version: 66.04
glider: 103
mission: 11
dive: 343
start: 5 7 109 9 1 35
data:
$ID,103
$MISSION,11
$DIVE,343
$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,-150499.45
$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,26
$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
$GPS1,085407,6231.678,-1204.067,35,1.9,35,-11.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-57.7
$GPS2,090045,6231.637,-1204.035,14,1.9,15,-11.3
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P1
$TGT_LATLONG,6215.000,-1130.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.197,-0.143
$KALMAN_X,-122617.7,1023.5,1056.9,168351.6,-6831.6
$KALMAN_Y,13173.1,206.3,916.7,-49262.0,-4947.7
$MHEAD_RNG_PITCHd_Wd,137.3,42552,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.42,-146.6,0.0,0.0,0,59,0.00,0.00,-41.62,0.000,2,0.000,0.000,51,2677,3141
$GC,63,-1.42,-146.6,3.6,-11.3,2,86,11.68,2.67,-6.15,0.000,4,0.156,0.078,2126,1269,3502
$GC,261,-1.42,-146.6,33.5,-12.4,10,267,0.00,2.65,0.00,0.000,6,0.000,0.072,2126,2677,3502
$GC,579,-1.42,-146.6,67.5,-10.7,26,583,0.00,2.60,0.00,0.000,4,0.000,0.062,2126,1262,3502
$GC,612,-1.42,-146.6,71.1,-10.7,27,618,0.00,2.62,0.00,0.000,6,0.000,0.065,2126,2676,3502
$GC,928,-1.42,-146.6,103.6,-11.7,43,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2676,3502
$GC,1239,-1.42,-146.6,139.5,-11.6,58,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2676,3502
$GC,1548,-1.42,-146.6,175.8,-11.6,73,1552,0.00,2.60,0.00,0.000,4,0.000,0.062,2126,1258,3502
$GC,1580,-1.42,-146.6,179.8,-11.7,74,1587,0.00,2.65,0.00,0.000,6,0.000,0.069,2126,2679,3502
$GC,1896,-1.42,-146.6,213.5,-10.4,90,1900,0.00,2.05,0.00,0.000,4,0.000,0.078,2126,3783,3502
$GC,1965,-1.42,-146.6,220.9,-11.0,93,1969,0.00,1.95,0.00,0.000,6,0.000,0.047,2126,2682,3502
$GC,2298,-1.42,-146.6,254.7,-10.1,109,2301,0.00,2.10,0.00,0.000,4,0.000,0.077,2126,3793,3501
$GC,2344,-1.42,-146.6,259.5,-10.9,111,2348,0.00,2.00,0.00,0.000,6,0.000,0.051,2126,2675,3501
$GC,2677,-1.42,-146.6,292.3,-9.6,127,2681,0.00,2.10,0.00,0.000,4,0.000,0.080,2126,3785,3501
$GC,2728,-1.42,-146.6,297.5,-10.3,129,2731,0.00,1.98,0.00,0.000,6,0.000,0.047,2126,2672,3501
$GC,3055,-1.42,-146.6,329.3,-10.0,145,3059,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3786,3501
$GC,3101,-1.42,-146.6,334.2,-10.9,147,3105,0.00,1.98,0.00,0.000,6,0.000,0.048,2126,2674,3501
$GC,3433,-1.42,-146.6,368.8,-10.6,163,3437,0.00,2.12,0.00,0.000,4,0.000,0.079,2126,3792,3501
$GC,3472,-1.42,-146.6,373.1,-11.3,164,3478,0.00,2.00,0.00,0.000,6,0.000,0.048,2126,2666,3501
$GC,3789,-1.42,-146.6,406.0,-10.4,180,3792,0.00,2.12,0.00,0.000,4,0.000,0.077,2126,3789,3501
$GC,3828,-1.42,-146.6,410.5,-11.2,181,3834,0.00,1.98,0.00,0.000,6,0.000,0.043,2126,2662,3501
$GC,4144,-1.42,-146.6,442.8,-10.0,197,4148,0.00,2.12,0.00,0.000,4,0.000,0.077,2126,3793,3501
$GC,4190,-1.42,-146.6,447.5,-9.8,199,4194,0.00,2.00,0.00,0.000,6,0.000,0.043,2126,2672,3501
$GC,4522,-1.42,-146.6,482.2,-10.4,215,4526,0.00,2.10,0.00,0.000,4,0.000,0.079,2126,3783,3501
$GC,4572,-1.42,-146.6,487.5,-10.3,217,4576,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2664,3501
$GC,4900,-1.42,-146.6,522.0,-10.6,233,4904,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3783,3501
$GC,4961,-1.42,-146.6,528.9,-11.4,235,4967,0.00,2.00,0.00,0.000,6,0.000,0.045,2126,2642,3501
