version: 66.04
glider: 103
mission: 11
dive: 94
start: 3 14 109 6 41 21
data:
$ID,103
$MISSION,11
$DIVE,94
$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,-144878.56
$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,17
$R_STBD_OVSHOOT,14
$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
$GPS1,063407,6228.564,-1057.647,35,1.2,35,-10.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-54.6
$GPS2,064031,6228.571,-1057.831,13,1.2,30,-10.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.216,-0.032
$KALMAN_X,56411.3,-2104.7,-2827.9,-115193.6,15149.4
$KALMAN_Y,-20303.5,694.6,303.0,74393.1,-4026.9
$MHEAD_RNG_PITCHd_Wd,272.2,6870,-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,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,72,0.00,0.00,-53.83,0.000,6,0.000,0.000,56,2652,3502
$GC,75,-1.10,-146.6,2.9,-8.6,2,97,12.10,2.70,0.00,0.000,4,0.160,0.074,2194,1241,3503
$GC,338,-1.10,-146.6,44.2,-5.4,13,345,0.00,2.62,0.00,0.000,6,0.000,0.067,2194,2647,3502
$GC,654,-1.10,-146.6,64.1,-6.3,29,658,0.00,2.22,0.00,0.000,4,0.000,0.095,2194,3792,3502
$GC,721,-1.10,-146.6,69.2,-7.3,32,725,0.00,2.10,0.00,0.000,6,0.000,0.062,2194,2654,3502
$GC,1050,-1.10,-146.6,94.6,-9.3,48,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2654,3502
$GC,1358,-1.10,-146.6,123.2,-9.0,63,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2654,3503
$GC,1667,-1.10,-146.6,147.2,-7.3,78,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2654,3502
$GC,1976,-1.10,-146.6,170.1,-7.1,93,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2654,3502
$GC,2286,-1.10,-146.6,187.9,-5.5,108,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2654,3502
$GC,2595,-1.10,-146.6,205.4,-6.0,123,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2654,3502
$GC,2904,-1.10,-146.6,229.5,-8.5,138,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2654,3502
$GC,3213,-1.10,-146.6,258.1,-9.9,153,3217,0.00,2.20,0.00,0.000,4,0.000,0.090,2194,3787,3503
$GC,3259,-1.10,-146.6,263.1,-11.1,155,3263,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2640,3503
$GC,3592,-1.10,-146.6,298.4,-10.2,171,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3502
$GC,3903,-1.10,-146.6,325.5,-7.7,186,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3502
$GC,4210,-1.10,-146.6,346.4,-6.0,201,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3502
$GC,4520,-1.10,-146.6,360.5,-4.2,216,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3502
$GC,4829,-1.10,-146.6,373.9,-5.8,231,4833,0.00,2.22,0.00,0.000,4,0.000,0.088,2194,3792,3502
$GC,4897,-1.10,-146.6,378.7,-7.2,234,4901,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2641,3502
$GC,5230,-1.10,-146.6,404.4,-8.1,250,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3502
$GC,5540,-1.10,-146.6,432.6,-9.6,265,5543,0.00,2.22,0.00,0.000,4,0.000,0.089,2194,3790,3503
$GC,5579,-1.10,-146.6,436.7,-10.5,266,5585,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2647,3502
$GC,5894,-1.10,-146.6,466.5,-8.8,282,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3503
$GC,6204,-1.10,-146.6,492.6,-8.6,297,6207,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3785,3502
$GC,6272,-1.10,-146.6,498.8,-9.2,300,6276,0.00,2.08,0.00,0.000,6,0.000,0.059,2194,2644,3502
$GC,6605,-1.10,-146.6,529.9,-9.0,316,6609,0.00,2.22,0.00,0.000,4,0.000,0.090,2194,3789,3502
$GC,6655,-1.10,-146.6,534.0,-8.1,318,6659,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2647,3502
$GC,6984,-1.10,-146.6,550.7,-3.8,334,6987,0.00,2.20,0.00,0.000,4,0.000,0.089,2194,3786,3502
