version: 66.04
glider: 103
mission: 11
dive: 208
start: 4 7 109 19 57 38
data:
$ID,103
$MISSION,11
$DIVE,208
$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,-147037.16
$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,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
$GPS1,195106,6313.505,-1312.989,35,0.9,35,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-61.7
$GPS2,195644,6313.528,-1312.868,10,1.6,10,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.103,0.193
$KALMAN_X,41595.3,-2850.5,-696.9,-100599.6,23088.1
$KALMAN_Y,-47831.6,877.6,651.9,66947.2,-7009.2
$MHEAD_RNG_PITCHd_Wd,344.1,39805,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.35,0.000,2,0.000,0.000,53,2653,3219
$GC,62,-1.10,-146.6,3.7,-11.7,2,86,12.05,2.20,-4.75,0.000,4,0.156,0.107,2194,3783,3500
$GC,339,-1.10,-146.6,34.7,-9.3,14,342,0.00,2.10,0.00,0.000,6,0.000,0.064,2195,2647,3500
$GC,666,-1.10,-146.6,60.1,-7.2,30,670,0.00,2.25,0.00,0.000,4,0.000,0.097,2194,3787,3500
$GC,824,-1.10,-146.6,72.5,-7.8,37,827,0.00,2.10,0.00,0.000,6,0.000,0.064,2195,2647,3500
$GC,1151,-1.10,-146.6,96.0,-7.2,53,1155,0.00,2.22,0.00,0.000,4,0.000,0.093,2194,3787,3501
$GC,1184,-1.10,-146.6,98.9,-8.4,54,1188,0.00,2.10,0.00,0.000,6,0.000,0.063,2194,2646,3501
$GC,1506,-1.10,-146.6,123.2,-7.6,70,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3501
$GC,1815,-1.10,-146.6,145.8,-7.1,85,1819,0.00,2.22,0.00,0.000,4,0.000,0.093,2194,3785,3501
$GC,1855,-1.10,-146.6,148.9,-7.9,86,1861,0.00,2.08,0.00,0.000,6,0.000,0.063,2194,2646,3500
$GC,2171,-1.10,-146.6,172.7,-7.7,102,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3501
$GC,2480,-1.10,-146.6,194.8,-7.2,117,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3501
$GC,2789,-1.10,-146.6,217.8,-7.6,132,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3501
$GC,3098,-1.10,-146.6,240.9,-7.0,147,3102,0.00,2.22,0.00,0.000,4,0.000,0.092,2195,3787,3501
$GC,3149,-1.10,-146.6,244.6,-7.1,149,3153,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2652,3501
$GC,3476,-1.10,-146.6,265.9,-6.1,165,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3500
$GC,3785,-1.10,-146.6,284.5,-6.3,180,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3500
$GC,4094,-1.10,-146.6,305.0,-7.2,195,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2651,3500
$GC,4406,-1.10,-146.6,326.1,-6.6,210,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2651,3500
$GC,4713,-1.10,-146.6,347.2,-6.9,225,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3500
$GC,5022,-1.10,-146.6,369.7,-7.1,240,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2651,3500
$GC,5332,-1.10,-146.6,392.4,-7.8,255,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3500
$GC,5641,-1.10,-146.6,417.7,-8.6,270,5645,0.00,2.17,0.00,0.000,4,0.000,0.087,2195,3783,3500
$GC,5687,-1.10,-146.6,421.7,-8.8,272,5691,0.00,2.05,0.00,0.000,6,0.000,0.056,2195,2647,3500
$GC,6020,-1.10,-146.6,444.3,-5.9,288,6021,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3500
$GC,6330,-1.10,-146.6,460.2,-4.8,303,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3500
