version: 66.04
glider: 103
mission: 11
dive: 259
start: 4 19 109 14 29 2
data:
$ID,103
$MISSION,11
$DIVE,259
$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,-147930.22
$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,22
$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
$GPS1,142224,6332.919,-1308.286,25,0.9,43,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-62.4
$GPS2,142808,6332.965,-1308.309,13,1.1,13,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.074,-0.205
$KALMAN_X,2598.0,-174.7,432.6,-17013.7,-2344.1
$KALMAN_Y,10616.3,189.2,-737.7,-53625.4,7448.5
$MHEAD_RNG_PITCHd_Wd,172.4,33736,-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,-41.38,0.000,2,0.000,0.000,44,2673,3303
$GC,62,-1.10,-146.6,4.3,-11.6,2,85,12.05,2.65,-3.15,0.000,4,0.154,0.084,2197,1269,3500
$GC,154,-1.10,-146.6,20.3,-9.2,6,159,0.00,2.65,0.00,0.000,6,0.000,0.070,2196,2678,3500
$GC,481,-1.10,-146.6,47.1,-7.2,22,485,0.00,2.15,0.00,0.000,4,0.000,0.097,2197,3786,3500
$GC,573,-1.10,-146.6,54.4,-7.8,26,577,0.00,2.03,0.00,0.000,6,0.000,0.061,2197,2683,3500
$GC,908,-1.10,-146.6,81.2,-7.8,42,912,0.00,2.67,0.00,0.000,4,0.000,0.077,2197,1253,3500
$GC,935,-1.10,-146.6,83.8,-8.3,43,939,0.00,2.65,0.00,0.000,6,0.000,0.065,2197,2679,3500
$GC,1251,-1.10,-146.6,109.4,-7.7,58,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2680,3500
$GC,1561,-1.10,-146.6,132.1,-6.7,73,1564,0.00,2.12,0.00,0.000,4,0.000,0.091,2197,3786,3500
$GC,1617,-1.10,-146.6,136.0,-7.2,75,1620,0.00,2.03,0.00,0.000,6,0.000,0.059,2197,2677,3500
$GC,1939,-1.10,-146.6,155.9,-6.1,91,1943,0.00,2.65,0.00,0.000,4,0.000,0.075,2197,1249,3500
$GC,1966,-1.10,-146.6,157.7,-6.1,92,1971,0.00,2.65,0.00,0.000,6,0.000,0.064,2197,2683,3500
$GC,2283,-1.10,-146.6,176.0,-5.7,107,2287,0.00,2.12,0.00,0.000,4,0.000,0.091,2197,3793,3500
$GC,2329,-1.10,-146.6,178.7,-6.0,109,2333,0.00,2.05,0.00,0.000,6,0.000,0.058,2197,2669,3500
$GC,2663,-1.10,-146.6,200.9,-7.6,125,2667,0.00,2.62,0.00,0.000,4,0.000,0.074,2197,1251,3500
$GC,2690,-1.10,-146.6,203.3,-8.1,126,2694,0.00,2.62,0.00,0.000,6,0.000,0.061,2197,2679,3500
$GC,3007,-1.10,-146.6,227.7,-7.9,141,3010,0.00,2.12,0.00,0.000,4,0.000,0.091,2197,3790,3500
$GC,3057,-1.10,-146.6,232.0,-8.5,143,3061,0.00,2.03,0.00,0.000,6,0.000,0.058,2197,2674,3500
$GC,3384,-1.10,-146.6,256.0,-6.8,159,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2675,3500
$GC,3694,-1.10,-146.6,277.5,-7.0,174,3698,0.00,2.65,0.00,0.000,4,0.000,0.074,2197,1245,3500
$GC,3727,-1.10,-146.6,279.9,-7.3,175,3733,0.00,2.62,0.00,0.000,6,0.000,0.061,2197,2684,3501
$GC,4043,-1.10,-146.6,303.4,-7.8,191,4047,0.00,2.10,0.00,0.000,4,0.000,0.090,2197,3786,3500
$GC,4105,-1.10,-146.6,308.4,-8.4,193,4111,0.00,2.03,0.00,0.000,6,0.000,0.058,2197,2671,3501
$GC,4421,-1.10,-146.6,334.7,-8.4,209,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2672,3500
$GC,4730,-1.10,-146.6,361.4,-8.6,224,4734,0.00,2.17,0.00,0.000,4,0.000,0.091,2197,3792,3501
$GC,4793,-1.10,-146.6,366.7,-8.4,226,4799,0.00,2.03,0.00,0.000,6,0.000,0.057,2197,2674,3500
$GC,5110,-1.10,-146.6,388.2,-6.6,242,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2674,3501
$GC,5418,-1.10,-146.6,409.3,-7.1,257,5420,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2674,3500
