version: 66.04
glider: 103
mission: 11
dive: 344
start: 5 7 109 14 10 39
data:
$ID,103
$MISSION,11
$DIVE,344
$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,-150514.92
$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,25
$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
$GPS1,140136,6228.179,-1159.129,31,1.1,31,-11.2
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-60.5
$GPS2,140949,6228.112,-1159.144,9,1.1,14,-11.2
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P1
$TGT_LATLONG,6215.000,-1130.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.235,-0.061
$KALMAN_X,-121551.1,547.1,190.0,172773.8,-2872.6
$KALMAN_Y,11943.5,141.9,-649.6,-52936.4,-1395.7
$MHEAD_RNG_PITCHd_Wd,115.7,34946,-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,-146.6,0.0,0.0,0,58,0.00,0.00,-40.72,0.000,2,0.000,0.000,48,2680,3134
$GC,62,-1.42,-146.6,3.3,-8.6,2,88,11.82,2.70,-6.68,0.000,4,0.162,0.080,2126,1268,3503
$GC,287,-1.42,-146.6,32.5,-10.2,12,292,0.00,2.65,0.00,0.000,6,0.000,0.068,2126,2682,3503
$GC,617,-1.42,-146.6,68.0,-10.3,28,620,0.00,2.10,0.00,0.000,4,0.000,0.082,2126,3793,3503
$GC,656,-1.42,-146.6,73.2,-12.4,29,662,0.00,2.00,0.00,0.000,6,0.000,0.047,2126,2661,3503
$GC,972,-1.42,-146.6,107.5,-10.2,45,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2661,3503
$GC,1283,-1.42,-146.6,139.2,-11.1,60,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2661,3503
$GC,1591,-1.42,-146.6,172.0,-10.4,75,1594,0.00,2.15,0.00,0.000,4,0.000,0.078,2126,3787,3503
$GC,1660,-1.42,-146.6,179.2,-10.3,78,1664,0.00,2.00,0.00,0.000,6,0.000,0.048,2126,2665,3503
$GC,1994,-1.42,-146.6,214.6,-10.7,94,1998,0.00,2.15,0.00,0.000,4,0.000,0.081,2126,3792,3503
$GC,2095,-1.42,-146.6,225.9,-11.2,98,2098,0.00,2.00,0.00,0.000,6,0.000,0.045,2126,2664,3503
$GC,2416,-1.42,-146.6,259.1,-10.4,114,2420,0.00,2.15,0.00,0.000,4,0.000,0.081,2126,3789,3503
$GC,2489,-1.42,-146.6,267.4,-11.2,117,2493,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2665,3503
$GC,2819,-1.42,-146.6,301.8,-10.5,133,2822,0.00,2.15,0.00,0.000,4,0.000,0.081,2126,3791,3503
$GC,2888,-1.42,-146.6,309.5,-10.8,136,2891,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2672,3502
$GC,3221,-1.42,-146.6,345.3,-10.8,152,3224,0.00,2.15,0.00,0.000,4,0.000,0.081,2126,3796,3502
$GC,3312,-1.42,-146.6,355.4,-11.7,156,3316,0.00,2.00,0.00,0.000,6,0.000,0.044,2126,2663,3502
$GC,3645,-1.42,-146.6,389.8,-10.3,172,3649,0.00,2.15,0.00,0.000,4,0.000,0.080,2126,3790,3503
$GC,3736,-1.42,-146.6,399.6,-10.9,176,3744,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2664,3502
$GC,4072,-1.42,-146.6,434.5,-10.6,192,4075,0.00,2.15,0.00,0.000,4,0.000,0.081,2126,3792,3502
$GC,4141,-1.42,-146.6,441.9,-11.0,195,4145,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2668,3503
$GC,4474,-1.42,-146.6,477.3,-10.8,211,4478,0.00,2.12,0.00,0.000,4,0.000,0.078,2126,3787,3503
$GC,4536,-1.42,-146.6,484.3,-11.1,213,4542,0.00,1.95,0.00,0.000,6,0.000,0.043,2126,2677,3503
$GC,4852,-1.42,-146.6,518.6,-10.8,229,4856,0.00,2.12,0.00,0.000,4,0.000,0.081,2125,3793,3502
$GC,4922,-1.42,-146.6,526.5,-11.5,232,4926,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2671,3502
$GC,5256,-1.42,-146.6,562.1,-10.5,248,5259,0.00,2.12,0.00,0.000,4,0.000,0.082,2126,3790,3503
$GC,5312,-1.42,-146.6,568.3,-11.2,250,5316,0.00,1.98,0.00,0.000,6,0.000,0.042,2126,2665,3502
