version: 66.04
glider: 103
mission: 11
dive: 101
start: 3 15 109 21 49 10
data:
$ID,103
$MISSION,11
$DIVE,101
$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,-145007.23
$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,19
$R_STBD_OVSHOOT,15
$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
$GPS1,214155,6228.452,-1115.229,91,1.2,91,-10.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-55.3
$GPS2,214819,6228.577,-1114.970,12,1.8,12,-10.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.212,-0.051
$KALMAN_X,72138.4,427.1,1289.0,-152545.0,7555.0
$KALMAN_Y,-2239.1,225.3,-1596.8,58809.0,9634.9
$MHEAD_RNG_PITCHd_Wd,267.2,21566,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,77,0.00,0.00,-54.92,0.000,6,0.000,0.000,52,2649,3501
$GC,81,-1.10,-146.6,7.5,-14.6,3,102,12.23,2.22,0.00,0.000,4,0.163,0.084,2193,3783,3501
$GC,299,-1.10,-146.6,41.6,-8.6,12,305,0.00,2.08,0.00,0.000,6,0.000,0.065,2193,2655,3501
$GC,616,-1.10,-146.6,65.2,-7.3,28,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2655,3501
$GC,924,-1.10,-146.6,90.0,-8.7,43,928,0.00,2.20,0.00,0.000,4,0.000,0.091,2193,3783,3501
$GC,986,-1.10,-146.6,96.4,-10.6,45,992,0.00,2.08,0.00,0.000,6,0.000,0.062,2193,2646,3501
$GC,1302,-1.10,-146.6,123.6,-8.3,61,1307,0.00,2.62,0.00,0.000,4,0.000,0.074,2193,1226,3501
$GC,1336,-1.10,-146.6,126.3,-8.0,62,1343,0.00,2.62,0.00,0.000,6,0.000,0.064,2193,2655,3501
$GC,1652,-1.10,-146.6,152.7,-7.5,78,1655,0.00,2.17,0.00,0.000,4,0.000,0.092,2193,3786,3502
$GC,1726,-1.10,-146.6,159.3,-8.9,81,1730,0.00,2.10,0.00,0.000,6,0.000,0.061,2193,2639,3502
$GC,2053,-1.10,-146.6,190.2,-9.5,97,2057,0.00,2.58,0.00,0.000,4,0.000,0.069,2193,1235,3502
$GC,2097,-1.10,-146.6,194.5,-10.0,99,2101,0.00,2.62,0.00,0.000,6,0.000,0.067,2193,2650,3501
$GC,2418,-1.10,-146.6,224.3,-9.3,115,2423,0.00,2.20,0.00,0.000,4,0.000,0.094,2193,3792,3501
$GC,2457,-1.10,-146.6,228.3,-9.8,116,2462,0.00,2.10,0.00,0.000,6,0.000,0.059,2193,2642,3501
$GC,2772,-1.10,-146.6,256.2,-8.7,132,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3502
$GC,3082,-1.10,-146.6,282.4,-8.2,147,3085,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3785,3502
$GC,3121,-1.10,-146.6,285.9,-8.2,148,3127,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2649,3502
$GC,3436,-1.10,-146.6,311.6,-8.3,164,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3501
$GC,3746,-1.10,-146.6,335.9,-7.6,179,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3501
$GC,4055,-1.10,-146.6,358.6,-7.3,194,4059,0.00,2.20,0.00,0.000,4,0.000,0.088,2193,3789,3501
$GC,4113,-1.10,-146.6,363.0,-8.2,196,4116,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2649,3501
$GC,4434,-1.10,-146.6,387.2,-7.6,212,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3501
$GC,4743,-1.10,-146.6,410.1,-7.1,227,4747,0.00,2.20,0.00,0.000,4,0.000,0.090,2193,3783,3501
$GC,4777,-1.10,-146.6,412.6,-7.3,228,4781,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2638,3501
$GC,5098,-1.10,-146.6,435.0,-6.9,244,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2638,3501
$GC,5408,-1.10,-146.6,454.8,-6.5,259,5411,0.00,2.20,0.00,0.000,4,0.000,0.086,2193,3785,3501
$GC,5469,-1.10,-146.6,459.1,-6.8,261,5475,0.00,2.05,0.00,0.000,6,0.000,0.057,2193,2652,3501
$GC,5785,-1.10,-146.6,479.1,-6.0,277,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3501
$GC,6095,-1.10,-146.6,497.5,-5.8,292,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2653,3501
