version: 66.04
glider: 103
mission: 11
dive: 312
start: 5 1 109 11 37 0
data:
$ID,103
$MISSION,11
$DIVE,312
$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,0
$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,-149011.11
$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,22
$R_STBD_OVSHOOT,10
$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
$GPS1,112900,6247.438,-1303.641,48,1.7,48,-12.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-49.4
$GPS2,113608,6247.506,-1303.738,14,1.6,14,-12.0
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.222,0.100
$KALMAN_X,-38058.3,1867.8,524.5,33023.2,-19273.6
$KALMAN_Y,7221.3,-554.1,-150.3,-12063.9,2717.3
$MHEAD_RNG_PITCHd_Wd,77.7,39707,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.42,-146.6,0.0,0.0,0,100,0.00,0.00,-81.40,0.000,2,0.000,0.000,50,2675,3203
$GC,104,-1.42,-146.6,4.1,-5.2,4,126,11.73,2.12,-4.88,0.000,4,0.156,0.096,2123,3787,3502
$GC,380,-1.42,-146.6,42.5,-10.6,16,384,0.00,1.98,0.00,0.000,6,0.000,0.044,2124,2675,3502
$GC,707,-1.42,-146.6,76.6,-10.2,32,711,0.00,2.12,0.00,0.000,4,0.000,0.081,2124,3786,3501
$GC,808,-1.42,-146.6,87.8,-11.2,36,812,0.00,1.98,0.00,0.000,6,0.000,0.044,2123,2675,3501
$GC,1132,-1.42,-146.6,122.2,-10.8,52,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2675,3501
$GC,1439,-1.42,-146.6,154.4,-10.3,67,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2675,3501
$GC,1748,-1.42,-146.6,185.0,-10.5,82,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2675,3501
$GC,2058,-1.42,-146.6,216.4,-10.4,97,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2675,3500
$GC,2367,-1.42,-146.6,245.6,-9.0,112,2370,0.00,2.15,0.00,0.000,4,0.000,0.082,2123,3794,3501
$GC,2406,-1.42,-146.6,249.4,-9.5,113,2412,0.00,2.00,0.00,0.000,6,0.000,0.044,2124,2667,3501
$GC,2722,-1.42,-146.6,279.2,-10.0,129,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2666,3500
$GC,3031,-1.42,-146.6,310.4,-10.1,144,3035,0.00,2.15,0.00,0.000,4,0.000,0.081,2123,3790,3500
$GC,3081,-1.42,-146.6,316.0,-10.8,146,3085,0.00,1.98,0.00,0.000,6,0.000,0.044,2124,2672,3500
$GC,3409,-1.42,-146.6,347.6,-9.3,162,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2672,3500
$GC,3718,-1.42,-146.6,376.6,-9.7,177,3722,0.00,2.12,0.00,0.000,4,0.000,0.080,2124,3787,3500
$GC,3757,-1.42,-146.6,380.6,-10.1,178,3764,0.00,1.98,0.00,0.000,6,0.000,0.046,2124,2669,3500
$GC,4074,-1.42,-146.6,410.8,-10.1,194,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2669,3500
$GC,4383,-1.42,-146.6,441.0,-10.0,209,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2669,3500
$GC,4692,-1.42,-146.6,471.7,-9.8,224,4696,0.00,2.15,0.00,0.000,4,0.000,0.081,2124,3794,3500
$GC,4743,-1.42,-146.6,476.7,-10.3,226,4747,0.00,1.98,0.00,0.000,6,0.000,0.044,2124,2672,3500
$GC,5070,-1.42,-146.6,510.0,-10.6,242,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2672,3500
$GC,5379,-1.42,-146.6,542.0,-9.7,257,5383,0.00,2.12,0.00,0.000,4,0.000,0.078,2124,3793,3500
$GC,5414,-1.42,-146.6,545.5,-10.1,258,5418,0.00,1.98,0.00,0.000,6,0.000,0.043,2124,2667,3500
