version: 66.04
glider: 103
mission: 11
dive: 105
start: 3 16 109 19 33 36
data:
$ID,103
$MISSION,11
$DIVE,105
$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,-145090.12
$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,18
$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
$GPS1,192601,6233.133,-1105.562,47,1.7,47,-10.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-56.0
$GPS2,193244,6233.200,-1105.330,15,1.7,15,-10.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,-0.067
$KALMAN_X,110886.2,-1861.9,-3102.9,-176173.1,35287.4
$KALMAN_Y,13936.7,1113.4,-1104.6,49741.1,15256.2
$MHEAD_RNG_PITCHd_Wd,262.9,30235,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,81,0.00,0.00,-61.05,0.000,2,0.000,0.000,49,2655,3477
$GC,84,-1.10,-146.6,5.5,-9.9,3,99,12.20,0.00,-0.38,0.000,6,0.161,0.000,2194,2655,3503
$GC,412,-1.10,-146.6,51.3,-9.4,18,415,0.00,2.20,0.00,0.000,4,0.000,0.094,2194,3785,3503
$GC,503,-1.10,-146.6,60.5,-9.0,22,507,0.00,2.10,0.00,0.000,6,0.000,0.064,2195,2647,3503
$GC,836,-1.10,-146.6,85.5,-6.3,38,840,0.00,2.22,0.00,0.000,4,0.000,0.089,2194,3792,3503
$GC,909,-1.10,-146.6,91.8,-8.0,41,913,0.00,2.10,0.00,0.000,6,0.000,0.062,2195,2650,3503
$GC,1231,-1.10,-146.6,120.9,-10.3,57,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3503
$GC,1540,-1.10,-146.6,144.3,-12.0,72,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,1849,-1.10,-146.6,164.6,-6.0,87,1853,0.00,2.20,0.00,0.000,4,0.000,0.088,2195,3789,3503
$GC,1935,-1.10,-146.6,171.1,-7.1,90,1941,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2636,3502
$GC,2251,-1.10,-146.6,197.4,-8.0,106,2255,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3784,3503
$GC,2301,-1.10,-146.6,201.6,-8.4,108,2305,0.00,2.05,0.00,0.000,6,0.000,0.058,2194,2654,3503
$GC,2628,-1.10,-146.6,224.6,-6.2,124,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2654,3503
$GC,2937,-1.10,-146.6,250.0,-9.0,139,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2654,3503
$GC,3246,-1.10,-146.6,277.3,-8.1,154,3251,0.00,2.60,0.00,0.000,4,0.000,0.067,2194,1225,3503
$GC,3287,-1.10,-146.6,280.4,-8.0,156,3291,0.00,2.60,0.00,0.000,6,0.000,0.058,2194,2651,3503
$GC,3614,-1.10,-146.6,307.4,-8.7,172,3617,0.00,2.15,0.00,0.000,4,0.000,0.087,2194,3783,3503
$GC,3682,-1.10,-146.6,313.8,-9.3,175,3686,0.00,2.05,0.00,0.000,6,0.000,0.056,2195,2645,3503
$GC,4015,-1.10,-146.6,340.0,-7.3,191,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2645,3503
$GC,4324,-1.10,-146.6,361.9,-6.6,206,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2645,3503
$GC,4634,-1.10,-146.6,382.0,-6.2,221,4637,0.00,2.22,0.00,0.000,4,0.000,0.090,2195,3792,3503
$GC,4667,-1.10,-146.6,384.5,-7.2,222,4671,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2655,3503
$GC,4989,-1.10,-146.6,409.5,-7.9,238,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2655,3503
$GC,5298,-1.10,-146.6,432.6,-7.4,253,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2655,3503
$GC,5607,-1.10,-146.6,453.5,-6.4,268,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2655,3503
$GC,5918,-1.10,-146.6,475.4,-7.0,283,5921,0.00,2.17,0.00,0.000,4,0.000,0.086,2194,3790,3503
