version: 66.04
glider: 103
mission: 11
dive: 146
start: 3 24 109 11 19 37
data:
$ID,103
$MISSION,11
$DIVE,146
$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,-145901.45
$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,11
$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
$GPS1,110725,6227.548,-1151.337,40,1.2,40,-11.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-56.3
$GPS2,111843,6227.468,-1150.877,11,1.1,16,-11.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.037,0.215
$KALMAN_X,25332.4,-996.6,13618.3,-69942.1,-55365.0
$KALMAN_Y,-48909.6,-219.2,28858.1,22427.8,-155887.8
$MHEAD_RNG_PITCHd_Wd,20.7,33942,-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,-146.6,0.0,0.0,0,64,0.00,0.00,-46.05,0.000,2,0.000,0.000,50,2655,3042
$GC,67,-1.10,-146.6,3.2,-4.9,3,94,12.10,2.67,-8.85,0.000,4,0.159,0.088,2195,1244,3502
$GC,346,-1.10,-146.6,30.5,-7.4,15,353,0.00,2.60,0.00,0.000,6,0.000,0.063,2195,2658,3502
$GC,664,-1.10,-146.6,57.2,-8.5,31,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2658,3502
$GC,972,-1.10,-146.6,83.8,-8.7,46,976,0.00,2.17,0.00,0.000,4,0.000,0.090,2195,3792,3502
$GC,1000,-1.10,-146.6,86.1,-7.3,47,1003,0.00,2.08,0.00,0.000,6,0.000,0.057,2195,2650,3502
$GC,1327,-1.10,-146.6,109.4,-6.9,63,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,1637,-1.10,-146.6,133.2,-8.0,78,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3501
$GC,1945,-1.10,-146.6,159.5,-8.5,93,1949,0.00,2.20,0.00,0.000,4,0.000,0.087,2195,3792,3501
$GC,1984,-1.10,-146.6,162.9,-8.6,94,1990,0.00,2.08,0.00,0.000,6,0.000,0.058,2195,2650,3501
$GC,2300,-1.10,-146.6,190.2,-8.5,110,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3501
$GC,2610,-1.10,-146.6,215.5,-8.2,125,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3501
$GC,2919,-1.10,-146.6,240.9,-8.3,140,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,3228,-1.10,-146.6,266.1,-8.0,155,3232,0.00,2.20,0.00,0.000,4,0.000,0.089,2195,3792,3501
$GC,3274,-1.10,-146.6,270.1,-8.2,157,3277,0.00,2.08,0.00,0.000,6,0.000,0.057,2195,2645,3501
$GC,3606,-1.10,-146.6,297.7,-8.2,173,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2645,3501
$GC,3916,-1.10,-146.6,321.3,-7.5,188,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,4225,-1.10,-146.6,344.5,-7.3,203,4229,0.00,2.20,0.00,0.000,4,0.000,0.088,2195,3787,3501
$GC,4271,-1.10,-146.6,348.1,-7.6,205,4274,0.00,2.08,0.00,0.000,6,0.000,0.057,2195,2639,3501
$GC,4604,-1.10,-146.6,373.4,-7.7,221,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2639,3501
$GC,4913,-1.10,-146.6,396.1,-7.2,236,4917,0.00,2.20,0.00,0.000,4,0.000,0.086,2195,3786,3501
$GC,4952,-1.10,-146.6,399.1,-8.0,237,4958,0.00,2.05,0.00,0.000,6,0.000,0.055,2195,2647,3501
$GC,5269,-1.10,-146.6,422.3,-7.7,253,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3501
$GC,5578,-1.10,-146.6,446.4,-7.6,268,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3501
$GC,5887,-1.10,-146.6,469.8,-7.8,283,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3501
$GC,6196,-1.10,-146.6,494.6,-8.2,298,6199,0.00,2.17,0.00,0.000,4,0.000,0.084,2195,3786,3501
$GC,6258,-1.10,-146.6,499.8,-9.0,300,6268,0.00,2.03,0.00,0.000,6,0.000,0.054,2195,2649,3501
$GC,6575,-1.10,-146.6,526.6,-8.3,316,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3501
$GC,6884,-1.10,-146.6,550.7,-8.1,331,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3501
$GC,7193,-1.10,-146.6,573.5,-7.7,346,7197,0.00,2.17,0.00,0.000,4,0.000,0.082,2195,3790,3501
$GC,7233,-1.10,-146.6,576.6,-8.1,347,7239,0.00,2.05,0.00,0.000,6,0.000,0.051,2195,2639,3501
