version: 66.04
glider: 103
mission: 11
dive: 246
start: 4 16 109 13 19 7
data:
$ID,103
$MISSION,11
$DIVE,246
$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,-147666.83
$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,8
$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
$GPS1,131237,6353.353,-1305.223,35,1.7,35,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-62.6
$GPS2,131814,6353.404,-1305.286,13,1.7,13,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.169,-0.139
$KALMAN_X,5534.8,-510.0,946.7,-17666.2,4627.9
$KALMAN_Y,3245.1,719.7,-64.5,-9640.9,3045.3
$MHEAD_RNG_PITCHd_Wd,243.0,7387,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.35,0.000,2,0.000,0.000,51,2638,3213
$GC,62,-1.10,-146.6,4.2,-11.6,2,85,12.05,2.25,-4.78,0.000,4,0.155,0.106,2194,3794,3500
$GC,339,-1.10,-146.6,34.2,-9.2,14,342,0.00,2.12,0.00,0.000,6,0.000,0.069,2194,2658,3500
$GC,666,-1.10,-146.6,60.3,-8.0,30,670,0.00,2.22,0.00,0.000,4,0.000,0.095,2193,3787,3500
$GC,783,-1.10,-146.6,70.1,-8.3,35,787,0.00,2.12,0.00,0.000,6,0.000,0.066,2194,2642,3500
$GC,1105,-1.10,-146.6,95.1,-8.0,51,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3500
$GC,1415,-1.10,-146.6,120.9,-8.4,66,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3500
$GC,1724,-1.10,-146.6,147.4,-9.0,81,1728,0.00,2.25,0.00,0.000,4,0.000,0.096,2194,3786,3500
$GC,1769,-1.10,-146.6,151.9,-9.0,83,1773,0.00,2.10,0.00,0.000,6,0.000,0.065,2194,2652,3500
$GC,2096,-1.10,-146.6,181.4,-9.1,99,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3500
$GC,2406,-1.10,-146.6,209.4,-9.2,114,2409,0.00,2.22,0.00,0.000,4,0.000,0.094,2194,3788,3500
$GC,2440,-1.10,-146.6,212.6,-9.7,115,2443,0.00,2.10,0.00,0.000,6,0.000,0.064,2194,2650,3500
$GC,2761,-1.10,-146.6,241.9,-9.4,131,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3500
$GC,3071,-1.10,-146.6,268.2,-8.2,146,3075,0.00,2.22,0.00,0.000,4,0.000,0.093,2194,3789,3500
$GC,3117,-1.10,-146.6,272.3,-8.8,148,3121,0.00,2.10,0.00,0.000,6,0.000,0.063,2194,2644,3500
$GC,3450,-1.10,-146.6,304.4,-10.1,164,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3500
$GC,3760,-1.10,-146.6,334.6,-9.2,179,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3500
$GC,4068,-1.10,-146.6,362.0,-8.7,194,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3500
$GC,4378,-1.10,-146.6,389.9,-9.3,209,4381,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3787,3500
$GC,4440,-1.10,-146.6,395.7,-9.4,211,4446,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2647,3500
$GC,4755,-1.10,-146.6,422.7,-8.6,227,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3500
$GC,5065,-1.10,-146.6,448.0,-7.7,242,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3500
$GC,5374,-1.10,-146.6,470.2,-7.1,257,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3500
$GC,5683,-1.10,-146.6,490.7,-6.6,272,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3500
$GC,5993,-1.10,-146.6,512.0,-7.0,287,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3500
$GC,6302,-1.10,-146.6,534.0,-7.1,302,6307,0.00,2.60,0.00,0.000,4,0.000,0.069,2194,1223,3500
$GC,6330,-1.10,-146.6,536.2,-7.6,303,6335,0.00,2.65,0.00,0.000,6,0.000,0.065,2194,2658,3500
$GC,6646,-1.10,-146.6,562.7,-9.3,318,6650,0.00,2.15,0.00,0.000,4,0.000,0.091,2194,3789,3500
$GC,6737,-1.10,-146.6,572.1,-10.8,322,6741,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2646,3500
$GC,7069,-1.10,-146.6,602.8,-8.3,338,7073,0.00,2.58,0.00,0.000,4,0.000,0.068,2194,1230,3500
