version: 66.04
glider: 103
mission: 11
dive: 262
start: 4 20 109 5 50 30
data:
$ID,103
$MISSION,11
$DIVE,262
$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,-147975.11
$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,12
$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
$GPS1,054407,6330.886,-1307.739,34,1.1,34,-12.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-57.2
$GPS2,054938,6330.917,-1307.614,14,1.1,14,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.000,-0.218
$KALMAN_X,-2259.2,500.1,193.1,-12048.9,-5881.3
$KALMAN_Y,26466.3,-0.2,-1932.6,-71851.4,16901.8
$MHEAD_RNG_PITCHd_Wd,192.4,30115,-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,15,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,81,0.00,0.00,-60.72,0.000,2,0.000,0.000,48,2677,3207
$GC,85,-1.10,-146.6,3.7,-5.7,3,106,12.00,0.00,-4.85,0.000,6,0.154,0.000,2196,2677,3503
$GC,418,-1.10,-146.6,39.1,-9.3,19,421,0.00,2.17,0.00,0.000,4,0.000,0.097,2196,3787,3503
$GC,547,-1.10,-146.6,53.2,-11.3,24,553,0.00,2.05,0.00,0.000,6,0.000,0.064,2196,2671,3503
$GC,864,-1.10,-146.6,85.6,-10.2,40,868,0.00,2.17,0.00,0.000,4,0.000,0.091,2196,3786,3503
$GC,904,-1.10,-146.6,89.9,-10.8,41,910,0.00,2.05,0.00,0.000,6,0.000,0.064,2196,2666,3503
$GC,1221,-1.10,-146.6,121.3,-9.8,57,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2666,3503
$GC,1530,-1.10,-146.6,151.6,-10.1,72,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2666,3503
$GC,1838,-1.10,-146.6,180.5,-8.9,87,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2666,3503
$GC,2147,-1.10,-146.6,207.1,-8.4,102,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2666,3503
$GC,2457,-1.10,-146.6,232.2,-8.0,117,2461,0.00,2.62,0.00,0.000,4,0.000,0.074,2196,1248,3503
$GC,2484,-1.10,-146.6,234.6,-7.8,118,2489,0.00,2.65,0.00,0.000,6,0.000,0.065,2196,2677,3503
$GC,2800,-1.10,-146.6,260.1,-8.0,133,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2677,3502
$GC,3109,-1.10,-146.6,285.6,-8.3,148,3113,0.00,2.15,0.00,0.000,4,0.000,0.094,2196,3792,3503
$GC,3149,-1.10,-146.6,289.1,-9.0,149,3155,0.00,2.05,0.00,0.000,6,0.000,0.060,2196,2670,3502
$GC,3464,-1.10,-146.6,316.7,-8.5,165,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2670,3503
$GC,3774,-1.10,-146.6,342.3,-8.1,180,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2670,3503
$GC,4083,-1.10,-146.6,367.9,-8.1,195,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2670,3502
$GC,4392,-1.10,-146.6,392.3,-7.9,210,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2670,3503
$GC,4702,-1.10,-146.6,415.1,-7.2,225,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2670,3502
$GC,5011,-1.10,-146.6,437.7,-8.2,240,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2670,3503
$GC,5320,-1.10,-146.6,459.0,-7.3,255,5324,0.00,2.17,0.00,0.000,4,0.000,0.091,2196,3792,3502
$GC,5366,-1.10,-146.6,462.6,-7.7,257,5370,0.00,2.03,0.00,0.000,6,0.000,0.056,2196,2669,3503
$GC,5699,-1.10,-146.6,484.8,-5.3,273,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2669,3502
$GC,6008,-1.10,-146.6,503.4,-5.4,288,6012,0.00,2.15,0.00,0.000,4,0.000,0.090,2196,3783,3503
$GC,6042,-1.10,-146.6,505.1,-4.8,289,6046,0.00,2.00,0.00,0.000,6,0.000,0.054,2196,2670,3503
$GC,6364,-1.10,-146.6,520.1,-4.5,305,6369,0.00,2.58,0.00,0.000,4,0.000,0.069,2196,1258,3503
