version: 66.04
glider: 103
mission: 11
dive: 257
start: 4 19 109 3 34 12
data:
$ID,103
$MISSION,11
$DIVE,257
$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,-147901.25
$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,18
$R_STBD_OVSHOOT,13
$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
$GPS1,032725,6335.225,-1314.332,42,1.4,42,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-59.2
$GPS2,033320,6335.255,-1314.275,16,1.5,16,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.144,-0.164
$KALMAN_X,3027.2,408.2,86.5,-22535.3,-4842.3
$KALMAN_Y,2654.0,-129.6,-1209.7,-40641.9,144.1
$MHEAD_RNG_PITCHd_Wd,151.0,37518,-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,-146.3,0.0,0.0,0,79,0.00,0.00,-61.42,0.000,2,0.000,0.000,51,2673,3486
$GC,82,-1.10,-146.3,5.5,-10.1,3,102,12.18,2.72,-0.25,0.000,4,0.157,0.084,2194,1262,3502
$GC,131,-1.10,-146.3,19.7,-11.1,5,135,0.00,2.67,0.00,0.000,6,0.000,0.070,2194,2682,3502
$GC,448,-1.10,-146.3,46.9,-8.3,20,452,0.00,2.12,0.00,0.000,4,0.000,0.093,2194,3783,3502
$GC,504,-1.10,-146.3,51.9,-8.6,22,508,0.00,2.05,0.00,0.000,6,0.000,0.062,2194,2672,3502
$GC,826,-1.10,-146.3,79.5,-8.8,38,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2672,3502
$GC,1135,-1.10,-146.3,106.1,-8.5,53,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2672,3502
$GC,1445,-1.10,-146.3,132.6,-8.6,68,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2672,3502
$GC,1754,-1.10,-146.3,158.6,-8.4,83,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2672,3502
$GC,2063,-1.10,-146.3,183.7,-7.9,98,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2672,3502
$GC,2372,-1.10,-146.3,208.5,-8.0,113,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2672,3502
$GC,2681,-1.10,-146.3,233.0,-7.9,128,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2671,3502
$GC,2991,-1.10,-146.3,257.3,-7.7,143,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2672,3502
$GC,3300,-1.10,-146.3,280.9,-7.2,158,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2671,3502
$GC,3609,-1.10,-146.3,304.1,-7.9,173,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2671,3502
$GC,3918,-1.10,-146.3,327.7,-7.6,188,3922,0.00,2.15,0.00,0.000,4,0.000,0.087,2194,3785,3502
$GC,3952,-1.10,-146.3,330.4,-7.3,189,3955,0.00,2.03,0.00,0.000,6,0.000,0.060,2194,2674,3502
$GC,4274,-1.10,-146.3,355.7,-7.8,205,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2674,3502
$GC,4583,-1.10,-146.3,379.0,-7.7,220,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2674,3502
$GC,4892,-1.10,-146.3,402.6,-7.6,235,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2674,3502
$GC,5204,-1.10,-146.3,425.5,-7.6,250,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2674,3502
$GC,5510,-1.10,-146.3,448.6,-8.0,265,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2674,3502
$GC,5820,-1.10,-146.3,472.0,-7.9,280,5824,0.00,2.58,0.00,0.000,4,0.000,0.065,2194,1256,3502
$GC,5841,-1.10,-146.3,473.6,-7.3,281,5846,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2676,3502
$GC,6163,-1.10,-146.3,498.5,-7.7,297,6167,0.00,2.10,0.00,0.000,4,0.000,0.085,2194,3787,3502
$GC,6213,-1.10,-146.3,502.5,-7.6,299,6217,0.00,2.03,0.00,0.000,6,0.000,0.053,2194,2661,3502
