version: 66.04
glider: 103
mission: 11
dive: 221
start: 4 11 109 10 0 53
data:
$ID,103
$MISSION,11
$DIVE,221
$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,-147246.83
$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,22
$R_STBD_OVSHOOT,14
$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
$GPS1,095336,6338.158,-1322.042,39,1.2,44,-12.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-59.0
$GPS2,100001,6338.157,-1322.034,12,1.1,12,-12.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.201,0.086
$KALMAN_X,-18369.3,-513.0,4400.6,-55925.6,-22449.1
$KALMAN_Y,-28743.1,-1062.8,-1029.9,97174.2,7932.6
$MHEAD_RNG_PITCHd_Wd,79.3,24034,-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,15,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.65,0.000,2,0.000,0.000,48,2657,3123
$GC,62,-1.10,-146.6,3.6,-11.0,2,88,12.15,2.75,-6.68,0.000,4,0.159,0.093,2195,1243,3502
$GC,245,-1.10,-146.6,24.1,-10.6,10,250,0.00,2.62,0.00,0.000,6,0.000,0.068,2195,2652,3502
$GC,566,-1.10,-146.6,50.2,-6.8,26,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2652,3502
$GC,876,-1.10,-146.6,77.6,-9.7,41,879,0.00,2.20,0.00,0.000,4,0.000,0.092,2195,3793,3502
$GC,909,-1.10,-146.6,82.0,-12.8,42,913,0.00,2.08,0.00,0.000,6,0.000,0.059,2195,2659,3502
$GC,1231,-1.10,-146.6,110.5,-5.3,58,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2659,3502
$GC,1541,-1.10,-146.6,134.4,-8.4,73,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2659,3502
$GC,1849,-1.10,-146.6,159.8,-7.0,88,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2659,3502
$GC,2158,-1.10,-146.6,185.2,-8.8,103,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2659,3502
$GC,2468,-1.10,-146.6,209.9,-8.6,118,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2659,3502
$GC,2777,-1.10,-146.6,236.1,-8.2,133,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2659,3502
$GC,3086,-1.10,-146.6,261.9,-8.4,148,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2659,3501
$GC,3396,-1.10,-146.6,288.5,-8.7,163,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2658,3502
$GC,3705,-1.10,-146.6,315.8,-9.2,178,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2658,3502
$GC,4014,-1.10,-146.6,344.9,-9.5,193,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2658,3501
$GC,4324,-1.10,-146.6,373.8,-9.4,208,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2658,3501
$GC,4633,-1.10,-146.6,401.3,-8.7,223,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2658,3502
$GC,4942,-1.10,-146.6,427.7,-8.5,238,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2658,3502
$GC,5251,-1.10,-146.6,454.7,-8.7,253,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2658,3502
$GC,5560,-1.10,-146.6,481.7,-8.8,268,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2658,3501
$GC,5870,-1.10,-146.6,508.0,-8.1,283,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2658,3502
$GC,6179,-1.10,-146.6,531.9,-7.7,298,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2658,3502
$GC,6488,-1.10,-146.6,555.2,-8.1,313,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2658,3502
$GC,6797,-1.10,-146.6,580.8,-9.8,328,6801,0.00,2.20,0.00,0.000,4,0.000,0.091,2195,3793,3502
