version: 66.04
glider: 103
mission: 11
dive: 193
start: 4 4 109 3 10 38
data:
$ID,103
$MISSION,11
$DIVE,193
$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,-146800.44
$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,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
$GPS1,030406,6252.037,-1253.384,32,1.5,32,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-58.3
$GPS2,030944,6252.007,-1253.213,16,1.7,16,-11.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.118,0.184
$KALMAN_X,993.9,-646.1,-810.8,-45685.4,10478.0
$KALMAN_Y,-21273.5,-579.2,-1585.1,4277.0,-2204.2
$MHEAD_RNG_PITCHd_Wd,339.1,46294,-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,-146.6,0.0,0.0,0,71,0.00,0.00,-53.25,0.000,6,0.000,0.000,54,2651,3501
$GC,74,-1.10,-146.6,2.9,-6.3,2,96,12.05,2.72,0.00,0.000,4,0.156,0.080,2195,1243,3502
$GC,299,-1.10,-146.6,31.4,-7.6,12,303,0.00,2.62,0.00,0.000,6,0.000,0.069,2195,2648,3502
$GC,626,-1.10,-146.6,54.7,-7.9,28,630,0.00,2.22,0.00,0.000,4,0.000,0.096,2195,3790,3502
$GC,659,-1.10,-146.6,57.9,-9.1,29,666,0.00,2.12,0.00,0.000,6,0.000,0.064,2195,2657,3502
$GC,975,-1.10,-146.6,84.0,-7.7,45,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2657,3502
$GC,1285,-1.10,-146.6,107.8,-7.7,60,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2656,3502
$GC,1594,-1.10,-146.6,131.3,-7.6,75,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2657,3502
$GC,1903,-1.10,-146.6,156.0,-8.2,90,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2657,3502
$GC,2212,-1.10,-146.6,181.8,-8.4,105,2216,0.00,2.20,0.00,0.000,4,0.000,0.091,2195,3787,3502
$GC,2258,-1.10,-146.6,185.7,-8.6,107,2262,0.00,2.10,0.00,0.000,6,0.000,0.061,2195,2635,3502
$GC,2591,-1.10,-146.6,210.7,-7.2,123,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2634,3502
$GC,2900,-1.10,-146.6,233.7,-7.7,138,2904,0.00,2.22,0.00,0.000,4,0.000,0.089,2195,3784,3502
$GC,2945,-1.10,-146.6,237.5,-8.4,140,2949,0.00,2.08,0.00,0.000,6,0.000,0.061,2195,2645,3502
$GC,3279,-1.10,-146.6,264.2,-7.8,156,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,3588,-1.10,-146.6,289.6,-8.1,171,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,3897,-1.10,-146.6,316.1,-8.5,186,3901,0.00,2.22,0.00,0.000,4,0.000,0.091,2195,3789,3501
$GC,3931,-1.10,-146.6,319.3,-9.1,187,3934,0.00,2.10,0.00,0.000,6,0.000,0.061,2195,2641,3501
$GC,4252,-1.10,-146.6,345.1,-7.6,203,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3502
$GC,4561,-1.10,-146.6,369.2,-7.9,218,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3501
$GC,4871,-1.10,-146.6,392.5,-7.8,233,4874,0.00,2.20,0.00,0.000,4,0.000,0.087,2195,3783,3501
$GC,4904,-1.10,-146.6,395.3,-7.8,234,4908,0.00,2.08,0.00,0.000,6,0.000,0.058,2195,2640,3501
$GC,5226,-1.10,-146.6,420.9,-7.8,250,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3501
$GC,5535,-1.10,-146.6,443.5,-7.4,265,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3501
$GC,5844,-1.10,-146.6,466.5,-7.4,280,5848,0.00,2.22,0.00,0.000,4,0.000,0.087,2195,3791,3501
$GC,5907,-1.10,-146.6,471.2,-7.5,282,5913,0.00,2.08,0.00,0.000,6,0.000,0.056,2195,2643,3501
$GC,6223,-1.10,-146.6,493.6,-6.9,298,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3501
$GC,6532,-1.10,-146.6,515.4,-7.0,313,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3501
$GC,6842,-1.10,-146.6,536.5,-6.4,328,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3501