$GC,6404,-1.10,-146.6,514.3,-5.1,307,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2653,3501
$GC,6713,-1.10,-146.6,531.8,-5.9,322,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3501
$GC,7024,-1.10,-146.6,551.3,-6.8,337,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3501
$GC,7331,-1.10,-146.6,574.9,-6.8,352,7336,0.00,2.17,0.00,0.000,4,0.000,0.087,2193,3783,3501
$GC,7422,-1.10,-146.6,581.5,-8.1,356,7425,0.00,2.05,0.00,0.000,6,0.000,0.057,2193,2647,3501
$GC,7755,-1.10,-146.6,603.8,-6.7,372,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3501
$GC,8064,-1.10,-146.6,625.3,-6.5,387,8069,0.00,2.58,0.00,0.000,4,0.000,0.067,2193,1236,3500
$GC,8109,-1.10,-146.6,628.0,-5.7,389,8114,0.00,2.60,0.00,0.000,6,0.000,0.063,2193,2651,3500
$GC,8432,-1.10,-146.6,646.1,-5.9,405,8435,0.00,2.17,0.00,0.000,4,0.000,0.091,2193,3790,3500
$GC,8561,-1.10,-146.6,651.6,-4.0,410,8567,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2647,3500
$GC,8878,-1.10,-146.6,664.2,-3.4,426,8882,0.00,2.62,0.00,0.000,4,0.000,0.075,2193,1227,3499
$GC,8934,-1.10,-146.6,666.6,-4.3,428,8938,0.00,2.62,0.00,0.000,6,0.000,0.063,2193,2655,3499
$GC,9250,-1.10,-146.6,678.6,-4.5,443,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2655,3498
$GC,9559,-1.10,-146.6,697.7,-6.7,458,9563,0.00,2.17,0.00,0.000,4,0.000,0.095,2193,3783,3498
$GC,9677,-1.10,-146.6,705.4,-6.2,463,9681,0.00,2.08,0.00,0.000,6,0.000,0.060,2193,2644,3497
$GC,10005,-1.10,-146.6,724.9,-5.2,479,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3497
$GC,10314,-1.10,-146.6,743.1,-6.2,494,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3496
$STATE,10353,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10353,begin apogee
$GC,10361,-0.42,0.0,745.5,5.9,496,10489,0.77,0.00,124.97,1.193,6,0.104,0.000,2345,1997,2902
$STATE,10490,end apogee,CONTROL_FINISHED_OK
$STATE,10490,begin climb
$GC,10493,1.10,146.6,750.6,0.0,502,10626,1.55,2.80,123.68,1.155,4,0.053,0.084,2679,597,2304
$GC,10885,1.34,336.3,752.7,0.7,519,11058,0.22,2.53,160.80,1.165,6,0.036,0.038,2740,2029,1529
$GC,11365,1.34,336.3,712.6,8.9,543,11369,0.00,2.75,0.00,0.000,4,0.000,0.074,2740,586,1528
$GC,11535,1.34,336.3,695.5,9.5,550,11542,0.00,2.53,0.00,0.000,6,0.000,0.045,2740,1987,1528
$GC,11851,1.34,336.3,659.6,12.0,566,11855,0.00,2.67,0.00,0.000,4,0.000,0.074,2741,3411,1528
$GC,11920,1.34,336.3,651.0,12.6,569,11924,0.00,2.60,0.00,0.000,6,0.000,0.054,2740,1988,1527
$GC,12246,1.34,336.3,613.6,10.4,585,12251,0.00,2.67,0.00,0.000,4,0.000,0.071,2740,3409,1527
$GC,12302,1.34,336.3,607.5,10.7,587,12308,0.00,2.58,0.00,0.000,6,0.000,0.052,2740,1995,1527
$GC,12618,1.34,336.3,573.1,10.9,603,12623,0.00,2.60,0.00,0.000,4,0.000,0.068,2740,592,1527
$GC,12658,1.34,336.3,568.5,11.3,605,12663,0.00,2.50,0.00,0.000,6,0.000,0.041,2741,2002,1526
$GC,12986,1.34,336.3,536.6,9.2,621,12990,0.00,2.62,0.00,0.000,4,0.000,0.071,2740,3409,1527
$GC,13041,1.34,336.3,531.1,9.3,623,13048,0.00,2.58,0.00,0.000,6,0.000,0.052,2740,1990,1527
$GC,13357,1.34,336.3,502.3,9.0,639,13361,0.00,2.58,0.00,0.000,4,0.000,0.066,2740,591,1527
$GC,13413,1.34,336.3,497.1,9.1,641,13418,0.00,2.50,0.00,0.000,6,0.000,0.040,2740,2007,1526
$GC,13730,1.34,336.3,467.0,9.1,656,13731,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2007,1527
$GC,14039,1.34,336.3,440.3,8.8,671,14040,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2007,1527
