version: 66.04
glider: 103
mission: 11
dive: 264
start: 4 20 109 15 44 9
data:
$ID,103
$MISSION,11
$DIVE,264
$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,-148025.16
$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
$GPS1,153737,6329.171,-1312.200,31,1.6,31,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-55.3
$GPS2,154319,6329.238,-1312.238,14,1.5,31,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.025,-0.217
$KALMAN_X,-5147.7,246.4,563.0,-13025.1,-7852.1
$KALMAN_Y,35009.2,-2104.3,-724.0,-82556.3,23028.2
$MHEAD_RNG_PITCHd_Wd,185.8,26470,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,79,0.00,0.00,-58.28,0.000,2,0.000,0.000,43,2674,3261
$GC,82,-1.10,-146.6,4.2,-7.1,3,105,12.15,2.65,-3.95,0.000,4,0.159,0.087,2196,1269,3501
$GC,133,-1.10,-146.6,15.1,-8.3,5,138,0.00,2.65,0.00,0.000,6,0.000,0.070,2195,2677,3501
$GC,455,-1.10,-146.6,41.7,-8.1,21,459,0.00,2.15,0.00,0.000,4,0.000,0.093,2196,3790,3501
$GC,548,-1.10,-146.6,49.2,-8.1,25,552,0.00,2.05,0.00,0.000,6,0.000,0.061,2195,2671,3501
$GC,883,-1.10,-146.6,76.5,-8.6,41,887,0.00,2.65,0.00,0.000,4,0.000,0.077,2196,1256,3501
$GC,910,-1.10,-146.6,79.1,-8.5,42,914,0.00,2.65,0.00,0.000,6,0.000,0.064,2196,2685,3501
$GC,1226,-1.10,-146.6,104.6,-7.9,57,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2685,3501
$GC,1536,-1.10,-146.6,128.8,-7.5,72,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2685,3501
$GC,1845,-1.10,-146.6,152.1,-7.8,87,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2685,3501
$GC,2154,-1.10,-146.6,177.3,-8.5,102,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2685,3501
$GC,2463,-1.10,-146.6,202.8,-8.1,117,2467,0.00,2.12,0.00,0.000,4,0.000,0.091,2196,3793,3501
$GC,2509,-1.10,-146.6,206.8,-8.7,119,2513,0.00,2.05,0.00,0.000,6,0.000,0.059,2196,2668,3501
$GC,2842,-1.10,-146.6,233.4,-8.0,135,2846,0.00,2.62,0.00,0.000,4,0.000,0.075,2196,1253,3501
$GC,2869,-1.10,-146.6,235.6,-7.6,136,2873,0.00,2.62,0.00,0.000,6,0.000,0.064,2195,2675,3501
$GC,3186,-1.10,-146.6,260.3,-7.9,151,3189,0.00,2.12,0.00,0.000,4,0.000,0.091,2196,3783,3501
$GC,3242,-1.10,-146.6,265.3,-9.0,153,3245,0.00,2.03,0.00,0.000,6,0.000,0.060,2196,2674,3501
$GC,3563,-1.10,-146.6,291.2,-8.0,169,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2674,3501
$GC,3873,-1.10,-146.6,317.9,-8.6,184,3877,0.00,2.62,0.00,0.000,4,0.000,0.074,2196,1256,3501
$GC,3900,-1.10,-146.6,320.4,-8.9,185,3904,0.00,2.62,0.00,0.000,6,0.000,0.064,2196,2680,3502
$GC,4216,-1.10,-146.6,348.0,-8.9,200,4220,0.00,2.12,0.00,0.000,4,0.000,0.091,2196,3792,3501
$GC,4267,-1.10,-146.6,352.8,-9.6,202,4270,0.00,2.05,0.00,0.000,6,0.000,0.058,2196,2664,3501
$GC,4594,-1.10,-146.6,384.0,-9.6,218,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2664,3502
$GC,4903,-1.10,-146.6,415.1,-10.2,233,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2664,3501
$GC,5212,-1.10,-146.6,446.5,-9.9,248,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2664,3501
$GC,5522,-1.10,-146.6,476.3,-9.6,263,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2664,3501
$GC,5831,-1.10,-146.6,506.3,-9.2,278,5834,0.00,2.17,0.00,0.000,4,0.000,0.089,2196,3786,3501
$GC,5865,-1.10,-146.6,509.7,-10.2,279,5868,0.00,2.00,0.00,0.000,6,0.000,0.053,2196,2672,3501
$GC,6186,-1.10,-146.6,536.6,-7.9,295,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2672,3501
$GC,6495,-1.10,-146.6,561.2,-8.1,310,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2672,3501
$GC,6805,-1.10,-146.6,585.7,-8.1,325,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2672,3501
$GC,7114,-1.10,-146.6,610.8,-8.9,340,7118,0.00,2.15,0.00,0.000,4,0.000,0.088,2196,3787,3501
$GC,7160,-1.10,-146.6,615.2,-9.9,342,7163,0.00,2.00,0.00,0.000,6,0.000,0.051,2196,2667,3502