$GC,7035,-1.10,-146.6,553.4,-5.9,336,7038,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2643,3502
$GC,7362,-1.10,-146.6,564.5,-4.7,352,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3502
$GC,7671,-1.10,-146.6,585.7,-8.9,367,7672,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3502
$GC,7980,-1.10,-146.6,609.5,-6.9,382,7984,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3786,3501
$GC,8014,-1.10,-146.6,611.8,-6.9,383,8017,0.00,2.08,0.00,0.000,6,0.000,0.059,2194,2645,3501
$GC,8335,-1.10,-146.6,628.3,-4.7,399,8340,0.00,2.60,0.00,0.000,4,0.000,0.073,2194,1233,3501
$GC,8403,-1.10,-146.6,631.9,-5.8,402,8407,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2656,3501
$GC,8724,-1.10,-146.6,654.0,-7.7,418,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2656,3501
$GC,9033,-1.10,-146.6,677.6,-7.4,433,9037,0.00,2.17,0.00,0.000,4,0.000,0.096,2194,3785,3500
$GC,9095,-1.10,-146.6,682.5,-8.2,435,9101,0.00,2.08,0.00,0.000,6,0.000,0.062,2194,2650,3500
$GC,9411,-1.10,-146.6,706.1,-7.7,451,9415,0.00,2.65,0.00,0.000,4,0.000,0.079,2194,1228,3499
$GC,9444,-1.10,-146.6,708.8,-7.4,452,9450,0.00,2.62,0.00,0.000,6,0.000,0.064,2194,2652,3499
$GC,9760,-1.10,-146.6,730.7,-6.6,468,9764,0.00,2.67,0.00,0.000,4,0.000,0.077,2194,1225,3498
$GC,9810,-1.10,-146.6,733.9,-7.1,470,9814,0.00,2.65,0.00,0.000,6,0.000,0.067,2194,2657,3499
$STATE,9896,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9896,begin apogee
$GC,9904,-0.42,0.0,740.2,7.4,474,10032,0.75,0.00,124.82,1.220,6,0.090,0.000,2345,1995,2902
$STATE,10033,end apogee,CONTROL_FINISHED_OK
$STATE,10033,begin climb
$GC,10036,1.10,146.6,746.1,0.0,480,10164,1.58,0.00,123.43,1.154,6,0.062,0.000,2679,1995,2304
$GC,10470,1.23,246.6,735.7,3.2,501,10558,0.12,0.00,85.10,1.147,6,0.048,0.000,2716,1995,1896
$GC,10882,1.23,246.6,710.6,6.7,521,10886,0.00,2.67,0.00,0.000,4,0.000,0.074,2716,576,1895
$GC,10926,1.23,246.6,707.6,6.6,523,10930,0.00,2.58,0.00,0.000,6,0.000,0.042,2716,2017,1895
$GC,11247,1.23,246.6,687.5,8.0,539,11251,0.00,2.60,0.00,0.000,4,0.000,0.071,2716,3406,1894
$GC,11326,1.23,246.6,679.2,11.4,542,11332,0.00,2.60,0.00,0.000,6,0.000,0.055,2716,1988,1894
$GC,11642,1.23,246.6,645.4,10.6,558,11646,0.00,2.60,0.00,0.000,4,0.000,0.072,2716,593,1893
$GC,11736,1.23,246.6,635.5,10.0,562,11741,0.00,2.53,0.00,0.000,6,0.000,0.041,2716,2010,1893
$GC,12052,1.23,246.6,608.2,8.1,577,12057,0.00,2.67,0.00,0.000,4,0.000,0.071,2716,588,1893
$GC,12074,1.23,246.6,606.4,8.3,578,12078,0.00,2.53,0.00,0.000,6,0.000,0.041,2716,2008,1892
$GC,12395,1.23,246.6,582.8,7.5,594,12399,0.00,2.65,0.00,0.000,4,0.000,0.068,2716,589,1893
$GC,12445,1.23,246.6,578.6,8.7,596,12449,0.00,2.53,0.00,0.000,6,0.000,0.042,2716,2010,1893
$GC,12761,1.23,252.9,556.7,5.8,611,12774,0.00,2.62,6.25,0.918,4,0.000,0.071,2716,3406,1871
$GC,12866,1.25,266.1,551.2,5.6,615,12885,0.00,2.55,12.73,1.022,6,0.000,0.051,2716,1993,1817
$GC,13203,1.25,266.1,532.0,7.0,632,13207,0.00,2.58,0.00,0.000,4,0.000,0.066,2716,591,1817
$GC,13281,1.25,266.1,525.9,7.4,635,13287,0.00,2.47,0.00,0.000,6,0.000,0.041,2716,2001,1817
$GC,13597,1.25,266.1,497.1,10.4,651,13601,0.00,2.62,0.00,0.000,4,0.000,0.070,2716,3416,1817
$GC,13637,1.25,266.1,492.6,10.7,653,13641,0.00,2.58,0.00,0.000,6,0.000,0.051,2716,1993,1817
$GC,13963,1.25,266.1,460.7,9.0,669,13967,0.00,2.58,0.00,0.000,4,0.000,0.065,2716,588,1818
$GC,14048,1.25,266.1,453.3,9.1,673,14052,0.00,2.50,0.00,0.000,6,0.000,0.040,2716,2007,1818
$GC,14374,1.25,266.1,427.6,7.7,689,14379,0.00,2.60,0.00,0.000,4,0.000,0.071,2716,3407,1818
