version: 66.04
glider: 103
mission: 11
dive: 266
start: 4 21 109 0 0 59
data:
$ID,103
$MISSION,11
$DIVE,266
$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,-148052.38
$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,21
$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
$GPS1,235431,6328.432,-1315.068,44,1.6,44,-12.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-51.7
$GPS2,000007,6328.478,-1315.144,12,1.5,12,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.037,-0.215
$KALMAN_X,-7364.0,585.4,150.6,-13106.5,-8620.1
$KALMAN_Y,41449.3,-947.8,-1109.1,-91177.9,26118.2
$MHEAD_RNG_PITCHd_Wd,182.7,24961,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,81,0.00,0.00,-60.67,0.000,2,0.000,0.000,48,2678,3204
$GC,84,-1.10,-146.6,4.2,-7.5,3,108,12.12,2.75,-4.80,0.000,4,0.155,0.091,2194,1269,3501
$GC,126,-1.10,-146.6,14.8,-10.9,5,130,0.00,2.62,0.00,0.000,6,0.000,0.064,2194,2675,3502
$GC,448,-1.10,-146.6,36.1,-8.2,21,451,0.00,2.15,0.00,0.000,4,0.000,0.090,2194,3792,3501
$GC,503,-1.10,-146.6,41.6,-10.4,23,507,0.00,2.05,0.00,0.000,6,0.000,0.060,2194,2676,3501
$GC,826,-1.10,-146.6,70.9,-9.1,39,829,0.00,2.17,0.00,0.000,4,0.000,0.090,2193,3793,3501
$GC,859,-1.10,-146.6,73.9,-9.1,40,863,0.00,2.05,0.00,0.000,6,0.000,0.060,2194,2675,3501
$GC,1181,-1.10,-146.6,102.7,-9.3,56,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2675,3501
$GC,1490,-1.10,-146.6,132.8,-9.9,71,1494,0.00,2.15,0.00,0.000,4,0.000,0.088,2194,3786,3502
$GC,1529,-1.10,-146.6,136.8,-10.2,72,1536,0.00,2.03,0.00,0.000,6,0.000,0.060,2194,2674,3501
$GC,1845,-1.10,-146.6,168.8,-10.4,88,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2674,3501
$GC,2155,-1.10,-146.6,200.6,-10.3,103,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2674,3501
$GC,2464,-1.10,-146.6,233.2,-10.5,118,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2674,3502
$GC,2773,-1.10,-146.6,266.1,-10.7,133,2777,0.00,2.15,0.00,0.000,4,0.000,0.086,2194,3788,3502
$GC,2819,-1.10,-146.6,271.2,-11.2,135,2822,0.00,2.05,0.00,0.000,6,0.000,0.059,2194,2664,3502
$GC,3152,-1.10,-146.6,308.6,-11.4,151,3157,0.00,2.60,0.00,0.000,4,0.000,0.071,2194,1251,3502
$GC,3186,-1.10,-146.6,312.7,-11.6,152,3192,0.00,2.62,0.00,0.000,6,0.000,0.062,2194,2675,3502
$GC,3502,-1.10,-146.6,347.3,-10.6,168,3505,0.00,2.12,0.00,0.000,4,0.000,0.089,2194,3786,3502
$GC,3576,-1.10,-146.6,355.0,-10.4,171,3579,0.00,2.03,0.00,0.000,6,0.000,0.058,2194,2675,3502
$GC,3903,-1.10,-146.6,387.3,-9.6,187,3907,0.00,2.62,0.00,0.000,4,0.000,0.070,2194,1246,3502
$GC,3942,-1.10,-146.6,391.3,-10.3,189,3947,0.00,2.65,0.00,0.000,6,0.000,0.061,2194,2687,3502
$GC,4269,-1.10,-146.6,424.2,-10.0,205,4273,0.00,2.10,0.00,0.000,4,0.000,0.090,2194,3786,3502
$GC,4319,-1.10,-146.6,429.4,-10.0,207,4323,0.00,2.00,0.00,0.000,6,0.000,0.055,2194,2673,3501
$GC,4646,-1.10,-146.6,463.0,-10.5,223,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2673,3501
$GC,4956,-1.10,-146.6,497.4,-11.6,238,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2673,3502
