version: 66.04
glider: 103
mission: 11
dive: 144
start: 3 23 109 22 21 31
data:
$ID,103
$MISSION,11
$DIVE,144
$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,-145852.89
$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,20
$R_STBD_OVSHOOT,12
$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
$GPS1,221436,6230.965,-1151.918,41,1.3,52,-11.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-60.8
$GPS2,222037,6230.900,-1151.760,11,1.3,11,-11.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.209,0.063
$KALMAN_X,19569.4,437.5,5713.9,-58477.2,13234.9
$KALMAN_Y,-9345.1,-1296.4,3087.7,16074.5,5584.0
$MHEAD_RNG_PITCHd_Wd,297.9,29338,-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,16,-1.10,-146.6,0.0,0.0,0,77,0.00,0.00,-55.38,0.000,6,0.000,0.000,43,2645,3501
$GC,81,-1.10,-146.6,7.4,-14.5,3,102,12.10,2.67,0.00,0.000,4,0.157,0.072,2194,1244,3501
$GC,273,-1.10,-146.6,37.1,-9.2,11,278,0.00,2.62,0.00,0.000,6,0.000,0.065,2194,2658,3501
$GC,589,-1.10,-146.6,60.0,-6.7,26,593,0.00,2.17,0.00,0.000,4,0.000,0.092,2194,3783,3501
$GC,636,-1.10,-146.6,63.8,-7.8,28,640,0.00,2.08,0.00,0.000,6,0.000,0.064,2194,2654,3501
$GC,968,-1.10,-146.6,88.2,-7.4,44,972,0.00,2.20,0.00,0.000,4,0.000,0.089,2194,3786,3501
$GC,1007,-1.10,-146.6,91.4,-8.3,45,1014,0.00,2.12,0.00,0.000,6,0.000,0.063,2194,2649,3501
$GC,1324,-1.10,-146.6,116.7,-9.1,61,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3501
$GC,1633,-1.10,-146.6,141.0,-7.6,76,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3501
$GC,1942,-1.10,-146.6,166.7,-9.6,91,1946,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3785,3501
$GC,1988,-1.10,-146.6,171.0,-9.4,93,1991,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2648,3501
$GC,2321,-1.10,-146.6,197.7,-8.8,109,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3501
$GC,2630,-1.10,-146.6,223.0,-8.2,124,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3501
$GC,2939,-1.10,-146.6,249.1,-8.5,139,2942,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3786,3501
$GC,2989,-1.10,-146.6,253.9,-9.2,141,2993,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2649,3501
$GC,3316,-1.10,-146.6,282.0,-8.6,157,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3501
$GC,3626,-1.10,-146.6,306.8,-8.2,172,3629,0.00,2.17,0.00,0.000,4,0.000,0.087,2194,3782,3501
$GC,3672,-1.10,-146.6,310.5,-8.3,174,3675,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2645,3501
$GC,4004,-1.10,-146.6,336.7,-7.8,190,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3501
$GC,4314,-1.10,-146.6,360.3,-7.5,205,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3501
$GC,4623,-1.10,-146.6,384.1,-8.1,220,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3501
$GC,4932,-1.10,-146.6,410.8,-8.9,235,4936,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3786,3501
$GC,4988,-1.10,-146.6,415.9,-9.5,237,4992,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2642,3501
$GC,5309,-1.10,-146.6,443.5,-8.6,253,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3501
$GC,5618,-1.10,-146.6,466.5,-6.9,268,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3501
$GC,5927,-1.10,-146.6,486.0,-6.0,283,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3501
$GC,6237,-1.10,-146.6,508.8,-7.6,298,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3501
$GC,6546,-1.10,-146.6,534.8,-8.6,313,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3501
$GC,6855,-1.10,-146.6,560.4,-8.4,328,6859,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3786,3501
$GC,6895,-1.10,-146.6,563.5,-7.9,329,6901,0.00,2.05,0.00,0.000,6,0.000,0.057,2194,2647,3501