$GC,5728,-1.10,-146.6,433.7,-7.7,272,5732,0.00,2.60,0.00,0.000,4,0.000,0.071,2197,1256,3500
$GC,5761,-1.10,-146.6,436.3,-7.2,273,5767,0.00,2.60,0.00,0.000,6,0.000,0.060,2197,2676,3500
$GC,6077,-1.10,-146.6,459.7,-7.7,289,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2676,3500
$GC,6386,-1.10,-146.6,483.6,-7.8,304,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2676,3500
$GC,6696,-1.10,-146.6,507.6,-7.6,319,6699,0.00,2.10,0.00,0.000,4,0.000,0.086,2197,3786,3500
$GC,6791,-1.10,-146.6,514.9,-7.5,323,6795,0.00,2.00,0.00,0.000,6,0.000,0.052,2197,2667,3501
$GC,7118,-1.10,-146.6,537.5,-6.5,339,7122,0.00,2.17,0.00,0.000,4,0.000,0.089,2197,3791,3501
$GC,7169,-1.10,-146.6,541.0,-7.4,341,7172,0.00,2.00,0.00,0.000,6,0.000,0.051,2197,2674,3501
$GC,7496,-1.10,-146.6,563.9,-6.9,357,7500,0.00,2.60,0.00,0.000,4,0.000,0.067,2197,1248,3500
$GC,7546,-1.10,-146.6,567.4,-6.9,359,7550,0.00,2.60,0.00,0.000,6,0.000,0.057,2197,2679,3500
$GC,7862,-1.10,-146.6,587.2,-5.8,374,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2679,3501
$GC,8171,-1.10,-146.6,604.0,-5.8,389,8175,0.00,2.10,0.00,0.000,4,0.000,0.085,2197,3790,3500
$GC,8233,-1.10,-146.6,607.9,-6.3,391,8239,0.00,2.00,0.00,0.000,6,0.000,0.050,2197,2669,3500
$GC,8549,-1.10,-146.6,623.7,-5.3,407,8553,0.00,2.58,0.00,0.000,4,0.000,0.068,2196,1255,3500
$GC,8645,-1.10,-146.6,629.8,-6.1,411,8649,0.00,2.60,0.00,0.000,6,0.000,0.060,2197,2676,3500
$GC,8965,-1.10,-146.6,653.7,-8.1,427,8969,0.00,2.10,0.00,0.000,4,0.000,0.089,2197,3789,3500
$GC,9039,-1.10,-146.6,659.4,-8.0,430,9042,0.00,2.00,0.00,0.000,6,0.000,0.051,2197,2671,3500
$GC,9366,-1.10,-146.6,680.7,-5.0,446,9371,0.00,2.58,0.00,0.000,4,0.000,0.067,2197,1255,3500
$GC,9418,-1.10,-146.6,684.0,-5.9,448,9422,0.00,2.62,0.00,0.000,6,0.000,0.064,2197,2678,3500
$STATE,9524,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9524,begin apogee
$GC,9533,-0.42,0.0,693.1,8.8,453,9661,0.75,0.00,124.62,1.135,6,0.098,0.000,2345,2017,2902
$STATE,9661,end apogee,CONTROL_FINISHED_OK
$STATE,9661,begin climb
$GC,9665,1.10,146.6,698.7,0.0,459,9797,1.58,2.80,122.65,1.103,4,0.061,0.070,2679,3443,2304
$GC,10052,1.27,283.7,699.6,2.2,476,10176,0.17,2.55,114.68,1.113,6,0.044,0.038,2727,2004,1745
$GC,10492,1.27,283.7,665.4,8.6,498,10496,0.00,2.72,0.00,0.000,4,0.000,0.067,2726,3451,1744
$GC,10711,1.27,283.7,645.1,9.8,508,10715,0.00,2.58,0.00,0.000,6,0.000,0.047,2726,2020,1744
$GC,11043,1.27,283.7,614.9,8.2,524,11048,0.00,2.67,0.00,0.000,4,0.000,0.067,2726,3452,1743
$GC,11084,1.27,283.7,611.5,8.8,526,11088,0.00,2.58,0.00,0.000,6,0.000,0.046,2726,2019,1743
$GC,11411,1.27,283.7,585.5,8.0,542,11415,0.00,2.55,0.00,0.000,4,0.000,0.062,2726,619,1742
$GC,11496,1.27,283.7,578.8,8.6,546,11500,0.00,2.50,0.00,0.000,6,0.000,0.038,2726,2048,1742
$GC,11822,1.27,283.7,555.1,7.8,562,11827,0.00,2.62,0.00,0.000,4,0.000,0.059,2726,613,1742
$GC,11863,1.27,283.7,551.5,9.0,564,11867,0.00,2.47,0.00,0.000,6,0.000,0.038,2726,2029,1742
$GC,12189,1.27,283.7,522.0,9.3,580,12194,0.00,2.55,0.00,0.000,4,0.000,0.062,2726,3431,1742
$GC,12212,1.27,283.7,519.6,9.8,581,12216,0.00,2.50,0.00,0.000,6,0.000,0.044,2726,2024,1742
$GC,12533,1.27,283.7,488.4,10.0,597,12538,0.00,2.60,0.00,0.000,4,0.000,0.061,2727,3441,1742
$GC,12567,1.27,283.7,484.7,10.5,598,12573,0.00,2.53,0.00,0.000,6,0.000,0.044,2726,2018,1742