$GC,7109,-1.10,-146.6,606.4,-9.2,340,7113,0.00,2.62,0.00,0.000,6,0.000,0.063,2194,2659,3500
$GC,7436,-1.10,-146.6,630.4,-7.3,356,7440,0.00,2.17,0.00,0.000,4,0.000,0.092,2194,3790,3500
$GC,7470,-1.10,-146.6,632.8,-6.6,357,7473,0.00,2.05,0.00,0.000,6,0.000,0.053,2194,2650,3500
$GC,7791,-1.10,-146.6,646.5,-3.1,373,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3499
$GC,8101,-1.10,-146.6,655.6,-4.2,388,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3500
$GC,8409,-1.10,-146.6,673.6,-6.9,403,8413,0.00,2.22,0.00,0.000,4,0.000,0.094,2194,3792,3499
$GC,8471,-1.10,-146.6,678.7,-8.6,405,8477,0.00,2.08,0.00,0.000,6,0.000,0.056,2194,2643,3499
$GC,8788,-1.10,-146.6,705.5,-8.9,421,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3498
$GC,9097,-1.10,-146.6,731.7,-7.7,436,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3498
$GC,9406,-1.10,-146.6,755.0,-7.3,451,9410,0.00,2.25,0.00,0.000,4,0.000,0.096,2194,3790,3497
$GC,9490,-1.10,-146.6,761.4,-7.6,454,9496,0.00,2.08,0.00,0.000,6,0.000,0.057,2194,2644,3497
$STATE,9576,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9576,begin apogee
$GC,9585,-0.42,0.0,768.1,7.6,459,9714,0.77,0.00,125.60,1.201,6,0.097,0.000,2347,2000,2902
$STATE,9714,end apogee,CONTROL_FINISHED_OK
$STATE,9715,begin climb
$GC,9718,1.10,146.6,773.7,0.0,465,9851,1.55,2.70,123.22,1.184,4,0.057,0.065,2678,590,2304
$GC,10110,1.17,200.8,766.7,4.5,482,10162,0.00,2.53,46.88,1.160,6,0.000,0.039,2678,2020,2083
$GC,10484,1.17,200.8,746.0,6.4,501,10485,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2020,2082
$GC,10793,1.17,200.8,727.8,6.2,516,10798,0.00,2.58,0.00,0.000,4,0.000,0.069,2678,3403,2082
$GC,10856,1.17,200.8,723.7,6.2,519,10861,0.00,2.55,0.00,0.000,6,0.000,0.048,2678,1984,2082
$GC,11183,1.17,200.8,702.8,6.2,535,11188,0.00,2.67,0.00,0.000,4,0.000,0.067,2678,3412,2081
$GC,11250,1.17,200.8,698.8,6.2,538,11255,0.00,2.55,0.00,0.000,6,0.000,0.048,2678,1995,2081
$GC,11572,1.24,260.7,683.4,4.3,554,11629,0.15,2.72,50.62,1.152,4,0.040,0.067,2724,3409,1839
$GC,11658,1.28,288.7,678.8,5.2,557,11689,0.00,2.58,25.42,1.100,6,0.000,0.045,2724,1988,1725
$GC,12000,1.28,289.4,658.8,6.0,573,12004,0.00,2.65,0.00,0.000,4,0.000,0.069,2724,3400,1724
$GC,12046,1.28,289.4,656.0,6.2,575,12050,0.00,2.53,0.00,0.000,6,0.000,0.046,2724,1996,1724
$GC,12367,1.28,289.4,634.0,8.5,591,12368,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1996,1724
$GC,12676,1.28,289.4,605.0,9.3,606,12680,0.00,2.62,0.00,0.000,4,0.000,0.067,2724,3405,1724
$GC,12776,1.28,289.4,595.7,8.8,610,12783,0.00,2.50,0.00,0.000,6,0.000,0.045,2724,1998,1724
$GC,13093,1.28,289.4,567.4,9.2,626,13097,0.00,2.58,0.00,0.000,4,0.000,0.063,2724,589,1723
$GC,13137,1.28,289.4,563.0,10.3,628,13141,0.00,2.47,0.00,0.000,6,0.000,0.038,2724,1996,1723
$GC,13458,1.28,289.4,534.4,8.3,644,13462,0.00,2.60,0.00,0.000,4,0.000,0.067,2724,3406,1723
$GC,13475,1.28,289.4,532.9,8.4,645,13480,0.00,2.53,0.00,0.000,6,0.000,0.046,2724,1990,1724
$GC,13803,1.28,289.4,505.7,8.6,661,13807,0.00,2.55,0.00,0.000,4,0.000,0.062,2724,590,1723
$GC,13897,1.28,289.4,496.8,8.8,665,13902,0.00,2.47,0.00,0.000,6,0.000,0.038,2724,2004,1724
$GC,14213,1.28,289.4,469.1,8.8,680,14218,0.00,2.60,0.00,0.000,4,0.000,0.068,2724,3413,1724
$GC,14258,1.28,289.4,464.9,9.7,682,14262,0.00,2.53,0.00,0.000,6,0.000,0.047,2724,1998,1724
$GC,14579,1.28,289.4,435.4,9.4,698,14580,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1998,1724