$GC,7210,-1.10,-146.6,585.2,-6.5,345,7215,0.00,2.58,0.00,0.000,4,0.000,0.069,2194,1235,3501
$GC,7228,-1.10,-146.6,586.3,-6.6,346,7233,0.00,2.58,0.00,0.000,6,0.000,0.056,2194,2658,3501
$GC,7556,-1.10,-146.6,608.2,-7.3,362,7559,0.00,2.15,0.00,0.000,4,0.000,0.090,2194,3786,3501
$GC,7624,-1.10,-146.6,613.4,-7.6,365,7628,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2642,3502
$GC,7957,-1.10,-146.6,641.2,-8.6,381,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3501
$GC,8267,-1.10,-146.6,664.4,-7.7,396,8271,0.00,2.17,0.00,0.000,4,0.000,0.088,2194,3783,3501
$GC,8335,-1.10,-146.6,670.3,-9.1,399,8339,0.00,2.03,0.00,0.000,6,0.000,0.053,2194,2650,3501
$GC,8668,-1.10,-146.6,695.8,-8.4,415,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3501
$GC,8978,-1.10,-146.6,717.6,-5.9,430,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3501
$GC,9286,-1.10,-146.6,736.5,-7.4,445,9290,0.00,2.17,0.00,0.000,4,0.000,0.087,2194,3783,3501
$GC,9320,-1.10,-146.6,739.6,-8.9,446,9323,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2641,3501
$GC,9641,-1.10,-146.6,764.0,-7.3,462,9645,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3787,3501
$GC,9697,-1.10,-146.6,768.0,-6.8,464,9701,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2644,3500
$GC,10019,-1.10,-146.6,786.7,-5.4,480,10023,0.00,2.20,0.00,0.000,4,0.000,0.090,2194,3783,3500
$GC,10053,-1.10,-146.6,788.8,-6.4,481,10056,0.00,2.05,0.00,0.000,6,0.000,0.058,2194,2650,3500
$GC,10375,-1.10,-146.6,811.3,-7.8,497,10376,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3499
$STATE,10536,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10536,begin apogee
$GC,10545,-0.42,0.0,823.7,7.4,505,10679,0.75,0.00,126.53,1.206,6,0.088,0.000,2346,2000,2902
$STATE,10679,end apogee,CONTROL_FINISHED_OK
$STATE,10679,begin climb
$GC,10683,1.10,146.6,829.4,0.0,512,10818,1.55,2.72,124.50,1.177,4,0.055,0.070,2679,593,2304
$GC,10877,1.22,239.6,827.7,3.4,521,10964,0.12,2.53,80.12,1.159,6,0.042,0.041,2723,2014,1925
$GC,11292,1.22,239.6,801.3,6.6,541,11296,0.00,2.60,0.00,0.000,4,0.000,0.070,2723,3406,1923
$GC,11341,1.22,239.6,797.2,8.5,543,11346,0.00,2.58,0.00,0.000,6,0.000,0.050,2723,1985,1923
$GC,11657,1.22,239.6,774.3,6.3,558,11659,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1985,1923
$GC,11966,1.22,239.6,754.6,7.7,573,11971,0.00,2.65,0.00,0.000,4,0.000,0.069,2723,3400,1922
$GC,12029,1.22,239.6,748.9,8.8,576,12034,0.00,2.55,0.00,0.000,6,0.000,0.049,2723,1989,1922
$GC,12357,1.22,239.6,723.0,7.2,592,12358,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1989,1921
$GC,12666,1.22,239.6,698.1,8.3,607,12667,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1989,1921
$GC,12975,1.22,239.6,675.3,7.0,622,12980,0.00,2.62,0.00,0.000,4,0.000,0.062,2723,3412,1920
$GC,13044,1.22,239.6,670.0,8.5,625,13048,0.00,2.53,0.00,0.000,6,0.000,0.044,2723,1995,1921
$GC,13365,1.22,239.6,645.9,6.9,641,13366,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1995,1921
$GC,13675,1.22,239.6,623.3,7.6,656,13679,0.00,2.60,0.00,0.000,4,0.000,0.061,2723,3414,1921
$GC,13725,1.22,239.6,619.1,7.5,658,13730,0.00,2.53,0.00,0.000,6,0.000,0.042,2723,1987,1922
$GC,14047,1.22,239.6,593.9,7.9,674,14051,0.00,2.53,0.00,0.000,4,0.000,0.060,2723,590,1922
$GC,14087,1.22,239.6,590.7,8.7,676,14091,0.00,2.45,0.00,0.000,6,0.000,0.035,2723,2006,1921
$GC,14414,1.22,239.6,562.5,8.9,692,14415,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2006,1922
$GC,14723,1.22,239.6,534.8,9.0,707,14727,0.00,2.55,0.00,0.000,4,0.000,0.062,2723,3406,1922
