version: 66.04
glider: 103
mission: 11
dive: 342
start: 5 7 109 3 33 46
data:
$ID,103
$MISSION,11
$DIVE,342
$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,412.5
$T_MISSION,440
$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,-150483.2
$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,24
$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
$GPS1,032737,6233.739,-1209.579,27,1.7,27,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-54.7
$GPS2,033256,6233.701,-1209.594,13,1.6,13,-11.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P1
$TGT_LATLONG,6215.000,-1130.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.189,-0.153
$KALMAN_X,-123155.0,1346.0,552.3,164381.0,-8202.8
$KALMAN_Y,14974.5,124.4,-812.5,-45405.4,-931.4
$MHEAD_RNG_PITCHd_Wd,140.4,48633,-14.9,-8.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.42,-146.6,0.0,0.0,0,71,0.00,0.00,-51.30,0.000,2,0.000,0.000,55,2678,3091
$GC,75,-1.42,-146.6,3.3,-5.0,3,101,11.65,2.65,-7.40,0.000,4,0.158,0.074,2123,1261,3501
$GC,287,-1.42,-146.6,30.1,-9.8,12,291,0.00,2.65,0.00,0.000,6,0.000,0.065,2123,2680,3501
$GC,604,-1.42,-146.6,64.6,-10.6,27,608,0.00,2.10,0.00,0.000,4,0.000,0.079,2123,3796,3501
$GC,666,-1.42,-146.6,71.8,-10.7,29,672,0.00,2.00,0.00,0.000,6,0.000,0.043,2123,2651,3501
$GC,983,-1.42,-146.6,106.0,-10.7,45,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2651,3501
$GC,1292,-1.42,-146.6,138.7,-10.5,60,1295,0.00,2.17,0.00,0.000,4,0.000,0.077,2123,3796,3501
$GC,1353,-1.42,-146.6,145.9,-11.6,62,1359,0.00,2.00,0.00,0.000,6,0.000,0.041,2123,2646,3501
$GC,1669,-1.42,-146.6,180.7,-11.0,78,1673,0.00,2.17,0.00,0.000,4,0.000,0.077,2123,3791,3501
$GC,1764,-1.42,-146.6,192.2,-12.0,82,1768,0.00,1.98,0.00,0.000,6,0.000,0.042,2123,2663,3501
$GC,2092,-1.42,-146.6,228.1,-10.9,98,2095,0.00,2.15,0.00,0.000,4,0.000,0.079,2124,3793,3501
$GC,2142,-1.42,-146.6,234.0,-11.5,100,2146,0.00,1.98,0.00,0.000,6,0.000,0.042,2123,2666,3501
$GC,2470,-1.42,-146.6,270.3,-11.0,116,2473,0.00,2.15,0.00,0.000,4,0.000,0.081,2123,3790,3501
$GC,2577,-1.42,-146.6,282.3,-11.4,120,2583,0.00,2.00,0.00,0.000,6,0.000,0.042,2123,2668,3501
$GC,2893,-1.42,-146.6,315.5,-10.5,136,2897,0.00,2.15,0.00,0.000,4,0.000,0.082,2123,3796,3501
$GC,2971,-1.42,-146.6,324.4,-11.6,139,2975,0.00,1.98,0.00,0.000,6,0.000,0.044,2123,2674,3501
$GC,3293,-1.42,-146.6,358.9,-10.7,155,3297,0.00,2.12,0.00,0.000,4,0.000,0.083,2123,3790,3501
$GC,3384,-1.42,-146.6,368.8,-11.2,159,3388,0.00,1.98,0.00,0.000,6,0.000,0.046,2123,2664,3501
$GC,3717,-1.42,-146.6,402.8,-10.2,175,3720,0.00,2.15,0.00,0.000,4,0.000,0.084,2123,3786,3501
