version: 66.04
glider: 103
mission: 11
dive: 89
start: 3 13 109 5 18 29
data:
$ID,103
$MISSION,11
$DIVE,89
$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,-144744.7
$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,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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
$GPS1,051107,6222.922,-1048.437,38,1.5,38,-10.5
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-58.6
$GPS2,051737,6222.879,-1048.417,9,1.2,14,-10.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.050,0.213
$KALMAN_X,43287.7,-334.1,-4008.0,-94557.4,12588.8
$KALMAN_Y,-19019.4,271.6,-1915.2,65228.7,-11286.2
$MHEAD_RNG_PITCHd_Wd,357.4,10681,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-58.17,0.000,6,0.000,0.000,40,2645,3502
$GC,81,-1.10,-146.6,6.5,-12.3,3,102,12.23,2.25,0.00,0.000,4,0.160,0.084,2193,3793,3503
$GC,194,-1.10,-146.6,28.5,-10.1,8,198,0.00,2.10,0.00,0.000,6,0.000,0.064,2193,2660,3503
$GC,529,-1.10,-146.6,56.5,-8.0,24,533,0.00,2.22,0.00,0.000,4,0.000,0.092,2193,3796,3503
$GC,579,-1.10,-146.6,60.0,-6.8,26,583,0.00,2.10,0.00,0.000,6,0.000,0.058,2193,2648,3503
$GC,901,-1.10,-146.6,85.2,-7.8,42,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3503
$GC,1210,-1.10,-146.6,109.3,-8.1,57,1214,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3787,3503
$GC,1256,-1.10,-146.6,112.9,-8.0,59,1260,0.00,2.10,0.00,0.000,6,0.000,0.059,2193,2640,3503
$GC,1589,-1.10,-146.6,139.8,-7.3,75,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3503
$GC,1898,-1.10,-146.6,164.0,-8.2,90,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3503
$GC,2207,-1.10,-146.6,192.9,-10.2,105,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3503
$GC,2516,-1.10,-146.6,219.4,-7.5,120,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3503
$GC,2826,-1.10,-146.6,244.7,-8.0,135,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3503
$GC,3135,-1.10,-146.6,270.0,-7.8,150,3139,0.00,2.25,0.00,0.000,4,0.000,0.091,2193,3793,3503
$GC,3191,-1.10,-146.6,275.1,-9.5,152,3197,0.00,2.10,0.00,0.000,6,0.000,0.060,2193,2645,3503
$GC,3509,-1.10,-146.6,301.4,-8.7,168,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3503
$GC,3816,-1.10,-146.6,327.3,-8.6,183,3820,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3788,3503
$GC,3886,-1.10,-146.6,333.2,-8.9,186,3889,0.00,2.08,0.00,0.000,6,0.000,0.060,2193,2649,3503
$GC,4218,-1.10,-146.6,358.6,-7.5,202,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3503
$GC,4528,-1.10,-146.6,381.6,-7.7,217,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3503
$GC,4837,-1.10,-146.6,401.6,-6.4,232,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3503
$GC,5146,-1.10,-146.6,422.5,-6.9,247,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3503
$GC,5456,-1.10,-146.6,448.4,-9.2,262,5459,0.00,2.60,0.00,0.000,4,0.000,0.073,2193,1235,3503
$GC,5501,-1.10,-146.6,452.7,-9.5,264,5506,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2652,3503
$GC,5828,-1.10,-146.6,480.8,-8.6,280,5832,0.00,2.17,0.00,0.000,4,0.000,0.092,2193,3786,3503
$GC,5890,-1.10,-146.6,486.2,-8.6,282,5896,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2641,3503
