version: 66.04
glider: 103
mission: 11
dive: 265
start: 4 20 109 19 32 29
data:
$ID,103
$MISSION,11
$DIVE,265
$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,550
$T_MISSION,580
$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,-148038.8
$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,19
$R_STBD_OVSHOOT,9
$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
$GPS1,192637,6329.169,-1312.773,37,1.1,37,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-49.8
$GPS2,193137,6329.236,-1312.779,12,1.4,12,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.024,-0.217
$KALMAN_X,-5349.3,127.0,550.0,-13151.7,-7942.0
$KALMAN_Y,39391.6,-1552.7,-775.6,-87451.9,30525.3
$MHEAD_RNG_PITCHd_Wd,186.1,26430,-11.1,-6.000
$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,-1.10,-146.6,0.0,0.0,0,99,0.00,0.00,-81.15,0.000,2,0.000,0.000,46,2676,3206
$GC,103,-1.10,-146.6,3.7,-4.2,4,126,12.10,2.75,-5.00,0.000,4,0.158,0.091,2195,1266,3502
$GC,252,-1.10,-146.6,20.7,-7.1,10,256,0.00,2.65,0.00,0.000,6,0.000,0.069,2195,2675,3502
$GC,568,-1.10,-146.6,46.3,-7.4,25,572,0.00,2.12,0.00,0.000,4,0.000,0.090,2195,3786,3502
$GC,647,-1.10,-146.6,53.0,-8.3,28,650,0.00,2.03,0.00,0.000,6,0.000,0.060,2195,2680,3502
$GC,970,-1.10,-146.6,79.3,-8.1,44,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2680,3502
$GC,1278,-1.10,-146.6,103.9,-8.2,59,1282,0.00,2.65,0.00,0.000,4,0.000,0.074,2195,1253,3502
$GC,1311,-1.10,-146.6,106.5,-7.7,60,1317,0.00,2.65,0.00,0.000,6,0.000,0.067,2195,2681,3502
$GC,1629,-1.10,-146.6,131.1,-7.8,76,1632,0.00,2.12,0.00,0.000,4,0.000,0.092,2195,3786,3502
$GC,1720,-1.10,-146.6,138.7,-8.1,80,1723,0.00,2.05,0.00,0.000,6,0.000,0.059,2195,2665,3502
$GC,2053,-1.10,-146.6,164.9,-8.0,96,2056,0.00,2.20,0.00,0.000,4,0.000,0.091,2195,3793,3502
$GC,2086,-1.10,-146.6,167.7,-8.3,97,2090,0.00,2.05,0.00,0.000,6,0.000,0.060,2195,2674,3502
$GC,2408,-1.10,-146.6,194.6,-8.6,113,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2674,3502
$GC,2717,-1.10,-146.6,220.2,-8.1,128,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2674,3502
$GC,3027,-1.10,-146.6,245.9,-8.1,143,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2674,3502
$GC,3335,-1.10,-146.6,271.2,-8.2,158,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2673,3502
$GC,3645,-1.10,-146.6,297.0,-8.1,173,3648,0.00,2.17,0.00,0.000,4,0.000,0.091,2195,3790,3502
$GC,3678,-1.10,-146.6,299.8,-8.7,174,3683,0.00,2.05,0.00,0.000,6,0.000,0.058,2195,2666,3502
$GC,4000,-1.10,-146.6,326.6,-8.2,190,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2666,3502
$GC,4309,-1.10,-146.6,352.0,-8.4,205,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2666,3502
$GC,4618,-1.10,-146.6,377.0,-8.1,220,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2666,3502
$GC,4928,-1.10,-146.6,401.0,-7.7,235,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2666,3502
