version: 66.04
glider: 103
mission: 11
dive: 68
start: 3 7 109 19 53 13
data:
$ID,103
$MISSION,11
$DIVE,68
$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,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,-144331.75
$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,19
$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
$GPS1,194455,6208.812,-959.254,59,1.9,59,-10.0
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-58.0
$GPS2,195223,6208.861,-959.116,11,4.1,30,-10.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.217,0.028
$KALMAN_X,7332.7,-442.9,8091.0,-27701.5,12853.0
$KALMAN_Y,-1905.6,591.3,-2630.7,22526.7,-2989.6
$MHEAD_RNG_PITCHd_Wd,287.2,32966,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.10,-146.6,0.0,0.0,0,62,0.00,0.00,-41.00,0.000,2,0.000,0.000,46,2652,3229
$GC,65,-1.10,-146.6,3.5,-8.9,2,89,12.20,2.72,-4.68,0.000,4,0.160,0.091,2195,1227,3501
$GC,228,-1.10,-146.6,25.4,-9.9,9,232,0.00,2.65,0.00,0.000,6,0.000,0.066,2194,2652,3501
$GC,556,-1.10,-146.6,57.0,-7.5,25,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2652,3501
$GC,864,-1.10,-146.6,84.4,-9.4,40,867,0.00,2.17,0.00,0.000,4,0.000,0.091,2195,3782,3501
$GC,920,-1.10,-146.6,91.9,-13.9,42,923,0.00,2.08,0.00,0.000,6,0.000,0.056,2195,2641,3501
$GC,1242,-1.10,-146.6,128.2,-9.8,58,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3501
$GC,1550,-1.10,-146.6,160.6,-11.7,73,1554,0.00,2.20,0.00,0.000,4,0.000,0.087,2195,3781,3501
$GC,1596,-1.10,-146.6,164.4,-8.3,75,1600,0.00,2.05,0.00,0.000,6,0.000,0.054,2195,2645,3501
$GC,1929,-1.10,-146.6,189.6,-6.5,91,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2645,3501
$GC,2238,-1.10,-146.6,212.2,-6.5,106,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,2548,-1.10,-146.6,237.2,-7.9,121,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,2857,-1.10,-146.6,261.1,-7.4,136,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3501
$GC,3166,-1.10,-146.6,284.4,-7.4,151,3170,0.00,2.20,0.00,0.000,4,0.000,0.087,2195,3783,3501
$GC,3194,-1.10,-146.6,286.5,-7.2,152,3198,0.00,2.05,0.00,0.000,6,0.000,0.055,2195,2653,3501
$GC,3521,-1.10,-146.6,310.2,-7.1,168,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2652,3501
$GC,3830,-1.10,-146.6,332.8,-7.5,183,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2653,3501
$GC,4140,-1.10,-146.6,355.8,-7.5,198,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2653,3501
$GC,4449,-1.10,-146.6,377.6,-6.7,213,4453,0.00,2.17,0.00,0.000,4,0.000,0.084,2195,3786,3501
$GC,4477,-1.10,-146.6,379.6,-7.0,214,4481,0.00,2.05,0.00,0.000,6,0.000,0.055,2194,2644,3501
$GC,4804,-1.10,-146.6,402.4,-6.8,230,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,5114,-1.10,-146.6,425.0,-7.5,245,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,5422,-1.10,-146.6,448.7,-7.8,260,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,5732,-1.10,-146.6,473.2,-8.5,275,5735,0.00,2.17,0.00,0.000,4,0.000,0.084,2195,3782,3501
$GC,5787,-1.10,-146.6,478.1,-8.8,277,5791,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2642,3501
$GC,6109,-1.10,-146.6,505.2,-8.4,293,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3501
$GC,6418,-1.10,-146.6,531.0,-8.3,308,6422,0.00,2.17,0.00,0.000,4,0.000,0.081,2195,3785,3501
$GC,6464,-1.10,-146.6,534.9,-8.7,310,6467,0.00,2.05,0.00,0.000,6,0.000,0.052,2195,2639,3501
