version: 66.04
glider: 103
mission: 11
dive: 260
start: 4 19 109 19 33 18
data:
$ID,103
$MISSION,11
$DIVE,260
$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,-147946.08
$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,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,15
$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
$GPS1,192324,6332.680,-1305.696,67,0.9,67,-12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-59.3
$GPS2,193226,6332.732,-1305.762,15,1.2,15,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.100,-0.194
$KALMAN_X,2166.6,-202.8,647.5,-14702.2,-2207.3
$KALMAN_Y,16347.9,-826.6,819.9,-60324.5,11219.9
$MHEAD_RNG_PITCHd_Wd,165.0,33731,-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,15,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.72,0.000,2,0.000,0.000,44,2673,3142
$GC,62,-1.10,-146.6,3.8,-9.7,2,88,12.15,2.72,-6.25,0.000,4,0.158,0.085,2195,1263,3502
$GC,152,-1.10,-146.6,16.1,-8.1,6,157,0.00,2.65,0.00,0.000,6,0.000,0.069,2195,2674,3502
$GC,479,-1.10,-146.6,41.9,-8.0,22,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2675,3503
$GC,788,-1.10,-146.6,65.0,-7.5,37,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2674,3502
$GC,1097,-1.10,-146.6,90.2,-8.0,52,1101,0.00,2.15,0.00,0.000,4,0.000,0.090,2195,3794,3502
$GC,1148,-1.10,-146.6,94.5,-8.0,54,1152,0.00,2.05,0.00,0.000,6,0.000,0.059,2195,2674,3502
$GC,1476,-1.10,-146.6,120.1,-7.8,70,1480,0.00,2.62,0.00,0.000,4,0.000,0.075,2196,1258,3502
$GC,1509,-1.10,-146.6,123.0,-8.4,71,1515,0.00,2.62,0.00,0.000,6,0.000,0.064,2195,2685,3503
$GC,1827,-1.10,-146.6,148.3,-8.1,87,1831,0.00,2.12,0.00,0.000,4,0.000,0.091,2196,3792,3502
$GC,1873,-1.10,-146.6,152.2,-8.2,89,1876,0.00,2.05,0.00,0.000,6,0.000,0.060,2195,2671,3503
$GC,2205,-1.10,-146.6,178.8,-7.9,105,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2671,3502
$GC,2515,-1.10,-146.6,202.9,-7.5,120,2519,0.00,2.62,0.00,0.000,4,0.000,0.074,2195,1250,3502
$GC,2548,-1.10,-146.6,205.7,-8.2,121,2554,0.00,2.65,0.00,0.000,6,0.000,0.064,2195,2683,3503
$GC,2864,-1.10,-146.6,229.9,-7.5,137,2867,0.00,2.10,0.00,0.000,4,0.000,0.091,2195,3782,3502
$GC,2937,-1.10,-146.6,235.9,-8.1,140,2941,0.00,2.03,0.00,0.000,6,0.000,0.059,2195,2674,3502
$GC,3264,-1.10,-146.6,260.9,-7.7,156,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2674,3502
$GC,3574,-1.10,-146.6,284.0,-7.6,171,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2673,3502
$GC,3884,-1.10,-146.6,307.1,-7.5,186,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2674,3502
$GC,4192,-1.10,-146.6,329.7,-7.7,201,4196,0.00,2.15,0.00,0.000,4,0.000,0.088,2195,3785,3502
$GC,4226,-1.10,-146.6,332.6,-8.2,202,4229,0.00,2.03,0.00,0.000,6,0.000,0.057,2195,2670,3502
$GC,4547,-1.10,-146.6,357.1,-7.7,218,4551,0.00,2.62,0.00,0.000,4,0.000,0.074,2195,1247,3503
$GC,4575,-1.10,-146.6,359.4,-7.9,219,4580,0.00,2.62,0.00,0.000,6,0.000,0.061,2195,2678,3502
$GC,4897,-1.10,-146.6,384.5,-7.8,235,4900,0.00,2.10,0.00,0.000,4,0.000,0.088,2195,3783,3502
$GC,4943,-1.10,-146.6,388.2,-8.5,237,4946,0.00,2.00,0.00,0.000,6,0.000,0.055,2195,2675,3502
$GC,5276,-1.10,-146.6,413.4,-7.5,253,5280,0.00,2.62,0.00,0.000,4,0.000,0.072,2195,1246,3503
$GC,5308,-1.10,-146.6,415.9,-7.9,254,5315,0.00,2.62,0.00,0.000,6,0.000,0.060,2195,2681,3503
$GC,5625,-1.10,-146.6,437.6,-6.9,270,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2680,3502
