version: 66.04
glider: 103
mission: 11
dive: 63
start: 3 6 109 14 38 25
data:
$ID,103
$MISSION,11
$DIVE,63
$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,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,-144212.55
$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,8
$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
$GPS1,143124,6202.159,-946.141,26,2.0,43,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-62.2
$GPS2,143734,6202.159,-946.062,16,2.1,35,-9.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.218,-0.010
$KALMAN_X,2086.9,-950.9,5274.2,-7777.3,12213.5
$KALMAN_Y,-979.7,438.5,-3325.4,10059.5,-7351.6
$MHEAD_RNG_PITCHd_Wd,277.1,6272,-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,-41.70,0.000,2,0.000,0.000,51,2642,3244
$GC,62,-1.10,-146.6,4.2,-12.7,2,85,12.12,2.25,-4.22,0.000,4,0.159,0.109,2193,3786,3502
$GC,338,-1.10,-146.6,33.7,-8.4,14,342,0.00,2.10,0.00,0.000,6,0.000,0.062,2193,2650,3502
$GC,665,-1.10,-146.6,59.9,-7.3,30,669,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3790,3502
$GC,728,-1.10,-146.6,65.1,-8.9,33,731,0.00,2.10,0.00,0.000,6,0.000,0.060,2193,2646,3502
$GC,1061,-1.10,-146.6,92.6,-7.7,49,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,1370,-1.10,-146.6,114.0,-7.1,64,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,1680,-1.10,-146.6,136.1,-6.9,79,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,1988,-1.10,-146.6,156.7,-6.6,94,1992,0.00,2.25,0.00,0.000,4,0.000,0.092,2193,3796,3502
$GC,2028,-1.10,-146.6,159.7,-7.6,96,2032,0.00,2.10,0.00,0.000,6,0.000,0.061,2193,2650,3502
$GC,2361,-1.10,-146.6,183.4,-7.5,112,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3502
$GC,2670,-1.10,-146.6,206.8,-7.7,127,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3502
$GC,2979,-1.10,-146.6,228.2,-6.5,142,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3502
$GC,3289,-1.10,-146.6,248.8,-6.8,157,3292,0.00,2.20,0.00,0.000,4,0.000,0.091,2193,3786,3502
$GC,3327,-1.10,-146.6,251.2,-6.2,158,3333,0.00,2.10,0.00,0.000,6,0.000,0.060,2193,2639,3502
$GC,3643,-1.10,-146.6,274.0,-7.4,174,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2639,3502
$GC,3953,-1.10,-146.6,296.7,-7.5,189,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2639,3502
$GC,4262,-1.10,-146.6,317.0,-6.2,204,4265,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3787,3502
$GC,4308,-1.10,-146.6,320.0,-6.6,206,4312,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2646,3502
$GC,4641,-1.10,-146.6,341.8,-7.1,222,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,4950,-1.10,-146.6,363.2,-6.4,237,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,5259,-1.10,-146.6,383.7,-6.1,252,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,5569,-1.10,-146.6,405.3,-7.0,267,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,5878,-1.10,-146.6,426.4,-6.9,282,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3502
$GC,6187,-1.10,-146.6,447.8,-6.9,297,6191,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3787,3502
$GC,6221,-1.10,-146.6,450.2,-7.2,298,6225,0.00,2.05,0.00,0.000,6,0.000,0.056,2193,2646,3502
$GC,6543,-1.10,-146.6,473.1,-7.2,314,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3502
$GC,6852,-1.10,-146.6,495.7,-7.2,329,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,7161,-1.10,-146.6,517.8,-7.3,344,7165,0.00,2.20,0.00,0.000,4,0.000,0.088,2193,3789,3502
$GC,7229,-1.10,-146.6,522.9,-7.8,347,7232,0.00,2.08,0.00,0.000,6,0.000,0.057,2193,2641,3502
