version: 66.04
glider: 103
mission: 11
dive: 258
start: 4 19 109 8 52 50
data:
$ID,103
$MISSION,11
$DIVE,258
$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,-147916.42
$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,7
$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
$GPS1,084607,6334.262,-1308.609,30,0.9,30,-12.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-61.7
$GPS2,085156,6334.280,-1308.585,14,1.0,14,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.041,-0.215
$KALMAN_X,3445.7,593.9,-153.0,-18296.8,-1912.7
$KALMAN_Y,5625.9,937.0,-1273.3,-46430.9,3178.0
$MHEAD_RNG_PITCHd_Wd,181.5,36105,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.20,0.000,2,0.000,0.000,50,2676,3073
$GC,62,-1.10,-146.6,3.4,-8.6,2,88,12.02,2.75,-7.62,0.000,4,0.155,0.091,2195,1262,3501
$GC,179,-1.10,-146.6,19.3,-11.1,7,183,0.00,2.65,0.00,0.000,6,0.000,0.067,2195,2677,3502
$GC,501,-1.10,-146.6,44.2,-6.6,23,505,0.00,2.15,0.00,0.000,4,0.000,0.094,2195,3789,3502
$GC,597,-1.10,-146.6,51.7,-8.3,27,601,0.00,2.03,0.00,0.000,6,0.000,0.058,2195,2678,3502
$GC,925,-1.10,-146.6,75.9,-7.6,43,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2678,3502
$GC,1234,-1.10,-146.6,100.7,-8.2,58,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2678,3502
$GC,1543,-1.10,-146.6,125.7,-8.0,73,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2678,3502
$GC,1855,-1.10,-146.6,151.3,-8.5,88,1859,0.00,2.15,0.00,0.000,4,0.000,0.090,2194,3789,3501
$GC,1894,-1.10,-146.6,155.0,-8.3,89,1900,0.00,2.03,0.00,0.000,6,0.000,0.058,2194,2675,3502
$GC,2210,-1.10,-146.6,180.4,-8.1,105,2214,0.00,2.62,0.00,0.000,4,0.000,0.074,2195,1257,3502
$GC,2238,-1.10,-146.6,182.9,-8.4,106,2242,0.00,2.62,0.00,0.000,6,0.000,0.064,2195,2676,3502
$GC,2554,-1.10,-146.6,208.6,-8.0,121,2558,0.00,2.12,0.00,0.000,4,0.000,0.092,2195,3785,3501
$GC,2616,-1.10,-146.6,214.4,-9.6,123,2622,0.00,2.03,0.00,0.000,6,0.000,0.060,2195,2675,3502
$GC,2932,-1.10,-146.6,241.4,-8.3,139,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2675,3501
$GC,3241,-1.10,-146.6,269.0,-9.0,154,3245,0.00,2.62,0.00,0.000,4,0.000,0.074,2195,1256,3502
$GC,3274,-1.10,-146.6,272.0,-8.9,155,3280,0.00,2.62,0.00,0.000,6,0.000,0.067,2195,2676,3502
$GC,3591,-1.10,-146.6,298.3,-8.4,171,3594,0.00,2.15,0.00,0.000,4,0.000,0.092,2195,3794,3502
$GC,3652,-1.10,-146.6,303.8,-8.7,173,3658,0.00,2.05,0.00,0.000,6,0.000,0.058,2194,2672,3502
$GC,3969,-1.10,-146.6,329.9,-8.1,189,3973,0.00,2.62,0.00,0.000,4,0.000,0.074,2194,1248,3502
$GC,3998,-1.10,-146.6,332.3,-8.1,190,4002,0.00,2.65,0.00,0.000,6,0.000,0.063,2195,2685,3502
$GC,4314,-1.10,-146.6,355.2,-7.1,205,4317,0.00,2.10,0.00,0.000,4,0.000,0.091,2195,3784,3502
$GC,4382,-1.10,-146.6,360.0,-7.0,208,4386,0.00,2.03,0.00,0.000,6,0.000,0.058,2195,2669,3502
$GC,4715,-1.10,-146.6,381.1,-6.3,224,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3502
$GC,5026,-1.10,-146.6,401.2,-6.4,239,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3502
$GC,5333,-1.10,-146.6,423.2,-7.2,254,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3502
$GC,5643,-1.10,-146.6,443.5,-6.5,269,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3502
$GC,5952,-1.10,-146.6,466.5,-7.5,284,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2669,3502
$GC,6261,-1.10,-146.6,489.9,-7.6,299,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2669,3502
$GC,6571,-1.10,-146.6,515.1,-8.4,314,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3502
