version: 66.04
glider: 103
mission: 11
dive: 439
start: 5 23 109 5 43 30
data:
$ID,103
$MISSION,11
$DIVE,439
$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,63
$TGT_DEFAULT_LON,-6
$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,-152269.2
$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,18
$R_STBD_OVSHOOT,8
$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
$GPS1,053636,6356.969,-716.581,26,1.5,27,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-61.1
$GPS2,054238,6356.998,-716.538,12,1.6,12,-9.1
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P5
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.011,0.243
$KALMAN_X,-16462.4,280.3,-678.8,175084.7,2557.4
$KALMAN_Y,-54989.4,454.9,-854.6,191158.0,-3170.3
$MHEAD_RNG_PITCHd_Wd,11.6,83600,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-56.20,0.000,6,0.000,0.000,53,2747,3501
$GC,81,-1.42,-146.6,7.1,-15.2,3,102,11.93,2.08,0.00,0.000,4,0.165,0.087,2124,3793,3501
$GC,354,-1.42,-146.6,49.9,-13.0,15,358,0.00,1.90,0.00,0.000,6,0.000,0.048,2124,2736,3502
$GC,682,-1.42,-146.6,88.1,-11.4,31,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2736,3502
$GC,993,-1.42,-146.6,123.0,-11.0,46,998,0.00,2.60,0.00,0.000,4,0.000,0.070,2124,1340,3503
$GC,1016,-1.42,-146.6,125.8,-10.7,47,1020,0.00,2.72,0.00,0.000,6,0.000,0.075,2124,2760,3503
$GC,1337,-1.42,-146.6,157.9,-10.2,63,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3503
$GC,1647,-1.42,-146.6,191.7,-11.0,78,1651,0.00,2.67,0.00,0.000,4,0.000,0.072,2124,1340,3503
$GC,1692,-1.42,-146.6,196.8,-10.9,80,1697,0.00,2.75,0.00,0.000,6,0.000,0.081,2124,2759,3503
$GC,2014,-1.42,-146.6,229.9,-10.1,96,2018,0.00,2.67,0.00,0.000,4,0.000,0.071,2124,1345,3503
$GC,2036,-1.42,-146.6,232.1,-9.5,97,2041,0.00,2.72,0.00,0.000,6,0.000,0.080,2124,2752,3503
$GC,2357,-1.42,-146.6,264.0,-10.2,113,2361,0.00,2.05,0.00,0.000,4,0.000,0.104,2124,3785,3503
$GC,2391,-1.42,-146.6,267.5,-10.4,114,2395,0.00,1.90,0.00,0.000,6,0.000,0.060,2124,2759,3503
$GC,2713,-1.42,-146.6,299.2,-10.0,130,2717,0.00,2.67,0.00,0.000,4,0.000,0.074,2124,1333,3503
$GC,2746,-1.42,-146.6,302.7,-10.0,131,2752,0.00,2.78,0.00,0.000,6,0.000,0.082,2124,2760,3503
$GC,3062,-1.42,-146.6,333.2,-9.6,147,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2761,3502
$GC,3372,-1.42,-146.6,364.1,-9.8,162,3376,0.00,2.72,0.00,0.000,4,0.000,0.077,2124,1334,3501
$GC,3427,-1.42,-146.6,369.8,-10.3,164,3433,0.00,2.78,0.00,0.000,6,0.000,0.083,2124,2760,3501
$GC,3743,-1.42,-146.6,402.5,-10.4,180,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2760,3501
$GC,4053,-1.42,-146.6,434.8,-10.6,195,4057,0.00,2.72,0.00,0.000,4,0.000,0.076,2124,1333,3500
$GC,4097,-1.42,-146.6,439.9,-10.6,197,4102,0.00,2.75,0.00,0.000,6,0.000,0.082,2124,2751,3500
$GC,4418,-1.42,-146.6,473.6,-10.5,213,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3500
$GC,4728,-1.42,-146.6,505.4,-10.2,228,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2751,3499
$GC,5037,-1.42,-146.6,535.7,-9.6,243,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3499
$GC,5346,-1.42,-146.6,564.6,-9.0,258,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3499
$GC,5656,-1.42,-146.6,592.6,-9.3,273,5660,0.00,2.70,0.00,0.000,4,0.000,0.074,2124,1331,3498
$GC,5683,-1.42,-146.6,595.4,-9.7,274,5688,0.00,2.78,0.00,0.000,6,0.000,0.083,2124,2757,3499
$GC,5999,-1.42,-146.6,624.3,-9.2,289,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3498
$GC,6309,-1.42,-146.6,652.7,-9.2,304,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3498
$GC,6617,-1.42,-146.6,681.2,-9.2,319,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3498
