version: 66.04
glider: 103
mission: 11
dive: 232
start: 4 14 109 3 19 18
data:
$ID,103
$MISSION,11
$DIVE,232
$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,-147410.94
$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,19
$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
$GPS1,031125,6350.483,-1314.612,40,1.5,40,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-58.5
$GPS2,031826,6350.483,-1314.889,12,1.7,12,-12.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.041,0.215
$KALMAN_X,-65777.3,803.2,-365.8,885.6,-15824.2
$KALMAN_Y,-44895.6,433.4,-951.2,134469.5,637.1
$MHEAD_RNG_PITCHd_Wd,23.2,21475,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,61,0.00,0.00,-41.08,0.000,2,0.000,0.000,44,2655,3000
$GC,65,-1.10,-146.6,3.2,-8.6,2,92,12.20,2.22,-9.62,0.000,4,0.159,0.110,2194,3780,3501
$GC,266,-1.10,-146.6,23.6,-8.8,11,270,0.00,2.10,0.00,0.000,6,0.000,0.063,2194,2649,3501
$GC,594,-1.10,-146.6,47.3,-7.2,27,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3501
$GC,903,-1.10,-146.6,74.4,-8.4,42,907,0.00,2.22,0.00,0.000,4,0.000,0.094,2194,3781,3501
$GC,953,-1.10,-146.6,78.7,-7.9,44,957,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2651,3501
$GC,1275,-1.10,-146.6,103.1,-7.6,60,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3501
$GC,1584,-1.10,-146.6,125.1,-8.4,75,1588,0.00,2.22,0.00,0.000,4,0.000,0.094,2194,3783,3501
$GC,1640,-1.10,-146.6,130.2,-8.8,77,1646,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2651,3501
$GC,1956,-1.10,-146.6,154.7,-7.5,93,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3501
$GC,2266,-1.10,-146.6,177.5,-8.1,108,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3501
$GC,2575,-1.10,-146.6,207.6,-10.1,123,2578,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3785,3501
$GC,2625,-1.10,-146.6,212.3,-9.1,125,2629,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2643,3501
$GC,2953,-1.10,-146.6,243.2,-9.3,141,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3500
$GC,3262,-1.10,-146.6,271.0,-8.8,156,3265,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3782,3500
$GC,3330,-1.10,-146.6,277.0,-8.8,159,3334,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2648,3500
$GC,3663,-1.10,-146.6,302.1,-7.3,175,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3500
$GC,3972,-1.10,-146.6,321.5,-6.2,190,3976,0.00,2.17,0.00,0.000,4,0.000,0.085,2194,3780,3500
$GC,4022,-1.10,-146.6,324.9,-6.4,192,4027,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2643,3500
$GC,4349,-1.10,-146.6,347.9,-7.8,208,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3500
$GC,4658,-1.10,-146.6,375.0,-9.3,223,4663,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3783,3500
$GC,4719,-1.10,-146.6,381.3,-10.4,225,4725,0.00,2.10,0.00,0.000,6,0.000,0.058,2194,2647,3500
$GC,5036,-1.10,-146.6,415.6,-11.6,241,5039,0.00,2.20,0.00,0.000,4,0.000,0.085,2194,3789,3500
$GC,5104,-1.10,-146.6,424.1,-12.4,244,5109,0.00,2.05,0.00,0.000,6,0.000,0.057,2194,2650,3500
$GC,5436,-1.10,-146.6,464.6,-11.8,260,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3500
$GC,5746,-1.10,-146.6,497.0,-10.0,275,5750,0.00,2.58,0.00,0.000,4,0.000,0.065,2194,1228,3500
$GC,5773,-1.10,-146.6,499.9,-10.4,276,5778,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2648,3500
$GC,6094,-1.10,-146.6,534.4,-11.0,292,6098,0.00,2.17,0.00,0.000,4,0.000,0.089,2194,3789,3500
$GC,6167,-1.10,-146.6,543.0,-11.4,295,6171,0.00,2.08,0.00,0.000,6,0.000,0.053,2194,2637,3500
$GC,6496,-1.10,-146.6,576.5,-9.6,311,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2636,3500
$GC,6805,-1.10,-146.6,596.8,-4.7,326,6809,0.00,2.58,0.00,0.000,4,0.000,0.069,2194,1226,3500