$GC,5278,-1.42,-146.6,561.9,-10.5,251,5282,0.00,2.17,0.00,0.000,4,0.000,0.080,2126,3783,3501
$GC,5324,-1.42,-146.6,566.9,-10.7,253,5328,0.00,1.95,0.00,0.000,6,0.000,0.043,2126,2669,3501
$GC,5659,-1.42,-146.6,601.5,-10.2,269,5663,0.00,2.12,0.00,0.000,4,0.000,0.078,2126,3791,3501
$GC,5706,-1.42,-146.6,606.7,-11.4,271,5709,0.00,1.98,0.00,0.000,6,0.000,0.043,2126,2663,3501
$GC,6039,-1.42,-146.6,641.7,-10.3,287,6042,0.00,2.12,0.00,0.000,4,0.000,0.077,2126,3786,3501
$GC,6089,-1.42,-146.6,647.1,-11.0,289,6093,0.00,1.95,0.00,0.000,6,0.000,0.044,2126,2674,3501
$GC,6416,-1.42,-146.6,679.2,-9.8,305,6421,0.00,2.53,0.00,0.000,4,0.000,0.058,2126,1262,3501
$GC,6457,-1.42,-146.6,683.1,-9.6,307,6462,0.00,2.60,0.00,0.000,6,0.000,0.061,2126,2687,3501
$GC,6784,-1.42,-146.6,713.3,-9.2,323,6787,0.00,2.05,0.00,0.000,4,0.000,0.077,2126,3789,3501
$GC,6868,-1.42,-146.6,721.6,-10.0,326,6874,0.00,1.95,0.00,0.000,6,0.000,0.042,2126,2676,3501
$GC,7184,-1.42,-146.6,749.8,-8.9,342,7192,0.00,2.10,0.00,0.000,4,0.000,0.077,2126,3786,3501
$GC,7234,-1.42,-146.6,754.4,-9.7,344,7238,0.00,1.98,0.00,0.000,6,0.000,0.043,2126,2665,3501
$GC,7567,-1.42,-146.6,785.1,-9.6,360,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2665,3501
$GC,7876,-1.42,-146.6,813.9,-9.4,375,7880,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3782,3500
$GC,7922,-1.42,-146.6,818.4,-9.8,377,7925,0.00,1.95,0.00,0.000,6,0.000,0.043,2126,2668,3500
$GC,8255,-1.42,-146.6,850.4,-9.9,393,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2668,3500
$STATE,8396,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8396,begin apogee
$GC,8404,-0.42,0.0,864.0,9.2,400,8539,1.12,0.00,128.25,1.235,6,0.102,0.000,2346,2077,2902
$STATE,8539,end apogee,CONTROL_FINISHED_OK
$STATE,8539,begin climb
$GC,8543,1.42,146.6,870.3,0.0,407,8677,1.88,2.67,125.30,1.206,4,0.054,0.061,2749,656,2304
$GC,8930,1.49,204.8,857.2,5.9,424,8987,0.00,2.53,51.50,1.186,6,0.000,0.038,2749,2091,2066
$GC,9306,1.49,204.8,829.3,8.2,443,9310,0.00,2.55,0.00,0.000,4,0.000,0.062,2749,3478,2066
$GC,9339,1.50,207.2,826.5,7.9,444,9345,0.00,2.53,0.00,0.000,6,0.000,0.040,2749,2057,2065
$GC,9655,1.51,217.8,803.4,7.6,460,9674,0.00,0.00,12.12,1.097,6,0.000,0.000,2749,2057,2014
$GC,9984,1.57,265.8,781.5,6.2,476,10029,0.15,0.00,42.55,1.180,6,0.042,0.000,2794,2056,1818
$GC,10333,1.57,265.8,751.0,9.4,493,10337,0.00,2.50,0.00,0.000,4,0.000,0.059,2794,672,1818
$GC,10372,1.57,265.8,747.1,10.6,494,10378,0.00,2.47,0.00,0.000,6,0.000,0.038,2794,2075,1818
$GC,10688,1.57,265.8,717.3,9.0,510,10689,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2075,1817
$GC,10997,1.57,265.8,689.0,9.4,525,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2075,1817
$GC,11307,1.57,265.8,658.8,10.2,540,11311,0.00,2.55,0.00,0.000,4,0.000,0.054,2794,668,1817
$GC,11340,1.57,265.8,655.0,10.9,541,11346,0.00,2.47,0.00,0.000,6,0.000,0.035,2794,2086,1818
$GC,11656,1.57,265.8,623.4,9.8,557,11660,0.00,2.58,0.00,0.000,4,0.000,0.054,2794,666,1817
$GC,11707,1.57,265.8,618.1,10.3,559,11712,0.00,2.47,0.00,0.000,6,0.000,0.035,2794,2086,1817
$GC,12023,1.57,265.8,587.4,9.9,574,12024,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2086,1818
$GC,12333,1.57,265.8,556.7,10.0,589,12337,0.00,2.58,0.00,0.000,4,0.000,0.054,2794,662,1818
$GC,12406,1.57,265.8,549.1,10.5,592,12410,0.00,2.47,0.00,0.000,6,0.000,0.035,2794,2083,1818