$GC,6880,-1.10,-146.6,540.7,-8.2,329,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2669,3502
$GC,7189,-1.10,-146.6,567.2,-8.7,344,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3502
$GC,7499,-1.10,-146.6,590.9,-7.8,359,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3502
$GC,7807,-1.10,-146.6,614.2,-6.7,374,7811,0.00,2.15,0.00,0.000,4,0.000,0.087,2195,3783,3502
$GC,7876,-1.10,-146.6,618.7,-7.1,377,7879,0.00,2.00,0.00,0.000,6,0.000,0.051,2194,2665,3502
$GC,8209,-1.10,-146.6,642.6,-7.6,393,8212,0.00,2.17,0.00,0.000,4,0.000,0.089,2195,3792,3502
$GC,8255,-1.10,-146.6,646.1,-7.4,395,8258,0.00,2.00,0.00,0.000,6,0.000,0.051,2195,2673,3502
$GC,8588,-1.10,-146.6,668.3,-5.9,411,8592,0.00,2.58,0.00,0.000,4,0.000,0.067,2194,1260,3502
$GC,8731,-1.10,-146.6,675.9,-5.5,417,8736,0.00,2.60,0.00,0.000,6,0.000,0.060,2195,2680,3502
$GC,9047,-1.10,-146.6,697.1,-6.8,432,9051,0.00,2.12,0.00,0.000,4,0.000,0.092,2195,3790,3502
$GC,9099,-1.10,-146.6,700.6,-5.7,434,9102,0.00,2.00,0.00,0.000,6,0.000,0.050,2194,2672,3502
$STATE,9196,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9196,begin apogee
$GC,9205,-0.42,0.0,706.7,6.0,439,9333,0.77,0.00,124.90,1.144,6,0.095,0.000,2349,2024,2902
$STATE,9334,end apogee,CONTROL_FINISHED_OK
$STATE,9334,begin climb
$GC,9337,1.10,146.6,710.4,0.0,445,9469,1.52,2.72,122.65,1.110,4,0.057,0.063,2677,607,2304
$GC,9568,1.10,146.6,702.3,7.7,455,9575,0.00,2.53,0.00,0.000,6,0.000,0.037,2677,2052,2304
$GC,9885,1.17,204.1,688.7,4.4,471,9940,0.00,2.62,49.17,1.100,4,0.000,0.065,2677,3419,2070
$GC,10053,1.20,225.8,679.9,5.4,478,10081,0.10,2.53,19.52,1.053,6,0.051,0.045,2709,2017,1981
$GC,10393,1.22,246.0,660.3,5.4,495,10418,0.00,2.67,18.40,1.055,4,0.000,0.064,2709,617,1899
$GC,10475,1.22,246.0,654.9,6.4,498,10481,0.00,2.50,0.00,0.000,6,0.000,0.039,2709,2029,1898
$GC,10791,1.22,246.0,634.9,6.6,514,10792,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2029,1897
$GC,11101,1.22,246.0,613.7,7.2,529,11105,0.00,2.58,0.00,0.000,4,0.000,0.065,2709,3427,1897
$GC,11173,1.22,246.0,608.5,7.4,532,11177,0.00,2.53,0.00,0.000,6,0.000,0.047,2709,2021,1897
$GC,11489,1.22,246.0,585.9,7.3,547,11493,0.00,2.62,0.00,0.000,4,0.000,0.064,2709,3435,1896
$GC,11516,1.22,246.0,583.9,7.1,548,11521,0.00,2.53,0.00,0.000,6,0.000,0.045,2709,2024,1897
$GC,11832,1.22,246.0,561.0,7.7,563,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2024,1896
$GC,12141,1.22,246.0,537.4,7.7,578,12143,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2024,1896
$GC,12451,1.22,246.0,515.6,6.6,593,12455,0.00,2.60,0.00,0.000,4,0.000,0.062,2710,3434,1897
$GC,12490,1.22,246.0,512.5,7.5,594,12496,0.00,2.53,0.00,0.000,6,0.000,0.045,2709,2021,1897
$GC,12805,1.22,246.0,491.7,6.4,610,12807,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2021,1897
$GC,13115,1.22,246.0,472.0,6.5,625,13119,0.00,2.60,0.00,0.000,4,0.000,0.063,2709,3429,1897
$GC,13159,1.23,247.9,469.2,5.9,627,13164,0.00,2.53,0.00,0.000,6,0.000,0.046,2709,2017,1897
$GC,13481,1.23,248.8,449.9,6.0,643,13490,0.00,2.65,3.92,0.643,4,0.000,0.065,2709,3432,1887
$GC,13520,1.23,248.8,447.3,6.5,644,13526,0.00,2.53,0.00,0.000,6,0.000,0.047,2709,2025,1887
$GC,13836,1.23,248.8,426.3,6.8,660,13837,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2025,1887
$GC,14145,1.23,248.8,405.1,6.6,675,14146,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2025,1888
$GC,14455,1.23,248.8,383.2,6.9,690,14459,0.00,2.60,0.00,0.000,4,0.000,0.067,2709,3429,1887
