version: 66.04
glider: 103
mission: 11
dive: 263
start: 4 20 109 11 8 49
data:
$ID,103
$MISSION,11
$DIVE,263
$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,-147992.8
$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,21
$R_STBD_OVSHOOT,11
$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
$GPS1,110206,6330.175,-1308.722,34,1.4,34,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-59.3
$GPS2,110755,6330.201,-1308.784,12,1.5,17,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.001,-0.218
$KALMAN_X,-2736.4,555.8,341.5,-12727.2,-4877.6
$KALMAN_Y,32704.3,-1212.0,-2528.1,-77588.1,22550.1
$MHEAD_RNG_PITCHd_Wd,192.5,28625,-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,-41.45,0.000,2,0.000,0.000,42,2673,3088
$GC,62,-1.10,-146.6,3.7,-10.6,2,88,12.18,2.22,-7.22,0.000,4,0.159,0.110,2194,3782,3501
$GC,251,-1.10,-146.6,25.0,-8.2,10,255,0.00,2.05,0.00,0.000,6,0.000,0.067,2194,2679,3501
$GC,573,-1.10,-146.6,49.3,-7.3,26,578,0.00,2.65,0.00,0.000,4,0.000,0.075,2194,1258,3501
$GC,614,-1.10,-146.6,52.4,-7.2,28,618,0.00,2.65,0.00,0.000,6,0.000,0.067,2194,2680,3501
$GC,941,-1.10,-146.6,72.6,-5.9,44,945,0.00,2.12,0.00,0.000,4,0.000,0.091,2194,3786,3501
$GC,997,-1.10,-146.6,76.2,-6.1,46,1001,0.00,2.05,0.00,0.000,6,0.000,0.061,2194,2670,3501
$GC,1319,-1.10,-146.6,98.9,-7.3,62,1324,0.00,2.65,0.00,0.000,4,0.000,0.076,2194,1246,3501
$GC,1365,-1.10,-146.6,102.6,-7.4,64,1369,0.00,2.67,0.00,0.000,6,0.000,0.068,2194,2678,3501
$GC,1686,-1.10,-146.6,128.6,-8.4,80,1690,0.00,2.12,0.00,0.000,4,0.000,0.092,2194,3783,3501
$GC,1725,-1.10,-146.6,132.2,-9.0,81,1731,0.00,2.05,0.00,0.000,6,0.000,0.060,2194,2677,3501
$GC,2041,-1.10,-146.6,158.2,-8.3,97,2045,0.00,2.65,0.00,0.000,4,0.000,0.075,2194,1251,3501
$GC,2068,-1.10,-146.6,160.7,-8.0,98,2073,0.00,2.65,0.00,0.000,6,0.000,0.066,2194,2678,3501
$GC,2384,-1.10,-146.6,186.0,-7.9,113,2388,0.00,2.12,0.00,0.000,4,0.000,0.091,2194,3786,3501
$GC,2424,-1.10,-146.6,188.9,-6.8,114,2429,0.00,2.05,0.00,0.000,6,0.000,0.059,2194,2664,3501
$GC,2739,-1.10,-146.6,212.9,-8.1,130,2744,0.00,2.62,0.00,0.000,4,0.000,0.075,2194,1248,3501
$GC,2767,-1.10,-146.6,215.0,-7.7,131,2772,0.00,2.65,0.00,0.000,6,0.000,0.066,2194,2676,3501
$GC,3084,-1.10,-146.6,237.6,-7.3,146,3088,0.00,2.12,0.00,0.000,4,0.000,0.091,2194,3785,3502
$GC,3130,-1.10,-146.6,241.0,-7.0,148,3134,0.00,2.03,0.00,0.000,6,0.000,0.059,2194,2674,3502
$GC,3463,-1.10,-146.6,263.4,-6.3,164,3467,0.00,2.62,0.00,0.000,4,0.000,0.074,2194,1258,3502
$GC,3496,-1.10,-146.6,265.6,-6.9,165,3503,0.00,2.60,0.00,0.000,6,0.000,0.063,2194,2676,3502
$GC,3813,-1.10,-146.6,283.5,-5.1,181,3817,0.00,2.12,0.00,0.000,4,0.000,0.093,2194,3786,3502
$GC,3852,-1.10,-146.6,285.7,-5.6,182,3858,0.00,2.03,0.00,0.000,6,0.000,0.058,2194,2671,3502
$GC,4170,-1.10,-146.6,300.8,-4.7,198,4174,0.00,2.62,0.00,0.000,4,0.000,0.074,2194,1252,3501
$GC,4197,-1.10,-146.6,302.2,-4.7,199,4202,0.00,2.65,0.00,0.000,6,0.000,0.066,2194,2680,3502
$GC,4514,-1.10,-146.6,315.0,-3.6,214,4517,0.00,2.12,0.00,0.000,4,0.000,0.093,2194,3789,3501
$GC,4554,-1.10,-146.6,316.5,-4.1,215,4560,0.00,2.03,0.00,0.000,6,0.000,0.056,2194,2664,3502
$GC,4871,-1.10,-146.6,326.5,-2.9,231,4875,0.00,2.60,0.00,0.000,4,0.000,0.074,2194,1258,3502
