version: 66.04
glider: 103
mission: 11
dive: 167
start: 3 30 109 3 38 56
data:
$ID,103
$MISSION,11
$DIVE,167
$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,-146301.5
$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,6
$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
$GPS1,033156,6242.389,-1155.989,27,2.1,46,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-58.1
$GPS2,033804,6242.259,-1155.938,13,2.2,32,-11.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.022,-0.217
$KALMAN_X,73125.6,-663.5,5704.9,-114458.0,1283.3
$KALMAN_Y,-78271.8,139.8,2713.8,104957.6,7577.9
$MHEAD_RNG_PITCHd_Wd,185.6,20885,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-58.08,0.000,6,0.000,0.000,38,2647,3501
$GC,82,-1.10,-146.6,5.7,-12.0,3,103,12.30,2.25,0.00,0.000,4,0.163,0.084,2196,3794,3502
$GC,356,-1.10,-146.6,41.6,-8.3,15,360,0.00,2.12,0.00,0.000,6,0.000,0.065,2196,2651,3503
$GC,684,-1.10,-146.6,72.5,-7.8,31,688,0.00,2.25,0.00,0.000,4,0.000,0.096,2196,3794,3502
$GC,802,-1.10,-146.6,81.4,-7.8,36,805,0.00,2.12,0.00,0.000,6,0.000,0.063,2196,2643,3503
$GC,1124,-1.10,-146.6,103.5,-6.6,52,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3502
$GC,1433,-1.10,-146.6,125.3,-8.1,67,1437,0.00,2.28,0.00,0.000,4,0.000,0.095,2196,3797,3502
$GC,1473,-1.10,-146.6,128.7,-8.4,69,1477,0.00,2.10,0.00,0.000,6,0.000,0.062,2196,2649,3502
$GC,1805,-1.10,-146.6,155.8,-8.1,85,1809,0.00,2.25,0.00,0.000,4,0.000,0.095,2196,3792,3502
$GC,1845,-1.10,-146.6,159.3,-8.9,87,1849,0.00,2.10,0.00,0.000,6,0.000,0.062,2196,2649,3502
$GC,2178,-1.10,-146.6,186.7,-8.1,103,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3503
$GC,2487,-1.10,-146.6,210.0,-7.0,118,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3502
$GC,2797,-1.10,-146.6,229.0,-5.6,133,2801,0.00,2.20,0.00,0.000,4,0.000,0.091,2196,3789,3502
$GC,2843,-1.10,-146.6,231.6,-5.5,135,2847,0.00,2.10,0.00,0.000,6,0.000,0.063,2196,2643,3502
$GC,3176,-1.10,-146.6,252.3,-7.0,151,3180,0.00,2.25,0.00,0.000,4,0.000,0.091,2196,3796,3502
$GC,3210,-1.10,-146.6,254.8,-7.0,152,3213,0.00,2.10,0.00,0.000,6,0.000,0.061,2196,2649,3502
$GC,3531,-1.10,-146.6,276.6,-7.3,168,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3503
$GC,3841,-1.10,-146.6,301.5,-8.7,183,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3503
$GC,4151,-1.10,-146.6,326.2,-7.3,198,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3503
$GC,4459,-1.10,-146.6,348.6,-7.8,213,4463,0.00,2.20,0.00,0.000,4,0.000,0.090,2196,3789,3503
$GC,4521,-1.10,-146.6,354.2,-9.3,215,4527,0.00,2.08,0.00,0.000,6,0.000,0.060,2196,2642,3503
$GC,4837,-1.10,-146.6,381.7,-8.5,231,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3503
$GC,5147,-1.10,-146.6,404.2,-5.8,246,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3502
$GC,5456,-1.10,-146.6,418.8,-4.4,261,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3502
$GC,5765,-1.10,-146.6,436.8,-6.9,276,5769,0.00,2.20,0.00,0.000,4,0.000,0.087,2196,3793,3502
$GC,5873,-1.10,-146.6,445.1,-7.7,280,5879,0.00,2.05,0.00,0.000,6,0.000,0.056,2196,2647,3503
$GC,6190,-1.10,-146.6,461.3,-4.5,296,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3503
$GC,6500,-1.10,-146.6,479.1,-5.4,311,6503,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3789,3503
$GC,6561,-1.10,-146.6,483.9,-8.2,313,6567,0.00,2.08,0.00,0.000,6,0.000,0.057,2196,2642,3503