$GC,5236,-1.10,-146.6,424.7,-7.4,250,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2666,3502
$GC,5546,-1.10,-146.6,446.7,-6.9,265,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2666,3502
$GC,5855,-1.10,-146.6,468.0,-7.0,280,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2666,3502
$GC,6164,-1.10,-146.6,491.3,-8.0,295,6168,0.00,2.17,0.00,0.000,4,0.000,0.087,2195,3793,3502
$GC,6210,-1.10,-146.6,495.2,-9.3,297,6214,0.00,2.03,0.00,0.000,6,0.000,0.054,2195,2669,3502
$GC,6543,-1.10,-146.6,523.0,-8.6,313,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3502
$GC,6852,-1.10,-146.6,550.7,-9.0,328,6856,0.00,2.15,0.00,0.000,4,0.000,0.085,2195,3787,3502
$GC,6898,-1.10,-146.6,555.2,-10.1,330,6902,0.00,2.00,0.00,0.000,6,0.000,0.054,2195,2673,3502
$GC,7232,-1.10,-146.6,586.0,-9.1,346,7236,0.00,2.58,0.00,0.000,4,0.000,0.062,2195,1248,3502
$GC,7298,-1.10,-146.6,592.9,-10.7,349,7303,0.00,2.62,0.00,0.000,6,0.000,0.061,2195,2690,3502
$GC,7621,-1.10,-146.6,625.6,-10.7,365,7625,0.00,2.08,0.00,0.000,4,0.000,0.087,2195,3782,3502
$GC,7649,-1.10,-146.6,628.8,-10.9,366,7653,0.00,2.00,0.00,0.000,6,0.000,0.051,2195,2664,3502
$GC,7976,-1.10,-146.6,667.2,-12.8,382,7979,0.00,2.17,0.00,0.000,4,0.000,0.089,2195,3790,3502
$GC,8032,-1.10,-146.6,673.9,-11.3,384,8036,0.00,2.00,0.00,0.000,6,0.000,0.051,2195,2672,3502
$GC,8354,-1.10,-146.6,704.9,-9.2,400,8358,0.00,2.58,0.00,0.000,4,0.000,0.067,2195,1254,3502
$GC,8403,-1.10,-146.6,708.6,-7.0,402,8408,0.00,2.62,0.00,0.000,6,0.000,0.064,2195,2683,3502
$GC,8720,-1.10,-146.6,716.5,-0.0,417,8724,0.00,2.05,0.00,0.000,4,0.000,0.075,2196,3786,3502
$STATE,8795,end dive,NO_VERTICAL_VELOCITY
$STATE,8796,begin apogee
$GC,8806,-0.42,0.0,716.6,0.0,420,8938,0.68,0.00,125.40,1.145,6,0.055,0.000,2349,2070,2902
$STATE,8938,end apogee,CONTROL_FINISHED_OK
$STATE,8938,begin climb
$GC,8941,1.10,146.6,716.3,0.0,427,9074,1.55,2.67,122.62,1.114,4,0.067,0.064,2676,670,2304
$GC,9169,1.13,171.4,706.9,5.3,437,9197,0.00,2.53,22.25,1.058,6,0.000,0.041,2676,2087,2203
$GC,9506,1.13,171.4,686.0,7.3,454,9510,0.00,2.62,0.00,0.000,4,0.000,0.064,2676,664,2203
$GC,9629,1.13,171.4,675.7,8.8,459,9635,0.00,2.53,0.00,0.000,6,0.000,0.041,2676,2084,2202
$GC,9945,1.18,206.3,653.9,5.0,475,9981,0.00,2.70,30.48,1.100,4,0.000,0.064,2676,668,2060
$GC,10085,1.40,388.1,650.2,1.0,480,10246,0.32,2.53,150.93,1.114,6,0.034,0.043,2760,2079,1319
$GC,10574,1.40,388.1,624.1,8.9,504,10578,0.00,2.62,0.00,0.000,4,0.000,0.062,2760,663,1318
$GC,10618,1.40,388.1,619.8,10.0,506,10623,0.00,2.53,0.00,0.000,6,0.000,0.041,2760,2078,1317
$GC,10939,1.40,388.1,589.8,9.5,522,10943,0.00,2.60,0.00,0.000,4,0.000,0.058,2760,661,1317
$GC,11001,1.40,388.1,583.2,10.4,525,11006,0.00,2.50,0.00,0.000,6,0.000,0.040,2760,2075,1317
$GC,11328,1.40,388.1,546.4,12.2,541,11333,0.00,2.58,0.00,0.000,4,0.000,0.058,2760,665,1317