$GC,6392,-1.10,-146.6,521.5,-4.8,306,6397,0.00,2.60,0.00,0.000,6,0.000,0.061,2196,2675,3502
$GC,6709,-1.10,-146.6,539.7,-6.1,321,6713,0.00,2.60,0.00,0.000,4,0.000,0.066,2196,1258,3503
$GC,6736,-1.10,-146.6,541.6,-6.7,322,6741,0.00,2.62,0.00,0.000,6,0.000,0.063,2196,2683,3502
$GC,7052,-1.10,-146.6,561.6,-6.4,337,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2683,3502
$GC,7362,-1.10,-146.6,579.6,-5.7,352,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2682,3502
$GC,7671,-1.10,-146.6,593.0,-3.8,367,7675,0.00,2.10,0.00,0.000,4,0.000,0.090,2196,3783,3503
$GC,7728,-1.10,-146.6,595.5,-4.6,369,7731,0.00,2.00,0.00,0.000,6,0.000,0.052,2196,2666,3502
$GC,8049,-1.10,-146.6,608.4,-3.7,385,8054,0.00,2.58,0.00,0.000,4,0.000,0.070,2196,1258,3503
$GC,8117,-1.10,-146.6,611.5,-5.0,388,8122,0.00,2.60,0.00,0.000,6,0.000,0.061,2196,2676,3502
$GC,8442,-1.10,-146.6,625.7,-4.4,404,8446,0.00,2.60,0.00,0.000,4,0.000,0.067,2196,1255,3502
$GC,8483,-1.10,-146.6,628.1,-5.3,406,8487,0.00,2.62,0.00,0.000,6,0.000,0.062,2196,2683,3503
$GC,8810,-1.10,-146.6,645.8,-5.9,422,8814,0.00,2.62,0.00,0.000,4,0.000,0.067,2196,1256,3502
$GC,8860,-1.10,-146.6,649.6,-7.2,424,8864,0.00,2.60,0.00,0.000,6,0.000,0.061,2196,2675,3502
$GC,9176,-1.10,-146.6,672.0,-8.1,439,9180,0.00,2.12,0.00,0.000,4,0.000,0.091,2196,3786,3502
$GC,9423,-1.10,-146.6,689.4,-7.5,450,9427,0.00,2.00,0.00,0.000,6,0.000,0.057,2197,2675,3502
$STATE,9547,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9547,begin apogee
$GC,9556,-0.42,0.0,699.3,8.0,456,9689,0.75,0.00,125.72,1.135,6,0.091,0.000,2347,2021,2902
$STATE,9690,end apogee,CONTROL_FINISHED_OK
$STATE,9690,begin climb
$GC,9693,1.10,146.6,706.6,0.0,463,9826,1.55,2.72,122.88,1.110,4,0.054,0.064,2681,605,2304
$GC,10084,1.19,218.3,701.4,4.0,480,10153,0.00,2.55,61.15,1.098,6,0.000,0.040,2681,2046,2012
$GC,10467,1.28,291.8,685.7,4.0,499,10537,0.17,2.70,62.55,1.104,4,0.038,0.067,2735,3435,1712
$GC,10604,1.28,291.8,675.1,7.7,505,10609,0.00,2.58,0.00,0.000,6,0.000,0.045,2735,2008,1712
$GC,10920,1.28,291.8,647.9,8.5,520,10925,0.00,2.67,0.00,0.000,4,0.000,0.067,2735,3437,1711
$GC,10948,1.28,291.8,645.4,9.0,521,10952,0.00,2.55,0.00,0.000,6,0.000,0.045,2735,2019,1711
$GC,11264,1.28,291.8,615.9,9.8,536,11268,0.00,2.55,0.00,0.000,4,0.000,0.061,2735,619,1711
$GC,11336,1.28,291.8,609.0,9.4,539,11340,0.00,2.47,0.00,0.000,6,0.000,0.038,2735,2028,1710
$GC,11658,1.28,291.8,583.9,7.2,555,11662,0.00,2.60,0.00,0.000,4,0.000,0.066,2735,3435,1710
$GC,11681,1.28,291.8,582.3,6.5,556,11686,0.00,2.53,0.00,0.000,6,0.000,0.044,2735,2018,1710
$GC,12008,1.28,291.8,557.9,8.3,572,12013,0.00,2.62,0.00,0.000,4,0.000,0.061,2735,3439,1710
$GC,12043,1.28,291.8,554.8,8.7,573,12049,0.00,2.53,0.00,0.000,6,0.000,0.044,2735,2021,1710
$GC,12358,1.28,291.8,528.3,8.4,589,12363,0.00,2.55,0.00,0.000,4,0.000,0.059,2735,614,1710
$GC,12392,1.28,291.8,525.2,8.5,590,12398,0.00,2.47,0.00,0.000,6,0.000,0.038,2735,2037,1710
$GC,12708,1.28,291.8,499.4,8.3,606,12709,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2037,1710
$GC,13017,1.28,291.8,475.4,7.5,621,13018,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2037,1711
$GC,13327,1.28,291.8,451.3,8.0,636,13331,0.00,2.55,0.00,0.000,4,0.000,0.065,2735,3436,1711
