version: 66.04
glider: 103
mission: 11
dive: 267
start: 4 21 109 4 38 6
data:
$ID,103
$MISSION,11
$DIVE,267
$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,-148071.17
$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,18
$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
$GPS1,043137,6327.261,-1318.309,28,1.7,28,-12.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-59.5
$GPS2,043714,6327.298,-1318.317,12,1.6,18,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.067,-0.208
$KALMAN_X,-10995.4,700.9,462.3,-12482.0,-12687.2
$KALMAN_Y,44792.0,-1921.9,-1171.4,-95683.6,25323.8
$MHEAD_RNG_PITCHd_Wd,174.7,22944,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,80,0.00,0.00,-58.70,0.000,6,0.000,0.000,50,2674,3501
$GC,83,-1.10,-146.6,6.6,-13.4,3,104,11.98,2.15,0.00,0.000,4,0.154,0.077,2195,3786,3502
$GC,290,-1.10,-146.6,35.8,-8.2,12,293,0.00,2.08,0.00,0.000,6,0.000,0.068,2196,2678,3502
$GC,617,-1.10,-146.6,67.7,-9.4,28,620,0.00,2.17,0.00,0.000,4,0.000,0.091,2196,3792,3502
$GC,663,-1.10,-146.6,71.4,-8.7,30,667,0.00,2.08,0.00,0.000,6,0.000,0.064,2196,2670,3502
$GC,997,-1.10,-146.6,105.5,-12.3,46,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2670,3502
$GC,1306,-1.10,-146.6,136.3,-9.3,61,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2670,3502
$GC,1615,-1.10,-146.6,164.4,-9.3,76,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2670,3502
$GC,1924,-1.10,-146.6,192.0,-8.5,91,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2670,3502
$GC,2233,-1.10,-146.6,218.3,-8.5,106,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2670,3501
$GC,2543,-1.10,-146.6,244.7,-8.8,121,2546,0.00,2.17,0.00,0.000,4,0.000,0.091,2196,3785,3501
$GC,2589,-1.10,-146.6,248.9,-9.2,123,2593,0.00,2.05,0.00,0.000,6,0.000,0.062,2196,2669,3501
$GC,2922,-1.10,-146.6,278.9,-9.3,139,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2669,3501
$GC,3231,-1.10,-146.6,307.2,-9.0,154,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2669,3501
$GC,3540,-1.10,-146.6,334.5,-8.8,169,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2669,3501
$GC,3849,-1.10,-146.6,360.4,-8.0,184,3853,0.00,2.17,0.00,0.000,4,0.000,0.090,2196,3790,3501
$GC,3888,-1.10,-146.6,363.7,-8.7,185,3895,0.00,2.03,0.00,0.000,6,0.000,0.060,2196,2672,3501
$GC,4205,-1.10,-146.6,388.2,-7.8,201,4209,0.00,2.62,0.00,0.000,4,0.000,0.072,2196,1245,3501
$GC,4232,-1.10,-146.6,390.4,-7.8,202,4237,0.00,2.62,0.00,0.000,6,0.000,0.061,2196,2676,3501
$GC,4548,-1.10,-146.6,413.1,-7.1,217,4552,0.00,2.12,0.00,0.000,4,0.000,0.090,2196,3786,3501
$GC,4594,-1.10,-146.6,416.6,-7.3,219,4598,0.00,2.03,0.00,0.000,6,0.000,0.056,2196,2667,3501
$GC,4927,-1.10,-146.6,441.8,-7.9,235,4931,0.00,2.60,0.00,0.000,4,0.000,0.071,2196,1248,3501
$GC,4954,-1.10,-146.6,444.0,-7.8,236,4958,0.00,2.62,0.00,0.000,6,0.000,0.060,2196,2680,3501
$GC,5271,-1.10,-146.6,468.7,-7.7,251,5275,0.00,2.10,0.00,0.000,4,0.000,0.090,2196,3785,3501
$GC,5343,-1.10,-146.6,474.3,-7.6,254,5347,0.00,2.03,0.00,0.000,6,0.000,0.054,2196,2664,3501