$GC,7561,-1.10,-146.6,546.6,-7.2,363,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3502
$GC,7871,-1.10,-146.6,569.0,-7.3,378,7875,0.00,2.55,0.00,0.000,4,0.000,0.067,2193,1235,3502
$GC,7904,-1.10,-146.6,571.4,-7.1,379,7910,0.00,2.60,0.00,0.000,6,0.000,0.063,2193,2653,3502
$GC,8219,-1.10,-146.6,594.3,-6.9,395,8223,0.00,2.15,0.00,0.000,4,0.000,0.089,2193,3783,3502
$GC,8281,-1.10,-146.6,598.7,-6.8,397,8287,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2633,3502
$GC,8597,-1.10,-146.6,621.3,-7.1,413,8600,0.00,2.22,0.00,0.000,4,0.000,0.087,2193,3790,3502
$GC,8642,-1.10,-146.6,624.5,-7.3,415,8646,0.00,2.05,0.00,0.000,6,0.000,0.053,2193,2644,3502
$GC,8976,-1.10,-146.6,647.5,-7.3,431,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3502
$GC,9285,-1.10,-146.6,669.8,-6.8,446,9286,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3502
$GC,9594,-1.10,-146.6,691.5,-7.7,461,9598,0.00,2.22,0.00,0.000,4,0.000,0.090,2193,3792,3502
$GC,9678,-1.10,-146.6,698.2,-7.9,464,9685,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2653,3502
$GC,9994,-1.10,-146.6,720.4,-7.0,480,9995,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2653,3501
$STATE,10156,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10156,begin apogee
$GC,10165,-0.42,0.0,731.6,7.0,488,10292,0.77,0.00,123.62,1.146,6,0.104,0.000,2345,1902,2902
$STATE,10293,end apogee,CONTROL_FINISHED_OK
$STATE,10293,begin climb
$GC,10296,1.10,146.6,737.4,0.0,494,10426,1.55,2.72,121.22,1.115,4,0.057,0.068,2678,479,2304
$GC,10558,1.21,234.7,733.0,3.6,506,10639,0.12,2.55,73.38,1.121,6,0.045,0.037,2718,1924,1945
$GC,10967,1.21,234.7,704.4,7.1,526,10971,0.00,2.55,0.00,0.000,4,0.000,0.064,2718,3303,1944
$GC,11080,1.21,234.7,696.5,6.8,531,11085,0.00,2.58,0.00,0.000,6,0.000,0.050,2718,1885,1944
$GC,11402,1.21,234.7,674.0,8.3,547,11406,0.00,2.62,0.00,0.000,4,0.000,0.063,2718,3297,1943
$GC,11524,1.21,234.7,664.1,6.6,552,11531,0.00,2.53,0.00,0.000,6,0.000,0.048,2718,1897,1942
$GC,11840,1.21,234.7,640.5,6.9,568,11845,0.00,2.60,0.00,0.000,4,0.000,0.065,2718,488,1942
$GC,11904,1.21,234.7,635.7,7.5,571,11908,0.00,2.47,0.00,0.000,6,0.000,0.036,2718,1900,1942
$GC,12230,1.21,234.7,608.3,8.3,587,12234,0.00,2.55,0.00,0.000,4,0.000,0.060,2718,3301,1942
$GC,12257,1.21,234.7,605.8,9.3,588,12262,0.00,2.50,0.00,0.000,6,0.000,0.044,2718,1897,1942
$GC,12573,1.21,234.7,577.7,9.2,603,12578,0.00,2.58,0.00,0.000,4,0.000,0.059,2718,3304,1942
$GC,12646,1.21,234.7,570.8,9.2,606,12650,0.00,2.50,0.00,0.000,6,0.000,0.044,2718,1900,1942
$GC,12962,1.21,234.7,542.5,9.1,621,12963,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1901,1941
$GC,13271,1.21,234.7,516.7,7.2,636,13276,0.00,2.55,0.00,0.000,4,0.000,0.058,2718,3302,1942
$GC,13344,1.21,234.7,511.4,6.9,639,13349,0.00,2.50,0.00,0.000,6,0.000,0.047,2718,1903,1942
$GC,13660,1.21,234.7,490.1,7.0,654,13664,0.00,2.55,0.00,0.000,4,0.000,0.058,2718,3303,1942
$GC,13732,1.21,234.7,484.6,7.7,657,13737,0.00,2.50,0.00,0.000,6,0.000,0.045,2718,1896,1943
$GC,14048,1.21,234.7,461.3,7.4,672,14049,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1896,1943
$GC,14357,1.21,234.7,438.1,7.5,687,14362,0.00,2.58,0.00,0.000,4,0.000,0.060,2718,3305,1944
$GC,14407,1.21,234.7,434.2,7.9,689,14412,0.00,2.50,0.00,0.000,6,0.000,0.047,2718,1901,1944
$GC,14723,1.21,234.7,411.2,7.1,704,14727,0.00,2.55,0.00,0.000,4,0.000,0.060,2718,3306,1944
$GC,14762,1.21,234.7,408.3,7.7,705,14769,0.00,2.50,0.00,0.000,6,0.000,0.047,2718,1896,1944
$GC,15078,1.21,234.7,385.7,7.2,721,15080,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1896,1944