$GC,5987,-1.10,-146.6,480.5,-7.0,286,5990,0.00,2.05,0.00,0.000,6,0.000,0.051,2195,2640,3503
$GC,6319,-1.10,-146.6,504.3,-7.3,302,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3503
$GC,6629,-1.10,-146.6,524.5,-6.1,317,6633,0.00,2.22,0.00,0.000,4,0.000,0.088,2194,3792,3503
$GC,6684,-1.10,-146.6,528.0,-6.2,319,6688,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2647,3503
$GC,7006,-1.10,-146.6,547.6,-6.3,335,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3503
$GC,7315,-1.10,-146.6,569.2,-7.3,350,7319,0.00,2.55,0.00,0.000,4,0.000,0.065,2194,1238,3503
$GC,7355,-1.10,-146.6,572.3,-7.9,352,7359,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2659,3503
$GC,7681,-1.10,-146.6,594.7,-6.3,368,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2659,3502
$GC,7991,-1.10,-146.6,615.6,-7.1,383,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2659,3503
$GC,8300,-1.10,-146.6,638.8,-7.6,398,8303,0.00,2.15,0.00,0.000,4,0.000,0.087,2194,3790,3502
$GC,8333,-1.10,-146.6,641.4,-8.1,399,8337,0.00,2.03,0.00,0.000,6,0.000,0.050,2194,2644,3502
$STATE,8631,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8631,begin apogee
$GC,8640,-0.42,0.0,661.8,6.3,414,8767,0.77,0.00,124.10,1.106,6,0.097,0.000,2348,2008,2902
$STATE,8768,end apogee,CONTROL_FINISHED_OK
$STATE,8768,begin climb
$GC,8771,1.10,146.6,667.6,0.0,420,8904,1.55,2.78,122.62,1.068,4,0.059,0.071,2679,590,2304
$GC,9160,1.18,205.9,664.5,4.4,437,9216,0.00,2.53,50.60,1.062,6,0.000,0.038,2679,2028,2062
$GC,9535,1.18,205.9,643.5,6.5,456,9539,0.00,2.70,0.00,0.000,4,0.000,0.066,2679,584,2061
$GC,9680,1.18,205.9,632.8,7.0,462,9686,0.00,2.53,0.00,0.000,6,0.000,0.042,2679,2004,2060
$GC,9996,1.18,205.9,611.5,6.4,478,10000,0.00,2.60,0.00,0.000,4,0.000,0.067,2679,3408,2060
$GC,10065,1.19,214.7,607.2,5.8,481,10079,0.00,2.55,8.75,0.948,6,0.000,0.050,2679,1996,2026
$GC,10396,1.19,214.7,585.1,6.3,497,10397,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1996,2025
$GC,10705,1.21,235.3,567.4,5.4,512,10731,0.12,2.72,18.17,1.024,4,0.044,0.064,2722,3406,1942
$GC,10829,1.21,235.3,558.5,7.4,517,10833,0.00,2.55,0.00,0.000,6,0.000,0.047,2722,1989,1942
$GC,11145,1.21,235.3,536.4,7.0,532,11149,0.00,2.55,0.00,0.000,4,0.000,0.063,2722,594,1941
$GC,11206,1.21,235.3,531.5,8.1,534,11212,0.00,2.47,0.00,0.000,6,0.000,0.038,2723,2004,1941
$GC,11522,1.21,235.3,507.5,7.6,550,11523,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2004,1942
$GC,11831,1.21,235.3,484.2,7.4,565,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2004,1942
$GC,12140,1.21,235.3,461.8,7.2,580,12142,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2004,1942
$GC,12450,1.21,235.3,440.9,6.6,595,12454,0.00,2.55,0.00,0.000,4,0.000,0.065,2722,3405,1942
$GC,12477,1.21,235.3,438.7,8.0,596,12481,0.00,2.53,0.00,0.000,6,0.000,0.048,2722,1992,1941
$GC,12805,1.21,235.3,413.2,7.8,612,12809,0.00,2.62,0.00,0.000,4,0.000,0.063,2722,3417,1941
$GC,12844,1.21,235.3,409.9,7.9,614,12849,0.00,2.53,0.00,0.000,6,0.000,0.047,2723,2001,1942
$GC,13171,1.21,235.3,382.7,8.4,630,13176,0.00,2.58,0.00,0.000,4,0.000,0.063,2723,585,1942
$GC,13227,1.21,235.3,377.6,8.6,632,13233,0.00,2.47,0.00,0.000,6,0.000,0.038,2722,2002,1942
