version: 66.04
glider: 103
mission: 11
dive: 53
start: 3 4 109 8 0 14
data:
$ID,103
$MISSION,11
$DIVE,53
$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,-143956.02
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,17
$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
$GPS1,075337,6156.091,-941.626,36,1.2,36,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-55.9
$GPS2,075920,6156.061,-941.607,15,1.3,15,-9.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.083,0.202
$KALMAN_X,22101.2,244.4,2331.1,-35661.6,3017.3
$KALMAN_Y,-85616.0,1025.4,103.9,167447.9,-7246.4
$MHEAD_RNG_PITCHd_Wd,347.2,18085,-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,15,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.65,0.000,2,0.000,0.000,40,2655,2969
$GC,62,-1.10,-146.6,3.0,-8.8,2,92,12.18,2.28,-10.57,0.000,4,0.158,0.108,2197,3783,3501
$GC,250,-1.10,-146.6,22.9,-9.2,10,254,0.00,2.05,0.00,0.000,6,0.000,0.053,2197,2647,3501
$GC,571,-1.10,-146.6,49.7,-7.7,26,575,0.00,2.20,0.00,0.000,4,0.000,0.088,2197,3779,3501
$GC,623,-1.10,-146.6,54.4,-8.7,28,627,0.00,2.05,0.00,0.000,6,0.000,0.051,2197,2640,3501
$GC,951,-1.10,-146.6,79.8,-9.7,44,954,0.00,2.20,0.00,0.000,4,0.000,0.087,2197,3779,3501
$GC,1001,-1.10,-146.6,83.7,-7.1,46,1004,0.00,2.05,0.00,0.000,6,0.000,0.053,2197,2643,3501
$GC,1322,-1.10,-146.6,104.9,-6.6,62,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2643,3501
$GC,1634,-1.10,-146.6,126.9,-7.4,77,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2643,3501
$GC,1941,-1.10,-146.6,151.6,-6.2,92,1944,0.00,2.20,0.00,0.000,4,0.000,0.086,2197,3783,3501
$GC,1986,-1.10,-146.6,154.6,-6.6,94,1990,0.00,2.05,0.00,0.000,6,0.000,0.053,2197,2643,3501
$GC,2319,-1.10,-146.6,179.0,-8.2,110,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2643,3501
$GC,2628,-1.10,-146.6,204.3,-8.1,125,2632,0.00,2.20,0.00,0.000,4,0.000,0.085,2197,3786,3501
$GC,2684,-1.10,-146.6,209.4,-8.7,127,2688,0.00,2.05,0.00,0.000,6,0.000,0.053,2197,2641,3501
$GC,3006,-1.10,-146.6,232.3,-7.5,143,3009,0.00,2.20,0.00,0.000,4,0.000,0.087,2197,3780,3501
$GC,3033,-1.10,-146.6,234.6,-8.0,144,3037,0.00,2.05,0.00,0.000,6,0.000,0.053,2197,2643,3501
$GC,3360,-1.10,-146.6,261.8,-7.4,160,3364,0.00,2.20,0.00,0.000,4,0.000,0.087,2197,3787,3501
$GC,3411,-1.10,-146.6,265.3,-6.0,162,3414,0.00,2.08,0.00,0.000,6,0.000,0.054,2197,2640,3501
$GC,3738,-1.10,-146.6,283.5,-4.4,178,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2640,3501
$GC,4047,-1.10,-146.6,307.6,-6.1,193,4051,0.00,2.20,0.00,0.000,4,0.000,0.088,2197,3777,3501
$GC,4098,-1.10,-146.6,311.8,-9.6,195,4101,0.00,2.05,0.00,0.000,6,0.000,0.056,2197,2646,3501
$GC,4425,-1.10,-146.6,336.1,-7.2,211,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2646,3501
$GC,4734,-1.10,-146.6,357.6,-6.7,226,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2646,3501
$GC,5044,-1.10,-146.6,377.1,-6.0,241,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2645,3501
$GC,5353,-1.10,-146.6,397.5,-6.5,256,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2645,3501
$GC,5662,-1.10,-146.6,417.0,-6.4,271,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2645,3501
$GC,5972,-1.10,-146.6,436.6,-6.0,286,5975,0.00,2.20,0.00,0.000,4,0.000,0.087,2197,3786,3501
$GC,6018,-1.10,-146.6,439.6,-6.6,288,6021,0.00,2.05,0.00,0.000,6,0.000,0.052,2197,2641,3501
$GC,6350,-1.10,-146.6,458.5,-6.3,304,6351,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2640,3501