$GC,5636,-1.42,-146.6,600.3,-9.7,266,5640,0.00,2.15,0.00,0.000,4,0.000,0.081,2126,3792,3502
$GC,5720,-1.42,-146.6,609.1,-10.3,269,5727,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2665,3502
$GC,6037,-1.42,-146.6,638.4,-9.5,285,6041,0.00,2.15,0.00,0.000,4,0.000,0.082,2126,3792,3502
$GC,6110,-1.42,-146.6,645.6,-9.6,288,6113,0.00,1.98,0.00,0.000,6,0.000,0.042,2126,2664,3502
$GC,6440,-1.42,-146.6,675.6,-8.8,304,6444,0.00,2.15,0.00,0.000,4,0.000,0.081,2126,3793,3502
$GC,6546,-1.42,-146.6,685.7,-9.2,308,6552,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2670,3502
$GC,6862,-1.42,-146.6,716.0,-10.2,324,6866,0.00,2.12,0.00,0.000,4,0.000,0.080,2126,3789,3502
$GC,6931,-1.42,-146.6,723.4,-10.9,327,6935,0.00,1.98,0.00,0.000,6,0.000,0.043,2126,2676,3502
$GC,7264,-1.42,-146.6,755.9,-9.4,343,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2676,3502
$GC,7573,-1.42,-146.6,787.6,-10.4,358,7577,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3791,3502
$GC,7643,-1.42,-146.6,794.6,-10.7,361,7647,0.00,2.00,0.00,0.000,6,0.000,0.046,2126,2652,3502
$GC,7975,-1.42,-146.6,824.9,-9.0,377,7985,0.00,2.50,0.00,0.000,4,0.000,0.061,2126,1265,3501
$GC,8036,-1.42,-146.6,830.5,-9.5,379,8040,0.00,2.62,0.00,0.000,6,0.000,0.067,2126,2677,3501
$STATE,8349,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8349,begin apogee
$GC,8358,-0.42,0.0,858.9,9.6,394,8492,1.12,0.00,128.62,1.233,6,0.110,0.000,2344,2067,2902
$STATE,8493,end apogee,CONTROL_FINISHED_OK
$STATE,8493,begin climb
$GC,8496,1.42,146.6,864.8,0.0,401,8631,1.90,2.65,125.65,1.205,4,0.058,0.059,2750,656,2304
$GC,8890,1.52,228.1,848.0,5.0,419,8967,0.00,2.55,70.68,1.200,6,0.000,0.038,2749,2103,1972
$GC,9278,1.53,231.7,818.9,7.9,437,9289,0.10,2.70,4.78,0.834,4,0.052,0.060,2784,660,1957
$GC,9543,1.53,231.7,793.6,9.2,449,9547,0.00,2.50,0.00,0.000,6,0.000,0.039,2784,2079,1956
$GC,9876,1.53,231.7,764.6,9.0,465,9880,0.00,2.62,0.00,0.000,4,0.000,0.058,2784,652,1955
$GC,9954,1.53,231.7,757.0,9.7,468,9960,0.00,2.53,0.00,0.000,6,0.000,0.038,2784,2088,1955
$GC,10271,1.53,231.7,728.1,9.0,484,10274,0.00,2.60,0.00,0.000,4,0.000,0.057,2784,660,1955
$GC,10473,1.53,231.7,710.1,8.3,493,10477,0.00,2.47,0.00,0.000,6,0.000,0.036,2784,2080,1954
$GC,10806,1.53,231.7,682.4,8.3,509,10810,0.00,2.58,0.00,0.000,4,0.000,0.054,2784,662,1954
$GC,10890,1.53,231.7,675.2,9.2,513,10895,0.00,2.47,0.00,0.000,6,0.000,0.035,2784,2086,1954
$GC,11218,1.53,231.7,647.1,9.0,529,11222,0.00,2.60,0.00,0.000,4,0.000,0.054,2784,652,1955
$GC,11307,1.53,231.7,638.4,9.6,533,11311,0.00,2.47,0.00,0.000,6,0.000,0.034,2784,2078,1955
$GC,11628,1.53,231.7,610.7,8.5,549,11632,0.00,2.58,0.00,0.000,4,0.000,0.054,2784,655,1955
$GC,11741,1.53,231.7,600.9,8.8,554,11746,0.00,2.47,0.00,0.000,6,0.000,0.033,2784,2084,1955
$GC,12063,1.53,231.7,573.4,8.8,570,12067,0.00,2.58,0.00,0.000,4,0.000,0.053,2784,654,1955
$GC,12164,1.53,231.7,563.6,9.4,574,12170,0.00,2.47,0.00,0.000,6,0.000,0.034,2784,2082,1955
$GC,12480,1.53,231.7,535.2,9.1,590,12484,0.00,2.55,0.00,0.000,4,0.000,0.054,2784,662,1956
$GC,12558,1.53,231.7,527.7,8.8,593,12562,0.00,2.45,0.00,0.000,6,0.000,0.033,2784,2077,1956
$GC,12874,1.53,231.7,500.1,8.7,608,12878,0.00,2.55,0.00,0.000,4,0.000,0.053,2784,659,1956
$GC,12965,1.53,231.7,491.8,9.2,612,12969,0.00,2.45,0.00,0.000,6,0.000,0.035,2784,2078,1956
$GC,13297,1.53,231.7,463.6,8.6,628,13302,0.00,2.58,0.00,0.000,4,0.000,0.053,2784,652,1956
