version: 66.04
glider: 103
mission: 11
dive: 435
start: 5 22 109 4 56 59
data:
$ID,103
$MISSION,11
$DIVE,435
$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,200
$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,-152212.52
$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,13
$R_STBD_OVSHOOT,6
$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
$GPS1,045006,6354.233,-743.889,31,1.3,32,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-63.6
$GPS2,045607,6354.208,-743.785,11,1.4,11,-9.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P5
$TGT_LATLONG,6430.000,-600.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.231,0.076
$KALMAN_X,-19822.4,249.7,-832.9,155513.5,2519.4
$KALMAN_Y,-46094.2,-15.7,-973.7,177689.9,4316.4
$MHEAD_RNG_PITCHd_Wd,81.2,106024,-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,16,-1.42,-146.6,0.0,0.0,0,59,0.00,0.00,-41.28,0.000,2,0.000,0.000,50,2746,3213
$GC,62,-1.42,-146.6,3.7,-11.3,2,86,11.90,2.65,-4.80,0.000,4,0.163,0.075,2126,1333,3502
$GC,171,-1.42,-146.6,23.1,-12.1,6,177,0.00,2.75,0.00,0.000,6,0.000,0.079,2127,2755,3502
$GC,487,-1.42,-146.6,57.3,-10.7,22,491,0.00,2.67,0.00,0.000,4,0.000,0.067,2126,1332,3502
$GC,549,-1.42,-146.6,64.2,-10.1,25,554,0.00,2.72,0.00,0.000,6,0.000,0.074,2126,2761,3502
$GC,877,-1.42,-146.6,99.7,-10.9,41,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2761,3503
$GC,1186,-1.42,-146.6,131.8,-10.4,56,1190,0.00,2.70,0.00,0.000,4,0.000,0.069,2126,1329,3504
$GC,1275,-1.42,-146.6,142.0,-11.4,60,1280,0.00,2.72,0.00,0.000,6,0.000,0.074,2126,2757,3504
$GC,1598,-1.42,-146.6,176.8,-10.5,76,1602,0.00,2.67,0.00,0.000,4,0.000,0.069,2126,1332,3504
$GC,1631,-1.42,-146.6,180.4,-10.3,77,1637,0.00,2.72,0.00,0.000,6,0.000,0.077,2126,2753,3504
$GC,1947,-1.42,-146.6,213.7,-10.3,93,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2753,3504
$GC,2256,-1.42,-146.6,247.2,-11.1,108,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2753,3504
$GC,2565,-1.42,-146.6,279.3,-9.9,123,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2753,3504
$GC,2875,-1.42,-146.6,310.9,-10.3,138,2879,0.00,2.70,0.00,0.000,4,0.000,0.073,2126,1328,3503
$GC,2919,-1.42,-146.6,315.8,-10.6,140,2924,0.00,2.75,0.00,0.000,6,0.000,0.081,2126,2749,3503
$GC,3240,-1.42,-146.6,349.8,-10.7,156,3245,0.00,2.05,0.00,0.000,4,0.000,0.101,2126,3789,3503
$GC,3290,-1.42,-146.6,355.5,-11.4,158,3294,0.00,1.92,0.00,0.000,6,0.000,0.060,2126,2742,3503
$GC,3618,-1.42,-146.6,390.8,-10.7,174,3622,0.00,2.65,0.00,0.000,4,0.000,0.076,2126,1332,3502
$GC,3658,-1.42,-146.6,395.1,-10.8,176,3663,0.00,2.72,0.00,0.000,6,0.000,0.078,2126,2748,3502
$GC,3985,-1.42,-146.6,428.3,-9.7,192,3990,0.00,2.67,0.00,0.000,4,0.000,0.074,2126,1338,3501
$GC,4018,-1.42,-146.6,431.8,-10.4,193,4024,0.00,2.70,0.00,0.000,6,0.000,0.074,2126,2751,3500
$GC,4334,-1.42,-146.6,462.4,-9.6,209,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2751,3499
$GC,4644,-1.42,-146.6,493.0,-10.0,224,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2751,3499
$GC,4953,-1.42,-146.6,524.3,-9.9,239,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3498
$GC,5262,-1.42,-146.6,555.0,-9.9,254,5266,0.00,2.70,0.00,0.000,4,0.000,0.076,2126,1337,3498
$GC,5312,-1.42,-146.6,560.1,-10.1,256,5317,0.00,2.75,0.00,0.000,6,0.000,0.081,2126,2756,3497
$GC,5629,-1.42,-146.6,591.6,-10.0,271,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2755,3498
$GC,5938,-1.42,-146.6,622.1,-9.5,286,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2756,3497
$GC,6248,-1.42,-146.6,652.2,-9.9,301,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2756,3497
$GC,6557,-1.42,-146.6,682.5,-9.6,316,6561,0.00,2.67,0.00,0.000,4,0.000,0.072,2126,1340,3496