$GC,4898,-1.10,-146.6,327.4,-2.8,232,4902,0.00,2.62,0.00,0.000,6,0.000,0.062,2194,2683,3502
$GC,5220,-1.10,-146.6,336.9,-3.0,248,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2683,3502
$GC,5529,-1.10,-146.6,346.2,-3.0,263,5533,0.00,2.12,0.00,0.000,4,0.000,0.091,2194,3790,3501
$GC,5558,-1.10,-146.6,347.3,-3.8,264,5561,0.00,2.03,0.00,0.000,6,0.000,0.055,2194,2672,3502
$GC,5885,-1.10,-146.6,359.1,-3.8,280,5890,0.00,2.62,0.00,0.000,4,0.000,0.074,2194,1248,3502
$GC,5936,-1.10,-146.6,361.2,-3.9,282,5940,0.00,2.62,0.00,0.000,6,0.000,0.062,2194,2676,3501
$GC,6255,-1.10,-146.6,375.9,-5.1,297,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2676,3502
$GC,6562,-1.10,-146.6,393.9,-6.4,312,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2676,3501
$GC,6870,-1.10,-146.6,414.5,-6.8,327,6875,0.00,2.65,0.00,0.000,4,0.000,0.070,2194,1247,3502
$GC,6903,-1.10,-146.6,416.9,-6.2,328,6909,0.00,2.65,0.00,0.000,6,0.000,0.064,2194,2684,3501
$GC,7220,-1.10,-146.6,438.2,-6.7,344,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2684,3502
$GC,7528,-1.10,-146.6,460.2,-6.5,359,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2684,3502
$GC,7838,-1.10,-146.6,474.2,-2.8,374,7842,0.00,2.65,0.00,0.000,4,0.000,0.068,2194,1248,3501
$GC,7885,-1.10,-146.6,475.2,-2.2,376,7889,0.00,2.62,0.00,0.000,6,0.000,0.061,2194,2680,3501
$GC,8206,-1.10,-146.6,482.8,-3.0,392,8210,0.00,2.10,0.00,0.000,4,0.000,0.089,2194,3785,3501
$GC,8245,-1.10,-146.6,484.6,-4.5,393,8251,0.00,2.00,0.00,0.000,6,0.000,0.052,2194,2669,3502
$GC,8562,-1.10,-146.6,495.9,-2.1,409,8566,0.00,2.15,0.00,0.000,4,0.000,0.090,2194,3783,3501
$GC,8635,-1.10,-146.6,496.4,-0.2,412,8638,0.00,2.00,0.00,0.000,6,0.000,0.053,2194,2670,3502
$GC,8962,-1.10,-146.6,493.9,0.7,428,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2670,3501
$STATE,9103,end dive,NO_VERTICAL_VELOCITY
$STATE,9103,begin apogee
$GC,9112,-0.42,0.0,493.4,0.0,435,9238,0.77,0.00,122.72,0.989,6,0.099,0.000,2347,2011,2902
$STATE,9239,end apogee,CONTROL_FINISHED_OK
$STATE,9239,begin climb
$GC,9242,1.10,146.6,489.8,0.0,441,9370,1.55,2.62,120.40,0.949,4,0.058,0.059,2678,605,2304
$GC,9629,1.10,146.6,449.3,12.3,458,9635,0.00,2.53,0.00,0.000,6,0.000,0.035,2678,2051,2303
$GC,9944,1.10,146.6,411.6,10.9,474,9949,0.00,2.65,0.00,0.000,4,0.000,0.060,2678,608,2303
$GC,9990,1.10,146.6,406.8,10.4,476,9994,0.00,2.50,0.00,0.000,6,0.000,0.036,2678,2037,2304
$GC,10311,1.10,146.6,379.0,7.1,492,10315,0.00,2.55,0.00,0.000,4,0.000,0.062,2678,3433,2303
$GC,10389,1.11,153.9,374.2,5.8,495,10404,0.00,2.53,7.85,0.781,6,0.000,0.043,2678,2006,2274
$GC,10727,1.23,248.2,359.6,3.4,512,10811,0.12,2.70,76.80,0.898,4,0.045,0.062,2724,3429,1890
$GC,10848,1.23,248.2,353.8,6.4,517,10852,0.00,2.55,0.00,0.000,6,0.000,0.049,2724,2027,1890
$GC,11164,1.30,310.5,338.1,4.3,532,11225,0.00,2.65,51.75,0.871,4,0.000,0.063,2724,611,1635
$GC,11250,1.32,323.4,334.2,5.6,536,11271,0.00,2.53,12.27,0.792,6,0.000,0.039,2724,2032,1583
$GC,11581,1.37,360.9,318.6,5.0,552,11622,0.00,2.65,31.67,0.848,4,0.000,0.066,2724,3436,1430
$GC,11650,1.37,360.9,314.6,6.1,555,11655,0.00,2.60,0.00,0.000,6,0.000,0.053,2724,2021,1430
