version: 66.04
glider: 103
mission: 11
dive: 164
start: 3 29 109 12 12 42
data:
$ID,103
$MISSION,11
$DIVE,164
$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,-146240.53
$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,21
$R_STBD_OVSHOOT,22
$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
$GPS1,120537,6233.316,-1145.762,30,1.2,30,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-54.2
$GPS2,121150,6233.375,-1145.384,12,1.7,12,-11.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.153,0.156
$KALMAN_X,67017.5,844.4,2730.8,-97912.6,-2827.1
$KALMAN_Y,-94627.8,276.4,3621.3,103782.7,-15121.2
$MHEAD_RNG_PITCHd_Wd,326.7,31892,-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,-56.78,0.000,6,0.000,0.000,44,2670,3500
$GC,81,-1.10,-146.6,5.9,-11.7,3,102,12.23,2.70,0.00,0.000,4,0.162,0.067,2193,1235,3501
$GC,131,-1.10,-146.6,19.4,-5.8,5,136,0.00,2.62,0.00,0.000,6,0.000,0.065,2192,2645,3501
$GC,453,-1.10,-146.6,46.9,-8.8,21,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2645,3500
$GC,762,-1.10,-146.6,78.9,-8.7,36,766,0.00,2.20,0.00,0.000,4,0.000,0.094,2193,3780,3501
$GC,831,-1.10,-146.6,84.4,-8.2,39,835,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2649,3501
$GC,1164,-1.10,-146.6,107.7,-7.4,55,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3500
$GC,1473,-1.10,-146.6,130.7,-7.2,70,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3501
$GC,1782,-1.10,-146.6,156.9,-8.2,85,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3500
$GC,2091,-1.10,-146.6,181.0,-5.8,100,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2649,3501
$GC,2400,-1.10,-146.6,203.2,-6.4,115,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3500
$GC,2710,-1.10,-146.6,227.0,-7.7,130,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2649,3501
$GC,3020,-1.10,-146.6,251.6,-8.1,145,3023,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3783,3501
$GC,3076,-1.10,-146.6,256.6,-8.6,147,3079,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2643,3501
$GC,3397,-1.10,-146.6,281.3,-8.2,163,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3501
$GC,3706,-1.10,-146.6,310.0,-10.9,178,3710,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3780,3501
$GC,3740,-1.10,-146.6,313.6,-10.1,179,3743,0.00,2.08,0.00,0.000,6,0.000,0.060,2193,2643,3501
$GC,4061,-1.10,-146.6,338.8,-6.7,195,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3500
$GC,4370,-1.10,-146.6,360.1,-8.0,210,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3501
$GC,4680,-1.10,-146.6,384.6,-8.2,225,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3500
$GC,4989,-1.10,-146.6,410.0,-8.4,240,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3500
$GC,5298,-1.10,-146.6,432.4,-6.6,255,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3500
$GC,5607,-1.10,-146.6,453.2,-7.3,270,5611,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3780,3500
$GC,5686,-1.10,-146.6,459.3,-6.9,273,5690,0.00,2.05,0.00,0.000,6,0.000,0.058,2193,2647,3500
$GC,6007,-1.10,-146.6,478.6,-7.0,289,6012,0.00,2.60,0.00,0.000,4,0.000,0.071,2193,1223,3501
$GC,6063,-1.10,-146.6,483.0,-8.5,291,6070,0.00,2.62,0.00,0.000,6,0.000,0.062,2193,2655,3501