$GC,15388,1.21,234.7,363.6,7.3,736,15392,0.00,2.58,0.00,0.000,4,0.000,0.061,2718,3302,1945
$GC,15427,1.21,234.7,360.6,6.5,738,15432,0.00,2.53,0.00,0.000,6,0.000,0.048,2718,1891,1945
$GC,15754,1.21,234.7,336.9,7.4,754,15758,0.00,2.60,0.00,0.000,4,0.000,0.061,2718,3310,1945
$GC,15787,1.21,234.7,334.4,7.3,755,15794,0.00,2.53,0.00,0.000,6,0.000,0.050,2718,1893,1945
$GC,16103,1.21,234.7,311.7,7.0,771,16108,0.00,2.60,0.00,0.000,4,0.000,0.063,2718,3309,1945
$GC,16137,1.21,234.7,309.2,6.7,772,16143,0.00,2.55,0.00,0.000,6,0.000,0.050,2718,1889,1945
$GC,16453,1.21,234.7,287.0,7.2,788,16457,0.00,2.60,0.00,0.000,4,0.000,0.064,2718,3311,1945
$GC,16486,1.21,234.7,284.5,7.1,789,16492,0.00,2.55,0.00,0.000,6,0.000,0.051,2718,1895,1945
$GC,16801,1.21,234.7,263.0,6.9,805,16802,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1895,1945
$GC,17111,1.21,234.7,239.3,7.7,820,17115,0.00,2.60,0.00,0.000,4,0.000,0.064,2718,3305,1946
$GC,17177,1.21,234.7,234.3,6.9,823,17182,0.00,2.55,0.00,0.000,6,0.000,0.051,2718,1888,1945
$GC,17499,1.21,234.7,209.2,7.3,839,17500,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1888,1946
$GC,17808,1.21,234.7,187.7,6.0,854,17812,0.00,2.60,0.00,0.000,4,0.000,0.064,2718,3301,1946
$GC,17870,1.22,238.4,183.8,5.9,857,17880,0.00,2.53,5.00,0.621,6,0.000,0.051,2718,1894,1930
$GC,18197,1.22,243.6,163.6,5.9,873,18208,0.00,2.62,6.00,0.666,4,0.000,0.064,2718,3307,1909
$GC,18237,1.22,243.6,160.9,6.7,875,18242,0.00,2.55,0.00,0.000,6,0.000,0.051,2718,1896,1908
$GC,18565,1.22,243.6,137.8,7.6,891,18569,0.00,2.60,0.00,0.000,4,0.000,0.064,2718,3306,1908
$GC,18605,1.22,243.6,134.8,7.5,893,18609,0.00,2.55,0.00,0.000,6,0.000,0.054,2718,1897,1908
$GC,18932,1.22,243.6,110.8,7.5,909,18936,0.00,2.60,0.00,0.000,4,0.000,0.064,2718,3308,1908
$GC,18965,1.22,243.6,108.2,7.2,910,18971,0.00,2.55,0.00,0.000,6,0.000,0.054,2718,1889,1908
$GC,19283,1.22,243.6,82.9,8.3,926,19287,0.00,2.62,0.00,0.000,4,0.000,0.065,2718,3312,1908
$GC,19323,1.22,243.6,79.9,7.4,928,19327,0.00,2.58,0.00,0.000,6,0.000,0.055,2718,1892,1908
$GC,19650,1.23,254.0,58.8,5.7,944,19662,0.00,0.00,9.95,0.670,6,0.000,0.000,2718,1892,1866
$GC,19961,1.23,254.0,39.7,7.2,959,19965,0.00,2.62,0.00,0.000,4,0.000,0.067,2718,3305,1866
$GC,20001,1.23,254.0,36.1,7.8,961,20005,0.00,2.58,0.00,0.000,6,0.000,0.056,2718,1890,1866
$GC,20327,1.23,254.0,14.1,6.1,977,20332,0.00,2.62,0.00,0.000,4,0.000,0.065,2718,3313,1866
$GC,20349,1.23,254.0,12.6,7.2,978,20354,0.00,2.58,0.00,0.000,6,0.000,0.056,2718,1895,1866
$STATE,20483,end climb,SURFACE_DEPTH_REACHED
$STATE,20483,begin surface coast
$FINISH,0.4,1.025489
$STATE,20504,end surface coast,CONTROL_FINISHED_OK
$STATE,20504,begin surface
$SM_CCo,20589,0.00,0.000,0,0,1865,254.38
$SM_GC,1.59,11.75,0.00,0.00,0.031,0.000,0.000,52,2637,1865,-10.93,-0.37,254.38
$IRIDIUM_FIX,6139.81,-940.56,310598,090925
$TT8_MAMPS,0.029146
$HUMID,1759
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.3,65.9
$24V_AH,23.4,18.734
$10V_AH,10.1,9.173
$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,26.325,163.775,339.175,0.000,0.000,29.921,31.898,155.591,5.750,0.000,0.000,36.261,1786.482,15980.829,454.859,2155.933,575.941,31.453,1526.171,0.000,2099.245,0.000,39.916,0.000
$DEVICE_MAMPS,158.769,108.914,1145.898,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,689.997,737.180,599.981,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50501,986
$CAP_FILE_SIZE,140795,0
$CFSIZE,260165632,253915136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060309,202237,6201.951,-948.907,26,1.8,26,-9.9