$GC,11373,1.40,388.1,540.1,14.3,543,11377,0.00,2.50,0.00,0.000,6,0.000,0.038,2760,2082,1317
$GC,11694,1.40,388.1,489.3,16.9,559,11698,0.00,2.60,0.00,0.000,4,0.000,0.058,2760,662,1317
$GC,11812,1.40,388.1,467.3,17.8,564,11817,0.00,2.50,0.00,0.000,6,0.000,0.041,2760,2075,1317
$GC,12133,1.40,388.1,416.2,15.3,580,12138,0.00,2.58,0.00,0.000,4,0.000,0.058,2760,663,1318
$GC,12156,1.40,388.1,412.4,15.8,581,12160,0.00,2.50,0.00,0.000,6,0.000,0.041,2760,2075,1318
$GC,12476,1.40,388.1,365.0,14.6,597,12478,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2076,1318
$GC,12786,1.40,388.1,321.0,13.9,612,12790,0.00,2.58,0.00,0.000,4,0.000,0.060,2760,666,1318
$GC,12832,1.40,388.1,314.7,13.8,614,12836,0.00,2.50,0.00,0.000,6,0.000,0.042,2760,2085,1318
$GC,13159,1.40,388.1,272.9,12.5,630,13160,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2085,1318
$GC,13468,1.40,388.1,234.9,12.4,645,13473,0.00,2.62,0.00,0.000,4,0.000,0.061,2760,655,1318
$GC,13496,1.40,388.1,231.2,13.0,646,13500,0.00,2.53,0.00,0.000,6,0.000,0.044,2760,2077,1319
$GC,13812,1.40,388.1,193.3,11.7,661,13813,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2077,1319
$GC,14122,1.40,388.1,157.1,11.3,676,14123,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2077,1319
$GC,14431,1.40,388.1,122.5,11.2,691,14435,0.00,2.60,0.00,0.000,4,0.000,0.064,2760,666,1319
$GC,14452,1.40,388.1,119.8,12.0,692,14457,0.00,2.53,0.00,0.000,6,0.000,0.044,2760,2085,1319
$GC,14774,1.40,388.1,85.3,10.7,708,14775,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2085,1319
$GC,15085,1.40,388.1,51.5,11.4,723,15087,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2086,1319
$GC,15393,1.40,388.1,14.6,12.0,738,15397,0.00,2.65,0.00,0.000,4,0.000,0.067,2760,659,1319
$GC,15437,1.43,416.0,11.1,5.2,740,15467,0.00,2.53,23.25,0.691,6,0.000,0.047,2760,2079,1205
$STATE,15534,end climb,SURFACE_DEPTH_REACHED
$STATE,15534,begin surface coast
$FINISH,0.4,1.003463
$STATE,15556,end surface coast,CONTROL_FINISHED_OK
$STATE,15556,begin surface
$SM_CCo,15641,0.00,0.000,0,0,1204,416.52
$SM_GC,1.21,12.10,0.00,0.00,0.035,0.000,0.000,48,2674,1204,-10.94,-0.03,416.52
$IRIDIUM_FIX,6303.50,-1316.64,150798,151530
$TT8_MAMPS,0.029146
$HUMID,1783
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,23.3,46.226
$10V_AH,10.1,26.359
$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,26.750,122.475,474.925,0.000,0.000,29.131,30.907,124.345,6.250,0.000,0.000,13.008,1361.212,11881.968,545.092,1680.415,472.928,33.363,1422.966,0.000,1640.319,0.000,45.052,0.000
$DEVICE_MAMPS,158.002,104.312,1145.131,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,526.111,547.986,462.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37972,746
$CAP_FILE_SIZE,108997,0
$CFSIZE,260165632,241508352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200409,235431,6328.432,-1315.068,44,1.6,44,-12.4