$GC,6379,-1.10,-146.6,504.6,-6.6,307,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2655,3500
$GC,6689,-1.10,-146.6,525.9,-6.2,322,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2655,3501
$GC,6998,-1.10,-146.6,547.3,-7.1,337,7002,0.00,2.62,0.00,0.000,4,0.000,0.066,2193,1226,3500
$GC,7038,-1.10,-146.6,550.0,-6.9,339,7043,0.00,2.62,0.00,0.000,6,0.000,0.062,2193,2659,3500
$GC,7365,-1.10,-146.6,572.2,-6.1,355,7369,0.00,2.15,0.00,0.000,4,0.000,0.091,2193,3785,3500
$GC,7394,-1.10,-146.6,573.5,-4.5,356,7397,0.00,2.05,0.00,0.000,6,0.000,0.055,2193,2644,3500
$GC,7721,-1.10,-146.6,596.8,-8.1,372,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3499
$GC,8030,-1.10,-146.6,619.8,-7.9,387,8034,0.00,2.58,0.00,0.000,4,0.000,0.072,2193,1238,3499
$GC,8063,-1.10,-146.6,622.8,-8.6,388,8069,0.00,2.60,0.00,0.000,6,0.000,0.064,2193,2652,3499
$GC,8379,-1.10,-146.6,646.3,-7.0,404,8384,0.00,2.62,0.00,0.000,4,0.000,0.070,2193,1227,3498
$GC,8451,-1.10,-146.6,652.1,-8.1,407,8456,0.00,2.62,0.00,0.000,6,0.000,0.065,2193,2652,3498
$GC,8767,-1.10,-146.6,676.2,-7.4,422,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2652,3498
$GC,9077,-1.10,-146.6,701.4,-8.0,437,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3497
$STATE,9300,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9300,begin apogee
$GC,9309,-0.42,0.0,718.8,7.4,448,9437,0.77,0.00,124.50,1.171,6,0.094,0.000,2348,1997,2902
$STATE,9437,end apogee,CONTROL_FINISHED_OK
$STATE,9437,begin climb
$GC,9441,1.10,146.6,724.7,0.0,454,9573,1.55,2.72,123.07,1.133,4,0.056,0.069,2679,590,2304
$GC,9815,1.16,193.0,714.4,4.7,471,9861,0.00,2.53,40.45,1.118,6,0.000,0.041,2680,2016,2115
$GC,10180,1.24,255.3,698.3,4.3,489,10243,0.12,2.72,52.65,1.140,4,0.043,0.073,2722,3408,1861
$GC,10309,1.24,255.3,690.1,7.1,494,10315,0.00,2.60,0.00,0.000,6,0.000,0.051,2722,1983,1860
$GC,10625,1.24,255.3,669.6,6.6,510,10629,0.00,2.60,0.00,0.000,4,0.000,0.071,2722,586,1859
$GC,10674,1.24,255.3,665.6,8.0,512,10679,0.00,2.53,0.00,0.000,6,0.000,0.044,2722,2000,1859
$GC,10990,1.24,255.3,643.3,7.0,527,10995,0.00,2.62,0.00,0.000,4,0.000,0.067,2722,590,1859
$GC,11080,1.24,255.3,636.9,7.6,531,11084,0.00,2.53,0.00,0.000,6,0.000,0.042,2722,2013,1858
$GC,11401,1.24,255.3,612.8,8.6,547,11405,0.00,2.60,0.00,0.000,4,0.000,0.071,2722,3409,1858
$GC,11463,1.24,255.3,606.7,10.2,550,11468,0.00,2.55,0.00,0.000,6,0.000,0.050,2722,1995,1858
$GC,11791,1.24,255.3,578.8,9.2,566,11795,0.00,2.58,0.00,0.000,4,0.000,0.066,2722,593,1858
$GC,11885,1.24,255.3,569.4,9.7,570,11890,0.00,2.50,0.00,0.000,6,0.000,0.040,2722,2011,1857
$GC,12201,1.24,255.3,540.3,9.1,585,12206,0.00,2.62,0.00,0.000,4,0.000,0.066,2722,592,1857
$GC,12286,1.24,255.3,531.8,9.9,589,12291,0.00,2.47,0.00,0.000,6,0.000,0.041,2722,1998,1857
$GC,12619,1.24,255.3,502.2,8.5,605,12621,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1998,1857
$GC,12928,1.24,255.3,473.9,8.6,620,12933,0.00,2.60,0.00,0.000,4,0.000,0.064,2722,588,1858
$GC,12996,1.24,255.3,468.0,9.6,623,13000,0.00,2.50,0.00,0.000,6,0.000,0.041,2722,2006,1858
$GC,13317,1.24,255.3,442.1,7.8,639,13321,0.00,2.60,0.00,0.000,4,0.000,0.064,2722,591,1858
$GC,13412,1.24,255.3,434.3,8.4,643,13416,0.00,2.50,0.00,0.000,6,0.000,0.041,2722,2010,1858