$GC,5736,-1.42,-146.6,577.9,-10.2,274,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2667,3500
$GC,6045,-1.42,-146.6,607.5,-9.8,289,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2667,3500
$GC,6355,-1.42,-146.6,640.1,-10.4,304,6358,0.00,2.12,0.00,0.000,4,0.000,0.078,2124,3789,3500
$GC,6394,-1.42,-146.6,644.3,-10.7,305,6400,0.00,2.00,0.00,0.000,6,0.000,0.044,2124,2645,3500
$GC,6711,-1.42,-146.6,675.0,-9.6,321,6715,0.00,2.17,0.00,0.000,4,0.000,0.081,2124,3786,3500
$GC,6744,-1.42,-146.6,678.7,-10.6,322,6748,0.00,1.98,0.00,0.000,6,0.000,0.043,2124,2661,3500
$GC,7066,-1.42,-146.6,710.4,-9.5,338,7071,0.00,2.53,0.00,0.000,4,0.000,0.062,2124,1266,3500
$GC,7111,-1.42,-146.6,714.9,-10.3,340,7115,0.00,2.62,0.00,0.000,6,0.000,0.066,2124,2678,3500
$GC,7432,-1.42,-146.6,745.2,-9.1,356,7436,0.00,2.10,0.00,0.000,4,0.000,0.081,2124,3796,3499
$GC,7617,-1.42,-146.6,763.9,-10.5,364,7621,0.00,2.00,0.00,0.000,6,0.000,0.049,2124,2670,3499
$STATE,7756,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7757,begin apogee
$GC,7765,-0.42,0.0,776.8,8.8,371,7899,1.15,0.00,126.38,1.195,6,0.114,0.000,2344,2074,2902
$STATE,7899,end apogee,CONTROL_FINISHED_OK
$STATE,7899,begin climb
$GC,7903,1.42,146.6,782.5,0.0,378,8034,1.90,2.67,123.43,1.193,4,0.051,0.062,2751,661,2304
$GC,8170,1.42,146.6,776.4,9.0,390,8175,0.00,2.55,0.00,0.000,6,0.000,0.041,2751,2090,2303
$GC,8498,1.50,213.6,759.9,5.5,406,8562,0.00,2.70,56.97,1.184,4,0.000,0.064,2751,3485,2031
$GC,8619,1.53,235.6,752.4,7.2,411,8645,0.10,2.58,20.10,1.101,6,0.053,0.045,2783,2064,1941
$GC,8958,1.55,247.9,727.3,7.5,427,8979,0.00,2.67,11.68,1.051,4,0.000,0.064,2784,669,1891
$GC,9007,1.55,247.9,722.9,8.4,429,9011,0.00,2.53,0.00,0.000,6,0.000,0.041,2784,2079,1891
$GC,9328,1.56,258.8,698.2,7.6,445,9345,0.00,2.67,11.00,1.043,4,0.000,0.061,2783,659,1846
$GC,9458,1.56,258.8,687.0,9.1,450,9463,0.00,2.53,0.00,0.000,6,0.000,0.040,2784,2082,1846
$GC,9786,1.56,258.8,658.7,8.4,466,9790,0.00,2.60,0.00,0.000,4,0.000,0.059,2784,665,1845
$GC,9858,1.56,258.8,652.0,9.3,469,9863,0.00,2.50,0.00,0.000,6,0.000,0.038,2784,2082,1845
$GC,10174,1.56,258.8,626.0,8.1,484,10179,0.00,2.60,0.00,0.000,4,0.000,0.058,2784,666,1845
$GC,10282,1.56,258.8,616.9,8.7,489,10286,0.00,2.47,0.00,0.000,6,0.000,0.037,2784,2080,1845
$GC,10614,1.56,258.8,586.3,9.6,505,10618,0.00,2.58,0.00,0.000,4,0.000,0.058,2784,668,1845
$GC,10721,1.56,258.8,575.3,10.3,510,10725,0.00,2.45,0.00,0.000,6,0.000,0.037,2783,2075,1845
$GC,11054,1.56,258.8,544.1,9.4,526,11055,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2076,1845
$GC,11363,1.56,258.8,514.1,9.5,541,11367,0.00,2.58,0.00,0.000,4,0.000,0.056,2784,660,1845
$GC,11463,1.56,258.8,503.9,10.2,545,11470,0.00,2.47,0.00,0.000,6,0.000,0.037,2783,2083,1845
$GC,11780,1.56,258.8,473.4,9.7,561,11784,0.00,2.58,0.00,0.000,4,0.000,0.056,2783,666,1846
$GC,11870,1.56,258.8,464.3,10.7,565,11874,0.00,2.47,0.00,0.000,6,0.000,0.037,2784,2082,1846
$GC,12198,1.56,258.8,435.2,8.7,581,12202,0.00,2.58,0.00,0.000,4,0.000,0.056,2784,666,1846
$GC,12254,1.56,258.8,430.2,9.1,583,12260,0.00,2.47,0.00,0.000,6,0.000,0.037,2783,2081,1846