$GC,7151,-1.10,-146.6,556.9,-6.8,343,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3501
$GC,7460,-1.10,-146.6,583.8,-9.7,358,7464,0.00,2.20,0.00,0.000,4,0.000,0.088,2195,3783,3501
$GC,7529,-1.10,-146.6,590.6,-10.2,361,7533,0.00,2.05,0.00,0.000,6,0.000,0.054,2195,2644,3501
$GC,7862,-1.10,-146.6,615.9,-6.6,377,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,8171,-1.10,-146.6,631.6,-4.2,392,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,8481,-1.10,-146.6,642.6,-4.3,407,8485,0.00,2.60,0.00,0.000,4,0.000,0.071,2195,1226,3501
$GC,8531,-1.10,-146.6,645.6,-6.1,409,8535,0.00,2.62,0.00,0.000,6,0.000,0.064,2195,2652,3500
$GC,8847,-1.10,-146.6,665.8,-7.2,424,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2652,3500
$GC,9156,-1.10,-146.6,688.2,-6.9,439,9160,0.00,2.17,0.00,0.000,4,0.000,0.095,2195,3783,3500
$GC,9190,-1.10,-146.6,690.7,-7.2,440,9194,0.00,2.05,0.00,0.000,6,0.000,0.055,2195,2647,3500
$GC,9512,-1.10,-146.6,713.1,-7.2,456,9513,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3499
$STATE,9735,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9736,begin apogee
$GC,9744,-0.42,0.0,728.7,6.4,467,9872,0.77,0.00,124.80,1.177,6,0.100,0.000,2348,2000,2902
$STATE,9873,end apogee,CONTROL_FINISHED_OK
$STATE,9873,begin climb
$GC,9876,1.10,146.6,733.8,0.0,473,10009,1.52,2.75,122.43,1.148,4,0.053,0.065,2678,577,2304
$GC,10120,1.17,197.7,732.3,4.6,484,10171,0.00,2.55,44.08,1.127,6,0.000,0.038,2678,2028,2095
$GC,10490,1.20,226.1,712.5,5.2,502,10517,0.10,0.00,24.88,1.123,6,0.051,0.000,2714,2028,1980
$GC,10817,1.20,226.1,689.6,6.9,518,10821,0.00,2.55,0.00,0.000,4,0.000,0.067,2715,3403,1980
$GC,10850,1.20,226.1,687.2,6.9,519,10856,0.00,2.55,0.00,0.000,6,0.000,0.048,2715,1988,1980
$GC,11166,1.20,226.1,666.4,6.7,535,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1988,1979
$GC,11475,1.23,249.9,648.2,5.3,550,11501,0.00,2.70,20.75,1.107,4,0.000,0.068,2715,3393,1883
$GC,11574,1.23,249.9,642.0,6.8,554,11581,0.00,2.53,0.00,0.000,6,0.000,0.048,2715,1997,1883
$GC,11890,1.23,249.9,623.2,6.2,570,11895,0.00,2.58,0.00,0.000,4,0.000,0.064,2715,594,1882
$GC,11968,1.23,249.9,618.1,6.1,573,11975,0.00,2.47,0.00,0.000,6,0.000,0.041,2715,1994,1882
$GC,12284,1.23,249.9,595.6,7.4,589,12288,0.00,2.60,0.00,0.000,4,0.000,0.063,2715,586,1881
$GC,12346,1.23,249.9,590.7,8.3,592,12350,0.00,2.50,0.00,0.000,6,0.000,0.040,2715,2004,1881
$GC,12673,1.23,249.9,566.5,7.5,608,12677,0.00,2.60,0.00,0.000,4,0.000,0.068,2715,3409,1881
$GC,12780,1.23,249.9,557.8,7.9,613,12784,0.00,2.53,0.00,0.000,6,0.000,0.048,2715,1997,1881
$GC,13107,1.23,249.9,532.7,7.8,629,13111,0.00,2.55,0.00,0.000,4,0.000,0.060,2715,590,1881
$GC,13140,1.23,249.9,529.8,8.4,630,13146,0.00,2.47,0.00,0.000,6,0.000,0.038,2715,2007,1881
$GC,13456,1.23,249.9,506.3,7.4,646,13460,0.00,2.58,0.00,0.000,4,0.000,0.067,2715,3409,1881
$GC,13524,1.23,249.9,500.9,7.7,649,13528,0.00,2.53,0.00,0.000,6,0.000,0.046,2715,1992,1881
$GC,13851,1.23,249.9,475.0,8.2,665,13854,0.00,2.55,0.00,0.000,4,0.000,0.059,2714,584,1882
$GC,13891,1.23,249.9,471.5,8.4,666,13897,0.00,2.47,0.00,0.000,6,0.000,0.037,2715,2002,1881
$GC,14207,1.23,249.9,445.3,8.1,682,14211,0.00,2.58,0.00,0.000,4,0.000,0.065,2715,3403,1882
$GC,14269,1.23,249.9,440.1,8.1,685,14273,0.00,2.50,0.00,0.000,6,0.000,0.047,2715,1998,1882
$GC,14602,1.23,249.9,415.0,7.3,701,14603,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1998,1883