$GC,13543,1.21,235.3,349.9,9.1,648,13544,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2002,1942
$GC,13852,1.21,235.3,321.6,9.0,663,13856,0.00,2.58,0.00,0.000,4,0.000,0.065,2723,3413,1943
$GC,13886,1.21,235.3,318.5,9.0,664,13890,0.00,2.55,0.00,0.000,6,0.000,0.048,2723,1987,1943
$GC,14202,1.21,235.3,292.2,8.2,679,14206,0.00,2.55,0.00,0.000,4,0.000,0.064,2722,586,1943
$GC,14248,1.21,235.3,288.2,8.4,681,14252,0.00,2.47,0.00,0.000,6,0.000,0.039,2723,1999,1943
$GC,14575,1.21,235.3,261.9,7.4,697,14579,0.00,2.60,0.00,0.000,4,0.000,0.067,2723,3419,1944
$GC,14607,1.21,235.3,259.3,7.6,698,14613,0.00,2.55,0.00,0.000,6,0.000,0.048,2722,1990,1943
$GC,14923,1.21,235.3,237.0,6.6,714,14927,0.00,2.53,0.00,0.000,4,0.000,0.061,2722,590,1944
$GC,15001,1.21,235.3,231.2,7.3,717,15006,0.00,2.47,0.00,0.000,6,0.000,0.038,2722,2008,1944
$GC,15317,1.21,235.3,208.2,7.6,732,15318,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2008,1944
$GC,15626,1.21,235.3,190.1,6.4,747,15627,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2008,1944
$GC,15936,1.33,334.4,172.8,3.3,762,16023,0.00,2.72,80.10,0.774,4,0.000,0.064,2722,588,1538
$GC,16052,1.33,334.4,167.3,7.1,767,16056,0.00,2.53,0.00,0.000,6,0.000,0.041,2723,2006,1538
$GC,16369,1.33,334.4,140.8,8.2,782,16373,0.00,2.60,0.00,0.000,4,0.000,0.067,2722,3411,1538
$GC,16390,1.33,334.4,138.8,8.6,783,16395,0.00,2.58,0.00,0.000,6,0.000,0.052,2723,1991,1538
$GC,16712,1.33,334.4,106.4,10.2,799,16717,0.00,2.58,0.00,0.000,4,0.000,0.065,2722,587,1538
$GC,16768,1.33,334.4,100.4,10.6,801,16775,0.00,2.50,0.00,0.000,6,0.000,0.041,2723,2009,1538
$GC,17085,1.34,336.0,78.0,6.0,817,17089,0.00,2.60,0.00,0.000,4,0.000,0.069,2722,3419,1538
$GC,17107,1.34,336.0,76.5,7.0,818,17111,0.00,2.58,0.00,0.000,6,0.000,0.051,2722,1994,1538
$GC,17429,1.34,336.0,54.3,8.2,834,17434,0.00,2.65,0.00,0.000,4,0.000,0.067,2723,3417,1538
$GC,17448,1.34,336.0,52.8,8.7,835,17452,0.00,2.58,0.00,0.000,6,0.000,0.054,2722,1997,1538
$GC,17775,1.34,336.0,21.9,11.5,851,17779,0.00,2.60,0.00,0.000,4,0.000,0.069,2723,586,1538
$GC,17837,1.34,336.0,15.4,11.3,854,17841,0.00,2.53,0.00,0.000,6,0.000,0.045,2722,2009,1538
$STATE,17975,end climb,SURFACE_DEPTH_REACHED
$STATE,17975,begin surface coast
$FINISH,0.7,1.027525
$STATE,17997,end surface coast,CONTROL_FINISHED_OK
$STATE,17997,begin surface
$SM_CCo,18082,0.00,0.000,0,0,1537,334.59
$SM_GC,1.60,11.77,0.00,0.00,0.030,0.000,0.000,50,2654,1537,-10.93,0.14,334.59
$IRIDIUM_FIX,6207.28,-1110.37,100698,141411
$TT8_MAMPS,0.029146
$HUMID,1771
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.1,45.0
$24V_AH,23.4,24.506
$10V_AH,10.1,12.995
$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,26.425,143.625,404.350,0.000,0.000,28.031,27.057,223.802,5.250,0.000,0.000,15.634,1569.914,13911.837,484.759,1908.003,607.945,33.361,1464.361,0.000,1873.730,0.000,36.629,0.000
$DEVICE_MAMPS,161.070,93.574,1106.014,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,606.631,637.665,513.187,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44197,862
$CAP_FILE_SIZE,125412,0
$CFSIZE,260165632,251166720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170309,003607,6238.090,-1104.232,32,1.1,32,-10.8