841,0.00,2.62,0.00,0.000,6,0.000,0.061,2193,2752,3501
$GC,3158,-1.10,-146.6,249.2,-8.2,151,3162,0.00,2.62,0.00,0.000,4,0.000,0.066,2193,1332,3501
$GC,3208,-1.10,-146.6,253.4,-7.7,153,3212,0.00,2.60,0.00,0.000,6,0.000,0.059,2193,2750,3502
$GC,3526,-1.10,-146.6,275.4,-6.7,168,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2751,3501
$GC,3833,-1.10,-146.6,291.8,-5.4,183,3837,0.00,2.62,0.00,0.000,4,0.000,0.067,2193,1330,3502
$GC,3896,-1.10,-146.6,295.7,-6.8,186,3900,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2757,3501
$GC,4222,-1.10,-146.6,315.1,-6.6,202,4226,0.00,2.62,0.00,0.000,4,0.000,0.066,2193,1332,3501
$GC,4272,-1.10,-146.6,318.6,-6.6,204,4276,0.00,2.62,0.00,0.000,6,0.000,0.062,2193,2757,3501
$GC,4588,-1.10,-146.6,341.1,-7.5,219,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2757,3502
$GC,4897,-1.10,-146.6,362.8,-7.3,234,4901,0.00,2.62,0.00,0.000,4,0.000,0.066,2193,1332,3501
$GC,4924,-1.10,-146.6,364.4,-5.7,235,4929,0.00,2.62,0.00,0.000,6,0.000,0.061,2193,2759,3502
$GC,5240,-1.10,-146.6,383.4,-6.8,250,5245,0.00,2.62,0.00,0.000,4,0.000,0.065,2193,1333,3502
$GC,5295,-1.10,-146.6,387.5,-7.4,252,5302,0.00,2.60,0.00,0.000,6,0.000,0.060,2193,2754,3501
$GC,5611,-1.10,-146.6,415.6,-10.1,268,5616,0.00,2.60,0.00,0.000,4,0.000,0.065,2193,1334,3501
$GC,5701,-1.10,-146.6,424.6,-9.6,272,5706,0.00,2.58,0.00,0.000,6,0.000,0.058,2193,2757,3501
$GC,6028,-1.10,-146.6,449.6,-5.2,288,6032,0.00,2.62,0.00,0.000,4,0.000,0.064,2193,1329,3501
$GC,6068,-1.10,-146.6,452.3,-7.2,290,6072,0.00,2.60,0.00,0.000,6,0.000,0.059,2193,2749,3501
$GC,6395,-1.10,-146.6,474.0,-5.5,306,6399,0.00,2.60,0.00,0.000,4,0.000,0.065,2193,1335,3502
$GC,6445,-1.10,-146.6,476.7,-5.5,308,6449,0.00,2.60,0.00,0.000,6,0.000,0.060,2193,2754,3502
$GC,6761,-1.10,-146.6,496.8,-7.2,323,6765,0.00,2.62,0.00,0.000,4,0.000,0.066,2193,1332,3502
$GC,6816,-1.10,-146.6,500.8,-6.6,325,6821,0.00,2.62,0.00,0.000,6,0.000,0.062,2193,2756,3501
$GC,7132,-1.10,-146.6,517.9,-4.8,340,7137,0.00,2.65,0.00,0.000,4,0.000,0.069,2193,1330,3501
$GC,7190,-1.10,-146.6,521.1,-6.2,342,7196,0.00,2.65,0.00,0.000,6,0.000,0.064,2193,2761,3501
$GC,7505,-1.10,-146.6,543.6,-7.9,358,7510,0.00,2.65,0.00,0.000,4,0.000,0.071,2193,1340,3499
$GC,7561,-1.10,-146.6,545.9,-4.4,360,7568,0.00,2.62,0.00,0.000,6,0.000,0.066,2193,2761,3498
$STATE,7585,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7586,begin apogee
$GC,7595,-0.42,0.0,548.1,8.2,362,7719,0.77,0.00,120.18,1.092,6,0.093,0.000,2348,1699,2902
$STATE,7719,end apogee,CONTROL_FINISHED_OK
$STATE,7719,begin climb
$GC,7722,1.10,146.6,554.5,0.0,368,7850,1.55,2.78,118.35,1.095,4,0.057,0.074,2679,290,2304
$GC,7974,1.10,146.6,547.2,9.9,379,7981,0.00,2.55,0.00,0.000,6,0.000,0.039,2679,1732,2304
$GC,8291,1.15,186.9,530.7,4.9,395,8333,0.00,2.60,34.38,1.052,4,0.000,0.063,2679,3096,2140
$GC,8552,1.19,214.1,520.9,5.2,406,8582,0.00,2.58,23.30,1.025,6,0.000,0.058,2679,1698,2029
$GC,8910,1.19,214.1,497.3,7.4,424,8915,0.00,2.60,0.00,0.000,4,0.000,0.062,2679,3100,2028
$GC,8989,1.19,214.1,491.4,7.3,427,8995,0.00,2.60,0.00,0.000,6,0.000,0.060,2679,1695,2028
$GC,9304,1.19,214.1,467.1,6.5,443,9309,0.00,2.60,0.00,0.000,4,0.000,0.062,2679,3099,2028
$GC,9551,1.20,226.7,452.7,5.7,454,9569,0.10,2.60,11.88,1.015,6,0.053,0.060,2710,1693,1977
$GC,9877,1.20,226.7,423.7,8.9,470,9881,0.00,2.58,0.00,0.000,4,0.000,0.059,2710,3098,1976