$GC,6206,-1.10,-146.6,510.0,-6.9,298,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3503
$GC,6515,-1.10,-146.6,532.6,-7.9,313,6519,0.00,2.25,0.00,0.000,4,0.000,0.094,2193,3792,3503
$GC,6556,-1.10,-146.6,536.0,-8.5,315,6559,0.00,2.08,0.00,0.000,6,0.000,0.057,2193,2642,3503
$GC,6889,-1.10,-146.6,561.3,-6.9,331,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3503
$GC,7198,-1.10,-146.6,583.7,-7.5,346,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3503
$GC,7508,-1.10,-146.6,606.4,-7.0,361,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3503
$GC,7816,-1.10,-146.6,627.5,-6.2,376,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3502
$GC,8126,-1.10,-146.6,647.0,-5.4,391,8131,0.00,2.60,0.00,0.000,4,0.000,0.073,2193,1226,3502
$GC,8246,-1.10,-146.6,653.1,-5.5,396,8251,0.00,2.62,0.00,0.000,6,0.000,0.061,2193,2659,3502
$GC,8562,-1.10,-146.6,673.6,-6.7,411,8566,0.00,2.17,0.00,0.000,4,0.000,0.092,2193,3793,3502
$GC,8631,-1.10,-146.6,678.2,-6.6,414,8635,0.00,2.08,0.00,0.000,6,0.000,0.056,2193,2643,3502
$GC,8964,-1.10,-146.6,701.4,-7.9,430,8968,0.00,2.60,0.00,0.000,4,0.000,0.073,2193,1229,3501
$GC,9026,-1.10,-146.6,706.2,-8.5,433,9031,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2652,3501
$STATE,9034,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9034,begin apogee
$GC,9042,-0.42,0.0,707.1,7.7,433,9170,0.73,0.00,124.60,1.118,6,0.094,0.000,2342,1998,2902
$STATE,9171,end apogee,CONTROL_FINISHED_OK
$STATE,9171,begin climb
$GC,9174,1.10,146.6,712.8,0.0,440,9307,1.58,2.72,122.55,1.085,4,0.058,0.063,2678,584,2304
$GC,9397,1.14,173.7,704.8,5.2,450,9430,0.00,2.53,24.60,1.033,6,0.000,0.036,2678,2017,2192
$GC,9740,1.19,213.8,686.0,4.9,467,9781,0.00,2.75,34.40,1.065,4,0.000,0.067,2678,585,2030
$GC,9860,1.19,213.8,678.6,6.5,472,9865,0.00,2.53,0.00,0.000,6,0.000,0.041,2678,2000,2029
$GC,10176,1.19,213.8,658.8,6.5,487,10181,0.00,2.60,0.00,0.000,4,0.000,0.067,2678,3406,2029
$GC,10221,1.19,213.8,655.5,6.7,489,10225,0.00,2.55,0.00,0.000,6,0.000,0.048,2678,1995,2029
$GC,10542,1.19,213.8,633.2,7.3,505,10546,0.00,2.60,0.00,0.000,4,0.000,0.065,2678,587,2028
$GC,10637,1.19,213.8,625.9,7.9,509,10641,0.00,2.50,0.00,0.000,6,0.000,0.039,2678,2003,2028
$GC,10952,1.19,213.8,601.0,8.6,524,10957,0.00,2.62,0.00,0.000,4,0.000,0.063,2678,587,2027
$GC,11048,1.19,213.8,592.3,9.0,528,11052,0.00,2.50,0.00,0.000,6,0.000,0.039,2678,2001,2027
$GC,11363,1.19,213.8,570.1,6.5,543,11368,0.00,2.60,0.00,0.000,4,0.000,0.064,2678,3417,2027
$GC,11442,1.19,213.8,564.9,6.6,546,11448,0.00,2.55,0.00,0.000,6,0.000,0.047,2678,1996,2027
$GC,11758,1.19,213.8,542.8,7.2,562,11759,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1996,2027
$GC,12067,1.19,213.8,517.8,8.7,577,12071,0.00,2.58,0.00,0.000,4,0.000,0.064,2678,587,2027
$GC,12117,1.19,213.8,513.2,9.5,579,12121,0.00,2.50,0.00,0.000,6,0.000,0.038,2678,2011,2027
$GC,12433,1.19,213.8,486.7,8.1,594,12437,0.00,2.55,0.00,0.000,4,0.000,0.064,2678,3406,2027
$GC,12477,1.19,213.8,482.8,8.4,596,12481,0.00,2.53,0.00,0.000,6,0.000,0.047,2678,1995,2027
$GC,12798,1.19,213.8,459.6,6.4,612,12799,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1995,2027
$GC,13107,1.26,274.7,444.2,4.3,627,13167,0.17,2.67,50.10,0.957,4,0.038,0.064,2732,3406,1782
