version: 66.04
glider: 103
mission: 11
dive: 268
start: 4 21 109 9 39 24
data:
$ID,103
$MISSION,11
$DIVE,268
$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,-148085.7
$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,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,9
$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
$GPS1,092907,6326.280,-1318.957,42,1.0,42,-12.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-54.7
$GPS2,093832,6326.346,-1319.007,13,1.0,13,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.214,-0.045
$KALMAN_X,-12345.9,578.2,464.3,-11591.3,-11063.5
$KALMAN_Y,48300.7,-2722.2,-1435.5,-99888.3,27118.0
$MHEAD_RNG_PITCHd_Wd,114.2,21276,-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,-146.6,0.0,0.0,0,97,0.00,0.00,-77.78,0.000,6,0.000,0.000,47,2675,3502
$GC,101,-1.10,-146.6,6.1,-7.9,4,122,12.18,2.17,0.00,0.000,4,0.160,0.080,2194,3786,3503
$GC,313,-1.10,-146.6,37.0,-9.2,13,317,0.00,2.05,0.00,0.000,6,0.000,0.065,2194,2680,3503
$GC,635,-1.10,-146.6,62.6,-7.3,29,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2680,3503
$GC,944,-1.10,-146.6,88.1,-8.7,44,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2680,3503
$GC,1254,-1.10,-146.6,115.4,-8.5,59,1258,0.00,2.15,0.00,0.000,4,0.000,0.088,2195,3789,3503
$GC,1315,-1.10,-146.6,120.9,-8.6,61,1322,0.00,2.05,0.00,0.000,6,0.000,0.064,2194,2667,3503
$GC,1633,-1.10,-146.6,146.3,-8.0,77,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2668,3503
$GC,1941,-1.10,-146.6,172.2,-8.6,92,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2668,3503
$GC,2250,-1.10,-146.6,198.6,-8.8,107,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2668,3503
$GC,2560,-1.10,-146.6,226.6,-9.1,122,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3503
$GC,2869,-1.10,-146.6,256.0,-9.7,137,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2667,3502
$GC,3178,-1.10,-146.6,285.5,-9.6,152,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3503
$GC,3487,-1.10,-146.6,314.2,-9.2,167,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2667,3503
$GC,3797,-1.10,-146.6,342.2,-9.0,182,3800,0.00,2.17,0.00,0.000,4,0.000,0.091,2194,3786,3503
$GC,3830,-1.10,-146.6,345.5,-9.9,183,3834,0.00,2.03,0.00,0.000,6,0.000,0.060,2194,2678,3503
$GC,4152,-1.10,-146.6,375.0,-9.0,199,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2678,3503
$GC,4461,-1.10,-146.6,402.3,-8.5,214,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2678,3503
$GC,4770,-1.10,-146.6,428.5,-8.5,229,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2678,3503
$GC,5079,-1.10,-146.6,454.2,-7.7,244,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2678,3503
$GC,5389,-1.10,-146.6,479.2,-8.1,259,5393,0.00,2.15,0.00,0.000,4,0.000,0.086,2194,3790,3503
$GC,5439,-1.10,-146.6,483.2,-7.9,261,5443,0.00,2.03,0.00,0.000,6,0.000,0.058,2195,2674,3503
$GC,5766,-1.10,-146.6,503.7,-7.1,277,5771,0.00,2.60,0.00,0.000,4,0.000,0.070,2195,1256,3503
$GC,5823,-1.10,-146.6,507.2,-7.5,279,5829,0.00,2.62,0.00,0.000,6,0.000,0.061,2194,2686,3503
$GC,6139,-1.10,-146.6,530.5,-7.5,295,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2686,3503
$GC,6448,-1.10,-146.6,548.7,-7.0,310,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2686,3503
$GC,6758,-1.10,-146.6,570.8,-7.5,325,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2686,3503
$GC,7066,-1.10,-146.6,593.3,-8.0,340,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2686,3503
$GC,7376,-1.10,-146.6,622.7,-9.7,355,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2686,3503
$GC,7686,-1.10,-146.6,651.0,-9.3,370,7691,0.00,2.65,0.00,0.000,4,0.000,0.067,2195,1248,3503
$GC,7749,-1.10,-146.6,657.5,-10.5,373,7753,0.00,2.62,0.00,0.000,6,0.000,0.061,2194,2684,3503
$GC,8075,-1.10,-146.6,688.8,-9.4,389,8079,0.00,2.10,0.00,0.000,4,0.000,0.087,2194,3790,3503
$GC,8243,-1.10,-146.6,701.9,-7.3,396,8247,0.00,2.03,0.00,0.000,6,0.000,0.054,2195,2665,3503
$GC,8564,-1.10,-146.6,720.6,-5.8,412,8569,0.00,2.58,0.00,0.000,4,0.000,0.070,2195,1258,3503
$GC,8599,-1.10,-146.6,722.7,-6.1,413,8605,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2675,3503