$GC,6838,-1.10,-146.6,598.3,-4.0,327,6842,0.00,2.60,0.00,0.000,6,0.000,0.059,2194,2651,3500
$GC,7154,-1.10,-146.6,609.6,-4.4,342,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3500
$GC,7464,-1.10,-146.6,632.4,-8.6,357,7467,0.00,2.17,0.00,0.000,4,0.000,0.090,2194,3789,3500
$GC,7548,-1.10,-146.6,639.9,-8.5,360,7554,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2641,3500
$GC,7865,-1.10,-146.6,664.1,-6.7,376,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3500
$GC,8174,-1.10,-146.6,679.9,-4.8,391,8177,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3785,3500
$GC,8265,-1.10,-146.6,685.5,-7.3,395,8268,0.00,2.05,0.00,0.000,6,0.000,0.052,2194,2640,3500
$GC,8598,-1.10,-146.6,717.4,-10.6,411,8599,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3499
$GC,8907,-1.10,-146.6,749.0,-10.2,426,8909,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3499
$GC,9217,-1.10,-146.6,773.6,-5.9,441,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3499
$GC,9526,-1.10,-146.6,795.8,-8.3,456,9529,0.00,2.22,0.00,0.000,4,0.000,0.092,2194,3783,3498
$GC,9594,-1.10,-146.6,801.9,-9.0,459,9598,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2641,3498
$GC,9927,-1.10,-146.6,828.0,-6.3,475,9931,0.00,2.22,0.00,0.000,4,0.000,0.092,2194,3786,3498
$GC,9977,-1.10,-146.6,831.2,-6.0,477,9981,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2650,3498
$GC,10303,-1.10,-146.6,850.5,-6.5,493,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3497
$STATE,10501,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10502,begin apogee
$GC,10510,-0.42,0.0,866.7,8.3,503,10644,0.77,0.00,126.93,1.258,6,0.091,0.000,2350,1993,2902
$STATE,10645,end apogee,CONTROL_FINISHED_OK
$STATE,10645,begin climb
$GC,10649,1.10,146.6,874.7,0.0,510,10782,1.55,2.72,125.75,1.223,4,0.058,0.061,2679,3426,2304
$GC,11039,1.20,223.8,866.2,3.9,528,11112,0.00,2.58,67.22,1.219,6,0.000,0.044,2679,1985,1989
$GC,11429,1.25,264.5,844.4,4.9,547,11472,0.15,2.75,36.03,1.196,4,0.041,0.065,2728,3418,1823
$GC,11529,1.25,264.5,837.6,6.9,551,11534,0.00,2.58,0.00,0.000,6,0.000,0.045,2728,1993,1823
$GC,11846,1.25,264.5,809.4,9.3,566,11850,0.00,2.67,0.00,0.000,4,0.000,0.067,2728,3419,1822
$GC,11879,1.25,264.5,806.1,9.1,567,11885,0.00,2.55,0.00,0.000,6,0.000,0.044,2728,1997,1822
$GC,12195,1.25,264.5,779.9,7.4,583,12196,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1997,1822
$GC,12504,1.25,264.5,754.8,8.2,598,12508,0.00,2.65,0.00,0.000,4,0.000,0.066,2728,3416,1822
$GC,12543,1.25,264.5,751.1,9.5,600,12547,0.00,2.55,0.00,0.000,6,0.000,0.045,2728,1989,1821
$GC,12877,1.25,264.5,720.6,8.5,616,12878,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1989,1821
$GC,13186,1.25,264.5,697.4,6.7,631,13187,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1989,1820
$GC,13495,1.25,265.5,679.6,6.0,646,13496,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1989,1820
$GC,13805,1.25,268.4,660.7,5.9,661,13811,0.00,0.00,4.70,0.819,6,0.000,0.000,2728,1989,1807
$GC,14113,1.25,268.4,641.8,6.1,676,14117,0.00,2.65,0.00,0.000,4,0.000,0.064,2728,3420,1807
$GC,14186,1.25,268.4,636.7,7.3,679,14190,0.00,2.53,0.00,0.000,6,0.000,0.043,2728,1999,1807
$GC,14508,1.29,301.2,618.8,5.1,695,14543,0.00,2.65,29.00,1.075,4,0.000,0.060,2728,598,1674
$GC,14589,1.29,301.2,613.6,7.1,698,14595,0.00,2.50,0.00,0.000,6,0.000,0.037,2728,2013,1674
$GC,14905,1.29,301.2,587.4,9.0,714,14909,0.00,2.58,0.00,0.000,4,0.000,0.066,2728,3412,1674
$GC,14977,1.29,301.2,580.7,9.5,717,14982,0.00,2.53,0.00,0.000,6,0.000,0.044,2728,1996,1674
$GC,15299,1.29,301.2,556.1,6.8,733,15303,0.00,2.62,0.00,0.000,4,0.000,0.064,2728,3412,1674
$GC,15343,1.29,301.2,553.1,6.7,735,15347,0.00,2.53,0.00,0.000,6,0.000,0.044,2728,1996,1674