$GC,5265,-1.10,-146.6,532.2,-11.1,253,5269,0.00,2.60,0.00,0.000,4,0.000,0.067,2194,1247,3502
$GC,5304,-1.10,-146.6,536.4,-11.0,255,5309,0.00,2.62,0.00,0.000,6,0.000,0.059,2194,2682,3502
$GC,5632,-1.10,-146.6,570.6,-9.7,271,5635,0.00,2.10,0.00,0.000,4,0.000,0.087,2194,3789,3502
$GC,5727,-1.10,-146.6,579.7,-6.8,275,5731,0.00,2.03,0.00,0.000,6,0.000,0.052,2194,2663,3502
$GC,6055,-1.10,-146.6,610.0,-9.6,291,6059,0.00,2.17,0.00,0.000,4,0.000,0.087,2194,3789,3502
$GC,6083,-1.10,-146.6,613.2,-10.7,292,6087,0.00,2.03,0.00,0.000,6,0.000,0.054,2194,2664,3502
$GC,6410,-1.10,-146.6,641.6,-7.9,308,6414,0.00,2.17,0.00,0.000,4,0.000,0.088,2193,3786,3502
$GC,6494,-1.10,-146.6,647.2,-6.8,311,6500,0.00,2.00,0.00,0.000,6,0.000,0.053,2194,2674,3502
$GC,6811,-1.10,-146.6,652.7,-0.7,327,6815,0.00,2.53,0.00,0.000,4,0.000,0.051,2194,1243,3502
$GC,6851,-1.10,-146.6,653.3,-1.5,329,6855,0.00,2.60,0.00,0.000,6,0.000,0.054,2194,2681,3502
$STATE,7071,end dive,NO_VERTICAL_VELOCITY
$STATE,7071,begin apogee
$GC,7080,-0.42,0.0,653.3,0.0,340,7208,0.73,0.00,124.72,1.095,6,0.064,0.000,2349,2070,2902
$STATE,7209,end apogee,CONTROL_FINISHED_OK
$STATE,7209,begin climb
$GC,7212,1.10,146.6,653.1,0.0,346,7344,1.55,2.70,121.80,1.066,4,0.064,0.059,2677,3500,2304
$GC,7485,1.10,146.6,645.9,6.1,358,7491,0.00,2.55,0.00,0.000,6,0.000,0.040,2677,2067,2304
$GC,7801,1.28,289.2,634.9,2.1,374,7926,0.17,2.78,118.93,1.062,4,0.038,0.063,2732,3494,1723
$GC,8049,1.28,289.2,618.5,8.3,385,8054,0.00,2.55,0.00,0.000,6,0.000,0.044,2731,2077,1722
$GC,8365,1.28,289.2,588.1,8.4,400,8370,0.00,2.58,0.00,0.000,4,0.000,0.060,2731,661,1722
$GC,8444,1.28,289.2,582.3,8.9,403,8450,0.00,2.50,0.00,0.000,6,0.000,0.036,2731,2088,1722
$GC,8760,1.28,289.2,549.5,9.2,419,8764,0.00,2.58,0.00,0.000,4,0.000,0.064,2732,3488,1722
$GC,8804,1.28,289.2,545.0,9.7,421,8808,0.00,2.53,0.00,0.000,6,0.000,0.044,2732,2073,1722
$GC,9125,1.28,289.2,517.1,8.3,437,9129,0.00,2.55,0.00,0.000,4,0.000,0.059,2732,666,1722
$GC,9175,1.28,289.2,512.7,8.1,439,9179,0.00,2.47,0.00,0.000,6,0.000,0.037,2732,2078,1722
$GC,9491,1.28,289.2,486.7,7.9,454,9495,0.00,2.60,0.00,0.000,4,0.000,0.064,2731,3495,1721
$GC,9524,1.28,289.2,483.9,8.2,455,9530,0.00,2.53,0.00,0.000,6,0.000,0.044,2732,2073,1721
$GC,9840,1.28,289.2,460.6,7.0,471,9844,0.00,2.53,0.00,0.000,4,0.000,0.059,2731,668,1721
$GC,9863,1.28,289.2,458.8,7.7,472,9867,0.00,2.47,0.00,0.000,6,0.000,0.037,2731,2082,1721
$GC,10190,1.28,289.2,435.3,7.1,488,10194,0.00,2.58,0.00,0.000,4,0.000,0.064,2732,3488,1721
$GC,10212,1.28,289.2,433.7,7.0,489,10216,0.00,2.53,0.00,0.000,6,0.000,0.045,2732,2072,1721
$GC,10533,1.30,304.4,414.4,5.6,505,10552,0.00,0.00,14.15,0.894,6,0.000,0.000,2731,2072,1661
$GC,10863,1.33,329.7,396.6,5.3,521,10892,0.00,2.75,22.12,0.908,4,0.000,0.066,2731,3484,1558
$GC,10910,1.35,345.5,393.8,5.6,523,10930,0.00,2.55,14.80,0.864,6,0.000,0.047,2732,2075,1493
$GC,11258,1.35,345.5,371.8,6.8,540,11259,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2075,1492
$GC,11568,1.35,345.5,350.9,6.6,555,11572,0.00,2.65,0.00,0.000,4,0.000,0.068,2732,3490,1492
