version: 66.04
glider: 103
mission: 11
dive: 269
start: 4 21 109 14 4 30
data:
$ID,103
$MISSION,11
$DIVE,269
$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,-148100.8
$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,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,19
$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
$GPS1,135537,6325.170,-1317.552,37,1.2,37,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-49.7
$GPS2,140338,6325.167,-1317.520,14,1.4,14,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.092,-0.198
$KALMAN_X,-17260.4,605.4,234.0,-5249.0,-15685.2
$KALMAN_Y,43355.7,-1833.2,-1844.5,-97570.9,19334.0
$MHEAD_RNG_PITCHd_Wd,167.5,18947,-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,14,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,101,0.00,0.00,-80.95,0.000,2,0.000,0.000,48,2684,3283
$GC,105,-1.10,-146.6,4.1,-4.8,4,127,12.18,2.10,-3.58,0.000,4,0.161,0.103,2195,3778,3502
$GC,346,-1.10,-146.6,36.5,-10.5,14,353,0.00,2.05,0.00,0.000,6,0.000,0.069,2196,2676,3502
$GC,664,-1.10,-146.6,62.9,-9.5,30,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2676,3502
$GC,972,-1.10,-146.6,85.9,-6.6,45,976,0.00,2.15,0.00,0.000,4,0.000,0.090,2196,3782,3502
$GC,1034,-1.10,-146.6,90.8,-7.8,47,1040,0.00,2.05,0.00,0.000,6,0.000,0.066,2196,2669,3502
$GC,1350,-1.10,-146.6,118.4,-8.5,63,1353,0.00,2.17,0.00,0.000,4,0.000,0.091,2195,3783,3502
$GC,1389,-1.10,-146.6,122.0,-8.7,64,1395,0.00,2.08,0.00,0.000,6,0.000,0.064,2196,2677,3502
$GC,1705,-1.10,-146.6,152.5,-9.8,80,1709,0.00,2.15,0.00,0.000,4,0.000,0.089,2196,3785,3502
$GC,1738,-1.10,-146.6,155.9,-10.2,81,1742,0.00,2.08,0.00,0.000,6,0.000,0.066,2195,2666,3502
$GC,2060,-1.10,-146.6,186.6,-9.5,97,2064,0.00,2.15,0.00,0.000,4,0.000,0.088,2195,3776,3502
$GC,2093,-1.10,-146.6,190.1,-10.7,98,2097,0.00,2.05,0.00,0.000,6,0.000,0.064,2195,2668,3502
$GC,2415,-1.10,-146.6,222.0,-10.0,114,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2667,3501
$GC,2725,-1.10,-146.6,251.4,-9.3,129,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2667,3501
$GC,3034,-1.10,-146.6,278.3,-8.3,144,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2668,3502
$GC,3343,-1.10,-146.6,302.1,-7.3,159,3346,0.00,2.15,0.00,0.000,4,0.000,0.086,2195,3781,3502
$GC,3382,-1.10,-146.6,305.1,-7.6,160,3388,0.00,2.03,0.00,0.000,6,0.000,0.061,2195,2672,3502
$GC,3699,-1.10,-146.6,327.0,-6.9,176,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2672,3502
$GC,4007,-1.10,-146.6,349.4,-7.2,191,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2672,3502
$GC,4317,-1.10,-146.6,371.6,-7.3,206,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2672,3502
$GC,4626,-1.10,-146.6,393.8,-7.1,221,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2672,3501
$GC,4935,-1.10,-146.6,416.3,-7.2,236,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2672,3502
$GC,5244,-1.10,-146.6,439.1,-7.2,251,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2671,3502
$GC,5554,-1.10,-146.6,460.8,-6.9,266,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2671,3502
$GC,5863,-1.10,-146.6,482.2,-6.9,281,5867,0.00,2.58,0.00,0.000,4,0.000,0.064,2195,1255,3502