$GC,6877,-1.10,-146.6,507.6,-7.1,329,6881,0.00,2.58,0.00,0.000,4,0.000,0.069,2196,1230,3502
$GC,6899,-1.10,-146.6,509.0,-6.4,330,6903,0.00,2.65,0.00,0.000,6,0.000,0.067,2196,2660,3503
$GC,7221,-1.10,-146.6,525.9,-5.0,346,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2660,3502
$GC,7529,-1.10,-146.6,545.5,-7.7,361,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2660,3502
$GC,7840,-1.10,-146.6,576.2,-10.1,376,7843,0.00,2.17,0.00,0.000,4,0.000,0.094,2196,3786,3502
$GC,7924,-1.10,-146.6,585.0,-9.8,379,7930,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2641,3502
$GC,8240,-1.10,-146.6,603.6,-5.1,395,8244,0.00,2.25,0.00,0.000,4,0.000,0.097,2196,3787,3501
$GC,8341,-1.10,-146.6,609.4,-7.1,399,8348,0.00,2.08,0.00,0.000,6,0.000,0.059,2196,2643,3501
$GC,8657,-1.10,-146.6,632.3,-7.4,415,8661,0.00,2.25,0.00,0.000,4,0.000,0.098,2196,3789,3501
$GC,8737,-1.10,-146.6,638.8,-9.3,418,8743,0.00,2.08,0.00,0.000,6,0.000,0.060,2196,2651,3501
$GC,9053,-1.10,-146.6,665.6,-7.3,434,9058,0.00,2.62,0.00,0.000,4,0.000,0.077,2196,1236,3500
$GC,9094,-1.10,-146.6,668.5,-7.6,436,9098,0.00,2.65,0.00,0.000,6,0.000,0.072,2196,2654,3500
$GC,9420,-1.10,-146.6,689.9,-6.3,452,9425,0.00,2.65,0.00,0.000,4,0.000,0.074,2196,1237,3499
$GC,9448,-1.10,-146.6,691.9,-7.2,453,9453,0.00,2.65,0.00,0.000,6,0.000,0.071,2196,2655,3499
$GC,9764,-1.10,-146.6,712.4,-6.5,468,9769,0.00,2.65,0.00,0.000,4,0.000,0.075,2196,1230,3498
$GC,9811,-1.10,-146.6,714.9,-5.2,470,9815,0.00,2.67,0.00,0.000,6,0.000,0.072,2196,2657,3498
$STATE,9881,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9881,begin apogee
$GC,9890,-0.42,0.0,720.3,7.3,474,10018,0.77,0.00,125.25,1.190,6,0.103,0.000,2348,1996,2902
$STATE,10019,end apogee,CONTROL_FINISHED_OK
$STATE,10019,begin climb
$GC,10023,1.10,146.6,726.3,0.0,480,10156,1.55,2.80,123.93,1.150,4,0.061,0.071,2677,3420,2304
$GC,10412,1.11,154.2,718.9,5.8,497,10427,0.00,2.60,8.00,0.986,6,0.000,0.049,2677,1986,2273
$GC,10750,1.11,154.9,699.3,6.0,514,10755,0.00,2.72,0.00,0.000,4,0.000,0.072,2677,3426,2272
$GC,10846,1.13,169.4,694.0,5.6,518,10866,0.00,2.60,14.38,1.104,6,0.000,0.053,2677,2001,2211
$GC,11188,1.17,205.2,676.0,5.0,535,11221,0.00,0.00,31.40,1.159,6,0.000,0.000,2677,2001,2065
$GC,11517,1.17,205.2,656.1,6.3,551,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2001,2064
$GC,11826,1.17,205.2,636.4,6.1,566,11831,0.00,2.70,0.00,0.000,4,0.000,0.075,2677,3426,2064
$GC,11939,1.25,269.0,630.4,4.2,571,11999,0.15,2.62,53.90,1.158,6,0.042,0.054,2723,1991,1805
$GC,12327,1.25,269.0,598.9,10.2,590,12331,0.00,2.72,0.00,0.000,4,0.000,0.074,2723,3426,1805
$GC,12367,1.25,269.0,594.4,11.5,592,12371,0.00,2.62,0.00,0.000,6,0.000,0.055,2723,1995,1804
$GC,12693,1.25,269.0,552.9,11.5,608,12698,0.00,2.70,0.00,0.000,4,0.000,0.073,2723,3425,1804
$GC,12773,1.25,269.0,546.1,6.9,611,12779,0.00,2.60,0.00,0.000,6,0.000,0.053,2723,1997,1804
$GC,13089,1.25,269.0,528.2,6.2,627,13094,0.00,2.67,0.00,0.000,4,0.000,0.071,2723,3420,1804
$GC,13140,1.25,269.0,524.5,7.9,629,13144,0.00,2.58,0.00,0.000,6,0.000,0.051,2723,2001,1804
$GC,13455,1.25,269.0,497.6,9.3,644,13459,0.00,2.60,0.00,0.000,4,0.000,0.067,2723,588,1804
$GC,13529,1.25,269.0,491.0,9.2,647,13533,0.00,2.53,0.00,0.000,6,0.000,0.041,2723,2016,1804
$GC,13849,1.25,269.0,465.4,7.3,663,13854,0.00,2.58,0.00,0.000,4,0.000,0.069,2723,3406,1804
