version: 66.04
glider: 103
mission: 11
dive: 281
start: 4 24 109 6 54 54
data:
$ID,103
$MISSION,11
$DIVE,281
$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,571.54901
$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,-148426.84
$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,2675
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,11
$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
$GPS1,062927,6307.360,-1318.393,41,2.1,60,-12.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-54.3
$GPS2,065404,6307.611,-1318.150,15,3.2,34,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.202,-0.083
$KALMAN_X,-23621.4,43.3,230.8,1190.2,-9600.1
$KALMAN_Y,64391.3,-879.8,-1203.7,-152742.2,11718.2
$MHEAD_RNG_PITCHd_Wd,124.6,34459,-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,15,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,79,0.00,0.00,-58.42,0.000,2,0.000,0.000,45,2682,3161
$GC,83,-1.10,-146.6,3.0,-5.0,3,106,12.15,2.22,-6.22,0.000,4,0.158,0.108,2193,3785,3501
$GC,291,-1.10,-146.6,21.3,-4.5,12,295,0.00,2.08,0.00,0.000,6,0.000,0.067,2193,2675,3502
$GC,619,-1.10,-146.6,43.3,-9.4,28,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2676,3501
$GC,928,-1.10,-146.6,70.9,-9.6,43,932,0.00,2.17,0.00,0.000,4,0.000,0.090,2193,3793,3501
$GC,974,-1.10,-146.6,76.6,-14.1,45,978,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2664,3501
$GC,1308,-1.10,-146.6,107.1,-8.6,61,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2664,3501
$GC,1617,-1.10,-146.6,129.4,-6.8,76,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2664,3501
$GC,1926,-1.10,-146.6,155.2,-8.0,91,1930,0.00,2.17,0.00,0.000,4,0.000,0.087,2193,3787,3501
$GC,1972,-1.10,-146.6,158.6,-7.1,93,1976,0.00,2.05,0.00,0.000,6,0.000,0.060,2193,2668,3501
$GC,2305,-1.10,-146.6,180.7,-6.4,109,2309,0.00,2.60,0.00,0.000,4,0.000,0.070,2193,1253,3501
$GC,2333,-1.10,-146.6,182.5,-5.8,110,2337,0.00,2.62,0.00,0.000,6,0.000,0.062,2193,2675,3501
$GC,2650,-1.10,-146.6,200.1,-5.7,125,2654,0.00,2.12,0.00,0.000,4,0.000,0.087,2193,3786,3501
$GC,2696,-1.10,-146.6,203.4,-7.1,127,2700,0.00,2.05,0.00,0.000,6,0.000,0.059,2193,2664,3501
$GC,3029,-1.10,-146.6,226.7,-7.0,143,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2664,3501
$GC,3338,-1.10,-146.6,252.4,-8.4,158,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2664,3501
$GC,3648,-1.10,-146.6,277.1,-7.9,173,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2664,3501
$GC,3957,-1.10,-146.6,300.0,-7.2,188,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2664,3500
$GC,4266,-1.10,-146.6,320.8,-6.7,203,4270,0.00,2.15,0.00,0.000,4,0.000,0.087,2193,3786,3501
$GC,4312,-1.10,-146.6,323.9,-6.8,205,4316,0.00,2.03,0.00,0.000,6,0.000,0.058,2193,2670,3501
$GC,4645,-1.10,-146.6,347.5,-7.6,221,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2671,3500
$GC,4954,-1.10,-146.6,372.6,-8.5,236,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2671,3500
$GC,5264,-1.10,-146.6,397.7,-8.5,251,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2670,3501
$GC,5572,-1.10,-146.6,422.4,-8.1,266,5577,0.00,2.58,0.00,0.000,4,0.000,0.066,2193,1256,3500
$GC,5607,-1.10,-146.6,425.4,-8.2,267,5613,0.00,2.62,0.00,0.000,6,0.000,0.063,2193,2682,3501
$GC,5925,-1.10,-146.6,451.3,-8.3,283,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2682,3501
$GC,6233,-1.10,-146.6,475.8,-7.9,298,6236,0.00,2.10,0.00,0.000,4,0.000,0.085,2193,3792,3501
$GC,6283,-1.10,-146.6,480.0,-8.2,300,6287,0.00,2.03,0.00,0.000,6,0.000,0.054,2193,2662,3501
$GC,6611,-1.10,-146.6,505.0,-7.7,316,6615,0.00,2.17,0.00,0.000,4,0.000,0.084,2194,3793,3501