$GC,5670,-1.10,-146.6,497.0,-6.1,270,5674,0.00,2.17,0.00,0.000,4,0.000,0.091,2196,3785,3501
$GC,5732,-1.10,-146.6,501.0,-7.2,272,5738,0.00,2.03,0.00,0.000,6,0.000,0.055,2196,2664,3501
$GC,6048,-1.10,-146.6,530.0,-8.4,288,6053,0.00,2.60,0.00,0.000,4,0.000,0.071,2196,1245,3501
$GC,6183,-1.10,-146.6,539.4,-4.4,294,6188,0.00,2.65,0.00,0.000,6,0.000,0.063,2196,2685,3501
$GC,6505,-1.10,-146.6,559.1,-3.1,310,6508,0.00,2.10,0.00,0.000,4,0.000,0.088,2196,3792,3501
$GC,6612,-1.10,-146.6,560.9,0.6,314,6618,0.00,2.03,0.00,0.000,6,0.000,0.053,2196,2664,3501
$GC,6930,-1.10,-146.6,575.9,-7.5,330,6934,0.00,2.17,0.00,0.000,4,0.000,0.091,2196,3789,3501
$GC,6987,-1.10,-146.6,578.6,-4.7,332,6990,0.00,2.00,0.00,0.000,6,0.000,0.051,2196,2671,3501
$GC,7308,-1.10,-146.6,590.7,-6.8,348,7312,0.00,2.58,0.00,0.000,4,0.000,0.069,2195,1256,3501
$GC,7392,-1.10,-146.6,596.5,-6.4,351,7398,0.00,2.60,0.00,0.000,6,0.000,0.061,2196,2674,3501
$GC,7708,-1.10,-146.6,617.6,-7.4,367,7711,0.00,2.12,0.00,0.000,4,0.000,0.090,2196,3790,3501
$GC,7873,-1.10,-146.6,628.3,-3.5,374,7877,0.00,2.03,0.00,0.000,6,0.000,0.054,2196,2664,3501
$GC,8201,-1.10,-146.6,639.7,0.0,390,8205,0.00,2.15,0.00,0.000,4,0.000,0.087,2196,3789,3501
$GC,8319,-1.10,-146.6,644.8,1.0,395,8323,0.00,2.03,0.00,0.000,6,0.000,0.054,2196,2665,3501
$GC,8648,-1.10,-146.6,649.7,-1.5,411,8651,0.00,2.17,0.00,0.000,4,0.000,0.091,2196,3785,3501
$GC,8728,-1.10,-146.6,652.1,-3.7,414,8731,0.00,2.00,0.00,0.000,6,0.000,0.054,2196,2672,3501
$GC,9049,-1.10,-146.6,674.4,-9.1,430,9053,0.00,2.15,0.00,0.000,4,0.000,0.089,2196,3788,3501
$GC,9239,-1.10,-146.6,690.1,-8.9,438,9243,0.00,2.03,0.00,0.000,6,0.000,0.055,2196,2664,3501
$GC,9561,-1.10,-146.6,717.6,-8.5,454,9562,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2664,3500
$GC,9871,-1.10,-146.6,746.9,-8.5,469,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2663,3500
$GC,10180,-1.10,-146.6,755.6,-1.5,484,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2658,3499
$GC,10490,-1.10,-146.6,758.5,0.0,499,10494,0.00,2.53,0.00,0.000,4,0.000,0.055,2196,1246,3499
$STATE,10543,end dive,NO_VERTICAL_VELOCITY
$STATE,10543,begin apogee
$GC,10552,-0.42,0.0,758.3,0.0,501,10681,0.65,0.00,125.88,1.184,6,0.041,0.000,2351,2099,2902
$STATE,10681,end apogee,CONTROL_FINISHED_OK
$STATE,10682,begin climb
$GC,10685,1.10,146.6,758.4,0.0,508,10817,1.50,2.80,123.72,1.155,4,0.044,0.069,2682,662,2304
$GC,11073,1.52,484.8,774.2,-3.4,525,11366,0.40,2.50,283.80,1.173,6,0.031,0.042,2785,2072,925
$GC,11675,1.52,484.8,731.2,12.7,554,11680,0.00,2.65,0.00,0.000,4,0.000,0.071,2785,3481,924
$GC,11776,1.52,484.8,720.2,11.5,558,11783,0.00,2.55,0.00,0.000,6,0.000,0.048,2785,2070,924
$GC,12092,1.52,484.8,674.4,16.0,574,12097,0.00,2.65,0.00,0.000,4,0.000,0.068,2785,3478,923
$GC,12114,1.52,484.8,671.7,11.5,575,12119,0.00,2.53,0.00,0.000,6,0.000,0.044,2785,2071,923
$GC,12437,1.52,484.8,632.7,12.0,591,12438,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2070,923