$GC,14437,1.25,266.1,422.7,8.0,692,14441,0.00,2.55,0.00,0.000,6,0.000,0.052,2716,1996,1818
$GC,14764,1.25,266.1,398.7,7.6,708,14768,0.00,2.58,0.00,0.000,4,0.000,0.064,2716,586,1819
$GC,14785,1.25,266.1,396.7,8.6,709,14789,0.00,2.50,0.00,0.000,6,0.000,0.040,2716,2006,1819
$GC,15106,1.25,266.1,373.3,7.0,725,15107,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2006,1819
$GC,15415,1.25,266.1,354.2,6.1,740,15417,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2006,1819
$GC,15724,1.25,266.1,333.3,7.0,755,15726,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2006,1820
$GC,16034,1.25,266.1,310.5,7.1,770,16038,0.00,2.58,0.00,0.000,4,0.000,0.071,2716,3406,1820
$GC,16067,1.25,266.1,308.3,6.4,771,16073,0.00,2.55,0.00,0.000,6,0.000,0.052,2716,1995,1821
$GC,16382,1.25,266.1,285.2,7.7,787,16384,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1995,1821
$GC,16692,1.25,266.1,260.9,8.1,802,16696,0.00,2.65,0.00,0.000,4,0.000,0.071,2716,3410,1822
$GC,16736,1.25,266.1,257.4,7.3,804,16740,0.00,2.55,0.00,0.000,6,0.000,0.053,2716,1999,1822
$GC,17057,1.25,266.1,233.3,7.0,820,17058,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1999,1822
$GC,17366,1.25,266.1,209.0,8.4,835,17370,0.00,2.62,0.00,0.000,4,0.000,0.070,2716,3407,1823
$GC,17416,1.25,266.1,204.8,9.4,837,17420,0.00,2.58,0.00,0.000,6,0.000,0.055,2716,1988,1822
$GC,17732,1.25,266.1,180.0,6.8,852,17736,0.00,2.62,0.00,0.000,4,0.000,0.069,2716,3406,1823
$GC,17777,1.25,266.1,176.7,6.8,854,17782,0.00,2.55,0.00,0.000,6,0.000,0.054,2716,1997,1823
$GC,18099,1.25,266.1,155.5,6.8,870,18100,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1997,1823
$GC,18408,1.25,266.1,132.6,7.5,885,18410,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1997,1823
$GC,18718,1.25,266.1,110.7,7.2,900,18719,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1997,1823
$GC,19027,1.25,266.1,88.1,7.0,915,19028,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1997,1824
$GC,19336,1.25,266.1,66.1,7.0,930,19341,0.00,2.62,0.00,0.000,4,0.000,0.071,2716,3406,1824
$GC,19386,1.25,266.1,62.3,7.3,932,19391,0.00,2.55,0.00,0.000,6,0.000,0.056,2716,2002,1824
$GC,19703,1.25,266.1,36.7,8.9,947,19704,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2002,1824
$GC,20012,1.25,266.1,10.3,8.4,962,20017,0.00,2.67,0.00,0.000,4,0.000,0.081,2716,3406,1824
$GC,20040,1.25,266.1,8.2,7.4,963,20045,0.00,2.60,0.00,0.000,6,0.000,0.065,2716,2003,1824
$STATE,20147,end climb,SURFACE_DEPTH_REACHED
$STATE,20147,begin surface coast
$FINISH,0.2,1.014203
$STATE,20171,end surface coast,CONTROL_FINISHED_OK
$STATE,20171,begin surface
$SM_CCo,20255,0.00,0.000,0,0,1824,264.43
$SM_GC,1.35,11.80,0.00,0.00,0.033,0.000,0.000,49,2650,1824,-10.94,0.00,264.43
$IRIDIUM_FIX,6202.67,-1045.75,080698,010102
$TT8_MAMPS,0.028379
$HUMID,1784
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,16.50
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,701.4,48.0
$24V_AH,23.3,22.977
$10V_AH,10.1,12.037
$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,26.350,150.200,352.325,0.000,0.000,28.452,27.059,182.147,10.500,0.000,0.000,32.514,1749.773,15752.865,468.613,2075.379,587.363,33.365,1495.800,0.000,2020.971,0.000,44.392,0.000
$DEVICE_MAMPS,159.536,95.875,1219.530,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,709.849,689.708,569.893,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50522,969
$CAP_FILE_SIZE,136371,0
$CFSIZE,260165632,251850752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140309,122007,6227.835,-1100.682,33,1.2,33,-10.7