$GC,7549,-1.10,-146.6,602.0,-8.0,363,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2639,3501
$GC,7859,-1.10,-146.6,625.9,-7.6,378,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2638,3501
$GC,8168,-1.10,-146.6,649.6,-7.5,393,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2638,3501
$GC,8477,-1.10,-146.6,672.4,-7.4,408,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2639,3501
$GC,8786,-1.10,-146.6,695.1,-7.0,423,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2638,3501
$GC,9095,-1.10,-146.6,716.2,-6.8,438,9097,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2639,3501
$GC,9405,-1.10,-146.6,737.1,-6.8,453,9409,0.00,2.53,0.00,0.000,4,0.000,0.063,2195,1232,3501
$GC,9489,-1.10,-146.6,743.1,-7.6,457,9494,0.00,2.60,0.00,0.000,6,0.000,0.059,2195,2663,3501
$GC,9816,-1.10,-146.6,768.0,-7.8,473,9820,0.00,2.60,0.00,0.000,4,0.000,0.064,2195,1238,3500
$GC,9878,-1.10,-146.6,772.6,-7.4,476,9883,0.00,2.58,0.00,0.000,6,0.000,0.060,2195,2653,3500
$GC,10205,-1.10,-146.6,795.9,-7.2,492,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2653,3500
$GC,10514,-1.10,-146.6,817.9,-7.2,507,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2653,3499
$STATE,10594,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10594,begin apogee
$GC,10603,-0.42,0.0,823.2,6.6,511,10737,0.77,0.00,126.30,1.205,6,0.097,0.000,2349,2005,2902
$STATE,10737,end apogee,CONTROL_FINISHED_OK
$STATE,10737,begin climb
$GC,10740,1.10,146.6,830.0,0.0,518,10876,1.52,2.72,124.15,1.180,4,0.056,0.063,2678,3415,2304
$GC,11109,1.21,234.6,818.9,3.6,534,11191,0.12,2.58,75.80,1.167,6,0.048,0.047,2714,1988,1945
$GC,11508,1.21,234.6,790.3,7.4,554,11512,0.00,2.70,0.00,0.000,4,0.000,0.071,2715,3419,1944
$GC,11563,1.21,234.6,785.8,8.4,556,11569,0.00,2.58,0.00,0.000,6,0.000,0.048,2715,1994,1944
$GC,11879,1.21,234.6,761.8,7.8,572,11883,0.00,2.60,0.00,0.000,4,0.000,0.067,2715,588,1943
$GC,12002,1.21,234.6,751.8,7.8,577,12008,0.00,2.53,0.00,0.000,6,0.000,0.040,2715,2017,1942
$GC,12317,1.21,234.6,729.6,6.5,593,12322,0.00,2.62,0.00,0.000,4,0.000,0.064,2715,593,1941
$GC,12458,1.21,234.6,718.9,7.3,599,12462,0.00,2.47,0.00,0.000,6,0.000,0.038,2715,2001,1941
$GC,12774,1.21,234.6,695.2,7.9,614,12778,0.00,2.60,0.00,0.000,4,0.000,0.062,2715,585,1941
$GC,12863,1.21,234.6,687.7,8.1,618,12867,0.00,2.50,0.00,0.000,6,0.000,0.037,2715,2011,1941
$GC,13190,1.21,234.6,661.3,7.5,634,13194,0.00,2.55,0.00,0.000,4,0.000,0.064,2715,3406,1941
$GC,13234,1.21,234.6,657.7,7.8,636,13238,0.00,2.50,0.00,0.000,6,0.000,0.042,2715,1993,1940
$GC,13554,1.21,234.6,633.1,8.0,652,13556,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1993,1941
$GC,13864,1.21,234.6,608.1,7.9,667,13865,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1993,1941
$GC,14173,1.21,234.6,583.4,8.1,682,14174,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1993,1941
$GC,14482,1.21,234.6,557.9,8.2,697,14483,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1993,1942
$GC,14791,1.21,234.6,533.5,7.7,712,14793,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1993,1942
$GC,15101,1.21,234.6,509.7,7.3,727,15105,0.00,2.60,0.00,0.000,4,0.000,0.061,2715,3409,1943
$GC,15134,1.21,234.6,507.1,7.8,728,15138,0.00,2.50,0.00,0.000,6,0.000,0.043,2715,1994,1943
$GC,15450,1.21,234.6,484.2,7.4,743,15451,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1994,1944
$GC,15759,1.21,234.6,461.0,7.7,758,15763,0.00,2.60,0.00,0.000,4,0.000,0.062,2715,3410,1945
$GC,15792,1.21,234.6,458.4,7.9,759,15798,0.00,2.50,0.00,0.000,6,0.000,0.044,2715,2001,1944
$GC,16108,1.21,234.6,435.5,7.2,775,16109,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2001,1945