$GC,6831,-1.10,-146.6,584.3,-10.1,329,6835,0.00,2.08,0.00,0.000,6,0.000,0.053,2195,2636,3502
$GC,7153,-1.10,-146.6,613.5,-9.7,345,7157,0.00,2.55,0.00,0.000,4,0.000,0.068,2195,1233,3502
$GC,7186,-1.10,-146.6,616.8,-9.3,346,7192,0.00,2.60,0.00,0.000,6,0.000,0.061,2195,2657,3502
$GC,7502,-1.10,-146.6,640.3,-7.7,362,7505,0.00,2.15,0.00,0.000,4,0.000,0.090,2195,3787,3502
$GC,7586,-1.10,-146.6,648.0,-8.9,365,7592,0.00,2.03,0.00,0.000,6,0.000,0.054,2195,2650,3502
$GC,7903,-1.10,-146.6,670.0,-5.9,381,7906,0.00,2.20,0.00,0.000,4,0.000,0.089,2195,3790,3502
$GC,7948,-1.10,-146.6,673.4,-8.3,383,7952,0.00,2.05,0.00,0.000,6,0.000,0.054,2195,2649,3502
$GC,8281,-1.10,-146.6,697.4,-7.1,399,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3502
$GC,8591,-1.10,-146.6,716.6,-5.6,414,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3501
$GC,8900,-1.10,-146.6,736.7,-7.2,429,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3502
$GC,9209,-1.10,-146.6,755.5,-6.4,444,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3501
$GC,9519,-1.10,-146.6,771.9,-4.8,459,9523,0.00,2.60,0.00,0.000,4,0.000,0.071,2195,1227,3501
$GC,9569,-1.10,-146.6,774.5,-5.1,461,9573,0.00,2.60,0.00,0.000,6,0.000,0.060,2195,2654,3501
$GC,9885,-1.10,-146.6,794.1,-7.1,476,9890,0.00,2.62,0.00,0.000,4,0.000,0.068,2195,1227,3501
$GC,9948,-1.10,-146.6,798.0,-5.5,479,9953,0.00,2.60,0.00,0.000,6,0.000,0.064,2195,2652,3501
$GC,10276,-1.10,-146.6,820.8,-5.2,495,10280,0.00,2.60,0.00,0.000,4,0.000,0.067,2195,1237,3501
$GC,10348,-1.10,-146.6,826.2,-8.1,498,10352,0.00,2.58,0.00,0.000,6,0.000,0.058,2195,2654,3501
$STATE,10599,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10599,begin apogee
$GC,10608,-0.42,0.0,840.2,7.3,510,10742,0.77,0.00,127.10,1.220,6,0.098,0.000,2348,1999,2901
$STATE,10742,end apogee,CONTROL_FINISHED_OK
$STATE,10743,begin climb
$GC,10746,1.10,146.6,845.6,0.0,517,10880,1.55,2.75,125.65,1.185,4,0.056,0.071,2678,3419,2304
$GC,11136,1.37,367.2,846.2,-0.1,535,11334,0.28,2.58,187.43,1.202,6,0.031,0.046,2748,1982,1405
$GC,11651,1.37,367.2,797.1,12.7,560,11655,0.00,2.67,0.00,0.000,4,0.000,0.065,2749,3420,1405
$GC,11803,1.37,367.2,778.6,12.3,567,11807,0.00,2.55,0.00,0.000,6,0.000,0.045,2748,1995,1404
$GC,12129,1.37,367.2,744.4,10.4,583,12134,0.00,2.55,0.00,0.000,4,0.000,0.061,2748,595,1404
$GC,12163,1.37,367.2,740.7,9.8,584,12169,0.00,2.50,0.00,0.000,6,0.000,0.041,2749,2009,1404
$GC,12479,1.37,367.2,708.5,10.0,600,12483,0.00,2.58,0.00,0.000,4,0.000,0.064,2749,3412,1404
$GC,12501,1.37,367.2,706.2,10.8,601,12505,0.00,2.53,0.00,0.000,6,0.000,0.043,2749,1992,1404
$GC,12822,1.37,367.2,672.7,12.1,617,12826,0.00,2.53,0.00,0.000,4,0.000,0.060,2749,590,1403
$GC,12861,1.37,367.2,667.8,12.1,618,12867,0.00,2.47,0.00,0.000,6,0.000,0.038,2749,2009,1403
$GC,13177,1.37,367.2,635.4,10.4,634,13178,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2009,1403
$GC,13486,1.37,367.2,603.3,10.2,649,13487,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2009,1402
$GC,13795,1.37,367.2,570.4,10.6,664,13799,0.00,2.58,0.00,0.000,4,0.000,0.058,2749,596,1403
$GC,13835,1.37,367.2,565.9,10.7,666,13839,0.00,2.47,0.00,0.000,6,0.000,0.038,2749,2011,1403
$GC,14163,1.37,367.2,530.7,10.7,682,14167,0.00,2.55,0.00,0.000,4,0.000,0.064,2749,3411,1403