$GC,6639,-1.10,-146.6,477.2,-5.7,318,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3500
$GC,6947,-1.10,-146.6,498.0,-7.2,333,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3500
$GC,7257,-1.10,-146.6,521.7,-8.3,348,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3500
$GC,7566,-1.10,-146.6,543.4,-6.2,363,7569,0.00,2.17,0.00,0.000,4,0.000,0.085,2194,3783,3500
$GC,7622,-1.10,-146.6,547.2,-7.1,365,7625,0.00,2.03,0.00,0.000,6,0.000,0.051,2194,2650,3500
$GC,7944,-1.10,-146.6,568.9,-6.6,381,7948,0.00,2.17,0.00,0.000,4,0.000,0.086,2194,3786,3499
$GC,7983,-1.10,-146.6,571.7,-7.3,382,7989,0.00,2.05,0.00,0.000,6,0.000,0.052,2194,2640,3499
$GC,8299,-1.10,-146.6,593.7,-7.5,398,8303,0.00,2.53,0.00,0.000,4,0.000,0.062,2194,1235,3499
$GC,8385,-1.10,-146.6,600.3,-8.3,402,8389,0.00,2.58,0.00,0.000,6,0.000,0.060,2195,2650,3500
$GC,8711,-1.10,-146.6,624.7,-7.1,418,8716,0.00,2.15,0.00,0.000,4,0.000,0.090,2194,3786,3500
$GC,8789,-1.10,-146.6,630.8,-7.3,421,8793,0.00,2.03,0.00,0.000,6,0.000,0.051,2195,2646,3500
$GC,9111,-1.10,-146.6,653.2,-7.0,437,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3500
$GC,9420,-1.10,-146.6,671.3,-5.4,452,9424,0.00,2.20,0.00,0.000,4,0.000,0.090,2195,3786,3499
$GC,9482,-1.10,-146.6,674.8,-5.8,454,9489,0.00,2.03,0.00,0.000,6,0.000,0.051,2195,2651,3499
$GC,9799,-1.10,-146.6,685.8,-2.7,470,9800,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2651,3499
$GC,10108,-1.10,-146.6,702.5,-7.4,485,10109,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3499
$STATE,10332,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10332,begin apogee
$GC,10341,-0.42,0.0,720.0,7.8,496,10469,0.77,0.00,124.47,1.167,6,0.107,0.000,2345,1986,2902
$STATE,10469,end apogee,CONTROL_FINISHED_OK
$STATE,10469,begin climb
$GC,10473,1.10,146.6,726.0,0.0,502,10599,1.55,0.00,122.18,1.147,6,0.051,0.000,2680,1986,2304
$GC,10905,1.37,365.6,728.1,-0.1,523,11098,0.28,2.75,186.48,1.123,4,0.037,0.064,2748,3427,1411
$GC,11143,1.37,365.6,718.4,10.3,534,11149,0.00,2.60,0.00,0.000,6,0.000,0.044,2748,1983,1410
$GC,11459,1.37,365.6,683.3,11.9,550,11463,0.00,2.55,0.00,0.000,4,0.000,0.063,2748,592,1410
$GC,11572,1.37,365.6,670.3,11.1,555,11576,0.00,2.50,0.00,0.000,6,0.000,0.039,2747,2010,1410
$GC,11899,1.37,365.6,633.8,11.7,571,11903,0.00,2.58,0.00,0.000,4,0.000,0.065,2748,3409,1409
$GC,11966,1.37,365.6,625.5,11.5,574,11970,0.00,2.53,0.00,0.000,6,0.000,0.046,2748,2001,1409
$GC,12287,1.37,365.6,589.4,10.7,590,12291,0.00,2.58,0.00,0.000,4,0.000,0.061,2748,589,1409
$GC,12337,1.37,365.6,583.7,11.4,592,12341,0.00,2.47,0.00,0.000,6,0.000,0.038,2747,2002,1409
$GC,12653,1.37,365.6,549.6,10.4,607,12657,0.00,2.58,0.00,0.000,4,0.000,0.064,2748,3407,1409
$GC,12731,1.37,365.6,541.0,10.9,610,12735,0.00,2.53,0.00,0.000,6,0.000,0.047,2748,1994,1409
$GC,13047,1.37,365.6,509.5,10.1,625,13048,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1994,1409
$GC,13356,1.37,365.6,474.7,11.1,640,13361,0.00,2.62,0.00,0.000,4,0.000,0.064,2748,3416,1409