$GC,12722,1.57,265.8,517.6,9.9,607,12723,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2083,1818
$GC,13031,1.57,265.8,487.1,9.7,622,13035,0.00,2.55,0.00,0.000,4,0.000,0.054,2794,669,1818
$GC,13071,1.57,265.8,483.0,10.2,624,13075,0.00,2.45,0.00,0.000,6,0.000,0.035,2794,2076,1818
$GC,13398,1.57,265.8,450.5,10.0,640,13402,0.00,2.55,0.00,0.000,4,0.000,0.054,2794,668,1818
$GC,13431,1.57,265.8,447.0,10.3,641,13437,0.00,2.47,0.00,0.000,6,0.000,0.035,2794,2086,1818
$GC,13747,1.57,265.8,415.7,9.9,657,13748,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2086,1819
$GC,14056,1.57,265.8,384.5,10.4,672,14057,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2086,1819
$GC,14365,1.57,265.8,352.7,10.0,687,14370,0.00,2.58,0.00,0.000,4,0.000,0.056,2794,666,1819
$GC,14393,1.57,265.8,349.8,11.1,688,14397,0.00,2.47,0.00,0.000,6,0.000,0.037,2794,2082,1819
$GC,14709,1.57,265.8,318.4,9.9,703,14713,0.00,2.58,0.00,0.000,4,0.000,0.056,2794,659,1820
$GC,14742,1.57,265.8,314.6,10.9,704,14746,0.00,2.47,0.00,0.000,6,0.000,0.038,2794,2075,1820
$GC,15058,1.57,265.8,281.7,10.6,719,15059,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2075,1820
$GC,15368,1.57,265.8,248.1,10.9,734,15371,0.00,2.55,0.00,0.000,4,0.000,0.058,2794,666,1820
$GC,15407,1.57,265.8,243.5,11.5,735,15413,0.00,2.47,0.00,0.000,6,0.000,0.038,2794,2082,1820
$GC,15723,1.57,265.8,210.2,9.7,751,15724,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2082,1820
$GC,16033,1.57,265.8,180.0,9.8,766,16034,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2082,1820
$GC,16342,1.57,265.8,149.8,10.2,781,16343,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2082,1820
$GC,16651,1.57,265.8,119.1,9.6,796,16652,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2082,1821
$GC,16962,1.57,265.8,89.2,9.7,811,16966,0.00,2.58,0.00,0.000,4,0.000,0.058,2794,668,1821
$GC,17034,1.57,265.8,81.3,11.1,814,17039,0.00,2.47,0.00,0.000,6,0.000,0.039,2794,2079,1821
$GC,17351,1.57,265.8,48.5,10.2,829,17352,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2079,1821
$GC,17660,1.57,265.8,18.3,9.0,844,17665,0.00,2.60,0.00,0.000,4,0.000,0.062,2794,659,1821
$GC,17795,1.57,265.8,3.6,10.8,850,17799,0.00,2.47,0.00,0.000,6,0.000,0.038,2794,2073,1821
$STATE,17824,end climb,SURFACE_DEPTH_REACHED
$STATE,17825,begin surface coast
$FINISH,0.2,1.014984
$STATE,17846,end surface coast,CONTROL_FINISHED_OK
$STATE,17847,begin surface
$SM_CCo,17932,0.00,0.000,0,0,1821,265.17
$SM_GC,1.28,12.10,0.00,0.00,0.032,0.000,0.000,48,2678,1821,-10.92,0.08,265.17
$IRIDIUM_FIX,6207.28,-1213.51,010898,030326
$TT8_MAMPS,0.028379
$HUMID,1773
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,800.3,73.6
$24V_AH,23.1,57.192
$10V_AH,10.1,32.939
$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,26.925,150.125,359.725,0.000,0.000,29.478,28.767,196.272,7.250,0.000,0.000,15.622,1573.521,13758.787,473.284,1897.692,616.367,33.359,1443.539,0.000,1855.355,0.000,48.684,0.000
$DEVICE_MAMPS,156.468,82.836,1234.870,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,593.743,635.053,476.391,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44373,853
$CAP_FILE_SIZE,127874,0
$CFSIZE,260165632,236716032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070509,140136,6228.179,-1159.129,31,1.1,31,-11.2