$GC,13728,1.24,255.3,409.4,7.7,658,13729,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2010,1859
$GC,14037,1.24,255.3,383.4,9.3,673,14038,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2010,1859
$GC,14346,1.24,255.3,355.5,7.7,688,14350,0.00,2.58,0.00,0.000,4,0.000,0.070,2722,3416,1860
$GC,14379,1.24,255.3,352.9,7.3,689,14385,0.00,2.55,0.00,0.000,6,0.000,0.051,2722,1999,1860
$GC,14695,1.24,255.3,330.5,7.3,705,14699,0.00,2.55,0.00,0.000,4,0.000,0.063,2722,591,1860
$GC,14735,1.24,255.3,327.5,7.0,706,14741,0.00,2.47,0.00,0.000,6,0.000,0.039,2722,2002,1860
$GC,15051,1.24,255.3,306.9,6.8,722,15055,0.00,2.60,0.00,0.000,4,0.000,0.070,2722,3409,1861
$GC,15090,1.24,255.3,304.1,6.8,724,15095,0.00,2.55,0.00,0.000,6,0.000,0.052,2722,1993,1861
$GC,15418,1.24,255.3,278.5,8.3,740,15419,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1993,1861
$GC,15727,1.24,255.3,252.7,8.7,755,15728,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1993,1862
$GC,16036,1.24,255.3,227.9,7.1,770,16037,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1993,1861
$GC,16345,1.26,270.7,208.3,5.6,785,16365,0.00,0.00,14.38,0.795,6,0.000,0.000,2722,1993,1798
$GC,16675,1.26,270.7,186.0,7.7,801,16679,0.00,2.65,0.00,0.000,4,0.000,0.072,2722,3411,1798
$GC,16714,1.26,270.7,182.8,7.6,803,16719,0.00,2.55,0.00,0.000,6,0.000,0.053,2722,1995,1798
$GC,17042,1.26,270.7,157.2,8.2,819,17046,0.00,2.58,0.00,0.000,4,0.000,0.067,2722,588,1799
$GC,17075,1.26,270.7,154.0,9.2,820,17081,0.00,2.47,0.00,0.000,6,0.000,0.042,2722,1999,1799
$GC,17391,1.26,270.7,121.8,11.0,836,17392,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1999,1799
$GC,17700,1.26,270.7,94.7,7.9,851,17701,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2001,1799
$GC,18011,1.26,270.7,74.3,7.0,866,18012,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2001,1799
$GC,18319,1.26,270.7,47.1,8.8,881,18323,0.00,2.60,0.00,0.000,4,0.000,0.067,2722,591,1799
$GC,18414,1.26,270.7,38.4,9.5,885,18418,0.00,2.50,0.00,0.000,6,0.000,0.041,2722,2012,1799
$GC,18735,1.26,270.7,9.5,10.4,901,18740,0.00,2.62,0.00,0.000,4,0.000,0.078,2722,3412,1800
$GC,18757,1.26,270.7,7.0,10.0,902,18762,0.00,2.53,0.00,0.000,6,0.000,0.046,2722,1987,1800
$STATE,18829,end climb,SURFACE_DEPTH_REACHED
$STATE,18829,begin surface coast
$FINISH,0.0,1.003539
$STATE,18850,end surface coast,CONTROL_FINISHED_OK
$STATE,18850,begin surface
$SM_CCo,18935,0.00,0.000,0,0,1799,270.57
$SM_GC,1.30,11.77,0.00,0.00,0.031,0.000,0.000,50,2662,1799,-10.93,0.34,270.57
$IRIDIUM_FIX,6202.67,-1156.91,230698,050547
$TT8_MAMPS,0.028379
$HUMID,1780
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,626.7,101.8
$24V_AH,23.4,32.413
$10V_AH,10.1,17.839
$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,26.450,132.200,355.050,0.000,0.000,30.653,29.941,166.340,6.000,0.000,0.000,14.962,1626.399,14725.656,462.521,1919.896,562.363,33.345,1427.024,0.000,1887.471,0.000,37.418,0.000
$DEVICE_MAMPS,161.837,94.341,1171.209,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,654.346,654.545,533.875,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47408,907
$CAP_FILE_SIZE,125332,0
$CFSIZE,260165632,247660544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290309,172957,6237.213,-1142.352,42,3.5,61,-11.1