$GC,6596,-1.42,-146.6,686.6,-9.9,318,6601,0.00,2.72,0.00,0.000,6,0.000,0.081,2126,2749,3496
$GC,6924,-1.42,-146.6,719.2,-10.0,334,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2749,3496
$GC,7233,-1.42,-146.6,750.8,-10.1,349,7238,0.00,2.70,0.00,0.000,4,0.000,0.077,2126,1335,3495
$GC,7266,-1.42,-146.6,754.4,-10.1,350,7272,0.00,2.72,0.00,0.000,6,0.000,0.081,2126,2752,3495
$GC,7583,-1.42,-146.6,785.5,-9.8,366,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3495
$GC,7892,-1.42,-146.6,817.3,-10.5,381,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3494
$GC,8201,-1.42,-146.6,847.4,-9.4,396,8205,0.00,2.70,0.00,0.000,4,0.000,0.076,2126,1334,3494
$GC,8251,-1.42,-146.6,852.3,-9.5,398,8256,0.00,2.72,0.00,0.000,6,0.000,0.077,2126,2752,3494
$GC,8567,-1.42,-146.6,881.1,-8.9,413,8568,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3494
$GC,8876,-1.42,-146.6,908.0,-8.7,428,8878,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3494
$GC,9186,-1.42,-146.6,934.6,-8.5,443,9188,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3494
$GC,9495,-1.42,-146.6,961.4,-8.6,458,9496,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3493
$GC,9804,-1.42,-146.6,988.1,-8.5,473,9809,0.00,2.70,0.00,0.000,4,0.000,0.075,2126,1332,3493
$STATE,9824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9824,begin apogee
$GC,9833,-0.42,0.0,990.1,9.1,474,9970,1.08,0.00,133.05,1.426,6,0.098,0.000,2343,2009,2902
$STATE,9971,end apogee,CONTROL_FINISHED_OK
$STATE,9971,begin climb
$GC,9974,1.42,146.6,996.0,0.0,481,10120,1.95,2.83,132.65,1.375,4,0.061,0.071,2750,591,2304
$GC,10337,1.48,197.8,985.5,6.1,497,10390,0.00,2.58,47.33,1.348,6,0.000,0.044,2750,2024,2095
$GC,10702,1.50,210.0,959.3,7.6,515,10718,0.00,0.00,12.60,1.255,6,0.000,0.000,2750,2025,2046
$GC,11029,1.50,210.0,933.1,8.4,531,11030,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2026,2046
$GC,11338,1.50,210.0,907.9,8.2,546,11339,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2026,2045
$GC,11648,1.50,212.1,883.2,7.9,561,11649,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2026,2045
$GC,11957,1.51,215.8,859.0,7.9,576,11965,0.00,0.00,6.70,1.118,6,0.000,0.000,2750,2027,2022
$GC,12266,1.51,215.8,834.2,8.2,591,12267,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2027,2022
$GC,12575,1.51,215.8,808.3,8.3,606,12576,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2027,2022
$GC,12885,1.51,220.0,783.6,7.8,621,12893,0.00,0.00,5.70,1.042,6,0.000,0.000,2750,2027,2005
$GC,13194,1.52,229.9,759.9,7.6,636,13209,0.00,2.78,10.45,1.185,4,0.000,0.071,2750,595,1964
$GC,13238,1.52,230.0,756.3,8.0,637,13244,0.10,2.55,0.00,0.000,6,0.053,0.045,2785,1994,1964
$GC,13560,1.52,230.0,727.6,9.0,653,13561,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1994,1963
$GC,13869,1.52,230.0,699.4,9.0,668,13873,0.00,2.65,0.00,0.000,4,0.000,0.071,2785,594,1963
$GC,13932,1.52,230.0,693.6,9.3,671,13936,0.00,2.55,0.00,0.000,6,0.000,0.046,2784,2008,1963
$GC,14259,1.52,230.0,664.3,8.7,687,14260,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2010,1963
$GC,14568,1.52,230.0,637.9,8.4,702,14572,0.00,2.70,0.00,0.000,4,0.000,0.071,2784,587,1963
$GC,14640,1.52,230.0,631.2,8.2,705,14645,0.00,2.55,0.00,0.000,6,0.000,0.046,2785,2007,1963
$GC,14957,1.53,231.1,605.6,8.0,720,14961,0.00,2.67,0.00,0.000,4,0.000,0.070,2784,589,1963
$GC,15006,1.53,231.1,601.2,8.4,722,15011,0.00,2.55,0.00,0.000,6,0.000,0.046,2785,2007,1963
$GC,15323,1.53,235.8,576.7,7.8,737,15337,0.00,2.78,6.70,1.015,4,0.000,0.070,2784,590,1940
$GC,15372,1.53,235.8,572.5,8.3,739,15376,0.00,2.58,0.00,0.000,6,0.000,0.046,2784,2009,1940
$GC,15694,1.54,240.9,547.3,7.8,755,15702,0.00,0.00,6.50,0.986,6,0.000,0.000,2784,2010,1919
$GC,16002,1.54,240.9,521.9,8.3,770,16006,0.00,2.67,0.00,0.000,4,0.000,0.071,2784,593,1918