$GC,6660,-1.10,-146.6,481.7,-7.8,319,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2640,3500
$GC,6969,-1.10,-146.6,507.4,-8.6,334,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2640,3500
$GC,7278,-1.10,-146.6,534.7,-8.4,349,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2640,3501
$GC,7588,-1.10,-146.6,556.2,-6.7,364,7591,0.00,2.17,0.00,0.000,4,0.000,0.084,2197,3779,3501
$GC,7656,-1.10,-146.6,560.9,-6.5,367,7659,0.00,2.03,0.00,0.000,6,0.000,0.051,2197,2643,3500
$GC,7988,-1.10,-146.6,585.5,-7.1,383,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2643,3501
$GC,8298,-1.10,-146.6,605.7,-5.6,398,8302,0.00,2.17,0.00,0.000,4,0.000,0.084,2197,3779,3501
$GC,8383,-1.10,-146.6,610.3,-5.3,401,8389,0.00,2.03,0.00,0.000,6,0.000,0.052,2197,2646,3501
$GC,8700,-1.10,-146.6,626.0,-5.8,417,8704,0.00,2.58,0.00,0.000,4,0.000,0.067,2197,1227,3500
$GC,8767,-1.10,-146.6,629.8,-5.7,420,8772,0.00,2.60,0.00,0.000,6,0.000,0.061,2197,2651,3500
$GC,9089,-1.10,-146.6,649.2,-5.0,436,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2651,3500
$GC,9398,-1.10,-146.6,667.7,-6.1,451,9402,0.00,2.15,0.00,0.000,4,0.000,0.086,2197,3788,3497
$GC,9444,-1.10,-146.6,670.3,-7.2,453,9447,0.00,2.03,0.00,0.000,6,0.000,0.051,2197,2651,3497
$GC,9777,-1.10,-146.6,686.6,-4.6,469,9780,0.00,2.17,0.00,0.000,4,0.000,0.086,2197,3782,3497
$GC,9828,-1.10,-146.6,689.0,-4.8,471,9832,0.00,2.05,0.00,0.000,6,0.000,0.051,2197,2626,3497
$GC,10155,-1.10,-146.6,709.2,-6.2,487,10159,0.00,2.55,0.00,0.000,4,0.000,0.071,2197,1235,3497
$GC,10195,-1.10,-146.6,711.8,-5.1,489,10199,0.00,2.60,0.00,0.000,6,0.000,0.061,2197,2657,3497
$STATE,10395,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10395,begin apogee
$GC,10404,-0.42,0.0,726.1,6.9,499,10530,0.75,0.00,123.40,1.125,6,0.100,0.000,2345,1890,2902
$STATE,10531,end apogee,CONTROL_FINISHED_OK
$STATE,10531,begin climb
$GC,10534,1.10,146.6,730.2,0.0,505,10664,1.58,2.67,121.82,1.098,4,0.060,0.064,2678,481,2304
$GC,10690,1.15,182.3,728.2,5.0,512,10727,0.00,2.55,31.52,1.056,6,0.000,0.036,2679,1923,2158
$GC,11051,1.15,182.3,707.4,6.4,530,11055,0.00,2.70,0.00,0.000,4,0.000,0.065,2679,481,2158
$GC,11129,1.23,252.2,703.0,4.1,533,11198,0.12,2.53,59.03,1.124,6,0.045,0.039,2722,1904,1873
$GC,11507,1.23,252.2,678.6,8.6,552,11511,0.00,2.58,0.00,0.000,4,0.000,0.061,2722,3310,1873
$GC,11557,1.23,252.2,674.3,9.1,554,11562,0.00,2.55,0.00,0.000,6,0.000,0.046,2722,1890,1873
$GC,11873,1.23,252.2,641.1,11.5,569,11878,0.00,2.62,0.00,0.000,4,0.000,0.062,2722,3306,1873
$GC,11931,1.23,252.2,634.2,12.4,571,11937,0.00,2.53,0.00,0.000,6,0.000,0.048,2722,1902,1872
$GC,12247,1.27,283.7,607.2,5.1,587,12281,0.00,2.72,27.20,1.056,4,0.000,0.064,2722,487,1745
$GC,12339,1.29,299.3,603.2,5.6,591,12359,0.00,2.53,14.52,0.992,6,0.000,0.038,2722,1907,1682
$GC,12687,1.29,299.3,579.2,6.5,608,12691,0.00,2.58,0.00,0.000,4,0.000,0.063,2722,3316,1682
$GC,12761,1.29,299.3,574.3,7.1,611,12765,0.00,2.55,0.00,0.000,6,0.000,0.048,2722,1897,1682
$GC,13077,1.29,299.3,550.5,7.4,626,13078,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1897,1682
$GC,13386,1.29,299.3,525.0,9.0,641,13391,0.00,2.60,0.00,0.000,4,0.000,0.061,2722,3310,1683
$GC,13420,1.29,299.3,521.6,10.0,642,13426,0.00,2.55,0.00,0.000,6,0.000,0.048,2722,1889,1682
$GC,13736,1.29,299.3,494.2,8.4,658,13740,0.00,2.62,0.00,0.000,4,0.000,0.063,2722,3317,1683