$GC,6927,-1.42,-146.6,710.7,-9.5,334,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3498
$GC,7236,-1.42,-146.6,739.9,-9.4,349,7241,0.00,2.72,0.00,0.000,4,0.000,0.077,2124,1332,3497
$GC,7269,-1.42,-146.6,743.1,-9.5,350,7276,0.00,2.75,0.00,0.000,6,0.000,0.084,2124,2750,3497
$GC,7586,-1.42,-146.6,772.9,-9.6,366,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2750,3497
$GC,7896,-1.42,-146.6,801.3,-9.0,381,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3497
$GC,8204,-1.42,-146.6,829.4,-9.0,396,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3496
$GC,8514,-1.42,-146.6,856.9,-8.8,411,8518,0.00,2.70,0.00,0.000,4,0.000,0.078,2124,1332,3496
$GC,8543,-1.42,-146.6,859.4,-8.3,412,8548,0.00,2.78,0.00,0.000,6,0.000,0.084,2124,2759,3496
$GC,8859,-1.42,-146.6,886.9,-8.7,427,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2758,3496
$GC,9168,-1.42,-146.6,914.3,-8.7,442,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3496
$GC,9478,-1.42,-146.6,940.7,-8.7,457,9483,0.00,2.72,0.00,0.000,4,0.000,0.078,2124,1335,3496
$GC,9511,-1.42,-146.6,943.9,-9.3,458,9517,0.00,2.78,0.00,0.000,6,0.000,0.086,2124,2755,3496
$GC,9827,-1.42,-146.6,970.3,-8.5,474,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2755,3495
$STATE,10072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10072,begin apogee
$GC,10081,-0.42,0.0,991.6,8.7,486,10219,1.15,0.00,133.75,1.426,6,0.112,0.000,2344,1999,2902
$STATE,10219,end apogee,CONTROL_FINISHED_OK
$STATE,10219,begin climb
$GC,10223,1.42,146.6,997.9,0.0,493,10369,1.92,2.80,132.82,1.377,4,0.064,0.073,2745,590,2304
$GC,10626,1.51,214.1,986.2,5.5,511,10696,0.10,2.58,61.85,1.362,6,0.054,0.047,2775,2014,2029
$GC,11012,1.51,214.1,955.3,8.3,530,11017,0.00,2.72,0.00,0.000,4,0.000,0.072,2775,587,2028
$GC,11085,1.51,214.1,948.8,8.5,533,11090,0.00,2.58,0.00,0.000,6,0.000,0.046,2776,2007,2029
$GC,11401,1.51,214.1,922.4,8.3,548,11403,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2007,2028
$GC,11711,1.51,214.1,896.9,8.3,563,11712,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2007,2028
$GC,12020,1.51,221.4,872.6,7.7,578,12030,0.00,0.00,8.15,1.174,6,0.000,0.000,2775,2008,1999
$GC,12329,1.53,233.8,848.8,7.5,593,12351,0.00,2.83,12.77,1.249,4,0.000,0.072,2775,587,1948
$GC,12385,1.53,233.8,844.0,8.5,595,12390,0.00,2.60,0.00,0.000,6,0.000,0.046,2775,2008,1948
$GC,12701,1.53,236.0,819.3,7.9,610,12703,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2008,1947
$GC,13011,1.54,242.2,795.5,7.8,625,13021,0.00,0.00,9.07,1.171,6,0.000,0.000,2775,2008,1914
$GC,13320,1.56,255.8,771.9,7.5,640,13339,0.00,0.00,13.93,1.220,6,0.000,0.000,2776,2008,1859
$GC,13649,1.56,255.8,745.4,8.1,656,13650,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2009,1858
$GC,13959,1.57,262.8,720.9,7.7,671,13973,0.00,2.80,8.10,1.109,4,0.000,0.073,2775,588,1830
$GC,14014,1.57,262.8,716.3,8.7,673,14018,0.00,2.58,0.00,0.000,6,0.000,0.047,2775,1996,1830
$GC,14329,1.57,262.8,690.2,8.4,688,14331,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1997,1830
$GC,14639,1.57,262.8,664.5,8.4,703,14640,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1997,1830
$GC,14948,1.57,262.8,638.8,8.0,718,14952,0.00,2.67,0.00,0.000,4,0.000,0.072,2775,586,1829
$GC,14994,1.57,262.8,634.8,8.6,720,14998,0.00,2.58,0.00,0.000,6,0.000,0.048,2775,2006,1829
$GC,15315,1.57,262.8,608.4,8.3,736,15317,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2006,1829
$GC,15624,1.57,262.8,582.5,8.4,751,15625,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2006,1829
$GC,15934,1.57,262.8,556.5,8.4,766,15935,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2006,1829