$GC,6650,-1.10,-146.6,508.1,-7.7,317,6656,0.00,2.03,0.00,0.000,6,0.000,0.054,2193,2661,3500
$GC,6966,-1.10,-146.6,529.6,-6.4,333,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2662,3501
$GC,7276,-1.10,-146.6,549.1,-6.2,348,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2662,3500
$GC,7585,-1.10,-146.6,571.7,-8.4,363,7589,0.00,2.55,0.00,0.000,4,0.000,0.065,2193,1253,3500
$GC,7635,-1.10,-146.6,575.3,-7.1,365,7640,0.00,2.62,0.00,0.000,6,0.000,0.063,2193,2681,3500
$GC,7952,-1.10,-146.6,596.2,-7.0,380,7955,0.00,2.10,0.00,0.000,4,0.000,0.088,2193,3785,3499
$GC,8035,-1.10,-146.6,602.4,-7.7,383,8041,0.00,2.00,0.00,0.000,6,0.000,0.053,2193,2669,3500
$GC,8351,-1.10,-146.6,624.5,-7.2,399,8352,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2669,3499
$GC,8661,-1.10,-146.6,645.9,-7.0,414,8662,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2669,3499
$GC,8969,-1.10,-146.6,667.0,-6.8,429,8974,0.00,2.60,0.00,0.000,4,0.000,0.071,2193,1255,3499
$GC,9003,-1.10,-146.6,669.3,-6.7,430,9010,0.00,2.62,0.00,0.000,6,0.000,0.064,2193,2686,3499
$GC,9320,-1.10,-146.6,687.6,-5.8,446,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2686,3499
$GC,9629,-1.10,-146.6,707.1,-6.3,461,9632,0.00,2.12,0.00,0.000,4,0.000,0.094,2193,3790,3498
$GC,9724,-1.10,-146.6,713.6,-7.1,465,9728,0.00,2.03,0.00,0.000,6,0.000,0.054,2193,2666,3497
$GC,10052,-1.10,-146.6,735.4,-7.1,481,10053,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2666,3497
$STATE,10275,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10275,begin apogee
$GC,10283,-0.42,0.0,753.1,8.2,492,10417,0.77,0.00,125.97,1.192,6,0.097,0.000,2347,2065,2901
$STATE,10418,end apogee,CONTROL_FINISHED_OK
$STATE,10418,begin climb
$GC,10421,1.10,146.6,758.6,0.0,499,10554,1.55,2.78,124.60,1.156,4,0.059,0.070,2678,3500,2304
$GC,10813,1.18,207.3,753.0,4.3,516,10873,0.00,2.58,52.90,1.144,6,0.000,0.044,2678,2064,2056
$GC,11192,1.22,241.1,733.5,5.1,535,11228,0.12,2.75,29.65,1.125,4,0.044,0.065,2722,3495,1918
$GC,11328,1.22,241.1,723.3,7.8,541,11332,0.00,2.53,0.00,0.000,6,0.000,0.043,2722,2074,1918
$GC,11661,1.22,241.1,697.3,7.4,557,11662,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2074,1918
$GC,11970,1.22,241.1,676.1,7.3,572,11975,0.00,2.67,0.00,0.000,4,0.000,0.067,2721,3498,1917
$GC,12004,1.22,241.1,673.4,7.3,573,12010,0.00,2.55,0.00,0.000,6,0.000,0.044,2721,2074,1917
$GC,12320,1.22,241.1,651.4,6.7,589,12324,0.00,2.58,0.00,0.000,4,0.000,0.062,2721,662,1917
$GC,12366,1.22,241.1,648.2,7.5,591,12370,0.00,2.53,0.00,0.000,6,0.000,0.040,2722,2090,1917
$GC,12693,1.22,241.1,626.0,6.9,607,12697,0.00,2.62,0.00,0.000,4,0.000,0.061,2722,662,1916
$GC,12726,1.22,241.1,623.5,6.9,608,12732,0.00,2.50,0.00,0.000,6,0.000,0.039,2722,2079,1916
$GC,13042,1.22,241.1,600.3,7.8,624,13046,0.00,2.60,0.00,0.000,4,0.000,0.067,2722,3493,1916
$GC,13063,1.22,241.1,598.4,7.7,625,13067,0.00,2.53,0.00,0.000,6,0.000,0.043,2722,2074,1916
$GC,13385,1.22,241.1,573.7,7.6,641,13387,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2074,1917
$GC,13694,1.22,241.1,550.7,7.6,656,13696,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2074,1916
$GC,14004,1.22,241.1,527.0,7.9,671,14008,0.00,2.55,0.00,0.000,4,0.000,0.061,2722,667,1916
$GC,14066,1.22,241.1,521.5,8.1,674,14070,0.00,2.47,0.00,0.000,6,0.000,0.038,2722,2077,1916
$GC,14398,1.22,241.1,491.7,8.9,690,14402,0.00,2.58,0.00,0.000,4,0.000,0.059,2722,668,1917
$GC,14432,1.22,241.1,488.5,8.7,691,14438,0.00,2.47,0.00,0.000,6,0.000,0.038,2722,2079,1917
$GC,14748,1.22,241.1,461.7,8.6,707,14749,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2079,1917
$GC,15057,1.22,241.1,436.2,7.7,722,15058,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2078,1917
