version: 66.04
glider: 103
mission: 11
dive: 60
start: 3 5 109 21 12 7
data:
$ID,103
$MISSION,11
$DIVE,60
$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,-144142.11
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,15
$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
$GPS1,210531,6158.267,-940.497,41,1.9,41,-9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-60.0
$GPS2,211113,6158.212,-940.524,14,1.3,14,-9.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.182,0.121
$KALMAN_X,58776.8,-1785.6,-2503.2,-64422.6,19701.6
$KALMAN_Y,-93750.2,833.9,862.7,179016.4,-6118.4
$MHEAD_RNG_PITCHd_Wd,313.3,15018,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-55.88,0.000,6,0.000,0.000,53,2647,3501
$GC,81,-1.10,-146.6,7.2,-14.3,3,102,12.12,2.22,0.00,0.000,4,0.160,0.082,2194,3786,3502
$GC,355,-1.10,-146.6,48.3,-9.2,15,359,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2653,3502
$GC,682,-1.10,-146.6,70.9,-7.0,31,686,0.00,2.20,0.00,0.000,4,0.000,0.088,2195,3783,3502
$GC,751,-1.10,-146.6,76.2,-8.6,34,755,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2643,3502
$GC,1084,-1.10,-146.6,98.1,-6.4,50,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3502
$GC,1393,-1.10,-146.6,118.6,-7.7,65,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,1704,-1.10,-146.6,151.2,-10.0,80,1708,0.00,2.22,0.00,0.000,4,0.000,0.091,2195,3787,3501
$GC,1754,-1.10,-146.6,157.0,-11.3,82,1758,0.00,2.08,0.00,0.000,6,0.000,0.056,2194,2645,3502
$GC,2081,-1.10,-146.6,190.6,-9.0,98,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3502
$GC,2391,-1.10,-146.6,217.1,-8.0,113,2394,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3779,3501
$GC,2452,-1.10,-146.6,222.2,-8.4,115,2458,0.00,2.03,0.00,0.000,6,0.000,0.056,2194,2652,3501
$GC,2769,-1.10,-146.6,245.7,-7.8,131,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2652,3502
$GC,3078,-1.10,-146.6,270.5,-7.7,146,3081,0.00,2.20,0.00,0.000,4,0.000,0.088,2195,3787,3501
$GC,3117,-1.10,-146.6,273.6,-7.8,147,3123,0.00,2.08,0.00,0.000,6,0.000,0.057,2195,2644,3502
$GC,3432,-1.10,-146.6,295.0,-6.3,163,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3502
$GC,3742,-1.10,-146.6,316.5,-6.9,178,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3502
$GC,4051,-1.10,-146.6,340.1,-7.7,193,4055,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3780,3502
$GC,4101,-1.10,-146.6,344.0,-7.8,195,4105,0.00,2.05,0.00,0.000,6,0.000,0.055,2195,2648,3502
$GC,4429,-1.10,-146.6,368.4,-7.9,211,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3502
$GC,4738,-1.10,-146.6,393.2,-8.0,226,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3502
$GC,5048,-1.10,-146.6,416.8,-7.2,241,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3502
$GC,5357,-1.10,-146.6,439.5,-7.2,256,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3502
$GC,5666,-1.10,-146.6,462.2,-6.8,271,5669,0.00,2.17,0.00,0.000,4,0.000,0.086,2194,3782,3502
$GC,5727,-1.10,-146.6,466.4,-7.0,273,5733,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2641,3502
$GC,6043,-1.10,-146.6,489.2,-8.1,289,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3502
$GC,6352,-1.10,-146.6,514.7,-7.9,304,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3502
$GC,6662,-1.10,-146.6,537.7,-7.6,319,6665,0.00,2.17,0.00,0.000,4,0.000,0.084,2195,3780,3502
$GC,6752,-1.10,-146.6,545.0,-8.4,323,6756,0.00,2.03,0.00,0.000,6,0.000,0.053,2194,2650,3502