$GC,13411,1.37,365.6,468.0,12.8,642,13418,0.00,2.53,0.00,0.000,6,0.000,0.047,2748,2001,1409
$GC,13727,1.37,365.6,437.3,9.0,658,13728,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2001,1409
$GC,14037,1.37,365.6,407.6,10.3,673,14041,0.00,2.60,0.00,0.000,4,0.000,0.064,2748,3406,1409
$GC,14082,1.37,365.6,402.8,10.6,675,14086,0.00,2.53,0.00,0.000,6,0.000,0.048,2748,1997,1409
$GC,14416,1.37,365.6,368.6,10.3,691,14417,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1997,1409
$GC,14725,1.37,365.6,334.1,11.4,706,14730,0.00,2.62,0.00,0.000,4,0.000,0.066,2748,3413,1409
$GC,14769,1.37,365.6,328.4,12.2,708,14774,0.00,2.55,0.00,0.000,6,0.000,0.051,2748,2000,1409
$GC,15091,1.37,365.6,292.3,10.8,724,15095,0.00,2.62,0.00,0.000,4,0.000,0.067,2748,3410,1409
$GC,15124,1.37,365.6,288.5,10.8,725,15131,0.00,2.55,0.00,0.000,6,0.000,0.052,2748,1990,1409
$GC,15440,1.37,365.6,256.4,10.4,741,15442,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1989,1409
$GC,15750,1.37,365.6,224.1,10.5,756,15754,0.00,2.62,0.00,0.000,4,0.000,0.070,2748,3405,1409
$GC,15796,1.37,365.6,219.3,10.4,758,15800,0.00,2.55,0.00,0.000,6,0.000,0.054,2747,1998,1409
$GC,16117,1.37,365.6,187.6,9.9,774,16118,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1998,1409
$GC,16426,1.37,365.6,157.3,9.6,789,16430,0.00,2.62,0.00,0.000,4,0.000,0.069,2748,3407,1409
$GC,16476,1.37,365.6,152.3,9.0,791,16480,0.00,2.55,0.00,0.000,6,0.000,0.054,2748,1994,1410
$GC,16792,1.37,365.6,122.1,9.6,806,16793,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1994,1410
$GC,17101,1.37,365.6,93.0,9.1,821,17106,0.00,2.62,0.00,0.000,4,0.000,0.069,2748,3406,1410
$GC,17142,1.37,365.6,89.1,8.9,823,17146,0.00,2.58,0.00,0.000,6,0.000,0.056,2748,1989,1410
$GC,17469,1.37,365.6,57.0,10.7,839,17470,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1989,1410
$GC,17778,1.37,365.6,25.6,10.0,854,17782,0.00,2.62,0.00,0.000,4,0.000,0.066,2748,3406,1410
$GC,17841,1.37,365.6,19.1,9.7,857,17845,0.00,2.58,0.00,0.000,6,0.000,0.056,2747,1989,1410
$STATE,18020,end climb,SURFACE_DEPTH_REACHED
$STATE,18021,begin surface coast
$FINISH,0.1,1.017704
$STATE,18042,end surface coast,CONTROL_FINISHED_OK
$STATE,18042,begin surface
$SM_CCo,18127,0.00,0.000,0,0,1410,366.23
$SM_GC,0.85,11.93,0.00,0.00,0.032,0.000,0.000,48,2650,1410,-10.94,0.00,366.23
$IRIDIUM_FIX,6244.56,-1313.61,020798,141411
$TT8_MAMPS,0.029146
$HUMID,1792
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.3,79.2
$24V_AH,23.3,37.993
$10V_AH,10.1,21.439
$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,26.575,117.250,433.125,0.000,0.000,25.835,29.826,150.927,5.500,0.000,0.000,10.835,1553.574,14027.891,539.062,1813.687,525.694,33.394,1430.338,0.000,1787.419,0.000,38.982,0.000
$DEVICE_MAMPS,156.468,106.613,1166.607,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,607.309,640.370,518.226,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44186,867
$CAP_FILE_SIZE,117640,0
$CFSIZE,260165632,245059584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080409,010101,6316.127,-1313.160,39,1.3,39,-12.2