$GC,14911,1.23,249.9,393.2,6.8,716,14915,0.00,2.60,0.00,0.000,4,0.000,0.065,2715,3404,1883
$GC,14961,1.23,249.9,389.7,7.1,718,14965,0.00,2.53,0.00,0.000,6,0.000,0.048,2715,1990,1883
$GC,15277,1.23,249.9,368.4,7.0,733,15278,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1990,1884
$GC,15586,1.23,249.9,347.0,7.1,748,15590,0.00,2.62,0.00,0.000,4,0.000,0.066,2715,3414,1884
$GC,15619,1.23,249.9,344.3,7.7,749,15625,0.00,2.55,0.00,0.000,6,0.000,0.050,2715,1992,1884
$GC,15935,1.23,249.9,320.3,7.7,765,15939,0.00,2.62,0.00,0.000,4,0.000,0.067,2715,3406,1885
$GC,15974,1.23,249.9,317.1,8.5,767,15979,0.00,2.53,0.00,0.000,6,0.000,0.048,2715,1995,1884
$GC,16301,1.23,249.9,291.2,8.1,783,16303,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1995,1885
$GC,16611,1.23,249.9,265.5,8.4,798,16615,0.00,2.62,0.00,0.000,4,0.000,0.067,2715,3408,1886
$GC,16643,1.23,249.9,262.6,9.0,799,16649,0.00,2.53,0.00,0.000,6,0.000,0.050,2715,1999,1886
$GC,16959,1.23,249.9,237.8,7.6,815,16961,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2000,1886
$GC,17268,1.23,249.9,214.7,7.5,830,17273,0.00,2.60,0.00,0.000,4,0.000,0.068,2715,3409,1886
$GC,17302,1.23,249.9,212.1,7.6,831,17308,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,1992,1886
$GC,17618,1.23,249.9,189.4,7.1,847,17619,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1992,1887
$GC,17927,1.23,249.9,167.7,6.9,862,17931,0.00,2.62,0.00,0.000,4,0.000,0.067,2715,3403,1886
$GC,17966,1.23,249.9,164.7,8.6,864,17971,0.00,2.53,0.00,0.000,6,0.000,0.051,2715,1999,1887
$GC,18296,1.23,249.9,141.1,7.0,880,18297,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1998,1887
$GC,18603,1.23,249.9,119.2,6.9,895,18604,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1998,1887
$GC,18912,1.23,249.9,96.5,7.3,910,18917,0.00,2.62,0.00,0.000,4,0.000,0.070,2714,3406,1887
$GC,18953,1.23,249.9,93.3,7.7,912,18957,0.00,2.55,0.00,0.000,6,0.000,0.054,2715,1990,1887
$GC,19286,1.23,249.9,68.6,7.2,928,19288,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1990,1887
$GC,19597,1.23,249.9,46.4,7.2,943,19602,0.00,2.65,0.00,0.000,4,0.000,0.073,2715,3403,1888
$GC,19637,1.23,249.9,43.2,7.7,945,19642,0.00,2.55,0.00,0.000,6,0.000,0.056,2715,1999,1888
$GC,19965,1.23,249.9,20.8,6.7,961,19969,0.00,2.55,0.00,0.000,4,0.000,0.062,2715,591,1888
$GC,20015,1.23,249.9,16.6,8.6,963,20019,0.00,2.47,0.00,0.000,6,0.000,0.041,2715,1997,1888
$STATE,20210,end climb,SURFACE_DEPTH_REACHED
$STATE,20210,begin surface coast
$FINISH,0.3,1.009737
$STATE,20232,end surface coast,CONTROL_FINISHED_OK
$STATE,20232,begin surface
$SM_CCo,20316,0.00,0.000,0,0,1887,248.98
$SM_GC,1.46,11.62,0.00,0.00,0.025,0.000,0.000,46,2665,1887,-10.94,0.42,248.98
$IRIDIUM_FIX,6225.82,-1250.14,280698,222202
$TT8_MAMPS,0.028379
$HUMID,1782
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.7,87.4
$24V_AH,23.3,36.034
$10V_AH,10.1,20.071
$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,26.075,144.825,336.925,0.000,0.000,30.026,29.849,144.803,5.500,0.000,0.000,16.154,1739.937,15869.289,454.085,2040.961,547.387,33.357,1469.056,0.000,1996.517,0.000,38.998,0.000
$DEVICE_MAMPS,156.468,95.875,1176.578,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,680.999,719.198,586.594,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47441,974
$CAP_FILE_SIZE,132784,0
$CFSIZE,260165632,246022144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040409,085031,6252.502,-1254.422,39,2.0,39,-11.9