$GC,6797,-1.10,-146.6,562.4,-8.4,326,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2639,3501
$GC,7106,-1.10,-146.6,591.5,-10.0,341,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2639,3501
$GC,7417,-1.10,-146.6,625.1,-12.0,356,7418,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2639,3501
$GC,7725,-1.10,-146.6,654.1,-8.5,371,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2638,3501
$GC,8034,-1.10,-146.6,677.6,-7.1,386,8038,0.00,2.17,0.00,0.000,4,0.000,0.082,2195,3783,3501
$GC,8134,-1.10,-146.6,684.6,-7.0,390,8139,0.00,2.03,0.00,0.000,6,0.000,0.051,2195,2645,3501
$GC,8456,-1.10,-146.6,709.6,-9.3,406,8460,0.00,2.17,0.00,0.000,4,0.000,0.084,2195,3785,3501
$GC,8512,-1.10,-146.6,716.1,-12.3,408,8516,0.00,2.03,0.00,0.000,6,0.000,0.051,2195,2652,3501
$GC,8834,-1.10,-146.6,756.6,-9.4,424,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2652,3501
$STATE,8934,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8934,begin apogee
$GC,8943,-0.42,0.0,762.8,5.8,429,9071,0.77,0.00,124.93,1.224,6,0.094,0.000,2350,1894,2902
$STATE,9072,end apogee,CONTROL_FINISHED_OK
$STATE,9072,begin climb
$GC,9075,1.10,146.6,765.9,0.0,435,9208,1.55,2.75,122.65,1.195,4,0.058,0.067,2679,483,2304
$GC,9343,1.10,146.6,750.3,11.0,447,9347,0.00,2.53,0.00,0.000,6,0.000,0.035,2679,1919,2304
$GC,9659,1.10,146.6,727.5,6.0,462,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1921,2303
$GC,9968,1.21,235.1,715.3,3.6,477,10052,0.12,2.62,74.90,1.193,4,0.044,0.062,2724,3296,1942
$GC,10176,1.21,235.1,701.5,7.4,486,10181,0.00,2.55,0.00,0.000,6,0.000,0.048,2723,1889,1942
$GC,10493,1.21,235.1,680.1,6.8,501,10497,0.00,2.60,0.00,0.000,4,0.000,0.060,2724,3297,1942
$GC,10662,1.21,235.1,667.3,8.9,508,10669,0.00,2.53,0.00,0.000,6,0.000,0.048,2723,1896,1942
$GC,10978,1.21,235.1,641.0,8.2,524,10983,0.00,2.58,0.00,0.000,4,0.000,0.059,2724,3300,1941
$GC,11011,1.21,235.1,637.8,9.3,525,11018,0.00,2.50,0.00,0.000,6,0.000,0.044,2723,1892,1942
$GC,11327,1.21,235.1,608.5,9.3,541,11332,0.00,2.58,0.00,0.000,4,0.000,0.062,2723,485,1941
$GC,11368,1.21,235.1,604.6,9.6,543,11372,0.00,2.47,0.00,0.000,6,0.000,0.035,2723,1906,1941
$GC,11694,1.21,235.1,574.6,9.6,559,11699,0.00,2.55,0.00,0.000,4,0.000,0.060,2723,3314,1941
$GC,11757,1.21,235.1,568.6,9.6,562,11761,0.00,2.53,0.00,0.000,6,0.000,0.044,2724,1890,1941
$GC,12084,1.21,235.1,538.7,9.3,578,12088,0.00,2.58,0.00,0.000,4,0.000,0.058,2723,3302,1941
$GC,12134,1.21,235.1,533.5,10.5,580,12138,0.00,2.50,0.00,0.000,6,0.000,0.044,2723,1896,1941
$GC,12450,1.21,235.1,505.9,8.4,595,12454,0.00,2.58,0.00,0.000,4,0.000,0.058,2723,3305,1941
$GC,12483,1.21,235.1,503.2,8.8,596,12489,0.00,2.50,0.00,0.000,6,0.000,0.044,2723,1897,1941
$GC,12798,1.21,235.1,478.2,7.8,612,12802,0.00,2.58,0.00,0.000,4,0.000,0.060,2724,3311,1942
$GC,12837,1.21,235.1,474.9,8.0,613,12844,0.00,2.53,0.00,0.000,6,0.000,0.045,2723,1890,1942
$GC,13153,1.21,235.1,449.5,8.1,629,13158,0.00,2.60,0.00,0.000,4,0.000,0.061,2724,3311,1942
$GC,13187,1.21,235.1,446.6,8.3,630,13193,0.00,2.50,0.00,0.000,6,0.000,0.047,2724,1899,1942
$GC,13503,1.21,235.1,421.5,8.3,646,13507,0.00,2.55,0.00,0.000,4,0.000,0.061,2724,3302,1942
$GC,13530,1.21,235.1,419.2,7.8,647,13534,0.00,2.50,0.00,0.000,6,0.000,0.048,2724,1901,1942
$GC,13846,1.21,235.1,394.2,7.7,662,13850,0.00,2.58,0.00,0.000,4,0.000,0.062,2724,3308,1942
