version: 66.04
glider: 103
mission: 11
dive: 433
start: 5 21 109 16 23 16
data:
$ID,103
$MISSION,11
$DIVE,433
$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,-152187.27
$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,2750
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$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
$GPS1,161607,6350.850,-754.878,32,1.2,33,-9.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-61.9
$GPS2,162226,6350.850,-754.921,12,1.2,12,-9.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P5
$TGT_LATLONG,6430.000,-600.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.141,0.198
$KALMAN_X,-19150.4,-148.6,-1249.2,146207.0,3357.6
$KALMAN_Y,-46822.9,141.7,-89.8,171141.3,193.2
$MHEAD_RNG_PITCHd_Wd,44.9,116845,-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,-41.67,0.000,2,0.000,0.000,50,2749,3074
$GC,62,-1.42,-146.6,3.1,-10.5,2,85,12.07,0.00,-7.72,0.000,6,0.165,0.000,2124,2750,3502
$GC,390,-1.42,-146.6,45.0,-10.8,18,394,0.00,2.65,0.00,0.000,4,0.000,0.067,2124,1335,3503
$GC,475,-1.42,-146.6,54.0,-10.1,22,479,0.00,2.72,0.00,0.000,6,0.000,0.077,2124,2760,3503
$GC,802,-1.42,-146.6,90.5,-10.8,38,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3504
$GC,1111,-1.42,-146.6,125.0,-11.6,53,1115,0.00,2.67,0.00,0.000,4,0.000,0.068,2124,1334,3505
$GC,1173,-1.42,-146.6,132.1,-11.7,56,1178,0.00,2.70,0.00,0.000,6,0.000,0.074,2124,2749,3505
$GC,1501,-1.42,-146.6,166.8,-10.1,72,1504,0.00,2.05,0.00,0.000,4,0.000,0.100,2124,3789,3505
$GC,1529,-1.42,-146.6,170.0,-10.9,73,1532,0.00,1.92,0.00,0.000,6,0.000,0.058,2124,2742,3505
$GC,1856,-1.42,-146.6,201.7,-9.9,89,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2742,3505
$GC,2165,-1.42,-146.6,234.1,-10.8,104,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2742,3505
$GC,2477,-1.42,-146.6,267.4,-10.7,119,2481,0.00,2.65,0.00,0.000,4,0.000,0.074,2124,1333,3505
$GC,2517,-1.42,-146.6,272.1,-11.5,121,2521,0.00,2.72,0.00,0.000,6,0.000,0.077,2125,2751,3505
$GC,2844,-1.42,-146.6,309.9,-12.1,137,2848,0.00,2.67,0.00,0.000,4,0.000,0.072,2124,1335,3504
$GC,2883,-1.42,-146.6,314.6,-11.5,139,2888,0.00,2.75,0.00,0.000,6,0.000,0.080,2124,2760,3504
$GC,3210,-1.42,-146.6,349.1,-10.0,155,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3504
$GC,3520,-1.42,-146.6,380.6,-10.4,170,3524,0.00,2.70,0.00,0.000,4,0.000,0.077,2124,1338,3504
$GC,3553,-1.42,-146.6,384.3,-10.4,171,3559,0.00,2.75,0.00,0.000,6,0.000,0.080,2124,2761,3503
$GC,3869,-1.42,-146.6,416.9,-10.6,187,3873,0.00,2.72,0.00,0.000,4,0.000,0.076,2124,1332,3503
$GC,3902,-1.42,-146.6,420.5,-10.7,188,3908,0.00,2.78,0.00,0.000,6,0.000,0.083,2124,2759,3503
$GC,4218,-1.42,-146.6,453.5,-10.6,204,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2759,3502
$GC,4527,-1.42,-146.6,486.1,-10.2,219,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2759,3501
$GC,4837,-1.42,-146.6,517.3,-10.1,234,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2759,3500
$GC,5146,-1.42,-146.6,550.3,-11.0,249,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3499
$GC,5455,-1.42,-146.6,583.6,-10.7,264,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2759,3499
$GC,5765,-1.42,-146.6,616.0,-10.3,279,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2759,3498
$GC,6073,-1.42,-146.6,646.9,-9.8,294,6078,0.00,2.70,0.00,0.000,4,0.000,0.074,2124,1335,3498
$GC,6119,-1.42,-146.6,651.4,-9.8,296,6124,0.00,2.75,0.00,0.000,6,0.000,0.081,2124,2759,3498
$GC,6441,-1.42,-146.6,683.5,-10.2,312,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3497