$GC,3812,-1.42,-146.6,412.8,-10.1,179,3816,0.00,1.98,0.00,0.000,6,0.000,0.044,2123,2665,3501
$GC,4139,-1.42,-146.6,445.7,-9.9,195,4143,0.00,2.15,0.00,0.000,4,0.000,0.083,2123,3789,3501
$GC,4196,-1.42,-146.6,451.5,-9.9,197,4200,0.00,2.00,0.00,0.000,6,0.000,0.044,2123,2666,3501
$GC,4517,-1.42,-146.6,482.7,-9.9,213,4521,0.00,2.15,0.00,0.000,4,0.000,0.082,2123,3791,3501
$GC,4595,-1.42,-146.6,490.8,-10.6,216,4599,0.00,1.98,0.00,0.000,6,0.000,0.044,2123,2668,3501
$GC,4917,-1.42,-146.6,523.3,-10.4,232,4921,0.00,2.15,0.00,0.000,4,0.000,0.081,2123,3796,3501
$GC,5009,-1.42,-146.6,533.3,-11.0,236,5013,0.00,1.98,0.00,0.000,6,0.000,0.044,2123,2671,3501
$GC,5342,-1.42,-146.6,568.8,-10.8,252,5346,0.00,2.12,0.00,0.000,4,0.000,0.081,2123,3790,3501
$GC,5415,-1.42,-146.6,577.2,-11.8,255,5419,0.00,1.98,0.00,0.000,6,0.000,0.045,2123,2668,3501
$GC,5742,-1.42,-146.6,610.3,-10.0,271,5746,0.00,2.12,0.00,0.000,4,0.000,0.079,2123,3790,3501
$GC,5793,-1.42,-146.6,615.5,-9.9,273,5796,0.00,1.98,0.00,0.000,6,0.000,0.045,2123,2667,3501
$GC,6120,-1.42,-146.6,648.2,-10.1,289,6124,0.00,2.12,0.00,0.000,4,0.000,0.079,2123,3789,3501
$GC,6227,-1.42,-146.6,659.2,-10.0,293,6233,0.00,1.98,0.00,0.000,6,0.000,0.044,2123,2663,3501
$GC,6543,-1.42,-146.6,689.8,-10.0,309,6547,0.00,2.15,0.00,0.000,4,0.000,0.078,2124,3796,3501
$GC,6622,-1.42,-146.6,698.1,-10.5,312,6625,0.00,1.98,0.00,0.000,6,0.000,0.043,2123,2670,3501
$GC,6943,-1.42,-146.6,730.1,-9.9,328,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2670,3501
$GC,7253,-1.42,-146.6,759.9,-9.7,343,7257,0.00,2.12,0.00,0.000,4,0.000,0.080,2123,3789,3501
$GC,7449,-1.42,-146.6,779.2,-9.8,351,7455,0.00,1.95,0.00,0.000,6,0.000,0.043,2123,2676,3501
$GC,7766,-1.42,-146.6,809.7,-9.4,367,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2676,3501
$GC,8074,-1.42,-146.6,838.2,-9.3,382,8078,0.00,2.12,0.00,0.000,4,0.000,0.082,2123,3790,3501
$GC,8130,-1.42,-146.6,843.5,-10.0,384,8134,0.00,1.95,0.00,0.000,6,0.000,0.044,2123,2674,3501
$GC,8452,-1.42,-146.6,872.4,-9.4,400,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2674,3501
$STATE,8614,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8614,begin apogee
$GC,8623,-0.42,0.0,887.8,9.7,408,8757,1.12,0.00,128.35,1.256,6,0.097,0.000,2346,2071,2902
$STATE,8758,end apogee,CONTROL_FINISHED_OK
$STATE,8758,begin climb
$GC,8761,1.42,146.6,893.9,0.0,415,8896,1.88,2.70,126.10,1.222,4,0.058,0.058,2747,3500,2304
$GC,9155,1.51,220.1,881.4,5.3,433,9227,0.10,2.55,64.10,1.213,6,0.053,0.040,2778,2060,2004
$GC,9549,1.51,220.1,849.3,8.4,452,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2060,2003
$GC,9858,1.51,220.1,820.7,9.2,467,9862,0.00,2.55,0.00,0.000,4,0.000,0.061,2778,663,2002