$GC,14196,1.37,367.2,526.8,11.0,683,14202,0.00,2.50,0.00,0.000,6,0.000,0.044,2749,1998,1403
$GC,14512,1.37,367.2,495.2,9.4,699,14516,0.00,2.55,0.00,0.000,4,0.000,0.059,2749,586,1403
$GC,14545,1.37,367.2,491.9,9.2,700,14552,0.00,2.47,0.00,0.000,6,0.000,0.038,2749,2008,1403
$GC,14862,1.37,367.2,460.3,10.2,716,14866,0.00,2.55,0.00,0.000,4,0.000,0.064,2749,3412,1403
$GC,14895,1.37,367.2,456.5,10.9,717,14899,0.00,2.53,0.00,0.000,6,0.000,0.044,2749,1989,1403
$GC,15211,1.37,367.2,422.8,10.8,732,15212,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1989,1403
$GC,15520,1.37,367.2,389.0,10.9,747,15521,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1989,1404
$GC,15829,1.37,367.2,355.6,10.9,762,15834,0.00,2.60,0.00,0.000,4,0.000,0.065,2749,3406,1404
$GC,15863,1.37,367.2,351.7,10.8,763,15869,0.00,2.53,0.00,0.000,6,0.000,0.049,2749,1997,1404
$GC,16179,1.37,367.2,317.3,11.1,779,16180,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1997,1404
$GC,16488,1.37,367.2,282.1,11.4,794,16489,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1997,1404
$GC,16798,1.37,367.2,248.6,10.6,809,16802,0.00,2.62,0.00,0.000,4,0.000,0.067,2749,3411,1404
$GC,16825,1.37,367.2,245.5,11.9,810,16829,0.00,2.55,0.00,0.000,6,0.000,0.051,2749,1995,1404
$GC,17141,1.37,367.2,210.8,11.3,825,17142,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1995,1404
$GC,17450,1.37,367.2,177.3,10.8,840,17452,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1995,1404
$GC,17760,1.37,367.2,142.5,11.3,855,17764,0.00,2.62,0.00,0.000,4,0.000,0.067,2749,3406,1404
$GC,17800,1.37,367.2,137.8,11.0,857,17804,0.00,2.53,0.00,0.000,6,0.000,0.052,2749,1998,1404
$GC,18132,1.37,367.2,104.0,9.4,873,18133,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1998,1404
$GC,18444,1.37,367.2,73.2,9.7,888,18445,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1998,1404
$GC,18751,1.37,367.2,38.3,11.9,903,18752,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1998,1404
$GC,19060,1.37,367.2,5.2,10.9,918,19064,0.00,2.55,0.00,0.000,4,0.000,0.061,2748,588,1404
$GC,19088,1.37,367.2,2.1,12.0,919,19092,0.00,2.20,0.00,0.000,3,0.000,0.042,2749,1862,1404
$STATE,19092,end climb,SURFACE_DEPTH_REACHED
$STATE,19092,begin surface coast
$FINISH,0.7,1.027455
$STATE,19098,end surface coast,CONTROL_FINISHED_OK
$STATE,19098,begin surface
$SM_CCo,19183,0.00,0.000,0,0,1403,367.70
$SM_GC,1.02,11.80,0.00,0.00,0.026,0.000,0.000,51,2662,1403,-10.93,0.34,367.70
$IRIDIUM_FIX,6313.04,-1232.78,060798,030300
$TT8_MAMPS,0.028379
$HUMID,1782
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.1,49.5
$24V_AH,23.3,40.185
$10V_AH,10.1,22.754
$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,26.550,111.975,440.175,0.000,0.000,29.200,32.522,185.859,7.000,0.000,0.000,14.965,1617.641,14975.056,495.115,1884.751,586.103,33.348,1454.815,0.000,1852.088,0.000,48.613,0.000
$DEVICE_MAMPS,158.769,92.807,1220.297,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,644.678,683.055,518.224,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47360,920
$CAP_FILE_SIZE,121702,0
$CFSIZE,260165632,244117504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110409,152205,6339.055,-1317.487,40,2.0,51,-12.4