$GC,16243,1.57,262.8,529.6,8.8,781,16244,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2006,1829
$GC,16553,1.57,262.8,503.8,8.3,796,16557,0.00,2.70,0.00,0.000,4,0.000,0.072,2775,586,1828
$GC,16592,1.57,262.8,500.2,8.1,798,16597,0.00,2.58,0.00,0.000,6,0.000,0.048,2775,2006,1828
$GC,16920,1.57,262.8,473.0,8.2,814,16921,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2006,1828
$GC,17230,1.57,267.3,448.3,7.8,829,17240,0.00,2.72,5.53,0.901,4,0.000,0.071,2775,587,1811
$GC,17297,1.57,267.3,442.5,8.5,832,17301,0.00,2.58,0.00,0.000,6,0.000,0.048,2775,1999,1811
$GC,17619,1.59,284.8,418.1,7.4,848,17641,0.00,2.83,16.73,1.045,4,0.000,0.080,2775,3407,1740
$GC,17670,1.60,292.6,414.1,7.7,850,17687,0.00,2.65,8.38,0.946,6,0.000,0.055,2775,1988,1709
$GC,17996,1.60,292.6,388.1,8.0,866,18000,0.00,2.65,0.00,0.000,4,0.000,0.076,2775,585,1708
$GC,18046,1.60,292.6,383.8,8.6,868,18051,0.00,2.60,0.00,0.000,6,0.000,0.049,2775,2008,1709
$GC,18363,1.61,295.4,358.5,7.9,883,18369,0.00,0.00,4.57,0.795,6,0.000,0.000,2775,2009,1697
$GC,18672,1.63,313.2,335.1,7.3,898,18691,0.00,0.00,16.65,0.991,6,0.000,0.000,2775,2008,1625
$GC,19001,1.63,313.2,308.2,8.6,914,19006,0.00,2.70,0.00,0.000,4,0.000,0.081,2775,3416,1626
$GC,19034,1.63,313.2,305.0,10.3,915,19041,0.00,2.62,0.00,0.000,6,0.000,0.058,2775,1998,1626
$GC,19351,1.63,313.2,275.8,9.5,931,19355,0.00,2.65,0.00,0.000,4,0.000,0.074,2775,591,1626
$GC,19401,1.63,313.2,270.6,11.5,933,19405,0.00,2.58,0.00,0.000,6,0.000,0.050,2775,2004,1626
$GC,19717,1.63,313.2,239.6,9.8,948,19721,0.00,2.70,0.00,0.000,4,0.000,0.083,2775,3413,1626
$GC,19756,1.63,313.2,235.6,10.0,950,19761,0.00,2.62,0.00,0.000,6,0.000,0.060,2775,2002,1626
$GC,20084,1.63,313.2,201.9,10.7,966,20085,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2002,1626
$GC,20393,1.63,313.2,169.6,10.4,981,20397,0.00,2.67,0.00,0.000,4,0.000,0.074,2775,585,1626
$GC,20437,1.63,313.2,164.6,10.5,983,20441,0.00,2.60,0.00,0.000,6,0.000,0.050,2775,2010,1626
$GC,20759,1.63,313.2,129.8,11.2,999,20760,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2010,1626
$GC,21067,1.63,313.2,96.8,10.4,1014,21072,0.00,2.70,0.00,0.000,4,0.000,0.083,2775,3418,1626
$GC,21108,1.63,313.2,92.7,9.9,1016,21112,0.00,2.62,0.00,0.000,6,0.000,0.061,2775,1997,1626
$GC,21435,1.63,313.2,60.6,9.2,1032,21440,0.00,2.67,0.00,0.000,4,0.000,0.076,2775,582,1626
$GC,21498,1.63,313.2,54.5,11.2,1035,21502,0.00,2.58,0.00,0.000,6,0.000,0.050,2775,1999,1626
$GC,21825,1.63,313.2,25.0,9.4,1051,21829,0.00,2.70,0.00,0.000,4,0.000,0.074,2775,580,1627
$GC,21892,1.63,313.2,18.6,9.8,1054,21896,0.00,2.60,0.00,0.000,6,0.000,0.050,2775,2009,1626
$STATE,22086,end climb,SURFACE_DEPTH_REACHED
$STATE,22086,begin surface coast
$FINISH,-0.4,1.027532
$STATE,22108,end surface coast,CONTROL_FINISHED_OK
$STATE,22108,begin surface
$SM_CCo,22194,0.00,0.000,0,0,1626,313.00
$SM_GC,0.44,12.10,0.00,0.00,0.031,0.000,0.000,52,2761,1626,-10.93,0.31,313.00
$IRIDIUM_FIX,6322.64,-546.51,160898,232303
$TT8_MAMPS,0.028379
$HUMID,1867
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,14.30
$XPDR_PINGS,76
$24V_AH,22.5,70.105
$10V_AH,10.0,39.336
$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,27.200,150.425,432.300,0.000,0.000,24.315,32.788,164.360,27.500,0.000,0.000,12.219,1883.993,17336.332,553.572,2155.878,618.253,33.372,1642.520,0.000,2113.422,0.000,56.948,0.000
$DEVICE_MAMPS,164.905,103.545,1425.853,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,802.347,745.792,547.675,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53717,1065
$CAP_FILE_SIZE,142917,0
$CFSIZE,260165632,232075264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230509,115437,6359.994,-714.956,34,1.0,35,-9.1