version: 66.04
glider: 103
mission: 11
dive: 43
start: 3 2 109 2 1 24
data:
$ID,103
$MISSION,11
$DIVE,43
$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,-143784.33
$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,2650
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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
$GPS1,015455,6156.854,-915.551,39,1.8,39,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-57.9
$GPS2,020034,6156.778,-915.378,14,2.5,33,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.212,0.051
$KALMAN_X,18759.5,-1963.5,-981.4,-3326.6,31875.4
$KALMAN_Y,-56581.3,-231.4,-574.0,141749.6,-16.8
$MHEAD_RNG_PITCHd_Wd,293.1,33661,-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,18,-1.10,-146.6,0.0,0.0,0,80,0.00,0.00,-59.35,0.000,2,0.000,0.000,43,2647,3207
$GC,83,-1.10,-146.6,3.7,-6.4,3,106,12.30,2.72,-4.90,0.000,4,0.163,0.085,2196,1236,3503
$GC,275,-1.10,-146.6,26.9,-8.4,11,279,0.00,2.65,0.00,0.000,6,0.000,0.065,2196,2660,3503
$GC,591,-1.10,-146.6,48.8,-5.8,26,595,0.00,2.15,0.00,0.000,4,0.000,0.087,2196,3782,3502
$GC,728,-1.10,-146.6,62.3,-7.6,32,731,0.00,2.03,0.00,0.000,6,0.000,0.048,2196,2649,3502
$GC,1062,-1.10,-146.6,87.3,-7.0,48,1066,0.00,2.17,0.00,0.000,4,0.000,0.083,2196,3781,3502
$GC,1118,-1.10,-146.6,91.0,-7.2,50,1122,0.00,2.03,0.00,0.000,6,0.000,0.047,2196,2646,3502
$GC,1439,-1.10,-146.6,116.8,-7.9,66,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3503
$GC,1749,-1.10,-146.6,142.7,-8.1,81,1752,0.00,2.20,0.00,0.000,4,0.000,0.084,2196,3790,3502
$GC,1817,-1.10,-146.6,148.6,-8.4,84,1821,0.00,2.03,0.00,0.000,6,0.000,0.047,2196,2650,3503
$GC,2150,-1.10,-146.6,178.4,-8.7,100,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3502
$GC,2459,-1.10,-146.6,204.1,-8.1,115,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3502
$GC,2768,-1.10,-146.6,228.3,-7.5,130,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3502
$GC,3079,-1.10,-146.6,250.8,-7.5,145,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,3389,-1.10,-146.6,275.4,-8.2,160,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3503
$GC,3697,-1.10,-146.6,301.3,-8.2,175,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3502
$GC,4006,-1.10,-146.6,327.4,-8.4,190,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3502
$GC,4315,-1.10,-146.6,353.2,-8.1,205,4318,0.00,2.17,0.00,0.000,4,0.000,0.081,2195,3790,3502
$GC,4365,-1.10,-146.6,357.6,-8.9,207,4369,0.00,2.03,0.00,0.000,6,0.000,0.045,2196,2645,3502
$GC,4692,-1.10,-146.6,384.2,-8.2,223,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3502
$GC,5001,-1.10,-146.6,409.2,-7.9,238,5005,0.00,2.15,0.00,0.000,4,0.000,0.080,2196,3782,3502
$GC,5051,-1.10,-146.6,413.6,-8.1,240,5055,0.00,2.00,0.00,0.000,6,0.000,0.045,2196,2650,3502
$GC,5379,-1.10,-146.6,438.2,-7.4,256,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,5688,-1.10,-146.6,461.1,-7.5,271,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3502