$GC,13872,1.25,269.0,463.4,8.2,664,13876,0.00,2.53,0.00,0.000,6,0.000,0.050,2723,1993,1804
$GC,14193,1.25,269.0,435.8,8.8,680,14197,0.00,2.65,0.00,0.000,4,0.000,0.070,2723,3406,1805
$GC,14214,1.25,269.0,433.6,10.1,681,14219,0.00,2.55,0.00,0.000,6,0.000,0.050,2723,1989,1804
$GC,14536,1.25,269.0,404.0,8.7,697,14537,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1989,1806
$GC,14845,1.25,269.0,378.1,8.4,712,14850,0.00,2.65,0.00,0.000,4,0.000,0.070,2723,3406,1806
$GC,14885,1.25,269.0,374.7,8.8,714,14890,0.00,2.53,0.00,0.000,6,0.000,0.051,2723,2002,1806
$GC,15218,1.25,269.0,348.3,7.8,730,15219,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2002,1806
$GC,15528,1.25,269.0,326.0,6.5,745,15532,0.00,2.65,0.00,0.000,4,0.000,0.071,2723,3412,1807
$GC,15572,1.25,269.0,322.9,7.0,747,15576,0.00,2.55,0.00,0.000,6,0.000,0.052,2723,1996,1807
$GC,15893,1.25,269.0,296.8,8.5,763,15894,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1996,1807
$GC,16202,1.25,269.0,272.3,7.5,778,16207,0.00,2.65,0.00,0.000,4,0.000,0.071,2723,3409,1808
$GC,16247,1.25,269.0,269.1,7.0,780,16251,0.00,2.55,0.00,0.000,6,0.000,0.053,2723,1999,1809
$GC,16568,1.25,269.0,245.4,7.4,796,16569,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1999,1809
$GC,16878,1.25,269.0,219.9,8.7,811,16882,0.00,2.65,0.00,0.000,4,0.000,0.071,2723,3415,1810
$GC,16917,1.25,269.0,216.1,9.1,813,16922,0.00,2.58,0.00,0.000,6,0.000,0.053,2723,1989,1809
$GC,17244,1.25,269.0,182.0,11.2,829,17246,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1989,1810
$GC,17554,1.25,269.0,149.1,9.8,844,17558,0.00,2.65,0.00,0.000,4,0.000,0.072,2723,3406,1810
$GC,17598,1.25,269.0,144.4,10.4,846,17602,0.00,2.55,0.00,0.000,6,0.000,0.052,2723,1993,1810
$GC,17920,1.31,312.9,119.0,4.8,862,17962,0.00,0.00,36.97,0.762,6,0.000,0.000,2723,1993,1626
$GC,18274,1.31,312.9,84.1,10.0,879,18275,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1993,1625
$GC,18581,1.31,312.9,51.0,10.5,894,18586,0.00,2.67,0.00,0.000,4,0.000,0.074,2723,3409,1626
$GC,18644,1.31,312.9,43.4,14.2,897,18648,0.00,2.58,0.00,0.000,6,0.000,0.057,2723,1998,1626
$GC,18972,1.52,485.4,22.8,1.2,913,19112,0.22,0.00,135.80,0.683,6,0.048,0.000,2777,1994,923
$STATE,19150,end climb,SURFACE_DEPTH_REACHED
$STATE,19150,begin surface coast
$FINISH,0.1,1.007007
$STATE,19173,end surface coast,CONTROL_FINISHED_OK
$STATE,19174,begin surface
$SM_CCo,19259,0.00,0.000,0,0,922,485.69
$SM_GC,0.77,12.10,0.00,0.00,0.028,0.000,0.000,50,2645,922,-10.92,-0.14,485.69
$IRIDIUM_FIX,6216.53,-1143.42,230698,222201
$TT8_MAMPS,0.028379
$HUMID,1755
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,16.60
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,700.3,29.8
$24V_AH,23.3,32.883
$10V_AH,10.1,18.091
$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,27.100,154.200,529.625,0.000,0.000,31.473,32.277,152.139,11.250,0.000,0.000,33.384,1687.067,14646.982,621.832,2099.750,566.232,33.357,1683.753,0.000,2035.156,0.000,42.075,0.000
$DEVICE_MAMPS,162.604,98.176,1189.617,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,679.008,650.320,534.082,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47329,923
$CAP_FILE_SIZE,135536,0
$CFSIZE,260165632,247459840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300309,090107,6240.901,-1153.743,34,1.1,34,-11.3