$GC,13891,1.21,235.1,390.6,8.1,664,13895,0.00,2.53,0.00,0.000,6,0.000,0.049,2724,1889,1942
$GC,14223,1.21,235.1,364.3,7.7,680,14228,0.00,2.60,0.00,0.000,4,0.000,0.064,2724,3304,1943
$GC,14263,1.21,235.1,361.2,8.1,682,14268,0.00,2.53,0.00,0.000,6,0.000,0.049,2724,1892,1943
$GC,14590,1.21,235.1,336.6,7.7,698,14592,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1892,1943
$GC,14900,1.21,235.1,313.0,7.6,713,14904,0.00,2.60,0.00,0.000,4,0.000,0.064,2724,3305,1943
$GC,14962,1.21,235.1,308.2,7.2,716,14966,0.00,2.53,0.00,0.000,6,0.000,0.051,2723,1894,1944
$GC,15295,1.21,235.1,283.2,7.7,732,15296,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1894,1944
$GC,15604,1.21,235.1,258.7,8.0,747,15609,0.00,2.60,0.00,0.000,4,0.000,0.064,2723,3306,1944
$GC,15660,1.21,235.1,254.0,8.7,749,15667,0.00,2.53,0.00,0.000,6,0.000,0.052,2723,1902,1943
$GC,15976,1.21,235.1,230.1,7.1,765,15977,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1901,1944
$GC,16286,1.21,235.1,209.8,6.7,780,16290,0.00,2.58,0.00,0.000,4,0.000,0.064,2723,3301,1944
$GC,16335,1.21,235.1,206.1,7.3,782,16339,0.00,2.50,0.00,0.000,6,0.000,0.050,2723,1897,1944
$GC,16657,1.21,235.1,182.3,7.9,798,16661,0.00,2.60,0.00,0.000,4,0.000,0.065,2724,3308,1944
$GC,16684,1.21,235.1,180.0,8.1,799,16688,0.00,2.53,0.00,0.000,6,0.000,0.050,2723,1899,1944
$GC,17000,1.21,235.1,152.5,9.5,814,17004,0.00,2.60,0.00,0.000,4,0.000,0.065,2724,3310,1944
$GC,17032,1.21,235.1,149.1,9.7,815,17039,0.00,2.53,0.00,0.000,6,0.000,0.051,2724,1896,1944
$GC,17350,1.21,235.1,116.9,10.2,831,17355,0.00,2.60,0.00,0.000,4,0.000,0.064,2723,3311,1944
$GC,17374,1.21,235.1,114.4,10.0,832,17378,0.00,2.55,0.00,0.000,6,0.000,0.052,2724,1894,1944
$GC,17695,1.21,235.1,92.8,6.3,848,17696,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1894,1944
$GC,18006,1.21,235.1,68.3,8.4,863,18010,0.00,2.60,0.00,0.000,4,0.000,0.066,2723,3304,1945
$GC,18079,1.21,235.1,62.0,9.5,866,18083,0.00,2.53,0.00,0.000,6,0.000,0.053,2724,1902,1944
$GC,18395,1.21,235.1,35.9,7.0,881,18399,0.00,2.60,0.00,0.000,4,0.000,0.068,2724,485,1944
$GC,18422,1.21,235.1,33.8,6.9,882,18426,0.00,2.47,0.00,0.000,6,0.000,0.038,2724,1901,1944
$GC,18740,1.21,235.1,10.8,6.5,897,18744,0.00,2.60,0.00,0.000,4,0.000,0.068,2724,3319,1944
$GC,18790,1.21,235.1,6.2,8.8,899,18794,0.00,2.58,0.00,0.000,6,0.000,0.054,2724,1886,1944
$STATE,18857,end climb,SURFACE_DEPTH_REACHED
$STATE,18857,begin surface coast
$FINISH,0.2,1.014541
$STATE,18877,end surface coast,CONTROL_FINISHED_OK
$STATE,18877,begin surface
$SM_CCo,18963,0.00,0.000,0,0,1945,235.00
$SM_GC,1.75,11.77,0.00,0.00,0.031,0.000,0.000,49,2651,1945,-10.93,0.03,235.00
$IRIDIUM_FIX,6139.81,-954.90,010698,131347
$TT8_MAMPS,0.028379
$HUMID,1776
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.1,72.0
$24V_AH,23.3,19.364
$10V_AH,10.1,9.624
$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,26.425,154.600,322.475,0.000,0.000,27.753,33.631,238.601,6.000,0.000,0.000,31.696,1648.083,14716.511,426.374,1972.724,638.967,33.347,1418.153,0.000,1913.286,0.000,41.554,0.000
$DEVICE_MAMPS,160.303,91.273,1224.132,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,631.882,668.140,521.570,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44304,903
$CAP_FILE_SIZE,131961,0
$CFSIZE,260165632,253595648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080309,011037,6209.153,-1004.487,44,1.8,44,-10.0