$GC,5998,-1.10,-146.6,485.2,-8.0,286,6001,0.00,2.15,0.00,0.000,4,0.000,0.081,2196,3783,3502
$GC,6089,-1.10,-146.6,492.9,-8.8,290,6092,0.00,2.00,0.00,0.000,6,0.000,0.045,2196,2649,3502
$GC,6422,-1.10,-146.6,517.9,-7.5,306,6425,0.00,2.15,0.00,0.000,4,0.000,0.081,2196,3782,3502
$GC,6490,-1.10,-146.6,523.4,-8.1,309,6494,0.00,2.03,0.00,0.000,6,0.000,0.048,2196,2641,3502
$GC,6823,-1.10,-146.6,548.7,-7.8,325,6827,0.00,2.17,0.00,0.000,4,0.000,0.082,2196,3782,3502
$GC,6869,-1.10,-146.6,551.5,-6.1,327,6872,0.00,2.00,0.00,0.000,6,0.000,0.046,2196,2647,3502
$GC,7202,-1.10,-146.6,574.0,-5.8,343,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3502
$STATE,7343,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7343,begin apogee
$GC,7352,-0.42,0.0,581.2,4.8,350,7478,0.75,0.00,122.40,1.035,6,0.096,0.000,2345,1796,2902
$STATE,7478,end apogee,CONTROL_FINISHED_OK
$STATE,7478,begin climb
$GC,7482,1.10,146.6,585.0,0.0,356,7610,1.58,2.70,120.60,1.002,4,0.058,0.071,2679,388,2304
$GC,7690,1.21,233.1,584.2,3.6,366,7769,0.10,2.53,71.93,1.002,6,0.050,0.037,2715,1828,1951
$GC,8077,1.21,233.1,558.9,7.6,384,8082,0.00,2.53,0.00,0.000,4,0.000,0.062,2715,3199,1950
$GC,8150,1.21,233.1,553.6,7.7,387,8155,0.00,2.60,0.00,0.000,6,0.000,0.056,2715,1789,1949
$GC,8466,1.21,233.1,531.8,7.1,402,8470,0.00,2.62,0.00,0.000,4,0.000,0.064,2715,3195,1949
$GC,8724,1.21,233.1,515.7,6.7,413,8730,0.00,2.58,0.00,0.000,6,0.000,0.058,2715,1797,1948
$GC,9039,1.21,233.1,494.6,6.6,429,9044,0.00,2.60,0.00,0.000,4,0.000,0.062,2715,3200,1947
$GC,9163,1.23,246.1,487.0,5.6,434,9179,0.00,2.55,11.50,0.956,6,0.000,0.054,2715,1799,1899
$GC,9496,1.23,246.1,464.9,6.8,451,9500,0.00,2.58,0.00,0.000,4,0.000,0.061,2715,3194,1898
$GC,9625,1.23,246.1,455.3,7.0,457,9630,0.00,2.55,0.00,0.000,6,0.000,0.054,2715,1791,1898
$GC,9953,1.23,246.1,432.4,6.9,473,9957,0.00,2.58,0.00,0.000,4,0.000,0.061,2715,3192,1898
$GC,10037,1.23,246.1,426.5,6.4,477,10041,0.00,2.53,0.00,0.000,6,0.000,0.053,2715,1798,1898
$GC,10364,1.23,246.1,402.0,7.2,493,10368,0.00,2.58,0.00,0.000,4,0.000,0.060,2715,3201,1898
$GC,10419,1.23,246.1,397.8,6.9,495,10425,0.00,2.53,0.00,0.000,6,0.000,0.053,2715,1798,1898
$GC,10735,1.23,246.1,375.9,7.0,511,10739,0.00,2.58,0.00,0.000,4,0.000,0.059,2715,3202,1898
$GC,10786,1.23,246.1,372.2,7.4,513,10791,0.00,2.55,0.00,0.000,6,0.000,0.053,2715,1795,1898
$GC,11108,1.23,246.1,350.0,6.9,529,11112,0.00,2.58,0.00,0.000,4,0.000,0.058,2715,3203,1898
$GC,11174,1.23,246.1,345.1,7.6,532,11179,0.00,2.55,0.00,0.000,6,0.000,0.052,2715,1792,1898
$GC,11495,1.23,246.1,323.6,6.3,548,11499,0.00,2.58,0.00,0.000,4,0.000,0.060,2715,3198,1898
$GC,11551,1.23,246.1,319.9,6.3,550,11557,0.00,2.53,0.00,0.000,6,0.000,0.053,2715,1794,1898
$GC,11867,1.23,246.1,298.8,6.9,566,11872,0.00,2.55,0.00,0.000,4,0.000,0.059,2715,3191,1899