$GC,11617,1.35,345.5,347.2,7.1,557,11622,0.00,2.55,0.00,0.000,6,0.000,0.049,2731,2077,1492
$GC,11933,1.35,345.5,325.3,6.8,572,11937,0.00,2.65,0.00,0.000,4,0.000,0.068,2732,3493,1492
$GC,11956,1.35,345.5,323.6,7.3,573,11961,0.00,2.58,0.00,0.000,6,0.000,0.049,2731,2066,1492
$GC,12278,1.35,345.5,301.5,6.7,589,12279,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2066,1492
$GC,12587,1.35,345.5,280.0,6.9,604,12592,0.00,2.67,0.00,0.000,4,0.000,0.069,2731,3494,1493
$GC,12628,1.35,345.5,277.0,7.6,606,12633,0.00,2.58,0.00,0.000,6,0.000,0.051,2731,2068,1493
$GC,12955,1.35,345.5,253.8,7.1,622,12957,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2068,1493
$GC,13265,1.35,345.5,231.4,7.5,637,13269,0.00,2.65,0.00,0.000,4,0.000,0.069,2732,3484,1493
$GC,13309,1.35,345.5,227.6,7.9,639,13313,0.00,2.55,0.00,0.000,6,0.000,0.051,2732,2071,1493
$GC,13630,1.35,345.5,203.4,7.7,655,13631,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2071,1493
$GC,13939,1.35,345.5,179.0,7.9,670,13944,0.00,2.65,0.00,0.000,4,0.000,0.071,2731,3490,1493
$GC,13962,1.35,345.5,177.0,8.4,671,13966,0.00,2.55,0.00,0.000,6,0.000,0.051,2732,2075,1493
$GC,14283,1.35,345.5,152.5,7.6,687,14284,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2075,1493
$GC,14594,1.35,345.5,129.5,8.1,702,14598,0.00,2.65,0.00,0.000,4,0.000,0.072,2732,3489,1493
$GC,14617,1.35,345.5,127.1,9.9,703,14622,0.00,2.58,0.00,0.000,6,0.000,0.052,2731,2067,1493
$GC,14938,1.35,345.5,96.1,10.2,719,14943,0.00,2.58,0.00,0.000,4,0.000,0.066,2732,655,1493
$GC,14979,1.35,345.5,92.1,9.4,721,14984,0.00,2.53,0.00,0.000,6,0.000,0.044,2732,2082,1493
$GC,15306,1.35,345.5,67.8,7.8,737,15307,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2082,1493
$GC,15615,1.35,345.5,40.3,8.9,752,15616,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2082,1493
$GC,15926,1.35,345.5,14.7,7.6,767,15930,0.00,2.62,0.00,0.000,4,0.000,0.064,2732,656,1493
$GC,15959,1.35,345.5,11.5,8.5,768,15965,0.00,2.53,0.00,0.000,6,0.000,0.046,2731,2085,1493
$STATE,16066,end climb,SURFACE_DEPTH_REACHED
$STATE,16066,begin surface coast
$FINISH,0.4,1.012185
$STATE,16088,end surface coast,CONTROL_FINISHED_OK
$STATE,16088,begin surface
$SM_CCo,16173,0.00,0.000,0,0,1491,345.87
$SM_GC,1.15,11.80,0.00,0.00,0.031,0.000,0.000,50,2670,1491,-10.93,-0.14,345.87
$IRIDIUM_FIX,6303.50,-1311.95,150798,191915
$TT8_MAMPS,0.028379
$HUMID,1769
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.90
$XPDR_PINGS,1
$24V_AH,23.3,46.363
$10V_AH,10.1,26.436
$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,26.375,153.925,416.525,0.000,0.000,29.854,32.884,148.377,6.000,0.000,0.000,12.948,1426.525,12320.537,514.157,1720.567,525.635,33.362,1413.100,0.000,1680.332,0.000,41.369,0.000
$DEVICE_MAMPS,154.934,90.506,1095.276,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,540.295,570.400,491.287,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38044,775
$CAP_FILE_SIZE,117109,0
$CFSIZE,260165632,241446912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210409,043137,6327.261,-1318.309,28,1.7,28,-12.4