$GC,12882,1.27,283.7,451.9,10.8,614,12887,0.00,2.60,0.00,0.000,4,0.000,0.062,2727,3439,1743
$GC,12910,1.27,283.7,448.9,10.6,615,12914,0.00,2.53,0.00,0.000,6,0.000,0.044,2727,2018,1743
$GC,13226,1.27,283.7,415.6,10.5,630,13227,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2018,1743
$GC,13535,1.27,283.7,384.4,10.0,645,13536,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2018,1744
$GC,13845,1.27,283.7,353.9,9.6,660,13849,0.00,2.62,0.00,0.000,4,0.000,0.065,2726,3440,1744
$GC,13884,1.27,283.7,350.1,9.4,662,13889,0.00,2.53,0.00,0.000,6,0.000,0.048,2726,2026,1744
$GC,14211,1.27,283.7,318.6,9.7,678,14213,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2026,1743
$GC,14521,1.27,283.7,288.1,9.6,693,14525,0.00,2.62,0.00,0.000,4,0.000,0.067,2727,3438,1744
$GC,14543,1.27,283.7,285.8,10.0,694,14547,0.00,2.55,0.00,0.000,6,0.000,0.048,2726,2014,1744
$GC,14864,1.27,283.7,254.5,9.6,710,14868,0.00,2.62,0.00,0.000,4,0.000,0.067,2726,3430,1745
$GC,14896,1.27,283.7,251.0,10.0,711,14903,0.00,2.53,0.00,0.000,6,0.000,0.050,2727,2026,1745
$GC,15213,1.27,283.7,218.1,11.0,727,15217,0.00,2.62,0.00,0.000,4,0.000,0.067,2726,3435,1745
$GC,15246,1.27,283.7,214.1,11.2,728,15252,0.00,2.55,0.00,0.000,6,0.000,0.050,2727,2016,1745
$GC,15562,1.27,283.7,179.3,11.0,744,15566,0.00,2.62,0.00,0.000,4,0.000,0.067,2726,3436,1745
$GC,15589,1.27,283.7,175.9,11.8,745,15594,0.00,2.55,0.00,0.000,6,0.000,0.050,2727,2016,1745
$GC,15906,1.27,283.7,142.3,10.5,760,15910,0.00,2.65,0.00,0.000,4,0.000,0.068,2727,3436,1745
$GC,15933,1.27,283.7,139.2,10.9,761,15937,0.00,2.55,0.00,0.000,6,0.000,0.050,2727,2020,1745
$GC,16249,1.27,283.7,107.7,9.9,776,16251,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2020,1745
$GC,16560,1.27,283.7,78.0,9.1,791,16561,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2020,1745
$GC,16868,1.27,283.7,51.9,8.3,806,16872,0.00,2.65,0.00,0.000,4,0.000,0.069,2727,3439,1746
$GC,16895,1.27,283.7,49.4,8.2,807,16900,0.00,2.58,0.00,0.000,6,0.000,0.053,2727,2013,1746
$GC,17211,1.27,283.7,22.7,8.3,822,17216,0.00,2.55,0.00,0.000,4,0.000,0.065,2727,616,1745
$GC,17239,1.27,283.7,20.3,8.3,823,17243,0.00,2.47,0.00,0.000,6,0.000,0.042,2727,2025,1745
$STATE,17449,end climb,SURFACE_DEPTH_REACHED
$STATE,17449,begin surface coast
$FINISH,0.4,1.021809
$STATE,17471,end surface coast,CONTROL_FINISHED_OK
$STATE,17471,begin surface
$SM_CCo,17557,0.00,0.000,0,0,1746,283.57
$SM_GC,1.31,11.75,0.00,0.00,0.029,0.000,0.000,44,2672,1746,-10.93,-0.08,283.57
$IRIDIUM_FIX,6308.26,-1309.45,140798,080802
$TT8_MAMPS,0.029146
$HUMID,1780
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.7,25.7
$24V_AH,23.3,45.311
$10V_AH,10.1,25.896
$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,26.300,173.800,361.950,0.000,0.000,31.070,29.820,148.980,5.750,0.000,0.000,13.166,1553.097,13410.514,463.070,1911.214,559.368,33.354,1446.824,0.000,1870.694,0.000,40.456,0.000
$DEVICE_MAMPS,154.167,96.642,1135.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,584.382,618.684,508.393,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41116,834
$CAP_FILE_SIZE,128733,0
$CFSIZE,260165632,241819648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190409,192324,6332.680,-1305.696,67,0.9,67,-12.3