$GC,10000,1.20,226.7,415.3,6.1,475,10006,0.00,2.58,0.00,0.000,6,0.000,0.058,2710,1689,1976
$GC,10316,1.20,226.7,395.7,6.7,491,10317,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1689,1976
$GC,10625,1.20,226.7,371.4,8.2,506,10629,0.00,2.58,0.00,0.000,4,0.000,0.058,2710,3108,1976
$GC,10765,1.20,226.7,359.8,8.9,512,10770,0.00,2.58,0.00,0.000,6,0.000,0.054,2710,1692,1976
$GC,11087,1.20,226.7,331.5,8.4,528,11091,0.00,2.58,0.00,0.000,4,0.000,0.056,2710,3105,1976
$GC,11232,1.20,226.7,320.0,7.6,534,11239,0.00,2.55,0.00,0.000,6,0.000,0.054,2710,1702,1976
$GC,11548,1.22,244.5,300.8,5.5,550,11571,0.00,2.60,15.80,0.924,4,0.000,0.057,2710,3102,1905
$GC,11678,1.26,271.4,293.7,5.3,555,11706,0.00,2.58,22.95,0.877,6,0.000,0.055,2710,1695,1795
$GC,12015,1.26,271.4,269.6,7.4,572,12019,0.00,2.55,0.00,0.000,4,0.000,0.056,2710,3097,1795
$GC,12143,1.26,271.4,260.4,7.3,577,12150,0.00,2.55,0.00,0.000,6,0.000,0.056,2709,1701,1795
$GC,12459,1.26,271.4,237.0,7.5,593,12463,0.00,2.55,0.00,0.000,4,0.000,0.057,2710,3097,1795
$GC,12582,1.26,271.4,227.5,7.9,598,12587,0.00,2.55,0.00,0.000,6,0.000,0.055,2709,1696,1795
$GC,12898,1.26,271.4,204.0,8.0,613,12903,0.00,2.55,0.00,0.000,4,0.000,0.055,2710,3097,1795
$GC,12999,1.26,271.4,195.9,8.2,617,13005,0.00,2.55,0.00,0.000,6,0.000,0.054,2710,1692,1796
$GC,13315,1.26,271.4,172.8,6.8,633,13319,0.00,2.55,0.00,0.000,4,0.000,0.057,2710,3098,1796
$GC,13410,1.26,271.4,165.8,8.1,637,13414,0.00,2.53,0.00,0.000,6,0.000,0.054,2710,1696,1796
$GC,13733,1.26,271.4,140.6,8.4,653,13737,0.00,2.58,0.00,0.000,4,0.000,0.058,2710,3109,1796
$GC,13833,1.26,271.4,133.1,6.8,657,13840,0.00,2.55,0.00,0.000,6,0.000,0.054,2710,1701,1797
$GC,14150,1.26,271.4,107.0,9.4,673,14154,0.00,2.55,0.00,0.000,4,0.000,0.056,2710,3105,1797
$GC,14272,1.26,271.4,97.0,7.8,678,14279,0.00,2.53,0.00,0.000,6,0.000,0.053,2710,1700,1797
$GC,14590,1.26,271.4,74.4,7.2,694,14594,0.00,2.55,0.00,0.000,4,0.000,0.058,2710,3102,1797
$GC,14698,1.26,271.4,66.6,7.0,699,14702,0.00,2.55,0.00,0.000,6,0.000,0.054,2710,1693,1797
$GC,15026,1.26,271.4,38.6,9.0,715,15030,0.00,2.58,0.00,0.000,4,0.000,0.058,2710,3105,1797
$GC,15111,1.26,271.4,31.7,6.7,719,15116,0.00,2.55,0.00,0.000,6,0.000,0.054,2710,1693,1797
$GC,15439,1.26,271.4,10.1,8.1,735,15443,0.00,2.58,0.00,0.000,4,0.000,0.062,2710,3096,1797
$GC,15525,1.26,271.4,2.8,9.2,739,15530,0.00,2.55,0.00,0.000,6,0.000,0.058,2710,1696,1798
$STATE,15532,end climb,SURFACE_DEPTH_REACHED
$STATE,15533,begin surface coast
$FINISH,0.1,1.007009
$STATE,15562,end surface coast,CONTROL_FINISHED_OK
$STATE,15562,begin surface
$SM_CCo,15587,20.52,0.715,0,0,1679,300.00
$SM_GC,0.95,0.00,0.00,20.52,0.000,0.000,0.715,47,2744,1679,-11.01,-0.17,300.00
$IRIDIUM_FIX,6130.75,-910.47,260598,080844
$TT8_MAMPS,0.029146
$HUMID,1775
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,526.3,31.0
$24V_AH,23.4,15.520
$10V_AH,10.1,7.096
$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,26.425,175.275,346.825,20.525,0.000,59.338,58.844,195.205,4.250,0.000,0.000,14.989,1440.524,11620.559,495.076,1930.892,619.626,33.369,1480.036,0.000,1888.904,0.000,30.430,0.000
$DEVICE_MAMPS,164.905,75.166,1095.276,714.844,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,523.621,547.584,492.636,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38010,741
$CAP_FILE_SIZE,125606,0
$CFSIZE,260165632,255451136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010309,131537,6158.526,-913.847,38,1.1,38,-9.5