$GC,6750,-1.42,-146.6,715.2,-10.4,327,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3497
$GC,7060,-1.42,-146.6,747.5,-10.3,342,7064,0.00,2.70,0.00,0.000,4,0.000,0.074,2124,1337,3497
$GC,7093,-1.42,-146.6,751.0,-11.0,343,7099,0.00,2.75,0.00,0.000,6,0.000,0.081,2124,2757,3497
$GC,7409,-1.42,-146.6,783.6,-10.1,359,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3497
$GC,7718,-1.42,-146.6,814.4,-9.7,374,7723,0.00,2.70,0.00,0.000,4,0.000,0.075,2124,1337,3496
$GC,7745,-1.42,-146.6,817.1,-9.8,375,7750,0.00,2.75,0.00,0.000,6,0.000,0.081,2124,2755,3496
$GC,8062,-1.42,-146.6,846.9,-9.7,390,8063,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2755,3495
$GC,8371,-1.42,-146.6,876.0,-9.2,405,8376,0.00,2.72,0.00,0.000,4,0.000,0.077,2124,1330,3496
$GC,8404,-1.42,-146.6,879.2,-9.1,406,8410,0.00,2.75,0.00,0.000,6,0.000,0.081,2124,2750,3495
$GC,8721,-1.42,-146.6,907.2,-9.0,422,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3495
$GC,9029,-1.42,-146.6,935.6,-9.3,437,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3495
$GC,9339,-1.42,-146.6,965.3,-9.5,452,9343,0.00,2.67,0.00,0.000,4,0.000,0.074,2124,1337,3495
$GC,9372,-1.42,-146.6,968.8,-10.0,453,9378,0.00,2.72,0.00,0.000,6,0.000,0.079,2124,2750,3495
$STATE,9602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9602,begin apogee
$GC,9611,-0.42,0.0,991.6,9.9,465,9748,1.12,0.00,132.48,1.440,6,0.100,0.000,2344,1997,2902
$STATE,9748,end apogee,CONTROL_FINISHED_OK
$STATE,9748,begin climb
$GC,9752,1.42,146.6,999.1,0.0,472,9892,1.92,2.75,131.20,1.401,4,0.063,0.071,2747,589,2304
$GC,10148,1.52,226.6,990.9,5.1,489,10228,0.10,2.58,72.15,1.391,6,0.054,0.044,2778,2023,1978
$GC,10536,1.52,226.6,961.2,8.1,508,10537,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2024,1977
$GC,10846,1.52,226.6,935.4,8.2,523,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2024,1977
$GC,11155,1.52,226.6,909.8,8.2,538,11159,0.00,2.72,0.00,0.000,4,0.000,0.071,2778,581,1977
$GC,11210,1.52,226.6,904.8,8.9,540,11217,0.00,2.55,0.00,0.000,6,0.000,0.045,2778,2006,1977
$GC,11527,1.52,226.6,878.6,8.4,556,11528,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2007,1976
$GC,11836,1.52,226.6,852.8,8.3,571,11840,0.00,2.67,0.00,0.000,4,0.000,0.071,2778,586,1977
$GC,11875,1.52,226.6,849.2,9.0,573,11880,0.00,2.55,0.00,0.000,6,0.000,0.046,2778,2010,1976
$GC,12203,1.52,227.8,822.6,8.0,589,12204,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2010,1977
$GC,12512,1.52,227.8,797.8,8.1,604,12513,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2010,1976
$GC,12821,1.54,240.3,773.6,7.5,619,12843,0.00,2.80,13.35,1.228,4,0.000,0.070,2778,590,1922
$GC,12889,1.54,241.0,768.1,8.0,622,12894,0.00,2.55,0.00,0.000,6,0.000,0.045,2778,1999,1922
$GC,13217,1.55,250.7,742.6,7.6,638,13230,0.00,0.00,11.07,1.183,6,0.000,0.000,2778,2000,1880
$GC,13525,1.55,250.7,717.7,8.1,653,13526,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2000,1879
$GC,13835,1.55,250.7,691.3,8.7,668,13836,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2000,1879
$GC,14146,1.55,250.7,664.3,8.8,683,14147,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2001,1879
$GC,14453,1.55,250.7,636.8,9.2,698,14454,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2000,1879
$GC,14763,1.55,250.7,607.7,9.5,713,14764,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2001,1879
$GC,15071,1.55,250.7,578.6,9.1,728,15073,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2001,1879
$GC,15381,1.55,250.7,552.0,8.4,743,15382,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2001,1879