$GC,14348,1.34,336.3,412.5,9.0,686,14349,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2007,1527
$GC,14657,1.34,336.3,383.9,9.2,701,14661,0.00,2.60,0.00,0.000,4,0.000,0.067,2740,3415,1527
$GC,14691,1.34,336.3,380.5,9.4,702,14695,0.00,2.58,0.00,0.000,6,0.000,0.051,2740,1986,1528
$GC,15006,1.34,336.3,352.4,8.7,717,15011,0.00,2.58,0.00,0.000,4,0.000,0.066,2740,584,1528
$GC,15034,1.34,336.3,349.8,9.5,718,15039,0.00,2.50,0.00,0.000,6,0.000,0.041,2740,1999,1528
$GC,15355,1.34,336.3,322.0,8.6,734,15360,0.00,2.60,0.00,0.000,4,0.000,0.068,2740,3408,1528
$GC,15385,1.34,336.3,319.3,9.8,735,15389,0.00,2.55,0.00,0.000,6,0.000,0.051,2740,1997,1528
$GC,15700,1.34,336.3,292.1,8.3,750,15705,0.00,2.58,0.00,0.000,4,0.000,0.065,2740,589,1529
$GC,15728,1.34,336.3,289.6,9.1,751,15733,0.00,2.50,0.00,0.000,6,0.000,0.041,2740,2006,1529
$GC,16045,1.34,336.3,263.0,8.7,766,16049,0.00,2.60,0.00,0.000,4,0.000,0.069,2740,3417,1529
$GC,16084,1.34,336.3,259.5,8.5,768,16089,0.00,2.58,0.00,0.000,6,0.000,0.054,2740,1995,1529
$GC,16411,1.34,336.3,231.7,8.5,784,16416,0.00,2.58,0.00,0.000,4,0.000,0.065,2740,587,1529
$GC,16434,1.34,336.3,229.6,9.5,785,16438,0.00,2.50,0.00,0.000,6,0.000,0.042,2740,2003,1529
$GC,16761,1.34,336.3,200.4,8.9,801,16765,0.00,2.60,0.00,0.000,4,0.000,0.070,2740,3409,1530
$GC,16794,1.34,336.3,197.1,9.7,802,16800,0.00,2.55,0.00,0.000,6,0.000,0.053,2740,2002,1530
$GC,17110,1.34,336.3,169.8,8.7,818,17111,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2002,1531
$GC,17420,1.34,336.3,143.1,8.8,833,17424,0.00,2.62,0.00,0.000,4,0.000,0.070,2740,3407,1531
$GC,17460,1.34,336.3,139.5,9.3,835,17464,0.00,2.58,0.00,0.000,6,0.000,0.055,2740,1989,1531
$GC,17787,1.34,336.3,112.2,8.6,851,17791,0.00,2.65,0.00,0.000,4,0.000,0.071,2740,3407,1531
$GC,17814,1.34,336.3,109.7,9.4,852,17818,0.00,2.58,0.00,0.000,6,0.000,0.054,2740,1989,1531
$GC,18132,1.34,336.3,81.3,8.9,867,18136,0.00,2.65,0.00,0.000,4,0.000,0.068,2740,3412,1531
$GC,18159,1.34,336.3,78.7,7.8,868,18163,0.00,2.60,0.00,0.000,6,0.000,0.058,2740,1989,1531
$GC,18475,1.34,336.3,45.0,11.4,883,18476,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1989,1531
$GC,18785,1.34,336.3,14.2,9.9,898,18786,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1986,1531
$STATE,18926,end climb,SURFACE_DEPTH_REACHED
$STATE,18926,begin surface coast
$FINISH,0.5,1.013852
$STATE,18948,end surface coast,CONTROL_FINISHED_OK
$STATE,18948,begin surface
$SM_CCo,19033,0.00,0.000,0,0,1531,336.31
$SM_GC,1.53,11.98,0.00,0.00,0.035,0.000,0.000,51,2644,1531,-10.94,-0.20,336.31
$IRIDIUM_FIX,6202.67,-1109.47,090698,161628
$TT8_MAMPS,0.028379
$HUMID,1786
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.60
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,726.1,29.0
$24V_AH,23.3,23.958
$10V_AH,10.1,12.653
$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,26.750,158.400,409.450,0.000,0.000,27.613,28.923,196.274,9.500,0.000,0.000,12.980,1658.178,14611.045,511.591,2027.494,600.791,33.362,1553.884,0.000,1986.252,0.000,48.907,0.000
$DEVICE_MAMPS,162.604,95.108,1192.685,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,660.068,649.225,516.945,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47416,906
$CAP_FILE_SIZE,133770,0
$CFSIZE,260165632,251408384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160309,030737,6230.530,-1114.630,36,1.3,36,-10.8