$GC,15665,1.29,301.2,531.4,7.4,751,15669,0.00,2.55,0.00,0.000,4,0.000,0.060,2728,588,1675
$GC,15710,1.29,301.2,527.6,8.3,753,15714,0.00,2.45,0.00,0.000,6,0.000,0.036,2728,2000,1675
$GC,16043,1.29,301.2,496.2,11.4,769,16047,0.00,2.58,0.00,0.000,4,0.000,0.064,2728,3405,1675
$GC,16106,1.29,301.2,487.8,12.9,772,16110,0.00,2.53,0.00,0.000,6,0.000,0.046,2728,1989,1675
$GC,16432,1.29,301.2,446.7,11.8,788,16436,0.00,2.62,0.00,0.000,4,0.000,0.065,2728,3406,1675
$GC,16465,1.29,301.2,442.7,10.9,789,16469,0.00,2.53,0.00,0.000,6,0.000,0.046,2728,1994,1675
$GC,16781,1.29,301.2,411.0,9.9,804,16782,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1994,1675
$GC,17090,1.29,301.2,382.1,9.2,819,17094,0.00,2.60,0.00,0.000,4,0.000,0.066,2728,3404,1675
$GC,17134,1.29,301.2,377.7,10.0,821,17138,0.00,2.53,0.00,0.000,6,0.000,0.048,2728,1998,1676
$GC,17455,1.29,301.2,346.2,9.9,837,17457,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1998,1676
$GC,17764,1.29,301.2,315.8,9.9,852,17769,0.00,2.62,0.00,0.000,4,0.000,0.067,2728,3409,1676
$GC,17798,1.29,301.2,312.2,9.9,853,17804,0.00,2.55,0.00,0.000,6,0.000,0.049,2728,1993,1676
$GC,18114,1.29,301.2,281.7,9.5,869,18118,0.00,2.62,0.00,0.000,4,0.000,0.067,2728,3405,1677
$GC,18141,1.29,301.2,278.7,10.4,870,18146,0.00,2.55,0.00,0.000,6,0.000,0.050,2728,1989,1677
$GC,18457,1.29,301.2,247.3,10.3,885,18458,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1989,1677
$GC,18767,1.29,301.2,218.7,8.7,900,18771,0.00,2.65,0.00,0.000,4,0.000,0.069,2728,3412,1677
$GC,18806,1.29,301.2,215.2,8.7,902,18811,0.00,2.55,0.00,0.000,6,0.000,0.051,2728,1995,1677
$GC,19133,1.29,301.2,186.5,9.1,918,19134,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1995,1677
$GC,19443,1.29,301.2,156.9,10.1,933,19447,0.00,2.62,0.00,0.000,4,0.000,0.070,2728,3403,1677
$GC,19488,1.29,301.2,153.0,8.8,935,19492,0.00,2.55,0.00,0.000,6,0.000,0.053,2728,1993,1677
$GC,19821,1.29,301.2,122.5,8.9,951,19823,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1993,1677
$GC,20131,1.29,301.2,96.5,8.4,966,20135,0.00,2.65,0.00,0.000,4,0.000,0.071,2728,3407,1677
$GC,20176,1.29,301.2,91.7,11.3,968,20180,0.00,2.55,0.00,0.000,6,0.000,0.053,2728,1999,1678
$GC,20497,1.29,301.2,62.7,8.8,984,20499,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1999,1678
$GC,20809,1.29,301.2,36.0,6.6,999,20813,0.00,2.65,0.00,0.000,4,0.000,0.074,2728,3406,1678
$GC,20849,1.29,301.2,33.1,7.7,1001,20853,0.00,2.55,0.00,0.000,6,0.000,0.054,2728,2000,1678
$GC,21176,1.29,301.2,6.5,8.2,1017,21180,0.00,2.60,0.00,0.000,4,0.000,0.071,2728,590,1678
$GC,21193,1.29,301.2,5.1,7.4,1018,21198,0.00,2.53,0.00,0.000,6,0.000,0.048,2728,2004,1678
$STATE,21228,end climb,SURFACE_DEPTH_REACHED
$STATE,21228,begin surface coast
$FINISH,0.4,1.015490
$STATE,21250,end surface coast,CONTROL_FINISHED_OK
$STATE,21250,begin surface
$SM_CCo,21335,0.00,0.000,0,0,1677,300.74
$SM_GC,1.29,11.82,0.00,0.00,0.032,0.000,0.000,53,2649,1677,-10.92,-0.03,300.74
$IRIDIUM_FIX,6327.46,-1556.05,080798,202020
$TT8_MAMPS,0.028379
$HUMID,1765
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,850.5,24.9
$24V_AH,23.3,41.832
$10V_AH,10.1,23.774
$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,26.500,166.675,389.625,0.000,0.000,28.420,27.216,229.527,7.500,0.000,0.000,12.830,1842.671,16514.480,485.558,2217.926,685.604,33.373,1610.849,0.000,2182.464,0.000,51.829,0.000
$DEVICE_MAMPS,158.769,110.448,1257.880,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,716.137,764.291,586.586,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50509,1021
$CAP_FILE_SIZE,145470,0
$CFSIZE,260165632,243359744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140409,091607,6353.036,-1321.955,37,1.1,37,-12.6