$GC,5934,-1.10,-146.6,458.2,-6.8,285,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2680,3503
$GC,6243,-1.10,-146.6,477.4,-6.1,300,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2680,3502
$GC,6553,-1.10,-146.6,494.4,-5.3,315,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2680,3502
$GC,6862,-1.10,-146.6,510.1,-5.1,330,6863,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2680,3502
$GC,7173,-1.10,-146.6,525.6,-5.1,345,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2680,3503
$GC,7481,-1.10,-146.6,543.3,-5.8,360,7484,0.00,2.10,0.00,0.000,4,0.000,0.087,2195,3786,3502
$GC,7509,-1.10,-146.6,545.1,-6.1,361,7512,0.00,2.00,0.00,0.000,6,0.000,0.051,2195,2667,3502
$GC,7836,-1.10,-146.6,565.2,-6.1,377,7837,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2667,3502
$GC,8145,-1.10,-146.6,584.5,-6.1,392,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2667,3502
$GC,8454,-1.10,-146.6,604.6,-6.6,407,8458,0.00,2.17,0.00,0.000,4,0.000,0.089,2195,3792,3502
$GC,8538,-1.10,-146.6,611.1,-8.2,410,8544,0.00,2.00,0.00,0.000,6,0.000,0.052,2196,2666,3503
$GC,8855,-1.10,-146.6,638.5,-8.3,426,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2666,3502
$GC,9164,-1.10,-146.6,663.6,-8.4,441,9168,0.00,2.58,0.00,0.000,4,0.000,0.071,2195,1256,3501
$GC,9258,-1.10,-146.6,670.9,-7.6,445,9263,0.00,2.62,0.00,0.000,6,0.000,0.063,2195,2682,3502
$STATE,9324,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9324,begin apogee
$GC,9333,-0.42,0.0,675.9,7.4,448,9461,0.75,0.00,124.75,1.125,6,0.097,0.000,2344,2023,2902
$STATE,9461,end apogee,CONTROL_FINISHED_OK
$STATE,9461,begin climb
$GC,9465,1.10,146.6,681.2,0.0,454,9597,1.55,2.72,121.93,1.095,4,0.058,0.062,2677,605,2304
$GC,9729,1.16,193.5,677.4,4.7,466,9775,0.00,2.55,40.60,1.063,6,0.000,0.038,2677,2052,2113
$GC,10094,1.24,255.7,661.0,4.3,484,10153,0.15,2.67,52.88,1.082,4,0.038,0.064,2724,3433,1859
$GC,10210,1.24,255.7,653.6,7.5,489,10214,0.00,2.58,0.00,0.000,6,0.000,0.046,2724,2009,1859
$GC,10526,1.25,269.2,632.8,5.6,504,10547,0.00,2.65,13.05,1.006,4,0.000,0.064,2724,616,1804
$GC,10587,1.25,269.2,628.2,6.8,506,10593,0.00,2.50,0.00,0.000,6,0.000,0.039,2724,2024,1803
$GC,10903,1.25,269.2,608.6,6.4,522,10907,0.00,2.62,0.00,0.000,4,0.000,0.066,2724,3440,1803
$GC,10953,1.25,269.2,604.6,8.2,524,10957,0.00,2.55,0.00,0.000,6,0.000,0.046,2724,2019,1803
$GC,11269,1.25,269.2,580.2,7.7,539,11270,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2020,1802
$GC,11578,1.25,269.2,555.6,8.3,554,11582,0.00,2.62,0.00,0.000,4,0.000,0.064,2724,3440,1802
$GC,11650,1.25,269.2,549.4,8.5,557,11655,0.00,2.55,0.00,0.000,6,0.000,0.045,2724,2013,1802
$GC,11966,1.25,269.2,524.9,7.5,572,11967,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2013,1802
$GC,12275,1.25,269.2,501.3,7.6,587,12280,0.00,2.62,0.00,0.000,4,0.000,0.064,2724,3439,1802
$GC,12297,1.25,269.2,499.3,8.8,588,12302,0.00,2.53,0.00,0.000,6,0.000,0.045,2724,2027,1802
$GC,12619,1.25,269.2,473.9,8.0,604,12620,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2027,1802
$GC,12928,1.25,269.2,448.9,7.8,619,12932,0.00,2.60,0.00,0.000,4,0.000,0.065,2724,3430,1802
$GC,12955,1.25,269.2,446.6,8.5,620,12960,0.00,2.53,0.00,0.000,6,0.000,0.046,2724,2017,1802
$GC,13271,1.25,269.2,420.8,8.0,635,13273,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2017,1803