$STATE,8871,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8871,begin apogee
$GC,8879,-0.42,0.0,739.2,6.0,427,9008,0.75,0.00,125.45,1.168,6,0.093,0.000,2344,2071,2902
$STATE,9008,end apogee,CONTROL_FINISHED_OK
$STATE,9009,begin climb
$GC,9012,1.10,146.6,743.0,0.0,433,9145,1.55,2.80,123.05,1.128,4,0.056,0.071,2678,3490,2304
$GC,9403,1.32,326.6,734.4,1.0,450,9565,0.22,2.58,151.18,1.131,6,0.038,0.045,2741,2057,1570
$GC,9888,1.60,552.5,720.5,-0.3,474,10081,0.17,0.00,189.68,1.127,6,0.036,0.000,2796,2057,649
$GC,10381,1.60,552.5,681.3,10.9,498,10385,0.00,2.70,0.00,0.000,4,0.000,0.067,2796,3494,648
$GC,10414,1.60,552.5,677.0,13.1,499,10420,0.00,2.58,0.00,0.000,6,0.000,0.049,2796,2075,648
$GC,10730,1.60,552.5,632.2,14.1,515,10735,0.00,2.58,0.00,0.000,4,0.000,0.061,2796,662,648
$GC,10764,1.60,552.5,626.9,15.5,516,10770,0.00,2.53,0.00,0.000,6,0.000,0.044,2796,2079,648
$GC,11080,1.60,552.5,578.8,15.4,532,11084,0.00,2.60,0.00,0.000,4,0.000,0.068,2796,3490,648
$GC,11124,1.60,552.5,571.4,16.1,534,11128,0.00,2.53,0.00,0.000,6,0.000,0.044,2796,2071,648
$GC,11445,1.60,552.5,523.8,14.3,550,11446,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2071,648
$GC,11754,1.60,552.5,483.5,12.6,565,11758,0.00,2.65,0.00,0.000,4,0.000,0.067,2796,3495,648
$GC,11787,1.60,552.5,479.1,12.3,566,11793,0.00,2.55,0.00,0.000,6,0.000,0.046,2796,2073,648
$GC,12103,1.60,552.5,439.7,12.3,582,12107,0.00,2.65,0.00,0.000,4,0.000,0.069,2796,3489,648
$GC,12125,1.60,552.5,436.6,13.4,583,12129,0.00,2.55,0.00,0.000,6,0.000,0.047,2796,2069,648
$GC,12446,1.60,552.5,394.5,14.1,599,12450,0.00,2.67,0.00,0.000,4,0.000,0.068,2796,3499,648
$GC,12475,1.60,552.5,390.5,14.4,600,12479,0.00,2.58,0.00,0.000,6,0.000,0.048,2796,2067,648
$GC,12791,1.60,552.5,344.6,14.9,615,12792,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2066,649
$GC,13100,1.60,552.5,297.9,15.2,630,13104,0.00,2.67,0.00,0.000,4,0.000,0.070,2796,3491,649
$GC,13144,1.60,552.5,290.8,15.2,632,13149,0.00,2.58,0.00,0.000,6,0.000,0.050,2796,2068,649
$GC,13466,1.60,552.5,243.7,14.2,648,13470,0.00,2.67,0.00,0.000,4,0.000,0.071,2796,3490,649
$GC,13493,1.60,552.5,239.5,15.2,649,13497,0.00,2.58,0.00,0.000,6,0.000,0.051,2796,2068,649
$GC,13809,1.60,552.5,197.3,13.1,664,13814,0.00,2.67,0.00,0.000,4,0.000,0.070,2796,3494,649
$GC,13831,1.60,552.5,194.1,13.9,665,13836,0.00,2.58,0.00,0.000,6,0.000,0.051,2796,2071,649
$GC,14153,1.60,552.5,150.5,13.8,681,14158,0.00,2.65,0.00,0.000,4,0.000,0.071,2796,3488,649
$GC,14182,1.60,552.5,146.1,14.4,682,14186,0.00,2.58,0.00,0.000,6,0.000,0.051,2796,2068,649
$GC,14499,1.60,552.5,101.5,13.9,697,14500,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2068,649
$GC,14807,1.60,552.5,57.4,14.7,712,14812,0.00,2.70,0.00,0.000,4,0.000,0.074,2796,3495,649
$GC,14840,1.60,552.5,52.0,15.1,713,14847,0.00,2.58,0.00,0.000,6,0.000,0.053,2796,2069,649
$GC,15158,1.60,552.5,8.0,13.9,729,15163,0.00,2.60,0.00,0.000,4,0.000,0.071,2796,663,649
$GC,15182,1.60,552.5,3.8,17.7,730,15186,0.00,2.58,0.00,0.000,6,0.000,0.057,2796,2084,649
$STATE,15191,end climb,SURFACE_DEPTH_REACHED
$STATE,15191,begin surface coast
$FINISH,0.4,1.027257
$STATE,15213,end surface coast,CONTROL_FINISHED_OK
$STATE,15213,begin surface
$SM_CCo,15299,0.00,0.000,0,0,649,552.91
$SM_GC,1.14,12.10,0.00,0.00,0.030,0.000,0.000,48,2680,649,-10.93,0.11,552.91
$IRIDIUM_FIX,6258.74,-1320.21,160798,090901
$TT8_MAMPS,0.028379
$HUMID,1786
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.0,48.5
$24V_AH,23.3,46.761
$10V_AH,10.1,26.590
$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,26.975,106.875,589.350,0.000,0.000,57.599,59.972,243.935,6.250,0.000,0.000,13.901,1304.051,11651.833,638.006,1594.697,671.984,33.364,1485.570,0.000,1556.253,0.000,45.992,0.000
$DEVICE_MAMPS,160.303,90.506,1168.141,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,514.752,538.474,428.168,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37989,732
$CAP_FILE_SIZE,107325,0
$CFSIZE,260165632,241340416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210409,135537,6325.170,-1317.552,37,1.2,37,-12.4