$GC,14488,1.23,248.8,380.8,7.0,691,14492,0.00,2.50,0.00,0.000,6,0.000,0.049,2709,2027,1888
$GC,14810,1.23,248.8,360.3,6.2,707,14814,0.00,2.62,0.00,0.000,4,0.000,0.067,2709,3438,1888
$GC,14837,1.23,248.8,358.4,6.8,708,14842,0.00,2.55,0.00,0.000,6,0.000,0.049,2709,2018,1888
$GC,15153,1.23,248.8,338.0,6.6,723,15158,0.00,2.62,0.00,0.000,4,0.000,0.067,2709,3429,1888
$GC,15176,1.23,248.8,336.3,6.8,724,15180,0.00,2.53,0.00,0.000,6,0.000,0.049,2709,2024,1888
$GC,15497,1.23,248.8,312.8,7.4,740,15498,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2024,1888
$GC,15807,1.23,248.8,288.4,8.2,755,15811,0.00,2.62,0.00,0.000,4,0.000,0.069,2710,3430,1889
$GC,15847,1.23,248.8,285.0,8.1,756,15853,0.00,2.55,0.00,0.000,6,0.000,0.051,2709,2015,1888
$GC,16163,1.23,248.8,259.2,8.6,772,16164,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2015,1888
$GC,16473,1.23,248.8,233.5,8.1,787,16477,0.00,2.65,0.00,0.000,4,0.000,0.068,2709,3438,1889
$GC,16506,1.23,248.8,230.7,8.0,788,16512,0.00,2.55,0.00,0.000,6,0.000,0.051,2709,2020,1888
$GC,16821,1.23,248.8,205.9,7.8,804,16823,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2020,1889
$GC,17131,1.23,248.8,183.3,6.8,819,17135,0.00,2.62,0.00,0.000,4,0.000,0.067,2710,3430,1889
$GC,17170,1.23,248.8,180.6,7.3,820,17176,0.00,2.53,0.00,0.000,6,0.000,0.051,2709,2022,1888
$GC,17486,1.23,248.8,159.5,6.6,836,17487,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2022,1889
$GC,17795,1.23,248.8,138.8,7.1,851,17800,0.00,2.62,0.00,0.000,4,0.000,0.067,2710,3435,1889
$GC,17840,1.23,248.8,135.1,7.9,853,17844,0.00,2.55,0.00,0.000,6,0.000,0.052,2709,2021,1890
$GC,18161,1.23,248.8,108.4,8.5,869,18166,0.00,2.62,0.00,0.000,4,0.000,0.067,2709,3434,1889
$GC,18189,1.23,248.8,106.0,8.9,870,18194,0.00,2.55,0.00,0.000,6,0.000,0.053,2709,2023,1889
$GC,18507,1.23,248.8,82.9,7.7,885,18512,0.00,2.55,0.00,0.000,4,0.000,0.063,2709,616,1889
$GC,18536,1.23,248.8,79.9,9.3,886,18540,0.00,2.47,0.00,0.000,6,0.000,0.038,2709,2032,1890
$GC,18852,1.23,248.8,55.5,7.4,901,18853,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2032,1889
$GC,19162,1.23,248.8,34.3,7.7,916,19166,0.00,2.60,0.00,0.000,4,0.000,0.070,2709,3439,1889
$GC,19189,1.23,248.8,31.9,8.6,917,19193,0.00,2.58,0.00,0.000,6,0.000,0.054,2709,2013,1889
$GC,19507,1.23,248.8,8.1,7.4,932,19508,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2013,1890
$STATE,19585,end climb,SURFACE_DEPTH_REACHED
$STATE,19585,begin surface coast
$FINISH,0.6,1.027450
$STATE,19608,end surface coast,CONTROL_FINISHED_OK
$STATE,19608,begin surface
$SM_CCo,19693,0.00,0.000,0,0,1889,248.49
$SM_GC,1.81,11.60,0.00,0.00,0.026,0.000,0.000,44,2672,1889,-10.94,-0.08,248.49
$IRIDIUM_FIX,6308.26,-1310.55,140798,030307
$TT8_MAMPS,0.028379
$HUMID,1786
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,675.0,41.4
$24V_AH,23.3,45.183
$10V_AH,10.1,25.814
$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,26.025,154.850,338.575,0.000,0.000,22.193,36.512,156.137,6.000,0.000,0.000,14.552,1696.741,15334.460,450.405,1974.317,583.614,33.353,1453.312,0.000,1940.216,0.000,40.499,0.000
$DEVICE_MAMPS,154.934,93.574,1144.364,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,654.145,698.974,566.136,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47401,937
$CAP_FILE_SIZE,133164,0
$CFSIZE,260165632,241876992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190409,142224,6332.919,-1308.286,25,0.9,43,-12.3