$GC,13580,1.25,269.2,397.1,7.8,650,13582,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2017,1803
$GC,13890,1.25,269.2,373.0,8.0,665,13891,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2017,1803
$GC,14199,1.25,269.2,347.5,8.5,680,14204,0.00,2.62,0.00,0.000,4,0.000,0.066,2724,3434,1803
$GC,14227,1.25,269.2,345.0,8.8,681,14231,0.00,2.53,0.00,0.000,6,0.000,0.048,2724,2018,1803
$GC,14544,1.25,269.2,318.7,8.2,696,14548,0.00,2.62,0.00,0.000,4,0.000,0.067,2724,3430,1803
$GC,14571,1.25,269.2,316.1,8.7,697,14575,0.00,2.53,0.00,0.000,6,0.000,0.049,2724,2026,1803
$GC,14893,1.25,269.2,289.4,8.4,713,14894,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2026,1803
$GC,15202,1.25,269.2,263.0,8.4,728,15206,0.00,2.62,0.00,0.000,4,0.000,0.068,2724,3433,1804
$GC,15246,1.25,269.2,258.8,8.6,730,15250,0.00,2.55,0.00,0.000,6,0.000,0.050,2724,2014,1804
$GC,15567,1.25,269.2,231.2,8.4,746,15572,0.00,2.65,0.00,0.000,4,0.000,0.069,2724,3435,1804
$GC,15601,1.25,269.2,228.2,8.5,747,15607,0.00,2.55,0.00,0.000,6,0.000,0.050,2724,2016,1804
$GC,15917,1.25,269.2,201.9,8.2,763,15918,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2016,1804
$GC,16226,1.25,269.2,176.0,8.3,778,16231,0.00,2.65,0.00,0.000,4,0.000,0.070,2724,3436,1804
$GC,16271,1.25,269.2,172.2,8.1,780,16275,0.00,2.55,0.00,0.000,6,0.000,0.049,2724,2017,1804
$GC,16592,1.25,269.2,146.7,7.8,796,16597,0.00,2.65,0.00,0.000,4,0.000,0.071,2724,3433,1804
$GC,16615,1.25,269.2,144.9,7.9,797,16619,0.00,2.55,0.00,0.000,6,0.000,0.051,2724,2018,1804
$GC,16936,1.25,269.2,119.6,8.1,813,16938,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2018,1805
$GC,17245,1.25,269.2,94.8,7.4,828,17250,0.00,2.65,0.00,0.000,4,0.000,0.072,2724,3431,1805
$GC,17286,1.25,269.2,91.7,7.5,830,17291,0.00,2.55,0.00,0.000,6,0.000,0.053,2724,2021,1805
$GC,17614,1.25,269.2,66.2,8.1,846,17618,0.00,2.65,0.00,0.000,4,0.000,0.070,2724,3438,1805
$GC,17647,1.25,269.2,63.6,7.5,847,17653,0.00,2.55,0.00,0.000,6,0.000,0.053,2724,2020,1805
$GC,17965,1.25,269.2,39.0,8.1,863,17966,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2019,1805
$GC,18272,1.25,269.2,12.5,7.6,878,18277,0.00,2.60,0.00,0.000,4,0.000,0.071,2724,608,1805
$GC,18300,1.25,269.2,9.8,8.8,879,18304,0.00,2.47,0.00,0.000,6,0.000,0.036,2724,2034,1805
$STATE,18388,end climb,SURFACE_DEPTH_REACHED
$STATE,18388,begin surface coast
$FINISH,0.8,1.027463
$STATE,18408,end surface coast,CONTROL_FINISHED_OK
$STATE,18408,begin surface
$SM_CCo,18494,0.00,0.000,0,0,1805,269.09
$SM_GC,1.33,11.73,0.00,0.00,0.028,0.000,0.000,47,2672,1805,-10.94,-0.08,269.09
$IRIDIUM_FIX,6308.26,-1303.66,140798,191910
$TT8_MAMPS,0.028379
$HUMID,1781
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.5,34.4
$24V_AH,23.3,45.441
$10V_AH,10.1,25.981
$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,26.325,146.000,353.200,0.000,0.000,57.485,69.124,217.943,5.500,0.000,0.000,15.235,1592.849,14453.021,458.961,1837.801,688.683,33.358,1391.700,0.000,1805.139,0.000,39.466,0.000
$DEVICE_MAMPS,158.002,90.506,1125.189,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,619.692,653.188,544.045,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44286,884
$CAP_FILE_SIZE,128338,0
$CFSIZE,260165632,241762304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200409,004255,6331.348,-1305.994,45,1.5,45,-12.3