version: 66.04
glider: 103
mission: 11
dive: 348
start: 5 8 109 11 46 44
data:
$ID,103
$MISSION,11
$DIVE,348
$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,-150623.92
$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,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
$GPS1,112508,6220.210,-1134.585,59,1.7,59,-10.9
$_CALLS,5
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-60.4
$GPS2,114553,6219.979,-1134.432,13,2.0,15,-10.9
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P1
$TGT_LATLONG,6215.000,-1130.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.200,-0.139
$KALMAN_X,-121132.5,-460.2,559.8,193920.7,-1666.0
$KALMAN_Y,2212.1,691.4,197.6,-59675.7,-4615.0
$MHEAD_RNG_PITCHd_Wd,135.7,9983,-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,-146.6,0.0,0.0,0,68,0.00,0.00,-45.92,0.000,6,0.000,0.000,53,2675,3501
$GC,72,-1.42,-146.6,6.7,-11.5,3,93,11.68,2.65,0.00,0.000,4,0.157,0.064,2125,1261,3501
$GC,346,-1.42,-146.6,49.3,-10.6,15,350,0.00,2.62,0.00,0.000,6,0.000,0.065,2124,2674,3501
$GC,667,-1.42,-146.6,83.6,-10.5,31,672,0.00,2.60,0.00,0.000,4,0.000,0.064,2124,1268,3501
$GC,763,-1.42,-146.6,93.4,-9.6,35,767,0.00,2.65,0.00,0.000,6,0.000,0.071,2125,2678,3501
$GC,1079,-1.42,-146.6,128.5,-11.0,50,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2678,3501
$GC,1388,-1.42,-146.6,160.4,-10.7,65,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2678,3501
$GC,1697,-1.42,-146.6,193.4,-10.2,80,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2678,3501
$GC,2006,-1.42,-146.6,227.4,-11.3,95,2010,0.00,2.08,0.00,0.000,4,0.000,0.080,2125,3785,3501
$GC,2075,-1.42,-146.6,235.3,-11.4,98,2079,0.00,1.95,0.00,0.000,6,0.000,0.044,2124,2674,3501
$GC,2407,-1.42,-146.6,271.6,-10.4,114,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2674,3501
$GC,2716,-1.42,-146.6,303.1,-10.3,129,2720,0.00,2.10,0.00,0.000,4,0.000,0.077,2124,3785,3501
$GC,2812,-1.42,-146.6,313.6,-10.6,133,2816,0.00,1.98,0.00,0.000,6,0.000,0.044,2124,2663,3501
$GC,3139,-1.42,-146.6,348.2,-10.7,149,3143,0.00,2.12,0.00,0.000,4,0.000,0.077,2125,3787,3501
$GC,3212,-1.42,-146.6,356.4,-11.6,152,3216,0.00,1.98,0.00,0.000,6,0.000,0.044,2125,2669,3501
$GC,3540,-1.42,-146.6,391.2,-10.5,168,3543,0.00,2.12,0.00,0.000,4,0.000,0.078,2124,3790,3501
$GC,3614,-1.42,-146.6,399.3,-11.0,171,3619,0.00,1.98,0.00,0.000,6,0.000,0.043,2124,2666,3501
$GC,3941,-1.42,-146.6,432.6,-10.1,187,3944,0.00,2.12,0.00,0.000,4,0.000,0.080,2125,3787,3501
$GC,4009,-1.42,-146.6,439.7,-10.4,190,4012,0.00,1.98,0.00,0.000,6,0.000,0.044,2124,2664,3501
$GC,4342,-1.42,-146.6,472.8,-10.3,206,4346,0.00,2.12,0.00,0.000,4,0.000,0.077,2125,3786,3501
$GC,4398,-1.42,-146.6,479.1,-11.2,208,4402,0.00,1.95,0.00,0.000,6,0.000,0.042,2125,2673,3501
$GC,4719,-1.42,-146.6,515.0,-11.2,224,4723,0.00,2.10,0.00,0.000,4,0.000,0.075,2124,3790,3501
$GC,4798,-1.42,-146.6,524.3,-11.3,227,4802,0.00,1.98,0.00,0.000,6,0.000,0.043,2125,2664,3501
$GC,5120,-1.42,-146.6,558.9,-10.6,243,5124,0.00,2.15,0.00,0.000,4,0.000,0.078,2124,3795,3501
$GC,5176,-1.42,-146.6,565.2,-11.0,245,5180,0.00,1.98,0.00,0.000,6,0.000,0.042,2125,2666,3501
$GC,5497,-1.42,-146.6,598.6,-10.7,261,5501,0.00,2.12,0.00,0.000,4,0.000,0.077,2124,3789,3501
$GC,5571,-1.42,-146.6,606.9,-10.6,264,5575,0.00,1.95,0.00,0.000,6,0.000,0.041,2124,2669,3501
$GC,5898,-1.42,-146.6,641.8,-10.1,280,5902,0.00,2.10,0.00,0.000,4,0.000,0.075,2124,3794,3501