$GC,16417,1.21,234.6,414.2,6.7,790,16422,0.00,2.60,0.00,0.000,4,0.000,0.064,2715,3409,1945
$GC,16451,1.21,234.6,411.6,7.5,791,16457,0.00,2.53,0.00,0.000,6,0.000,0.047,2715,1982,1945
$GC,16766,1.21,234.6,387.7,7.9,807,16768,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1982,1945
$GC,17076,1.21,234.6,363.5,7.6,822,17080,0.00,2.62,0.00,0.000,4,0.000,0.064,2715,3406,1945
$GC,17126,1.21,234.6,359.2,8.5,824,17130,0.00,2.53,0.00,0.000,6,0.000,0.048,2715,1990,1945
$GC,17441,1.21,234.6,334.7,7.5,839,17443,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1990,1946
$GC,17751,1.21,234.6,311.3,7.5,854,17755,0.00,2.62,0.00,0.000,4,0.000,0.065,2715,3416,1946
$GC,17795,1.21,234.6,307.9,8.0,856,17799,0.00,2.55,0.00,0.000,6,0.000,0.050,2715,1990,1946
$GC,18116,1.21,234.6,284.3,7.6,872,18117,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1990,1946
$GC,18425,1.21,234.6,263.4,6.6,887,18426,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1990,1946
$GC,18734,1.21,234.6,241.4,7.0,902,18738,0.00,2.62,0.00,0.000,4,0.000,0.066,2715,3409,1946
$GC,18780,1.21,234.6,238.2,6.2,904,18784,0.00,2.55,0.00,0.000,6,0.000,0.053,2715,1989,1946
$GC,19107,1.21,234.6,217.4,6.3,920,19108,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1989,1946
$GC,19416,1.21,234.6,198.6,6.6,935,19417,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1989,1946
$GC,19725,1.21,234.6,179.2,6.3,950,19729,0.00,2.62,0.00,0.000,4,0.000,0.067,2715,3406,1946
$GC,19764,1.21,234.6,176.6,7.0,952,19769,0.00,2.53,0.00,0.000,6,0.000,0.051,2715,1998,1946
$GC,20092,1.21,234.6,156.2,6.3,968,20093,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1999,1946
$GC,20401,1.21,234.6,137.6,6.4,983,20405,0.00,2.60,0.00,0.000,4,0.000,0.067,2715,3404,1946
$GC,20434,1.22,244.9,135.5,5.7,984,20450,0.00,2.53,10.32,0.706,6,0.000,0.053,2715,1994,1903
$GC,20767,1.22,244.9,115.6,6.2,1001,20768,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1994,1903
$GC,21076,1.22,244.9,94.8,7.4,1016,21077,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1994,1903
$GC,21385,1.22,244.9,72.5,7.8,1031,21389,0.00,2.62,0.00,0.000,4,0.000,0.066,2715,3413,1903
$GC,21418,1.22,244.9,69.4,8.1,1032,21425,0.00,2.55,0.00,0.000,6,0.000,0.054,2715,1991,1903
$GC,21734,1.22,244.9,46.1,6.9,1048,21738,0.00,2.55,0.00,0.000,4,0.000,0.066,2715,590,1903
$GC,21807,1.22,244.9,39.9,9.2,1051,21811,0.00,2.47,0.00,0.000,6,0.000,0.040,2715,2006,1903
$GC,22123,1.22,244.9,16.4,7.2,1066,22125,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2006,1903
$STATE,22327,end climb,SURFACE_DEPTH_REACHED
$STATE,22327,begin surface coast
$FINISH,0.3,1.017884
$STATE,22348,end surface coast,CONTROL_FINISHED_OK
$STATE,22348,begin surface
$SM_CCo,22433,0.00,0.000,0,0,1902,245.05
$SM_GC,1.56,11.75,0.00,0.00,0.034,0.000,0.000,52,2648,1902,-10.93,-0.06,245.05
$IRIDIUM_FIX,6202.67,-1146.86,180698,111122
$TT8_MAMPS,0.028379
$HUMID,1760
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.3,82.0
$24V_AH,23.4,29.679
$10V_AH,10.1,16.028
$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,26.275,130.050,336.575,0.000,0.000,96.320,81.712,235.156,6.500,0.000,0.000,16.003,1885.091,17767.693,445.283,2223.181,781.743,33.368,1538.735,0.000,2179.904,0.000,46.414,0.000
$DEVICE_MAMPS,158.769,89.739,1204.957,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,753.820,797.408,627.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53722,1077
$CAP_FILE_SIZE,143230,0
$CFSIZE,260165632,248938496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240309,173436,6227.658,-1145.591,29,1.3,29,-11.1