$GC,7085,-1.10,-146.6,570.6,-7.8,339,7089,0.00,2.17,0.00,0.000,4,0.000,0.087,2194,3781,3502
$GC,7147,-1.10,-146.6,575.6,-8.9,341,7153,0.00,2.05,0.00,0.000,6,0.000,0.053,2194,2641,3502
$GC,7465,-1.10,-146.6,600.4,-7.7,357,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3502
$GC,7772,-1.10,-146.6,623.5,-6.8,372,7775,0.00,2.20,0.00,0.000,4,0.000,0.084,2195,3789,3502
$GC,7846,-1.10,-146.6,628.2,-6.1,375,7850,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2650,3502
$GC,8174,-1.10,-146.6,648.1,-6.3,391,8178,0.00,2.58,0.00,0.000,4,0.000,0.065,2194,1226,3502
$GC,8213,-1.10,-146.6,650.7,-6.7,393,8218,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2650,3502
$GC,8540,-1.10,-146.6,673.7,-7.4,409,8544,0.00,2.15,0.00,0.000,4,0.000,0.086,2194,3784,3502
$GC,8604,-1.10,-146.6,678.7,-8.6,411,8610,0.00,2.05,0.00,0.000,6,0.000,0.052,2194,2640,3502
$GC,8919,-1.10,-146.6,702.6,-7.5,427,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3502
$GC,9229,-1.10,-146.6,722.3,-6.6,442,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3501
$STATE,9494,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9494,begin apogee
$GC,9503,-0.42,0.0,738.7,6.2,455,9630,0.77,0.00,123.18,1.165,6,0.093,0.000,2350,1899,2902
$STATE,9630,end apogee,CONTROL_FINISHED_OK
$STATE,9630,begin climb
$GC,9633,1.10,146.6,743.4,0.0,461,9765,1.55,2.78,121.72,1.111,4,0.058,0.068,2680,478,2304
$GC,9969,1.16,192.3,735.8,4.7,476,10014,0.00,2.55,39.62,1.086,6,0.000,0.039,2680,1910,2117
$GC,10334,1.19,219.3,716.9,5.3,494,10363,0.00,2.67,24.10,1.076,4,0.000,0.066,2680,3302,2007
$GC,10480,1.19,219.3,708.5,6.4,500,10484,0.00,2.58,0.00,0.000,6,0.000,0.051,2680,1887,2006
$GC,10795,1.19,219.3,688.0,6.6,515,10800,0.00,2.65,0.00,0.000,4,0.000,0.066,2679,3307,2005
$GC,10846,1.19,219.3,684.3,7.3,517,10850,0.00,2.55,0.00,0.000,6,0.000,0.050,2680,1894,2005
$GC,11161,1.19,219.3,661.1,6.8,532,11166,0.00,2.62,0.00,0.000,4,0.000,0.064,2680,3305,2005
$GC,11228,1.19,219.3,656.7,6.7,535,11232,0.00,2.55,0.00,0.000,6,0.000,0.051,2680,1900,2004
$GC,11550,1.21,234.3,638.8,5.6,551,11572,0.10,2.70,13.43,1.036,4,0.049,0.062,2716,3310,1946
$GC,11589,1.21,234.3,636.0,7.3,552,11595,0.00,2.58,0.00,0.000,6,0.000,0.048,2715,1894,1946
$GC,11905,1.21,234.3,613.0,8.0,568,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1894,1946
$GC,12214,1.21,234.3,589.9,6.8,583,12218,0.00,2.60,0.00,0.000,4,0.000,0.059,2716,3312,1946
$GC,12314,1.21,234.3,582.9,6.8,587,12320,0.00,2.53,0.00,0.000,6,0.000,0.046,2716,1899,1946
$GC,12630,1.21,234.3,559.9,7.7,603,12634,0.00,2.58,0.00,0.000,4,0.000,0.059,2716,3309,1946
$GC,12697,1.21,234.3,554.5,7.8,606,12701,0.00,2.53,0.00,0.000,6,0.000,0.045,2716,1894,1946
$GC,13018,1.21,234.3,529.6,7.6,622,13022,0.00,2.60,0.00,0.000,4,0.000,0.059,2716,3318,1946
$GC,13073,1.21,234.3,525.0,8.2,624,13079,0.00,2.53,0.00,0.000,6,0.000,0.045,2715,1899,1946
$GC,13389,1.21,234.3,499.6,8.6,640,13393,0.00,2.58,0.00,0.000,4,0.000,0.059,2716,3310,1946
$GC,13431,1.21,234.3,496.0,9.2,642,13435,0.00,2.53,0.00,0.000,6,0.000,0.046,2716,1892,1947
$GC,13757,1.21,234.3,469.3,7.6,658,13758,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1892,1947
$GC,14066,1.21,234.3,447.0,7.3,673,14071,0.00,2.60,0.00,0.000,4,0.000,0.062,2716,3309,1948
$GC,14139,1.21,234.3,441.7,7.2,676,14143,0.00,2.53,0.00,0.000,6,0.000,0.048,2716,1897,1948
$GC,14455,1.21,234.3,418.6,7.7,691,14459,0.00,2.60,0.00,0.000,4,0.000,0.062,2716,3315,1948