$GC,5944,-1.42,-146.6,646.3,-10.6,282,5947,0.00,1.95,0.00,0.000,6,0.000,0.040,2124,2673,3501
$GC,6277,-1.42,-146.6,677.1,-9.5,298,6280,0.00,2.10,0.00,0.000,4,0.000,0.075,2124,3789,3501
$GC,6350,-1.42,-146.6,684.9,-10.5,301,6354,0.00,1.92,0.00,0.000,6,0.000,0.040,2125,2676,3501
$GC,6677,-1.42,-146.6,720.9,-11.1,317,6681,0.00,2.12,0.00,0.000,4,0.000,0.081,2125,3790,3501
$GC,6740,-1.42,-146.6,727.7,-10.6,319,6746,0.00,1.95,0.00,0.000,6,0.000,0.038,2124,2669,3500
$GC,7056,-1.42,-146.6,756.9,-9.0,335,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2670,3501
$GC,7366,-1.42,-146.6,784.9,-9.4,350,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2669,3501
$GC,7675,-1.42,-146.6,820.9,-12.5,365,7678,0.00,2.15,0.00,0.000,4,0.000,0.083,2124,3793,3500
$GC,7803,-1.42,-146.6,836.0,-10.8,370,7811,0.00,2.00,0.00,0.000,6,0.000,0.041,2125,2641,3500
$GC,8120,-1.42,-146.6,863.6,-8.6,386,8124,0.00,2.20,0.00,0.000,4,0.000,0.083,2124,3792,3500
$GC,8334,-1.42,-146.6,886.8,-11.4,395,8337,0.00,1.98,0.00,0.000,6,0.000,0.042,2125,2666,3500
$STATE,8653,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8653,begin apogee
$GC,8662,-0.42,0.0,918.9,10.7,411,8795,1.12,0.00,129.25,1.272,6,0.094,0.000,2349,2074,2902
$STATE,8796,end apogee,CONTROL_FINISHED_OK
$STATE,8796,begin climb
$GC,8799,1.42,146.6,926.1,0.0,418,8936,1.88,2.67,126.75,1.243,4,0.059,0.061,2748,654,2304
$GC,9198,1.43,155.3,912.5,7.7,436,9212,0.00,2.55,9.23,1.065,6,0.000,0.038,2748,2100,2268
$GC,9530,1.52,225.5,892.7,5.4,452,9598,0.10,2.75,61.30,1.251,4,0.054,0.061,2779,652,1982
$GC,9706,1.56,262.3,880.7,6.7,460,9744,0.00,2.53,32.90,1.212,6,0.000,0.039,2779,2072,1832
$GC,10053,1.56,262.3,853.8,9.8,477,10057,0.00,2.60,0.00,0.000,4,0.000,0.064,2779,3481,1831
$GC,10138,1.56,262.3,844.2,10.9,481,10142,0.00,2.53,0.00,0.000,6,0.000,0.041,2779,2063,1830
$GC,10465,1.56,262.3,809.7,9.7,497,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2063,1829
$GC,10773,1.56,262.3,780.1,9.2,512,10778,0.00,2.53,0.00,0.000,4,0.000,0.056,2779,664,1829
$GC,10841,1.56,262.3,773.3,9.4,515,10845,0.00,2.47,0.00,0.000,6,0.000,0.035,2779,2081,1829
$GC,11163,1.56,262.3,741.8,9.7,531,11167,0.00,2.58,0.00,0.000,4,0.000,0.054,2779,661,1829
$GC,11202,1.56,262.3,737.6,10.2,533,11207,0.00,2.47,0.00,0.000,6,0.000,0.035,2779,2080,1829
$GC,11530,1.56,262.3,704.8,10.2,549,11534,0.00,2.58,0.00,0.000,4,0.000,0.053,2779,658,1830
$GC,11603,1.56,262.3,697.2,10.2,552,11607,0.00,2.47,0.00,0.000,6,0.000,0.034,2779,2082,1830
$GC,11924,1.56,262.3,665.8,9.8,568,11928,0.00,2.55,0.00,0.000,4,0.000,0.052,2779,668,1830
$GC,11986,1.56,262.3,659.3,10.2,571,11990,0.00,2.47,0.00,0.000,6,0.000,0.035,2779,2084,1830
$GC,12319,1.56,262.3,626.7,9.8,587,12324,0.00,2.58,0.00,0.000,4,0.000,0.053,2779,659,1830
$GC,12353,1.56,262.3,623.1,10.3,588,12359,0.00,2.47,0.00,0.000,6,0.000,0.036,2779,2080,1830
$GC,12669,1.56,262.3,590.9,10.0,604,12673,0.00,2.55,0.00,0.000,4,0.000,0.054,2779,668,1831
$GC,12719,1.56,262.3,585.8,10.4,606,12723,0.00,2.47,0.00,0.000,6,0.000,0.036,2779,2085,1831
$GC,13040,1.56,262.3,555.6,9.2,622,13044,0.00,2.58,0.00,0.000,4,0.000,0.054,2779,661,1831
$GC,13102,1.56,262.3,549.3,10.3,625,13106,0.00,2.47,0.00,0.000,6,0.000,0.037,2779,2080,1831
$GC,13429,1.56,262.3,517.3,10.0,641,13434,0.00,2.55,0.00,0.000,4,0.000,0.054,2779,668,1832