$GC,11972,1.37,360.9,295.8,6.1,571,11976,0.00,2.65,0.00,0.000,4,0.000,0.067,2724,3436,1429
$GC,12006,1.39,381.8,293.8,5.4,572,12033,0.00,2.60,18.55,0.820,6,0.000,0.054,2724,2012,1344
$GC,12342,1.39,381.8,273.4,6.0,589,12347,0.00,2.65,0.00,0.000,4,0.000,0.067,2724,3436,1344
$GC,12376,1.40,385.6,271.2,5.9,590,12386,0.00,2.58,4.97,0.635,6,0.000,0.054,2724,2025,1329
$GC,12715,1.40,385.6,249.7,6.7,607,12720,0.00,2.65,0.00,0.000,4,0.000,0.069,2724,3437,1329
$GC,12749,1.40,385.6,247.2,6.8,608,12755,0.00,2.60,0.00,0.000,6,0.000,0.055,2724,2014,1329
$GC,13065,1.40,385.6,225.3,7.2,624,13069,0.00,2.67,0.00,0.000,4,0.000,0.070,2724,3437,1329
$GC,13105,1.40,385.6,222.4,7.1,626,13109,0.00,2.58,0.00,0.000,6,0.000,0.055,2724,2024,1329
$GC,13432,1.40,385.6,199.6,6.9,642,13436,0.00,2.65,0.00,0.000,4,0.000,0.070,2724,3437,1329
$GC,13465,1.40,385.6,197.2,6.7,643,13471,0.00,2.58,0.00,0.000,6,0.000,0.054,2724,2024,1329
$GC,13781,1.40,385.6,176.6,6.4,659,13785,0.00,2.65,0.00,0.000,4,0.000,0.070,2724,3436,1329
$GC,13808,1.40,385.6,174.7,6.6,660,13813,0.00,2.58,0.00,0.000,6,0.000,0.055,2724,2024,1329
$GC,14124,1.40,385.6,154.3,6.5,675,14128,0.00,2.65,0.00,0.000,4,0.000,0.071,2724,3434,1329
$GC,14152,1.40,385.6,152.4,6.8,676,14156,0.00,2.58,0.00,0.000,6,0.000,0.056,2724,2024,1329
$GC,14468,1.40,385.6,130.0,7.6,691,14472,0.00,2.65,0.00,0.000,4,0.000,0.070,2724,3437,1329
$GC,14489,1.40,385.6,128.3,7.7,692,14494,0.00,2.58,0.00,0.000,6,0.000,0.056,2724,2027,1329
$GC,14811,1.40,385.6,102.5,8.0,708,14813,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2027,1329
$GC,15120,1.40,385.6,76.2,8.4,723,15124,0.00,2.65,0.00,0.000,4,0.000,0.071,2724,3439,1329
$GC,15160,1.40,385.6,72.6,9.0,725,15164,0.00,2.60,0.00,0.000,6,0.000,0.058,2724,2017,1329
$GC,15487,1.40,385.6,44.5,9.2,741,15492,0.00,2.67,0.00,0.000,4,0.000,0.072,2724,3440,1329
$GC,15515,1.40,385.6,41.6,9.8,742,15520,0.00,2.60,0.00,0.000,6,0.000,0.056,2724,2016,1329
$GC,15833,1.40,385.6,13.5,8.9,757,15837,0.00,2.65,0.00,0.000,4,0.000,0.069,2724,3435,1329
$GC,15866,1.40,385.6,9.5,10.9,758,15873,0.00,2.58,0.00,0.000,6,0.000,0.056,2724,2008,1329
$STATE,15953,end climb,SURFACE_DEPTH_REACHED
$STATE,15953,begin surface coast
$FINISH,0.7,1.027447
$STATE,15975,end surface coast,CONTROL_FINISHED_OK
$STATE,15975,begin surface
$SM_CCo,16059,0.00,0.000,0,0,1328,386.10
$SM_GC,1.46,11.60,0.00,0.00,0.022,0.000,0.000,43,2673,1328,-10.94,-0.06,386.10
$IRIDIUM_FIX,6303.50,-1307.26,150798,050557
$TT8_MAMPS,0.029146
$HUMID,1780
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,17.00
$XPDR_PINGS,0
$24V_AH,23.4,45.865
$10V_AH,10.1,26.221
$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,26.225,185.625,447.000,0.000,0.000,27.370,35.763,149.019,3.500,0.000,0.000,17.064,1428.637,12093.260,542.375,1780.134,560.560,33.360,1495.442,0.000,1739.193,0.000,24.615,0.000
$DEVICE_MAMPS,158.769,109.681,988.663,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,533.111,556.202,504.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38047,764
$CAP_FILE_SIZE,125859,0
$CFSIZE,260165632,241590272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200409,153737,6329.171,-1312.200,31,1.6,31,-12.3