$GC,14494,1.21,234.3,415.4,7.6,693,14499,0.00,2.53,0.00,0.000,6,0.000,0.048,2716,1900,1948
$GC,14822,1.21,234.3,390.0,7.7,709,14823,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1900,1949
$GC,15131,1.21,234.3,366.5,7.3,724,15135,0.00,2.60,0.00,0.000,4,0.000,0.064,2716,3316,1949
$GC,15186,1.21,234.3,362.2,7.9,726,15193,0.00,2.55,0.00,0.000,6,0.000,0.050,2716,1888,1949
$GC,15502,1.21,234.3,339.8,6.9,742,15506,0.00,2.60,0.00,0.000,4,0.000,0.064,2715,3307,1950
$GC,15541,1.21,234.3,336.9,7.3,744,15545,0.00,2.53,0.00,0.000,6,0.000,0.051,2716,1897,1950
$GC,15874,1.21,234.3,312.1,7.5,760,15875,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1897,1950
$GC,16183,1.21,234.3,290.1,7.1,775,16188,0.00,2.60,0.00,0.000,4,0.000,0.064,2716,3308,1950
$GC,16246,1.21,234.3,285.5,7.8,778,16250,0.00,2.55,0.00,0.000,6,0.000,0.053,2716,1891,1950
$GC,16572,1.21,234.3,263.9,6.6,794,16577,0.00,2.62,0.00,0.000,4,0.000,0.066,2716,3313,1950
$GC,16600,1.21,234.3,262.0,7.6,795,16604,0.00,2.55,0.00,0.000,6,0.000,0.051,2716,1894,1950
$GC,16916,1.21,237.4,243.1,5.9,810,16926,0.00,2.62,4.97,0.635,4,0.000,0.066,2716,3309,1934
$GC,16966,1.21,237.4,239.7,6.1,812,16970,0.00,2.55,0.00,0.000,6,0.000,0.052,2716,1898,1934
$GC,17282,1.21,237.4,217.6,7.3,827,17286,0.00,2.60,0.00,0.000,4,0.000,0.065,2716,3306,1934
$GC,17314,1.21,237.4,215.2,6.4,828,17320,0.00,2.55,0.00,0.000,6,0.000,0.051,2716,1891,1934
$GC,17630,1.21,237.4,193.7,7.0,844,17631,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1891,1934
$GC,17940,1.26,275.1,175.4,5.0,859,17973,0.00,0.00,31.42,0.759,6,0.000,0.000,2716,1891,1779
$GC,18269,1.38,375.2,160.9,3.2,875,18356,0.12,2.75,79.40,0.742,4,0.046,0.067,2761,3307,1372
$GC,18405,1.38,375.2,151.0,8.9,881,18409,0.00,2.58,0.00,0.000,6,0.000,0.052,2761,1896,1372
$GC,18726,1.38,375.2,121.5,12.2,897,18730,0.00,2.62,0.00,0.000,4,0.000,0.067,2761,3306,1372
$GC,18753,1.38,375.2,117.8,12.7,898,18757,0.00,2.55,0.00,0.000,6,0.000,0.051,2761,1898,1372
$GC,19071,1.38,375.2,80.7,11.4,913,19075,0.00,2.62,0.00,0.000,4,0.000,0.067,2761,3306,1372
$GC,19098,1.38,375.2,77.7,10.1,914,19103,0.00,2.58,0.00,0.000,6,0.000,0.054,2761,1890,1372
$GC,19415,1.38,375.2,40.6,11.9,929,19419,0.00,2.67,0.00,0.000,4,0.000,0.071,2761,3314,1372
$GC,19447,1.38,375.2,37.0,10.4,930,19454,0.00,2.55,0.00,0.000,6,0.000,0.054,2761,1898,1372
$STATE,19740,end climb,SURFACE_DEPTH_REACHED
$STATE,19740,begin surface coast
$FINISH,0.3,1.010057
$STATE,19763,end surface coast,CONTROL_FINISHED_OK
$STATE,19764,begin surface
$SM_CCo,19849,0.00,0.000,0,0,1372,375.55
$SM_GC,0.97,11.93,0.00,0.00,0.029,0.000,0.000,50,2648,1372,-10.93,-0.06,375.55
$IRIDIUM_FIX,6135.28,-935.27,300598,151557
$TT8_MAMPS,0.028379
$HUMID,1775
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.5,73.1
$24V_AH,23.4,18.326
$10V_AH,10.1,8.893
$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,26.600,163.575,437.850,0.000,0.000,29.484,26.702,156.189,5.750,0.000,0.000,14.078,1723.139,15248.991,545.323,2113.001,555.960,33.365,1622.738,0.000,2067.036,0.000,42.152,0.000
$DEVICE_MAMPS,159.536,91.273,1165.073,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,660.839,694.072,519.904,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47387,946
$CAP_FILE_SIZE,137591,0
$CFSIZE,260165632,254119936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060309,024407,6158.835,-944.581,34,1.2,34,-9.8