$GC,9915,1.51,220.1,815.4,9.7,469,9921,0.00,2.53,0.00,0.000,6,0.000,0.038,2778,2094,2002
$GC,10230,1.51,220.1,788.5,8.6,485,10234,0.00,2.60,0.00,0.000,4,0.000,0.058,2778,672,2001
$GC,10367,1.51,220.1,776.4,9.1,491,10371,0.00,2.45,0.00,0.000,6,0.000,0.037,2778,2079,2001
$GC,10700,1.51,220.1,747.7,8.4,507,10704,0.00,2.58,0.00,0.000,4,0.000,0.056,2778,665,2000
$GC,10727,1.51,220.1,745.3,9.2,508,10731,0.00,2.47,0.00,0.000,6,0.000,0.036,2778,2085,2000
$GC,11043,1.51,220.1,719.3,8.4,523,11047,0.00,2.58,0.00,0.000,4,0.000,0.055,2778,668,2001
$GC,11106,1.51,220.1,713.8,8.8,526,11110,0.00,2.45,0.00,0.000,6,0.000,0.035,2778,2078,2001
$GC,11433,1.51,220.1,684.7,9.0,542,11437,0.00,2.55,0.00,0.000,4,0.000,0.054,2778,668,2001
$GC,11546,1.51,220.1,673.7,9.7,547,11550,0.00,2.45,0.00,0.000,6,0.000,0.034,2778,2080,2001
$GC,11867,1.51,220.1,643.3,9.2,563,11871,0.00,2.55,0.00,0.000,4,0.000,0.054,2778,670,2001
$GC,11907,1.51,220.1,639.4,10.1,565,11911,0.00,2.45,0.00,0.000,6,0.000,0.034,2778,2087,2001
$GC,12234,1.51,220.1,609.8,8.9,581,12238,0.00,2.55,0.00,0.000,4,0.000,0.053,2778,671,2002
$GC,12346,1.51,220.1,599.6,9.4,586,12350,0.00,2.45,0.00,0.000,6,0.000,0.034,2778,2084,2002
$GC,12668,1.51,221.3,573.6,8.0,602,12672,0.00,2.55,0.00,0.000,4,0.000,0.053,2778,670,2002
$GC,12712,1.51,221.3,569.8,8.2,604,12717,0.00,2.45,0.00,0.000,6,0.000,0.034,2778,2084,2002
$GC,13034,1.51,221.3,542.6,8.5,620,13038,0.00,2.55,0.00,0.000,4,0.000,0.054,2778,671,2003
$GC,13119,1.51,221.3,535.1,8.9,624,13123,0.00,2.45,0.00,0.000,6,0.000,0.034,2778,2086,2003
$GC,13445,1.51,221.3,507.7,8.3,640,13450,0.00,2.58,0.00,0.000,4,0.000,0.054,2778,659,2003
$GC,13525,1.51,221.3,500.9,8.4,643,13531,0.00,2.45,0.00,0.000,6,0.000,0.035,2778,2074,2003
$GC,13842,1.52,226.7,475.7,7.8,659,13856,0.00,2.62,7.18,0.830,4,0.000,0.053,2778,668,1977
$GC,13909,1.52,226.7,470.2,8.1,662,13914,0.00,2.45,0.00,0.000,6,0.000,0.035,2778,2074,1977
$GC,14237,1.52,227.8,444.4,8.0,678,14241,0.00,2.55,0.00,0.000,4,0.000,0.054,2778,666,1978
$GC,14281,1.52,227.8,440.5,8.3,680,14285,0.00,2.47,0.00,0.000,6,0.000,0.035,2778,2086,1977
$GC,14603,1.53,235.8,415.1,7.7,696,14618,0.00,2.62,9.32,0.844,4,0.000,0.054,2778,660,1940
$GC,14698,1.53,235.8,407.3,8.8,700,14702,0.00,2.47,0.00,0.000,6,0.000,0.036,2778,2074,1940
$GC,15020,1.53,235.8,379.8,8.5,716,15024,0.00,2.55,0.00,0.000,4,0.000,0.054,2778,667,1940
$GC,15086,1.53,235.8,373.4,9.5,719,15091,0.00,2.47,0.00,0.000,6,0.000,0.036,2778,2084,1940
$GC,15408,1.53,235.8,345.2,8.7,735,15413,0.00,2.58,0.00,0.000,4,0.000,0.055,2778,663,1940
$GC,15488,1.53,235.8,337.8,9.1,738,15494,0.00,2.47,0.00,0.000,6,0.000,0.036,2778,2084,1940