$GC,11968,1.23,246.1,291.3,6.6,570,11975,0.00,2.50,0.00,0.000,6,0.000,0.053,2715,1799,1899
$GC,12285,1.23,246.1,268.4,7.2,586,12288,0.00,2.55,0.00,0.000,4,0.000,0.060,2716,3197,1899
$GC,12341,1.23,246.1,264.3,7.5,588,12345,0.00,2.55,0.00,0.000,6,0.000,0.053,2715,1790,1899
$GC,12657,1.23,246.1,241.1,7.4,603,12661,0.00,2.58,0.00,0.000,4,0.000,0.059,2715,3198,1899
$GC,12746,1.23,246.1,233.9,8.0,607,12750,0.00,2.55,0.00,0.000,6,0.000,0.053,2715,1788,1900
$GC,13067,1.23,246.1,210.4,7.2,623,13071,0.00,2.58,0.00,0.000,4,0.000,0.059,2715,3199,1900
$GC,13151,1.23,246.1,204.0,7.4,627,13156,0.00,2.53,0.00,0.000,6,0.000,0.052,2715,1799,1900
$GC,13478,1.23,246.1,180.4,6.9,643,13483,0.00,2.55,0.00,0.000,4,0.000,0.060,2715,3191,1900
$GC,13542,1.23,246.1,175.5,7.5,646,13546,0.00,2.53,0.00,0.000,6,0.000,0.054,2716,1793,1901
$GC,13869,1.23,246.1,152.5,6.9,662,13873,0.00,2.58,0.00,0.000,4,0.000,0.060,2715,3200,1901
$GC,13941,1.23,246.1,146.9,7.8,665,13945,0.00,2.55,0.00,0.000,6,0.000,0.054,2715,1791,1901
$GC,14257,1.23,246.1,123.9,7.1,680,14262,0.00,2.58,0.00,0.000,4,0.000,0.060,2715,3198,1901
$GC,14324,1.23,246.1,118.7,8.0,683,14329,0.00,2.53,0.00,0.000,6,0.000,0.053,2715,1799,1901
$GC,14646,1.23,246.1,95.0,6.9,699,14650,0.00,2.58,0.00,0.000,4,0.000,0.062,2716,3201,1901
$GC,14690,1.23,246.1,91.4,8.1,701,14695,0.00,2.55,0.00,0.000,6,0.000,0.054,2715,1789,1901
$GC,15012,1.23,251.7,70.2,5.8,717,15026,0.00,2.65,7.12,0.684,4,0.000,0.059,2716,3194,1875
$GC,15057,1.23,251.7,66.9,7.0,719,15062,0.00,2.53,0.00,0.000,6,0.000,0.054,2716,1799,1875
$GC,15385,1.23,251.7,41.2,6.7,735,15386,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1799,1875
$GC,15694,1.23,251.7,16.5,7.2,750,15698,0.00,2.58,0.00,0.000,4,0.000,0.065,2716,393,1875
$GC,15734,1.37,362.0,15.0,2.9,752,15827,0.10,2.45,86.10,0.741,6,0.058,0.041,2744,1792,1426
$STATE,15879,end climb,SURFACE_DEPTH_REACHED
$STATE,15881,begin surface coast
$FINISH,0.2,1.027451
$STATE,15900,end surface coast,CONTROL_FINISHED_OK
$STATE,15900,begin surface
$SM_CCo,15985,0.00,0.000,0,0,1425,362.31
$SM_GC,1.08,11.90,0.00,0.00,0.027,0.000,0.000,51,2644,1425,-10.93,-0.17,362.31
$IRIDIUM_FIX,6130.75,-915.71,260598,212112
$TT8_MAMPS,0.028379
$HUMID,1731
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.0,65.5
$24V_AH,23.4,16.024
$10V_AH,10.1,7.395
$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,26.725,144.475,419.650,0.000,0.000,29.069,31.447,137.288,4.250,0.000,0.000,34.656,1431.713,12013.244,493.008,1893.202,489.633,33.356,1451.352,0.000,1837.021,0.000,30.206,0.000
$DEVICE_MAMPS,162.604,86.671,1034.683,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,534.191,561.680,506.298,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38042,760
$CAP_FILE_SIZE,117857,0
$CFSIZE,260165632,255246336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020309,062906,6154.134,-916.691,40,1.1,40,-9.5