$GC,15366,1.22,241.1,413.8,7.0,737,15370,0.00,2.58,0.00,0.000,4,0.000,0.059,2722,665,1918
$GC,15410,1.22,241.1,410.5,7.7,739,15414,0.00,2.47,0.00,0.000,6,0.000,0.038,2722,2077,1918
$GC,15738,1.22,241.1,390.1,6.0,755,15739,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2077,1918
$GC,16047,1.27,283.8,373.1,4.8,770,16090,0.00,2.65,36.22,0.930,4,0.000,0.058,2721,666,1744
$GC,16130,1.27,283.8,368.3,6.3,773,16136,0.00,2.50,0.00,0.000,6,0.000,0.039,2722,2073,1744
$GC,16446,1.29,300.1,350.6,5.5,789,16465,0.00,0.00,15.00,0.869,6,0.000,0.000,2722,2073,1678
$GC,16775,1.29,300.1,330.1,6.8,805,16780,0.00,2.58,0.00,0.000,4,0.000,0.060,2721,662,1678
$GC,16809,1.29,300.1,327.7,7.3,806,16815,0.00,2.50,0.00,0.000,6,0.000,0.040,2722,2077,1678
$GC,17125,1.29,300.1,304.4,7.5,822,17126,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2076,1678
$GC,17434,1.29,300.1,280.7,7.9,837,17439,0.00,2.60,0.00,0.000,4,0.000,0.068,2722,3482,1678
$GC,17456,1.29,300.1,278.8,8.3,838,17461,0.00,2.53,0.00,0.000,6,0.000,0.048,2722,2079,1678
$GC,17778,1.29,300.1,251.1,9.1,854,17779,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2079,1678
$GC,18087,1.29,300.1,223.0,8.6,869,18091,0.00,2.62,0.00,0.000,4,0.000,0.069,2722,3482,1679
$GC,18120,1.29,300.1,219.9,9.9,870,18127,0.00,2.55,0.00,0.000,6,0.000,0.049,2721,2066,1679
$GC,18437,1.29,300.1,193.3,8.3,886,18438,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2066,1679
$GC,18746,1.29,300.1,168.1,8.3,901,18750,0.00,2.67,0.00,0.000,4,0.000,0.070,2722,3492,1679
$GC,18779,1.29,300.1,165.0,8.6,902,18785,0.00,2.58,0.00,0.000,6,0.000,0.051,2722,2064,1679
$GC,19095,1.29,300.1,136.4,9.5,918,19100,0.00,2.67,0.00,0.000,4,0.000,0.069,2721,3493,1680
$GC,19123,1.29,300.1,133.6,10.8,919,19127,0.00,2.58,0.00,0.000,6,0.000,0.051,2722,2067,1680
$GC,19441,1.29,300.1,103.9,9.2,934,19445,0.00,2.55,0.00,0.000,4,0.000,0.064,2722,665,1680
$GC,19474,1.29,300.1,100.6,9.5,935,19480,0.00,2.47,0.00,0.000,6,0.000,0.042,2722,2074,1680
$GC,19790,1.29,300.1,72.6,9.2,951,19794,0.00,2.62,0.00,0.000,4,0.000,0.070,2722,3490,1680
$GC,19812,1.29,300.1,70.4,8.9,952,19817,0.00,2.55,0.00,0.000,6,0.000,0.051,2722,2076,1680
$GC,20134,1.29,300.1,42.2,7.8,968,20139,0.00,2.58,0.00,0.000,4,0.000,0.065,2722,659,1680
$GC,20153,1.29,300.1,41.1,6.9,969,20157,0.00,2.50,0.00,0.000,6,0.000,0.044,2722,2072,1680
$GC,20486,1.29,300.1,15.5,6.9,985,20490,0.00,2.58,0.00,0.000,4,0.000,0.058,2722,658,1680
$GC,20504,1.29,300.1,13.6,9.4,986,20508,0.00,2.53,0.00,0.000,6,0.000,0.044,2722,2084,1680
$STATE,20621,end climb,SURFACE_DEPTH_REACHED
$STATE,20621,begin surface coast
$FINISH,0.1,1.027443
$STATE,20643,end surface coast,CONTROL_FINISHED_OK
$STATE,20644,begin surface
$SM_CCo,20668,195.70,0.673,0,0,572,571.55
$SM_GC,0.84,0.00,0.00,195.70,0.000,0.000,0.673,45,2673,572,-11.01,-0.08,571.55
$IRIDIUM_FIX,6244.56,-1321.79,190798,060609
$TT8_MAMPS,0.029146
$HUMID,1738
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.5,61.7
$24V_AH,23.2,48.529
$10V_AH,10.1,27.736
$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,26.200,158.500,384.350,195.700,0.000,151.094,168.117,689.805,6.000,0.000,0.000,35.250,1776.300,16281.035,700.990,2116.538,1458.200,33.362,1766.181,0.000,2052.731,0.000,45.008,0.000
$DEVICE_MAMPS,158.002,108.147,1191.918,672.659,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,692.645,741.981,571.585,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50657,993
$CAP_FILE_SIZE,152458,0
$CFSIZE,260165632,240467968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240409,124401,6307.144,-1309.237,41,1.5,41,-12.1