$GC,13492,1.56,262.3,510.6,10.0,644,13496,0.00,2.45,0.00,0.000,6,0.000,0.036,2779,2076,1832
$GC,13818,1.56,262.3,478.0,10.1,660,13820,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2076,1832
$GC,14128,1.56,262.3,447.1,9.9,675,14132,0.00,2.55,0.00,0.000,4,0.000,0.054,2779,667,1833
$GC,14201,1.56,262.3,439.7,9.2,678,14206,0.00,2.47,0.00,0.000,6,0.000,0.037,2779,2083,1833
$GC,14517,1.56,262.3,407.9,10.5,693,14521,0.00,2.58,0.00,0.000,4,0.000,0.055,2779,661,1833
$GC,14584,1.56,262.3,400.7,10.1,696,14589,0.00,2.47,0.00,0.000,6,0.000,0.038,2779,2075,1833
$GC,14906,1.56,262.3,368.3,10.4,712,14910,0.00,2.55,0.00,0.000,4,0.000,0.055,2779,663,1833
$GC,14961,1.56,262.3,362.3,10.6,714,14967,0.00,2.47,0.00,0.000,6,0.000,0.038,2779,2076,1833
$GC,15277,1.56,262.3,329.4,10.5,730,15282,0.00,2.55,0.00,0.000,4,0.000,0.056,2779,668,1833
$GC,15345,1.56,262.3,321.9,10.1,733,15349,0.00,2.45,0.00,0.000,6,0.000,0.038,2779,2075,1833
$GC,15672,1.56,262.3,288.3,10.4,749,15676,0.00,2.55,0.00,0.000,4,0.000,0.057,2779,666,1834
$GC,15716,1.56,262.3,283.3,11.3,751,15721,0.00,2.47,0.00,0.000,6,0.000,0.038,2779,2078,1834
$GC,16038,1.56,262.3,248.3,11.2,767,16042,0.00,2.58,0.00,0.000,4,0.000,0.057,2779,657,1834
$GC,16105,1.56,262.3,240.9,10.4,770,16109,0.00,2.50,0.00,0.000,6,0.000,0.038,2779,2083,1834
$GC,16426,1.56,262.3,208.5,9.7,786,16427,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2082,1834
$GC,16735,1.56,262.3,177.1,10.3,801,16740,0.00,2.58,0.00,0.000,4,0.000,0.058,2779,665,1834
$GC,16826,1.56,262.3,167.3,11.6,805,16830,0.00,2.47,0.00,0.000,6,0.000,0.039,2779,2076,1834
$GC,17149,1.56,262.3,134.0,10.2,821,17153,0.00,2.58,0.00,0.000,4,0.000,0.058,2779,660,1834
$GC,17199,1.56,262.3,128.2,10.9,823,17203,0.00,2.50,0.00,0.000,6,0.000,0.039,2779,2084,1834
$GC,17517,1.56,262.3,95.7,9.7,838,17522,0.00,2.60,0.00,0.000,4,0.000,0.059,2779,658,1834
$GC,17551,1.56,262.3,92.3,10.2,839,17557,0.00,2.47,0.00,0.000,6,0.000,0.041,2779,2077,1834
$GC,17867,1.56,262.3,60.3,9.6,855,17871,0.00,2.58,0.00,0.000,4,0.000,0.061,2779,669,1834
$GC,17953,1.56,262.3,52.4,8.2,859,17957,0.00,2.47,0.00,0.000,6,0.000,0.040,2779,2078,1834
$GC,18281,1.56,262.3,20.1,10.4,875,18286,0.00,2.55,0.00,0.000,4,0.000,0.054,2779,662,1835
$GC,18337,1.56,262.3,14.5,10.0,877,18344,0.00,2.45,0.00,0.000,6,0.000,0.036,2779,2082,1835
$STATE,18465,end climb,SURFACE_DEPTH_REACHED
$STATE,18465,begin surface coast
$FINISH,0.3,1.019779
$STATE,18487,end surface coast,CONTROL_FINISHED_OK
$STATE,18487,begin surface
$SM_CCo,18573,0.00,0.000,0,0,1834,261.98
$SM_GC,1.22,12.02,0.00,0.00,0.031,0.000,0.000,48,2659,1834,-10.94,-0.45,261.98
$IRIDIUM_FIX,6153.50,-1134.95,020898,111105
$TT8_MAMPS,0.028379
$HUMID,1771
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.1,102.3
$24V_AH,23.1,57.965
$10V_AH,10.1,33.401
$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,26.800,181.350,359.425,0.000,0.000,149.812,158.744,529.515,7.250,0.000,0.000,17.560,1689.060,14211.577,460.483,2218.483,1229.608,33.358,1584.332,0.000,2158.486,0.000,54.428,0.000
$DEVICE_MAMPS,157.235,100.477,1271.686,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,617.248,655.121,481.539,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44278,885
$CAP_FILE_SIZE,153648,0
$CFSIZE,260165632,236355584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080509,165741,6216.226,-1134.473,42,1.8,46,-10.9