$GC,13769,1.29,299.3,491.3,8.1,659,13775,0.00,2.55,0.00,0.000,6,0.000,0.047,2722,1892,1683
$GC,14084,1.29,299.3,462.4,9.5,675,14086,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1892,1683
$GC,14394,1.29,299.3,433.4,9.3,690,14398,0.00,2.60,0.00,0.000,4,0.000,0.063,2722,3308,1683
$GC,14456,1.29,299.3,427.7,9.1,693,14460,0.00,2.53,0.00,0.000,6,0.000,0.049,2722,1901,1683
$GC,14782,1.29,299.3,398.2,9.0,709,14787,0.00,2.60,0.00,0.000,4,0.000,0.063,2722,3312,1683
$GC,14816,1.29,299.3,395.1,8.8,710,14822,0.00,2.53,0.00,0.000,6,0.000,0.050,2722,1900,1683
$GC,15132,1.29,299.3,365.9,9.3,726,15133,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1900,1683
$GC,15442,1.29,299.3,337.7,8.9,741,15446,0.00,2.58,0.00,0.000,4,0.000,0.064,2722,3309,1683
$GC,15487,1.29,299.3,333.5,8.2,743,15492,0.00,2.53,0.00,0.000,6,0.000,0.049,2722,1892,1683
$GC,15814,1.29,299.3,300.8,10.1,759,15819,0.00,2.62,0.00,0.000,4,0.000,0.065,2722,3312,1683
$GC,15842,1.29,299.3,297.8,10.8,760,15847,0.00,2.55,0.00,0.000,6,0.000,0.051,2722,1897,1683
$GC,16158,1.29,299.3,267.8,9.6,775,16162,0.00,2.62,0.00,0.000,4,0.000,0.067,2721,3315,1683
$GC,16202,1.29,299.3,263.6,9.5,777,16206,0.00,2.55,0.00,0.000,6,0.000,0.051,2722,1896,1683
$GC,16523,1.29,299.3,230.6,10.3,793,16527,0.00,2.62,0.00,0.000,4,0.000,0.067,2722,3314,1683
$GC,16556,1.29,299.3,227.3,8.8,794,16562,0.00,2.55,0.00,0.000,6,0.000,0.052,2722,1898,1683
$GC,16872,1.29,299.3,194.4,10.7,810,16876,0.00,2.62,0.00,0.000,4,0.000,0.066,2722,3318,1683
$GC,16911,1.29,299.3,190.3,9.9,812,16916,0.00,2.58,0.00,0.000,6,0.000,0.052,2722,1887,1683
$GC,17238,1.29,299.3,151.9,12.1,828,17242,0.00,2.62,0.00,0.000,4,0.000,0.065,2722,3311,1683
$GC,17310,1.29,299.3,144.1,9.2,831,17314,0.00,2.55,0.00,0.000,6,0.000,0.054,2722,1899,1683
$GC,17626,1.29,299.3,115.9,6.7,846,17631,0.00,2.58,0.00,0.000,4,0.000,0.065,2722,489,1683
$GC,17693,1.29,299.3,112.5,9.1,849,17698,0.00,2.47,0.00,0.000,6,0.000,0.039,2722,1899,1683
$GC,18015,1.29,299.3,85.3,7.0,865,18019,0.00,2.58,0.00,0.000,4,0.000,0.066,2722,3311,1684
$GC,18065,1.29,299.3,77.6,15.0,867,18069,0.00,2.55,0.00,0.000,6,0.000,0.055,2722,1899,1684
$GC,18381,1.29,299.3,36.5,13.5,882,18385,0.00,2.58,0.00,0.000,4,0.000,0.064,2722,489,1684
$GC,18436,1.29,299.3,29.5,11.1,884,18442,0.00,2.47,0.00,0.000,6,0.000,0.041,2722,1902,1684
$STATE,18729,end climb,SURFACE_DEPTH_REACHED
$STATE,18729,begin surface coast
$FINISH,0.1,1.013986
$STATE,18750,end surface coast,CONTROL_FINISHED_OK
$STATE,18751,begin surface
$SM_CCo,18776,1.30,0.140,0,0,1679,300.00
$SM_GC,1.18,0.00,0.00,1.30,0.000,0.000,0.140,47,2650,1679,-11.01,0.00,300.00
$IRIDIUM_FIX,6130.75,-947.25,290598,020200
$TT8_MAMPS,0.029146
$HUMID,1787
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.2,34.5
$24V_AH,23.4,17.400
$10V_AH,10.1,8.288
$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,26.325,166.275,377.500,1.300,0.000,29.199,32.254,152.380,6.500,0.000,0.000,15.300,1651.070,14445.988,475.700,1989.517,559.254,33.355,1495.763,0.000,1945.487,0.000,47.248,0.000
$DEVICE_MAMPS,158.002,108.147,1125.189,139.594,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,631.080,664.584,526.722,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44313,900
$CAP_FILE_SIZE,133719,0
$CFSIZE,260165632,254570496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,131506,6159.409,-940.031,63,1.5,74,-9.8