$GC,15804,1.53,235.8,310.3,8.6,754,15808,0.00,2.58,0.00,0.000,4,0.000,0.056,2778,662,1940
$GC,15849,1.53,235.8,306.0,9.3,756,15853,0.00,2.47,0.00,0.000,6,0.000,0.037,2778,2078,1941
$GC,16170,1.53,235.8,277.4,9.1,772,16174,0.00,2.55,0.00,0.000,4,0.000,0.056,2778,671,1940
$GC,16214,1.53,235.8,273.2,9.2,774,16218,0.00,2.47,0.00,0.000,6,0.000,0.037,2778,2086,1940
$GC,16535,1.53,235.8,244.1,9.2,790,16540,0.00,2.58,0.00,0.000,4,0.000,0.056,2778,666,1941
$GC,16586,1.53,235.8,239.1,8.5,792,16590,0.00,2.47,0.00,0.000,6,0.000,0.038,2778,2082,1941
$GC,16907,1.53,235.8,210.3,8.8,808,16911,0.00,2.58,0.00,0.000,4,0.000,0.056,2778,662,1941
$GC,16963,1.53,235.8,204.9,9.8,810,16969,0.00,2.47,0.00,0.000,6,0.000,0.038,2778,2084,1941
$GC,17279,1.53,235.8,176.1,9.6,826,17283,0.00,2.58,0.00,0.000,4,0.000,0.057,2778,659,1941
$GC,17415,1.53,235.8,162.9,9.6,832,17419,0.00,2.50,0.00,0.000,6,0.000,0.038,2778,2086,1941
$GC,17742,1.53,235.8,132.2,9.4,848,17747,0.00,2.58,0.00,0.000,4,0.000,0.057,2778,668,1941
$GC,17798,1.53,235.8,126.3,9.7,850,17805,0.00,2.45,0.00,0.000,6,0.000,0.038,2778,2077,1941
$GC,18115,1.53,235.8,96.2,9.9,866,18120,0.00,2.55,0.00,0.000,4,0.000,0.058,2778,672,1941
$GC,18160,1.53,235.8,91.5,9.3,868,18164,0.00,2.45,0.00,0.000,6,0.000,0.038,2778,2074,1941
$GC,18487,1.53,235.8,59.0,9.5,884,18491,0.00,2.55,0.00,0.000,4,0.000,0.057,2778,659,1941
$GC,18677,1.53,235.8,37.8,12.0,892,18684,0.00,2.45,0.00,0.000,6,0.000,0.036,2778,2083,1941
$GC,18995,1.57,269.8,5.8,6.8,908,19030,0.00,2.67,28.17,0.683,4,0.000,0.057,2778,672,1801
$STATE,19036,end climb,SURFACE_DEPTH_REACHED
$STATE,19036,begin surface coast
$FINISH,0.2,1.025159
$STATE,19060,end surface coast,CONTROL_FINISHED_OK
$STATE,19060,begin surface
$SM_CCo,19148,0.00,0.000,0,0,1800,270.32
$SM_GC,1.44,12.07,0.00,0.00,0.028,0.000,0.000,51,2676,1800,-10.93,0.03,270.32
$IRIDIUM_FIX,6211.90,-1213.51,310798,222239
$TT8_MAMPS,0.028379
$HUMID,1770
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,826.7,69.8
$24V_AH,23.1,57.053
$10V_AH,10.1,32.857
$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,26.825,204.025,363.225,0.000,0.000,25.842,26.853,136.560,7.500,0.000,0.000,13.124,1760.121,14278.686,487.947,2362.475,570.393,33.352,1687.798,0.000,2302.433,0.000,50.292,0.000
$DEVICE_MAMPS,158.002,83.603,1256.346,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,633.127,676.150,498.559,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47401,911
$CAP_FILE_SIZE,148977,0
$CFSIZE,260165632,236761088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070509,085407,6231.678,-1204.067,35,1.9,35,-11.3