$GC,16042,1.54,240.9,518.4,8.6,772,16046,0.00,2.55,0.00,0.000,6,0.000,0.046,2784,2007,1919
$GC,16369,1.54,240.9,491.2,8.4,788,16370,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2008,1919
$GC,16678,1.54,240.9,465.0,8.6,803,16683,0.00,2.67,0.00,0.000,4,0.000,0.071,2784,594,1918
$GC,16741,1.54,240.9,459.4,8.8,806,16746,0.00,2.55,0.00,0.000,6,0.000,0.047,2784,2007,1919
$GC,17069,1.54,240.9,432.0,8.4,822,17073,0.00,2.67,0.00,0.000,4,0.000,0.071,2784,593,1918
$GC,17102,1.54,240.9,428.9,8.7,823,17108,0.00,2.55,0.00,0.000,6,0.000,0.047,2785,2006,1918
$GC,17418,1.54,240.9,402.1,8.5,839,17419,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2006,1918
$GC,17728,1.54,245.3,376.8,7.8,854,17739,0.00,2.70,5.53,0.874,4,0.000,0.070,2784,593,1901
$GC,17806,1.54,245.3,370.1,9.1,857,17813,0.00,2.58,0.00,0.000,6,0.000,0.048,2784,2007,1901
$GC,18122,1.55,252.2,346.0,7.7,873,18137,0.00,2.75,7.68,0.930,4,0.000,0.071,2784,595,1873
$GC,18172,1.57,264.3,341.9,7.6,875,18190,0.00,2.58,11.80,0.971,6,0.000,0.048,2784,2005,1825
$GC,18499,1.58,273.4,316.7,7.7,891,18514,0.00,2.75,9.75,0.947,4,0.000,0.072,2784,588,1787
$GC,18554,1.58,273.4,312.1,8.2,892,18560,0.00,2.60,0.00,0.000,6,0.000,0.049,2785,2004,1787
$GC,18870,1.59,281.9,288.0,7.7,908,18884,0.00,2.75,8.93,0.918,4,0.000,0.072,2784,585,1752
$GC,18938,1.59,281.9,282.4,9.6,911,18942,0.00,2.60,0.00,0.000,6,0.000,0.049,2784,2002,1752
$GC,19265,1.59,281.9,254.9,8.3,927,19266,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2003,1752
$GC,19574,1.61,301.7,232.1,7.3,942,19599,0.00,2.78,18.02,0.937,4,0.000,0.072,2784,588,1672
$GC,19640,1.62,309.7,226.7,7.7,945,19655,0.00,2.60,9.05,0.864,6,0.000,0.050,2784,2002,1639
$GC,19973,1.62,309.7,198.4,8.6,961,19977,0.00,2.70,0.00,0.000,4,0.000,0.072,2785,586,1639
$GC,20028,1.62,309.7,192.9,8.9,963,20034,0.00,2.60,0.00,0.000,6,0.000,0.051,2785,2004,1638
$GC,20345,1.62,309.7,163.0,9.6,979,20346,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2004,1639
$GC,20655,1.62,309.7,128.8,11.4,994,20659,0.00,2.70,0.00,0.000,4,0.000,0.074,2784,590,1638
$GC,20721,1.62,309.7,121.0,10.3,997,20726,0.00,2.60,0.00,0.000,6,0.000,0.052,2784,2010,1638
$GC,21045,1.62,309.7,88.6,9.8,1013,21049,0.00,2.70,0.00,0.000,4,0.000,0.074,2784,592,1639
$GC,21078,1.62,309.7,84.8,10.2,1014,21085,0.00,2.58,0.00,0.000,6,0.000,0.051,2784,2009,1639
$GC,21396,1.62,309.7,53.8,9.5,1030,21400,0.00,2.70,0.00,0.000,4,0.000,0.074,2784,592,1639
$GC,21459,1.62,309.7,47.4,9.8,1033,21463,0.00,2.58,0.00,0.000,6,0.000,0.051,2785,2005,1639
$GC,21788,1.62,309.7,16.8,9.4,1049,21789,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2005,1639
$STATE,21949,end climb,SURFACE_DEPTH_REACHED
$STATE,21949,begin surface coast
$FINISH,-0.3,1.021972
$STATE,21970,end surface coast,CONTROL_FINISHED_OK
$STATE,21970,begin surface
$SM_CCo,22056,0.00,0.000,0,0,1639,309.81
$SM_GC,0.51,12.18,0.00,0.00,0.032,0.000,0.000,49,2747,1639,-10.93,-0.08,309.81
$IRIDIUM_FIX,6327.46,-745.69,150898,222208
$TT8_MAMPS,0.029146
$HUMID,1884
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,14.50
$XPDR_PINGS,83
$24V_AH,22.5,69.421
$10V_AH,10.0,38.961
$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,27.200,164.300,432.425,0.000,0.000,30.009,28.476,160.513,29.250,0.000,0.000,12.029,1893.555,17178.855,540.346,2175.952,619.832,33.369,1650.094,0.000,2135.262,0.000,56.961,0.000
$DEVICE_MAMPS,162.604,109.681,1425.853,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,796.037,747.702,549.501,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53686,1058
$CAP_FILE_SIZE,146603,0
$CFSIZE,260165632,232333312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220509,110554,6354.567,-734.460,23,1.1,41,-9.3