$GC,14750,1.22,239.6,532.2,9.2,708,14755,0.00,2.50,0.00,0.000,6,0.000,0.044,2723,1996,1922
$GC,15067,1.22,239.6,505.0,8.6,723,15071,0.00,2.60,0.00,0.000,4,0.000,0.063,2723,3405,1923
$GC,15106,1.22,239.6,501.5,8.2,725,15110,0.00,2.50,0.00,0.000,6,0.000,0.044,2723,1995,1923
$GC,15433,1.22,239.6,474.0,8.6,741,15434,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1994,1923
$GC,15742,1.22,239.6,448.4,8.4,756,15743,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1995,1924
$GC,16051,1.22,239.6,424.0,7.8,771,16053,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1995,1925
$GC,16361,1.22,239.6,399.1,8.0,786,16362,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1995,1925
$GC,16670,1.22,239.6,374.0,8.2,801,16674,0.00,2.60,0.00,0.000,4,0.000,0.065,2723,3403,1925
$GC,16716,1.22,239.6,369.9,8.3,803,16720,0.00,2.50,0.00,0.000,6,0.000,0.048,2723,1995,1925
$GC,17048,1.22,239.6,341.1,8.6,819,17049,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1994,1925
$GC,17358,1.22,239.6,313.5,9.2,834,17359,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1994,1926
$GC,17667,1.22,239.6,287.6,8.1,849,17671,0.00,2.62,0.00,0.000,4,0.000,0.066,2723,3415,1926
$GC,17694,1.22,239.6,285.2,9.0,850,17698,0.00,2.55,0.00,0.000,6,0.000,0.051,2723,1994,1926
$GC,18010,1.22,239.6,260.4,7.5,865,18011,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1994,1926
$GC,18319,1.22,239.6,237.6,7.2,880,18320,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1994,1927
$GC,18628,1.22,239.6,213.7,8.0,895,18632,0.00,2.60,0.00,0.000,4,0.000,0.067,2723,3402,1927
$GC,18656,1.22,239.6,211.3,7.6,896,18660,0.00,2.53,0.00,0.000,6,0.000,0.051,2723,1998,1927
$GC,18972,1.22,239.6,183.3,8.9,911,18973,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1998,1927
$GC,19281,1.22,239.6,156.2,8.8,926,19282,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1998,1927
$GC,19591,1.22,239.6,129.2,8.7,941,19595,0.00,2.60,0.00,0.000,4,0.000,0.067,2723,3403,1927
$GC,19631,1.22,239.6,125.5,9.5,943,19635,0.00,2.53,0.00,0.000,6,0.000,0.054,2723,1995,1927
$GC,19957,1.22,239.6,96.4,8.8,959,19959,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1995,1927
$GC,20267,1.22,239.6,69.5,8.9,974,20268,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1995,1927
$GC,20577,1.22,239.6,45.8,6.4,989,20582,0.00,2.60,0.00,0.000,4,0.000,0.067,2723,3402,1928
$GC,20606,1.22,239.6,43.6,8.0,990,20610,0.00,2.55,0.00,0.000,6,0.000,0.054,2723,1992,1928
$GC,20922,1.22,239.6,22.2,7.2,1005,20923,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1990,1928
$STATE,21228,end climb,SURFACE_DEPTH_REACHED
$STATE,21228,begin surface coast
$FINISH,0.7,1.027464
$STATE,21251,end surface coast,CONTROL_FINISHED_OK
$STATE,21252,begin surface
$SM_CCo,21336,0.00,0.000,0,0,1927,239.17
$SM_GC,1.92,11.80,0.00,0.00,0.035,0.000,0.000,52,2642,1927,-10.93,-0.23,239.17
$IRIDIUM_FIX,6211.90,-1223.62,170698,161634
$TT8_MAMPS,0.026845
$HUMID,1762
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.1,58.6
$24V_AH,23.3,29.407
$10V_AH,10.1,15.825
$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,26.325,130.675,331.150,0.000,0.000,30.112,27.035,171.502,6.750,0.000,0.000,11.042,1806.152,16808.496,428.824,2057.924,589.062,33.357,1453.424,0.000,2024.096,0.000,47.016,0.000
$DEVICE_MAMPS,157.235,92.040,1206.491,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,713.232,754.735,583.110,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50543,1021
$CAP_FILE_SIZE,134322,0
$CFSIZE,260165632,249085952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240309,041836,6228.496,-1153.777,46,1.4,51,-11.2