$GC,14889,1.28,289.4,408.3,8.4,713,14893,0.00,2.62,0.00,0.000,4,0.000,0.067,2724,3412,1725
$GC,14938,1.28,289.4,403.8,8.8,715,14943,0.00,2.55,0.00,0.000,6,0.000,0.049,2724,1991,1725
$GC,15254,1.28,289.4,379.5,7.2,730,15258,0.00,2.62,0.00,0.000,4,0.000,0.066,2724,3409,1725
$GC,15298,1.28,289.4,376.1,7.8,732,15303,0.00,2.55,0.00,0.000,6,0.000,0.049,2724,1989,1725
$GC,15620,1.28,289.4,351.2,7.9,748,15621,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1989,1725
$GC,15929,1.28,289.4,326.2,8.2,763,15934,0.00,2.62,0.00,0.000,4,0.000,0.067,2724,3405,1726
$GC,15970,1.28,289.4,322.7,8.7,765,15974,0.00,2.53,0.00,0.000,6,0.000,0.051,2724,1996,1726
$GC,16303,1.28,289.4,295.1,8.2,781,16304,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1996,1726
$GC,16612,1.28,289.4,269.9,8.2,796,16616,0.00,2.62,0.00,0.000,4,0.000,0.069,2724,3405,1727
$GC,16645,1.28,289.4,266.9,7.7,797,16652,0.00,2.53,0.00,0.000,6,0.000,0.051,2724,2003,1726
$GC,16961,1.28,289.4,240.3,8.3,813,16965,0.00,2.62,0.00,0.000,4,0.000,0.070,2724,3416,1727
$GC,16983,1.28,289.4,238.2,9.3,814,16987,0.00,2.55,0.00,0.000,6,0.000,0.051,2724,1998,1727
$GC,17304,1.28,289.4,210.4,8.7,830,17308,0.00,2.62,0.00,0.000,4,0.000,0.070,2724,3405,1726
$GC,17326,1.28,289.4,208.4,8.7,831,17330,0.00,2.55,0.00,0.000,6,0.000,0.051,2724,1987,1727
$GC,17647,1.28,289.4,179.9,8.9,847,17651,0.00,2.65,0.00,0.000,4,0.000,0.070,2724,3405,1727
$GC,17687,1.28,289.4,176.3,8.5,849,17691,0.00,2.55,0.00,0.000,6,0.000,0.051,2724,1987,1727
$GC,18013,1.28,289.4,147.7,8.6,865,18018,0.00,2.65,0.00,0.000,4,0.000,0.067,2724,3410,1727
$GC,18054,1.28,289.4,144.0,9.2,867,18058,0.00,2.55,0.00,0.000,6,0.000,0.052,2724,1998,1727
$GC,18381,1.28,289.4,114.7,8.8,883,18386,0.00,2.62,0.00,0.000,4,0.000,0.071,2724,3405,1727
$GC,18409,1.28,289.4,112.0,10.0,884,18413,0.00,2.55,0.00,0.000,6,0.000,0.053,2724,1994,1727
$GC,18725,1.28,289.4,86.5,7.9,899,18730,0.00,2.65,0.00,0.000,4,0.000,0.070,2724,3412,1727
$GC,18759,1.28,289.4,83.6,7.8,900,18765,0.00,2.55,0.00,0.000,6,0.000,0.053,2724,1990,1728
$GC,19077,1.28,289.4,58.3,8.1,916,19081,0.00,2.65,0.00,0.000,4,0.000,0.069,2724,3413,1727
$GC,19117,1.28,289.4,54.9,8.7,918,19121,0.00,2.58,0.00,0.000,6,0.000,0.054,2724,1991,1728
$GC,19444,1.28,289.4,28.1,8.4,934,19449,0.00,2.65,0.00,0.000,4,0.000,0.071,2724,3407,1728
$GC,19484,1.28,289.4,24.8,7.9,936,19488,0.00,2.55,0.00,0.000,6,0.000,0.055,2724,1998,1728
$STATE,19787,end climb,SURFACE_DEPTH_REACHED
$STATE,19787,begin surface coast
$FINISH,0.5,1.004002
$STATE,19809,end surface coast,CONTROL_FINISHED_OK
$STATE,19809,begin surface
$SM_CCo,19894,0.00,0.000,0,0,1727,288.23
$SM_GC,1.41,11.85,0.00,0.00,0.033,0.000,0.000,51,2650,1727,-10.93,0.00,288.23
$IRIDIUM_FIX,6327.46,-1301.87,110798,080835
$TT8_MAMPS,0.029146
$HUMID,1779
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.3,51.4
$24V_AH,23.3,43.611
$10V_AH,10.1,24.746
$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,26.375,169.725,371.750,0.000,0.000,30.034,28.680,145.158,6.250,0.000,0.000,13.155,1742.176,15337.883,467.828,2109.795,571.687,32.364,1538.094,0.000,2066.602,0.000,43.758,0.000
$DEVICE_MAMPS,154.934,105.846,1201.122,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,668.221,707.729,557.682,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47400,952
$CAP_FILE_SIZE,139435,0
$CFSIZE,260165632,242647040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160409,185200,6353.359,-1311.260,36,1.2,41,-12.5