$GC,13371,1.28,291.8,447.3,8.6,638,13375,0.00,2.53,0.00,0.000,6,0.000,0.044,2735,2013,1711
$GC,13698,1.28,291.8,420.4,8.3,654,13699,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2013,1711
$GC,14007,1.28,291.8,394.8,8.3,669,14011,0.00,2.62,0.00,0.000,4,0.000,0.064,2735,3434,1711
$GC,14034,1.28,291.8,392.3,8.7,670,14039,0.00,2.53,0.00,0.000,6,0.000,0.045,2735,2018,1711
$GC,14350,1.28,291.8,365.1,8.7,685,14352,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2018,1711
$GC,14659,1.28,291.8,337.0,9.1,700,14664,0.00,2.62,0.00,0.000,4,0.000,0.066,2735,3440,1711
$GC,14687,1.28,291.8,334.3,9.7,701,14692,0.00,2.55,0.00,0.000,6,0.000,0.048,2735,2017,1711
$GC,15004,1.28,291.8,306.0,8.8,716,15005,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2017,1711
$GC,15313,1.28,291.8,277.5,9.5,731,15317,0.00,2.62,0.00,0.000,4,0.000,0.067,2735,3430,1712
$GC,15340,1.28,291.8,274.7,10.5,732,15344,0.00,2.53,0.00,0.000,6,0.000,0.049,2735,2026,1712
$GC,15656,1.28,291.8,244.3,9.4,747,15657,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2026,1712
$GC,15965,1.28,291.8,215.3,9.5,762,15969,0.00,2.62,0.00,0.000,4,0.000,0.068,2735,3433,1712
$GC,15986,1.28,291.8,213.0,10.2,763,15991,0.00,2.55,0.00,0.000,6,0.000,0.050,2735,2014,1712
$GC,16308,1.28,291.8,183.2,9.0,779,16309,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2014,1712
$GC,16617,1.28,291.8,156.7,8.5,794,16622,0.00,2.62,0.00,0.000,4,0.000,0.068,2735,3430,1713
$GC,16657,1.28,291.8,153.1,9.3,796,16662,0.00,2.53,0.00,0.000,6,0.000,0.051,2735,2026,1713
$GC,16985,1.28,291.8,126.7,7.9,812,16990,0.00,2.58,0.00,0.000,4,0.000,0.064,2735,608,1713
$GC,17008,1.28,291.8,124.9,7.3,813,17012,0.00,2.50,0.00,0.000,6,0.000,0.040,2735,2030,1713
$GC,17329,1.28,291.8,100.9,8.6,829,17330,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2030,1713
$GC,17638,1.28,291.8,78.3,7.4,844,17640,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2030,1713
$GC,17947,1.28,291.8,53.3,7.6,859,17952,0.00,2.60,0.00,0.000,4,0.000,0.064,2736,617,1713
$GC,17981,1.28,291.8,50.3,8.9,860,17987,0.00,2.47,0.00,0.000,6,0.000,0.043,2735,2029,1713
$GC,18299,1.28,291.8,22.9,8.8,876,18303,0.00,2.60,0.00,0.000,4,0.000,0.068,2735,3440,1713
$GC,18326,1.28,291.8,20.1,8.5,877,18331,0.00,2.58,0.00,0.000,6,0.000,0.055,2735,2021,1713
$STATE,18516,end climb,SURFACE_DEPTH_REACHED
$STATE,18516,begin surface coast
$FINISH,0.3,1.027454
$STATE,18539,end surface coast,CONTROL_FINISHED_OK
$STATE,18539,begin surface
$SM_CCo,18624,0.00,0.000,0,0,1713,291.66
$SM_GC,1.29,11.73,0.00,0.00,0.026,0.000,0.000,42,2669,1713,-10.94,-0.17,291.66
$IRIDIUM_FIX,6303.50,-1307.26,150798,000005
$TT8_MAMPS,0.028379
$HUMID,1791
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.7,82.1
$24V_AH,23.3,45.735
$10V_AH,10.1,26.143
$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,26.200,145.375,372.300,0.000,0.000,31.275,25.235,146.792,5.250,0.000,0.000,14.114,1609.992,14417.145,477.909,1896.473,550.502,33.357,1451.597,0.000,1862.299,0.000,37.030,0.000
$DEVICE_MAMPS,154.167,97.409,1135.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,619.991,657.402,521.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44302,887
$CAP_FILE_SIZE,126840,0
$CFSIZE,260165632,241647616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200409,110206,6330.175,-1308.722,34,1.4,34,-12.3