$GC,6540,-1.10,-146.3,526.9,-7.7,315,6544,0.00,2.17,0.00,0.000,4,0.000,0.084,2194,3792,3502
$GC,6596,-1.10,-146.3,531.6,-8.2,317,6600,0.00,2.03,0.00,0.000,6,0.000,0.051,2194,2663,3502
$GC,6917,-1.10,-146.3,555.7,-7.6,333,6922,0.00,2.58,0.00,0.000,4,0.000,0.068,2194,1249,3501
$GC,6945,-1.10,-146.3,558.0,-7.9,334,6950,0.00,2.62,0.00,0.000,6,0.000,0.059,2194,2687,3502
$GC,7261,-1.10,-146.3,581.9,-7.1,349,7265,0.00,2.08,0.00,0.000,4,0.000,0.085,2194,3787,3502
$GC,7352,-1.10,-146.3,588.8,-7.7,353,7356,0.00,2.00,0.00,0.000,6,0.000,0.051,2194,2667,3502
$GC,7685,-1.10,-146.3,610.7,-6.4,369,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3502
$GC,7994,-1.10,-146.3,630.3,-6.4,384,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3502
$GC,8303,-1.10,-146.3,652.2,-7.5,399,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3502
$GC,8616,-1.10,-146.3,675.2,-6.9,414,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3502
$GC,8922,-1.10,-146.6,696.4,-5.6,429,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2664,3502
$GC,9232,-1.10,-146.6,699.5,0.3,444,9236,0.00,2.55,0.00,0.000,4,0.000,0.060,2194,1248,3502
$STATE,9246,end dive,NO_VERTICAL_VELOCITY
$STATE,9246,begin apogee
$GC,9255,-0.42,0.0,699.6,0.0,445,9388,0.73,0.00,125.43,1.141,6,0.057,0.000,2353,2043,2902
$STATE,9389,end apogee,CONTROL_FINISHED_OK
$STATE,9389,begin climb
$GC,9392,1.10,146.6,699.3,0.0,452,9524,1.48,2.70,122.53,1.108,4,0.045,0.070,2679,3427,2304
$GC,9704,1.28,290.9,698.7,2.0,466,9832,0.17,2.53,120.80,1.107,6,0.044,0.038,2725,2004,1716
$GC,10149,1.28,290.9,663.5,8.1,488,10153,0.00,2.70,0.00,0.000,4,0.000,0.067,2726,3441,1715
$GC,10256,1.28,290.9,654.5,9.3,493,10260,0.00,2.55,0.00,0.000,6,0.000,0.046,2725,2025,1715
$GC,10582,1.28,290.9,627.4,8.3,509,10583,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2025,1714
$GC,10892,1.28,290.9,601.5,7.6,524,10896,0.00,2.65,0.00,0.000,4,0.000,0.064,2726,3445,1714
$GC,10925,1.28,290.9,598.7,7.6,525,10931,0.00,2.55,0.00,0.000,6,0.000,0.044,2726,2013,1714
$GC,11241,1.28,290.9,572.3,8.9,541,11245,0.00,2.65,0.00,0.000,4,0.000,0.063,2726,3442,1713
$GC,11309,1.28,290.9,565.9,9.6,544,11313,0.00,2.55,0.00,0.000,6,0.000,0.045,2726,2015,1714
$GC,11635,1.28,290.9,535.5,9.1,560,11640,0.00,2.65,0.00,0.000,4,0.000,0.064,2726,3443,1714
$GC,11676,1.28,290.9,531.8,9.1,562,11680,0.00,2.55,0.00,0.000,6,0.000,0.045,2726,2013,1713
$GC,12002,1.28,290.9,505.1,7.2,578,12004,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2013,1714
$GC,12311,1.28,290.9,480.8,8.1,593,12316,0.00,2.62,0.00,0.000,4,0.000,0.064,2725,3440,1714
$GC,12367,1.28,290.9,476.2,7.7,595,12374,0.00,2.53,0.00,0.000,6,0.000,0.046,2726,2021,1714
$GC,12684,1.28,290.9,450.4,8.0,611,12685,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2021,1714
$GC,12993,1.28,290.9,424.9,8.5,626,12997,0.00,2.62,0.00,0.000,4,0.000,0.065,2726,3440,1714
$GC,13037,1.28,290.9,421.0,8.0,628,13041,0.00,2.53,0.00,0.000,6,0.000,0.047,2726,2023,1714
$GC,13358,1.28,290.9,395.4,7.9,644,13359,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2023,1714
$GC,13667,1.28,290.9,370.9,7.9,659,13671,0.00,2.62,0.00,0.000,4,0.000,0.066,2726,3438,1714
$GC,13694,1.28,290.9,368.7,8.3,660,13699,0.00,2.55,0.00,0.000,6,0.000,0.048,2726,2012,1714