$GC,15690,1.55,250.7,526.2,8.7,758,15692,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2001,1878
$GC,15999,1.55,250.7,499.9,8.6,773,16000,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2001,1879
$GC,16308,1.55,250.7,473.3,8.7,788,16310,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2001,1878
$GC,16618,1.55,250.7,444.8,9.6,803,16619,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2001,1878
$GC,16928,1.55,250.7,416.2,8.7,818,16929,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2001,1879
$GC,17236,1.55,250.7,389.5,8.6,833,17237,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2002,1879
$GC,17546,1.55,250.7,363.3,8.4,848,17547,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2002,1879
$GC,17856,1.58,277.9,340.0,7.0,863,17882,0.00,0.00,24.50,1.023,6,0.000,0.000,2778,2001,1769
$GC,18184,1.58,277.9,313.8,8.3,879,18188,0.00,2.67,0.00,0.000,4,0.000,0.081,2778,3400,1769
$GC,18251,1.58,277.9,307.8,9.0,882,18255,0.00,2.62,0.00,0.000,6,0.000,0.059,2778,1989,1769
$GC,18572,1.58,277.9,280.4,8.7,898,18577,0.00,2.65,0.00,0.000,4,0.000,0.074,2778,587,1769
$GC,18667,1.58,277.9,271.7,8.9,902,18671,0.00,2.58,0.00,0.000,6,0.000,0.051,2778,1997,1769
$GC,18983,1.58,277.9,243.7,8.7,917,18984,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1997,1769
$GC,19292,1.58,277.9,218.1,8.3,932,19296,0.00,2.67,0.00,0.000,4,0.000,0.074,2778,590,1769
$GC,19325,1.58,277.9,215.1,8.3,933,19331,0.00,2.58,0.00,0.000,6,0.000,0.051,2778,2003,1769
$GC,19641,1.58,277.9,188.3,8.6,949,19643,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2004,1769
$GC,19950,1.58,277.9,159.4,9.5,964,19955,0.00,2.70,0.00,0.000,4,0.000,0.084,2778,3409,1769
$GC,20000,1.58,277.9,154.6,8.4,966,20004,0.00,2.62,0.00,0.000,6,0.000,0.059,2778,1993,1769
$GC,20317,1.58,277.9,126.5,8.6,981,20321,0.00,2.65,0.00,0.000,4,0.000,0.074,2778,581,1770
$GC,20380,1.58,277.9,120.9,8.5,984,20385,0.00,2.58,0.00,0.000,6,0.000,0.048,2778,2005,1770
$GC,20709,1.58,278.4,94.0,8.0,1000,20710,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2005,1770
$GC,21017,1.58,278.4,68.1,8.2,1015,21021,0.00,2.67,0.00,0.000,4,0.000,0.071,2778,585,1770
$GC,21079,1.58,278.4,62.6,8.7,1018,21084,0.00,2.55,0.00,0.000,6,0.000,0.044,2778,2007,1771
$GC,21407,1.58,278.4,33.4,9.2,1034,21412,0.00,2.65,0.00,0.000,4,0.000,0.074,2778,3417,1771
$GC,21436,1.58,278.4,30.8,9.1,1035,21440,0.00,2.60,0.00,0.000,6,0.000,0.054,2778,1994,1771
$GC,21752,1.58,278.4,2.6,9.0,1050,21753,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1994,1772
$STATE,21770,end climb,SURFACE_DEPTH_REACHED
$STATE,21770,begin surface coast
$FINISH,-0.4,1.002480
$STATE,21791,end surface coast,CONTROL_FINISHED_OK
$STATE,21792,begin surface
$SM_CCo,21878,0.00,0.000,0,0,1771,277.43
$SM_GC,0.92,12.10,0.00,0.00,0.031,0.000,0.000,51,2741,1771,-10.92,-0.25,277.43
$IRIDIUM_FIX,6322.64,-754.03,150898,101007
$TT8_MAMPS,0.028379
$HUMID,1846
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,15.70
$XPDR_PINGS,79
$24V_AH,22.5,69.089
$10V_AH,10.0,38.773
$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,27.325,124.675,384.750,0.000,0.000,27.579,35.942,173.042,28.250,0.000,0.000,14.920,1838.230,17244.197,489.309,2049.809,625.756,33.361,1505.173,0.000,2019.169,0.000,56.950,0.000
$DEVICE_MAMPS,164.905,100.477,1439.659,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,786.936,749.190,561.492,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53792,1052
$CAP_FILE_SIZE,134860,0
$CFSIZE,260165632,232476672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210509,222906,6354.114,-749.867,33,1.1,34,-9.4