$GC,12746,1.52,484.8,596.6,11.4,606,12747,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2070,923
$GC,13055,1.52,484.8,557.6,12.9,621,13056,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2070,923
$GC,13364,1.52,484.8,517.6,13.7,636,13368,0.00,2.55,0.00,0.000,4,0.000,0.061,2786,665,923
$GC,13403,1.52,484.8,511.8,15.8,637,13410,0.00,2.47,0.00,0.000,6,0.000,0.042,2785,2067,923
$GC,13719,1.52,484.8,471.6,12.4,653,13723,0.00,2.55,0.00,0.000,4,0.000,0.059,2786,665,924
$GC,13764,1.52,484.8,467.0,9.6,655,13768,0.00,2.50,0.00,0.000,6,0.000,0.042,2785,2077,924
$GC,14086,1.52,484.8,428.8,12.9,671,14090,0.00,2.60,0.00,0.000,4,0.000,0.067,2785,3492,924
$GC,14113,1.52,484.8,424.9,13.8,672,14117,0.00,2.53,0.00,0.000,6,0.000,0.045,2785,2073,924
$GC,14429,1.52,484.8,383.0,13.2,687,14430,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2072,924
$GC,14738,1.52,484.8,342.1,13.2,702,14739,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2073,924
$GC,15047,1.52,484.8,301.1,13.0,717,15052,0.00,2.65,0.00,0.000,4,0.000,0.070,2785,3488,924
$GC,15065,1.52,484.8,298.7,12.9,718,15070,0.00,2.55,0.00,0.000,6,0.000,0.048,2785,2071,924
$GC,15392,1.52,484.8,257.2,12.6,734,15393,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2071,924
$GC,15702,1.52,484.8,218.1,13.2,749,15703,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2071,924
$GC,16011,1.52,484.8,175.9,13.6,764,16015,0.00,2.58,0.00,0.000,4,0.000,0.065,2785,655,924
$GC,16033,1.52,484.8,172.6,13.8,765,16037,0.00,2.53,0.00,0.000,6,0.000,0.044,2785,2081,925
$GC,16354,1.52,484.8,128.9,13.6,781,16355,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2081,925
$GC,16664,1.52,484.8,85.5,14.2,796,16668,0.00,2.62,0.00,0.000,4,0.000,0.064,2785,656,925
$GC,16713,1.52,484.8,78.8,12.0,798,16717,0.00,2.50,0.00,0.000,6,0.000,0.044,2786,2076,925
$GC,17035,1.52,484.8,34.7,13.8,814,17039,0.00,2.60,0.00,0.000,4,0.000,0.064,2785,665,925
$GC,17085,1.52,484.8,27.6,13.3,816,17090,0.00,2.53,0.00,0.000,6,0.000,0.045,2785,2086,925
$STATE,17275,end climb,SURFACE_DEPTH_REACHED
$STATE,17275,begin surface coast
$FINISH,0.4,1.027450
$STATE,17297,end surface coast,CONTROL_FINISHED_OK
$STATE,17297,begin surface
$SM_CCo,17382,0.00,0.000,0,0,924,485.20
$SM_GC,1.24,11.93,0.00,0.00,0.025,0.000,0.000,47,2670,924,-10.93,-0.14,485.20
$IRIDIUM_FIX,6308.26,-1332.93,160798,000023
$TT8_MAMPS,0.028379
$HUMID,1800
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,23.3,46.552
$10V_AH,10.1,26.516
$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,26.450,131.850,533.400,0.000,0.000,29.558,29.465,147.571,6.750,0.000,0.000,18.172,1514.578,13161.243,571.514,1941.457,527.845,33.359,1576.654,0.000,1889.866,0.000,47.625,0.000
$DEVICE_MAMPS,154.167,91.273,1184.248,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,581.885,603.308,446.979,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41137,826
$CAP_FILE_SIZE,121660,0
$CFSIZE,260165632,241381376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210409,092907,6326.280,-1318.957,42,1.0,42,-12.4