$GC,12569,1.56,258.8,402.4,8.8,599,12573,0.00,2.58,0.00,0.000,4,0.000,0.058,2783,660,1846
$GC,12648,1.56,258.8,394.9,9.1,602,12652,0.00,2.47,0.00,0.000,6,0.000,0.037,2784,2075,1846
$GC,12964,1.56,258.8,367.8,8.8,617,12968,0.00,2.58,0.00,0.000,4,0.000,0.058,2783,658,1846
$GC,13020,1.56,258.8,362.4,10.4,619,13024,0.00,2.47,0.00,0.000,6,0.000,0.037,2784,2073,1846
$GC,13336,1.56,258.8,333.4,9.1,634,13340,0.00,2.58,0.00,0.000,4,0.000,0.058,2784,659,1847
$GC,13408,1.56,258.8,326.5,9.2,637,13413,0.00,2.50,0.00,0.000,6,0.000,0.038,2784,2085,1847
$GC,13724,1.56,258.8,298.5,8.8,652,13728,0.00,2.60,0.00,0.000,4,0.000,0.058,2783,658,1847
$GC,13803,1.56,258.8,291.0,9.2,655,13809,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,2078,1847
$GC,14119,1.56,258.8,262.7,9.0,671,14124,0.00,2.58,0.00,0.000,4,0.000,0.058,2783,666,1847
$GC,14175,1.56,258.8,257.2,9.5,673,14181,0.00,2.47,0.00,0.000,6,0.000,0.038,2783,2079,1847
$GC,14491,1.56,258.8,227.0,9.6,689,14496,0.00,2.58,0.00,0.000,4,0.000,0.059,2784,666,1848
$GC,14570,1.56,258.8,218.7,10.7,692,14576,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,2078,1848
$GC,14886,1.56,258.8,187.7,9.6,708,14890,0.00,2.58,0.00,0.000,4,0.000,0.058,2784,665,1848
$GC,14964,1.56,258.8,179.8,10.2,711,14970,0.00,2.47,0.00,0.000,6,0.000,0.038,2783,2076,1848
$GC,15281,1.56,258.8,149.4,10.0,727,15284,0.00,2.58,0.00,0.000,4,0.000,0.059,2784,666,1848
$GC,15336,1.56,258.8,143.8,9.2,729,15341,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,2079,1848
$GC,15653,1.56,258.8,111.9,10.5,744,15658,0.00,2.60,0.00,0.000,4,0.000,0.060,2783,655,1848
$GC,15799,1.56,258.8,96.3,10.8,750,15806,0.00,2.47,0.00,0.000,6,0.000,0.039,2783,2075,1848
$GC,16117,1.56,258.8,66.5,9.5,766,16121,0.00,2.58,0.00,0.000,4,0.000,0.058,2784,657,1848
$GC,16225,1.56,258.8,55.2,10.4,771,16229,0.00,2.50,0.00,0.000,6,0.000,0.039,2784,2081,1848
$GC,16554,1.56,258.8,23.9,9.9,787,16559,0.00,2.60,0.00,0.000,4,0.000,0.060,2784,658,1848
$GC,16656,1.56,258.8,13.9,14.1,791,16662,0.00,2.50,0.00,0.000,6,0.000,0.042,2784,2083,1848
$STATE,16763,end climb,SURFACE_DEPTH_REACHED
$STATE,16763,begin surface coast
$FINISH,0.2,1.027304
$STATE,16784,end surface coast,CONTROL_FINISHED_OK
$STATE,16785,begin surface
$SM_CCo,16870,0.00,0.000,0,0,1848,258.55
$SM_GC,1.51,12.07,0.00,0.00,0.034,0.000,0.000,53,2679,1848,-10.92,0.11,258.55
$IRIDIUM_FIX,6221.17,-1301.79,260798,070701
$TT8_MAMPS,0.028379
$HUMID,1795
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.0,36.2
$24V_AH,23.2,52.798
$10V_AH,10.1,30.440
$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,26.950,155.550,349.550,0.000,0.000,28.100,26.509,241.764,6.500,0.000,0.000,14.855,1507.487,12707.701,506.108,1951.653,620.736,33.347,1484.991,0.000,1901.292,0.000,45.343,0.000
$DEVICE_MAMPS,156.468,95.875,1194.986,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,558.585,586.964,459.056,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41192,798
$CAP_FILE_SIZE,126072,0
$CFSIZE,260165632,238538752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010509,162006,6249.058,-1302.485,68,1.1,79,-12.0