$GC,13417,1.53,231.7,452.8,9.6,633,13421,0.00,2.47,0.00,0.000,6,0.000,0.034,2784,2079,1956
$GC,13733,1.53,231.7,425.8,8.4,648,13737,0.00,2.58,0.00,0.000,4,0.000,0.054,2784,652,1957
$GC,13834,1.53,231.7,416.7,9.4,652,13840,0.00,2.47,0.00,0.000,6,0.000,0.035,2784,2078,1957
$GC,14150,1.53,231.7,390.4,8.3,668,14154,0.00,2.58,0.00,0.000,4,0.000,0.054,2784,650,1957
$GC,14263,1.53,231.7,380.9,8.2,673,14267,0.00,2.47,0.00,0.000,6,0.000,0.035,2784,2076,1957
$GC,14590,1.54,246.1,355.7,7.5,689,14612,0.00,2.65,13.43,0.871,4,0.000,0.054,2784,660,1898
$GC,14718,1.54,246.1,345.0,8.6,694,14725,0.00,2.47,0.00,0.000,6,0.000,0.036,2784,2074,1898
$GC,15035,1.54,246.1,318.6,8.7,710,15039,0.00,2.58,0.00,0.000,4,0.000,0.056,2784,655,1898
$GC,15090,1.54,246.1,313.3,9.4,712,15096,0.00,2.47,0.00,0.000,6,0.000,0.036,2784,2074,1898
$GC,15406,1.54,246.1,284.5,9.5,728,15410,0.00,2.58,0.00,0.000,4,0.000,0.056,2784,652,1898
$GC,15484,1.54,246.1,276.8,9.7,731,15489,0.00,2.50,0.00,0.000,6,0.000,0.037,2784,2080,1898
$GC,15801,1.54,246.1,247.3,9.2,746,15805,0.00,2.58,0.00,0.000,4,0.000,0.056,2784,656,1898
$GC,15907,1.54,246.1,236.8,9.4,750,15914,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,2081,1898
$GC,16224,1.54,246.1,206.5,9.8,766,16228,0.00,2.58,0.00,0.000,4,0.000,0.056,2784,660,1898
$GC,16319,1.54,246.1,196.6,10.1,770,16323,0.00,2.47,0.00,0.000,6,0.000,0.037,2784,2076,1899
$GC,16634,1.54,246.1,165.6,9.8,785,16639,0.00,2.58,0.00,0.000,4,0.000,0.057,2784,656,1899
$GC,16730,1.54,246.1,156.0,8.6,789,16735,0.00,2.50,0.00,0.000,6,0.000,0.038,2784,2084,1899
$GC,17047,1.54,246.1,126.4,9.2,804,17051,0.00,2.60,0.00,0.000,4,0.000,0.058,2784,652,1899
$GC,17109,1.54,246.1,120.3,10.0,807,17114,0.00,2.50,0.00,0.000,6,0.000,0.038,2784,2078,1899
$GC,17437,1.54,246.1,89.7,9.2,823,17441,0.00,2.60,0.00,0.000,4,0.000,0.060,2784,654,1899
$GC,17492,1.54,246.1,84.2,9.0,825,17498,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,2076,1899
$GC,17809,1.54,246.1,56.2,9.0,841,17813,0.00,2.60,0.00,0.000,4,0.000,0.060,2784,652,1899
$GC,17875,1.54,246.1,49.6,10.2,844,17880,0.00,2.50,0.00,0.000,6,0.000,0.039,2784,2076,1899
$GC,18197,1.54,246.1,19.0,10.6,860,18201,0.00,2.58,0.00,0.000,4,0.000,0.059,2784,662,1899
$GC,18270,1.54,246.1,11.5,8.1,863,18275,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,2078,1899
$STATE,18377,end climb,SURFACE_DEPTH_REACHED
$STATE,18377,begin surface coast
$FINISH,0.2,1.002634
$STATE,18399,end surface coast,CONTROL_FINISHED_OK
$STATE,18399,begin surface
$SM_CCo,18485,0.00,0.000,0,0,1899,246.04
$SM_GC,1.70,12.02,0.00,0.00,0.030,0.000,0.000,48,2680,1899,-10.94,0.14,246.04
$IRIDIUM_FIX,6207.28,-1202.43,010898,090908
$TT8_MAMPS,0.028379
$HUMID,1771
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.4,41.6
$24V_AH,23.1,57.325
$10V_AH,10.1,33.029
$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,26.975,195.425,343.150,0.000,0.000,61.704,56.922,173.503,7.250,0.000,0.000,14.837,1709.903,13759.115,463.153,2363.733,675.359,33.354,1652.905,0.000,2307.745,0.000,50.237,0.000
$DEVICE_MAMPS,161.837,82.069,1232.569,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,605.687,645.364,491.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44265,869
$CAP_FILE_SIZE,146305,0
$CFSIZE,260165632,236638208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070509,192000,6226.198,-1153.276,38,2.0,38,-11.2