$GC,14010,1.28,290.9,343.3,8.0,675,14011,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2013,1715
$GC,14319,1.28,290.9,319.1,7.8,690,14324,0.00,2.65,0.00,0.000,4,0.000,0.067,2726,3438,1715
$GC,14364,1.28,290.9,315.4,8.2,692,14369,0.00,2.55,0.00,0.000,6,0.000,0.050,2726,2016,1715
$GC,14685,1.28,290.9,291.3,7.3,708,14686,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2016,1716
$GC,14994,1.28,290.9,267.2,7.8,723,14999,0.00,2.65,0.00,0.000,4,0.000,0.068,2726,3437,1716
$GC,15044,1.28,290.9,263.2,8.8,725,15048,0.00,2.55,0.00,0.000,6,0.000,0.051,2726,2023,1716
$GC,15360,1.28,290.9,239.6,7.4,740,15361,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2022,1716
$GC,15669,1.28,290.9,217.2,7.3,755,15673,0.00,2.62,0.00,0.000,4,0.000,0.069,2726,3440,1716
$GC,15709,1.28,290.9,214.2,7.7,757,15713,0.00,2.55,0.00,0.000,6,0.000,0.051,2726,2023,1715
$GC,16035,1.28,290.9,189.3,7.7,773,16037,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2023,1716
$GC,16344,1.28,290.9,165.5,7.5,788,16349,0.00,2.65,0.00,0.000,4,0.000,0.070,2726,3442,1715
$GC,16395,1.28,290.9,161.5,7.3,790,16399,0.00,2.58,0.00,0.000,6,0.000,0.052,2726,2016,1715
$GC,16712,1.28,290.9,138.6,7.2,805,16716,0.00,2.65,0.00,0.000,4,0.000,0.069,2726,3435,1716
$GC,16733,1.28,290.9,136.8,8.1,806,16737,0.00,2.55,0.00,0.000,6,0.000,0.051,2726,2021,1716
$GC,17055,1.28,290.9,113.5,7.4,822,17059,0.00,2.65,0.00,0.000,4,0.000,0.069,2726,3439,1716
$GC,17088,1.28,290.9,110.7,7.3,823,17095,0.00,2.55,0.00,0.000,6,0.000,0.054,2726,2024,1716
$GC,17406,1.28,290.9,87.4,7.7,839,17410,0.00,2.65,0.00,0.000,4,0.000,0.071,2726,3439,1716
$GC,17429,1.28,290.9,85.4,8.3,840,17433,0.00,2.58,0.00,0.000,6,0.000,0.053,2726,2016,1717
$GC,17750,1.28,290.9,61.2,7.5,856,17755,0.00,2.65,0.00,0.000,4,0.000,0.071,2726,3435,1716
$GC,17778,1.28,290.9,59.0,6.8,857,17782,0.00,2.58,0.00,0.000,6,0.000,0.054,2726,2014,1717
$GC,18096,1.28,290.9,36.2,7.2,872,18100,0.00,2.67,0.00,0.000,4,0.000,0.071,2726,3444,1717
$GC,18140,1.28,290.9,32.6,7.3,874,18144,0.00,2.58,0.00,0.000,6,0.000,0.054,2726,2025,1717
$GC,18461,1.28,290.9,7.6,7.7,890,18463,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2025,1717
$STATE,18540,end climb,SURFACE_DEPTH_REACHED
$STATE,18540,begin surface coast
$FINISH,0.7,1.005862
$STATE,18563,end surface coast,CONTROL_FINISHED_OK
$STATE,18563,begin surface
$SM_CCo,18647,0.00,0.000,0,0,1716,290.93
$SM_GC,1.48,11.68,0.00,0.00,0.026,0.000,0.000,50,2675,1716,-10.93,-0.03,290.93
$IRIDIUM_FIX,6308.26,-1318.85,130798,222223
$TT8_MAMPS,0.028379
$HUMID,1765
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,23.3,45.063
$10V_AH,10.1,25.727
$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,26.225,130.300,368.750,0.000,0.000,23.772,27.400,174.675,6.000,0.000,0.000,16.395,1595.827,14549.311,463.598,1833.751,556.814,33.363,1392.602,0.000,1799.729,0.000,41.704,0.000
$DEVICE_MAMPS,157.235,92.807,1140.529,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,627.548,664.474,545.706,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44319,895
$CAP_FILE_SIZE,122454,0
$CFSIZE,260165632,241954816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190409,084607,6334.262,-1308.609,30,0.9,30,-12.3