$GC,13196,1.26,274.7,438.4,7.4,631,13200,0.00,2.58,0.00,0.000,6,0.000,0.050,2732,1995,1781
$GC,13517,1.26,277.9,418.3,5.9,647,13527,0.00,2.60,4.65,0.687,4,0.000,0.062,2732,586,1769
$GC,13606,1.28,291.5,413.1,5.6,651,13625,0.00,2.50,12.82,0.874,6,0.000,0.038,2732,2004,1713
$GC,13953,1.28,291.5,390.9,7.5,668,13957,0.00,2.60,0.00,0.000,4,0.000,0.067,2733,3410,1713
$GC,13997,1.28,291.5,387.1,8.4,670,14002,0.00,2.58,0.00,0.000,6,0.000,0.051,2732,1987,1713
$GC,14319,1.28,291.5,359.6,9.1,686,14321,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1987,1713
$GC,14628,1.28,291.5,330.2,9.4,701,14630,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1987,1713
$GC,14938,1.28,291.5,302.1,9.0,716,14939,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1987,1713
$GC,15247,1.28,291.5,271.4,9.2,731,15251,0.00,2.65,0.00,0.000,4,0.000,0.067,2732,3409,1714
$GC,15286,1.28,291.5,267.9,8.6,733,15291,0.00,2.55,0.00,0.000,6,0.000,0.051,2732,1997,1714
$GC,15614,1.28,291.5,239.5,9.1,749,15618,0.00,2.58,0.00,0.000,4,0.000,0.064,2732,586,1714
$GC,15669,1.28,291.5,234.3,9.4,751,15675,0.00,2.50,0.00,0.000,6,0.000,0.040,2732,2008,1714
$GC,15985,1.28,291.5,208.4,8.0,767,15989,0.00,2.58,0.00,0.000,4,0.000,0.068,2732,3406,1715
$GC,16024,1.28,291.5,205.4,7.1,768,16030,0.00,2.55,0.00,0.000,6,0.000,0.051,2732,1988,1715
$GC,16340,1.28,291.5,179.7,8.7,784,16344,0.00,2.55,0.00,0.000,4,0.000,0.064,2732,590,1715
$GC,16395,1.28,291.5,174.5,8.9,786,16401,0.00,2.50,0.00,0.000,6,0.000,0.041,2732,2010,1715
$GC,16711,1.28,291.5,148.8,8.7,802,16712,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2010,1715
$GC,17022,1.28,291.5,119.8,10.3,817,17023,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2010,1715
$GC,17330,1.28,291.5,92.3,8.4,832,17331,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2010,1715
$GC,17639,1.28,291.5,65.1,9.3,847,17640,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2010,1715
$GC,17948,1.28,291.5,37.2,9.1,862,17949,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2011,1716
$GC,18257,1.28,291.5,11.3,8.3,877,18259,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2010,1716
$STATE,18379,end climb,SURFACE_DEPTH_REACHED
$STATE,18380,begin surface coast
$FINISH,0.6,1.025763
$STATE,18400,end surface coast,CONTROL_FINISHED_OK
$STATE,18400,begin surface
$SM_CCo,18485,0.00,0.000,0,0,1715,290.93
$SM_GC,1.36,11.77,0.00,0.00,0.029,0.000,0.000,46,2647,1715,-10.93,-0.08,290.93
$IRIDIUM_FIX,6158.08,-1043.16,070698,000012
$TT8_MAMPS,0.028379
$HUMID,1767
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.1,66.8
$24V_AH,23.4,22.299
$10V_AH,10.1,11.622
$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,26.475,129.750,373.725,0.000,0.000,30.260,27.957,201.958,5.500,0.000,0.000,14.664,1584.272,14340.125,476.582,1893.909,576.288,33.348,1433.377,0.000,1861.564,0.000,38.301,0.000
$DEVICE_MAMPS,160.303,93.574,1118.286,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,615.657,660.264,525.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44259,884
$CAP_FILE_SIZE,124074,0
$CFSIZE,260165632,252170240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130309,102737,6225.653,-1044.912,26,1.6,26,-10.5