$GC,7493,-1.10,-146.6,644.4,-9.2,358,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2667,3501
$GC,7802,-1.10,-146.6,673.9,-11.1,373,7805,0.00,2.17,0.00,0.000,4,0.000,0.089,2196,3793,3501
$GC,7841,-1.10,-146.6,676.8,-7.5,374,7847,0.00,2.00,0.00,0.000,6,0.000,0.051,2196,2674,3501
$GC,8157,-1.10,-146.6,725.9,-16.6,390,8161,0.00,2.58,0.00,0.000,6,0.000,0.067,2196,1261,3501
$STATE,8162,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8162,begin apogee
$GC,8171,-0.42,0.0,727.0,16.4,390,8300,0.73,0.00,126.10,1.138,6,0.099,0.000,2344,2043,2902
$STATE,8301,end apogee,CONTROL_FINISHED_OK
$STATE,8301,begin climb
$GC,8304,1.10,146.6,739.4,0.0,396,8433,1.58,0.00,124.47,1.114,6,0.058,0.000,2680,2045,2304
$GC,8736,1.10,146.6,730.2,10.0,417,8741,0.00,2.65,0.00,0.000,4,0.000,0.060,2680,608,2304
$GC,8994,1.10,146.6,698.6,9.0,428,9000,0.00,2.53,0.00,0.000,6,0.000,0.038,2680,2045,2303
$GC,9310,1.83,740.6,717.4,-10.4,444,9680,0.70,2.75,355.95,1.112,4,0.027,0.060,2846,611,572
$GC,9771,1.83,740.6,650.9,18.0,466,9780,0.00,2.53,2.40,0.337,6,0.000,0.045,2846,2017,572
$GC,10103,1.83,740.6,588.3,18.9,482,10112,0.00,2.70,1.58,0.139,4,0.000,0.066,2846,3444,573
$GC,10130,1.83,740.6,582.6,20.3,483,10136,0.00,2.55,1.08,0.139,6,0.000,0.041,2846,2010,573
$GC,10452,1.83,740.6,521.4,18.7,499,10461,0.00,2.72,1.92,0.139,4,0.000,0.065,2846,3442,572
$GC,10468,1.83,740.6,518.4,18.4,499,10475,0.00,2.53,0.03,0.275,6,0.000,0.041,2846,2021,572
$GC,10784,1.83,740.6,459.1,18.7,515,10785,0.00,0.00,0.03,0.293,6,0.000,0.000,2846,2021,572
$GC,11093,1.83,740.6,399.5,19.2,530,11098,0.00,2.65,0.08,0.179,4,0.000,0.066,2845,3445,573
$GC,11127,1.83,740.6,392.6,20.1,531,11133,0.00,2.55,0.15,0.160,6,0.000,0.043,2846,2014,573
$GC,11442,1.83,740.6,331.4,19.2,547,11447,0.00,0.00,2.28,0.281,6,0.000,0.000,2846,2014,572
$GC,11752,1.83,740.6,272.2,19.3,562,11756,0.00,2.67,0.00,0.000,4,0.000,0.068,2846,3443,572
$GC,11774,1.83,740.6,267.8,18.7,563,11778,0.00,2.55,0.00,0.000,6,0.000,0.045,2846,2020,572
$GC,12095,1.83,740.6,207.5,19.1,579,12096,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2019,572
$GC,12404,1.83,740.6,148.1,19.4,594,12408,0.00,2.67,0.00,0.000,4,0.000,0.070,2846,3444,572
$GC,12432,1.83,740.6,142.2,20.2,595,12436,0.00,2.55,0.00,0.000,6,0.000,0.048,2846,2026,572
$GC,12748,1.83,740.6,81.8,18.7,610,12752,0.00,2.65,0.00,0.000,4,0.000,0.071,2846,3437,572
$GC,12766,1.83,740.6,78.3,19.1,611,12770,0.00,2.55,0.00,0.000,6,0.000,0.049,2845,2021,572
$GC,13094,1.83,740.6,16.5,19.1,627,13098,0.00,2.58,0.00,0.000,4,0.000,0.066,2846,616,572
$GC,13111,1.83,740.6,12.7,19.7,628,13116,0.00,2.53,0.00,0.000,6,0.000,0.046,2846,2035,572
$STATE,13167,end climb,SURFACE_DEPTH_REACHED
$STATE,13167,begin surface coast
$FINISH,0.7,1.027455
$STATE,13189,end surface coast,CONTROL_FINISHED_OK
$STATE,13189,begin surface
$SM_CCo,13274,0.00,0.000,0,0,572,571.55
$SM_GC,1.16,12.23,0.00,0.00,0.025,0.000,0.000,46,2675,572,-10.94,0.00,571.55
$IRIDIUM_FIX,6303.50,-1337.62,150798,111104
$TT8_MAMPS,0.029146
$HUMID,1791
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.3,110.7
$24V_AH,23.3,46.068
$10V_AH,10.1,26.286
$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,27.375,102.475,616.050,0.000,0.000,28.600,34.325,134.492,5.250,0.000,0.000,31.742,1133.741,9974.729,629.708,1410.724,461.685,33.362,1395.726,0.000,1359.977,0.000,37.107,0.000
$DEVICE_MAMPS,158.769,93.574,1138.228,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,444.058,464.695,383.837,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31711,632
$CAP_FILE_SIZE,94067,0
$CFSIZE,260165632,241577984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200409,192637,6329.169,-1312.773,37,1.1,37,-12.3