$GC,5890,-1.10,-146.6,484.3,-6.8,282,5895,0.00,2.60,0.00,0.000,6,0.000,0.060,2196,2678,3502
$GC,6207,-1.10,-146.6,504.2,-6.2,297,6210,0.00,2.10,0.00,0.000,4,0.000,0.087,2195,3783,3502
$GC,6291,-1.10,-146.6,510.1,-6.9,300,6297,0.00,2.00,0.00,0.000,6,0.000,0.054,2195,2666,3502
$GC,6607,-1.10,-146.6,532.8,-6.9,316,6608,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2666,3501
$GC,6917,-1.10,-146.6,552.2,-7.4,331,6920,0.00,2.17,0.00,0.000,4,0.000,0.087,2196,3790,3502
$GC,6985,-1.10,-146.6,558.9,-7.5,334,6989,0.00,2.00,0.00,0.000,6,0.000,0.051,2195,2673,3502
$GC,7318,-1.10,-146.6,581.2,-7.0,350,7322,0.00,2.60,0.00,0.000,4,0.000,0.067,2195,1253,3502
$GC,7362,-1.10,-146.6,584.3,-7.1,352,7366,0.00,2.62,0.00,0.000,6,0.000,0.062,2195,2677,3502
$GC,7683,-1.10,-146.6,606.1,-6.4,368,7684,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2677,3501
$GC,7993,-1.10,-146.6,625.0,-5.4,383,7997,0.00,2.10,0.00,0.000,4,0.000,0.087,2195,3783,3502
$GC,8027,-1.10,-146.6,627.1,-5.4,384,8031,0.00,2.00,0.00,0.000,6,0.000,0.052,2196,2669,3502
$GC,8349,-1.10,-146.6,639.2,-3.2,400,8354,0.00,2.60,0.00,0.000,4,0.000,0.069,2195,1248,3502
$GC,8400,-1.10,-146.6,640.8,-3.1,402,8404,0.00,2.65,0.00,0.000,6,0.000,0.063,2195,2686,3502
$GC,8717,-1.10,-146.6,649.7,-2.4,417,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2686,3501
$GC,9026,-1.10,-146.6,654.1,-1.7,432,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2686,3501
$GC,9335,-1.10,-146.6,669.7,-7.4,447,9339,0.00,2.65,0.00,0.000,4,0.000,0.066,2196,1247,3501
$GC,9368,-1.10,-146.6,672.3,-7.9,448,9374,0.00,2.62,0.00,0.000,6,0.000,0.062,2196,2675,3500
$GC,9688,-1.10,-146.6,701.6,-10.5,464,9692,0.00,2.12,0.00,0.000,4,0.000,0.089,2196,3785,3501
$GC,9738,-1.10,-146.6,707.8,-11.1,466,9742,0.00,2.00,0.00,0.000,6,0.000,0.051,2196,2670,3501
$GC,10066,-1.10,-146.6,751.1,-15.2,482,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2670,3500
$GC,10375,-1.10,-146.6,795.1,-9.8,497,10379,0.00,2.17,0.00,0.000,4,0.000,0.092,2195,3785,3500
$STATE,10389,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10389,begin apogee
$GC,10400,-0.42,0.0,796.5,9.3,497,10529,0.73,0.00,125.68,1.197,6,0.089,0.000,2345,2071,2902
$STATE,10529,end apogee,CONTROL_FINISHED_OK
$STATE,10529,begin climb
$GC,10533,1.10,146.6,798.5,0.0,504,10665,1.55,2.70,123.93,1.162,4,0.054,0.063,2679,658,2304
$GC,10923,1.10,146.6,790.9,9.8,521,10930,0.00,2.53,0.00,0.000,6,0.000,0.038,2679,2092,2303
$GC,11240,1.14,177.9,780.1,5.1,537,11274,0.00,2.65,28.00,1.141,4,0.000,0.063,2679,3474,2176
$GC,11528,1.14,177.9,752.8,11.9,550,11533,0.00,2.53,0.00,0.000,6,0.000,0.046,2680,2068,2176
$GC,11856,1.14,177.9,708.1,12.7,566,11860,0.00,2.58,0.00,0.000,4,0.000,0.063,2679,659,2175
$GC,11896,1.14,177.9,704.5,8.2,568,11900,0.00,2.50,0.00,0.000,6,0.000,0.041,2679,2074,2174
$GC,12222,1.30,303.8,690.8,2.5,584,12334,0.20,2.70,105.28,1.144,4,0.038,0.067,2742,3491,1663
$GC,12374,1.30,303.8,684.2,6.2,591,12378,0.00,2.55,0.00,0.000,6,0.000,0.043,2741,2072,1663
$GC,12695,1.30,303.8,660.8,8.0,607,12696,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2071,1663
$GC,13004,1.30,303.8,638.3,7.1,622,13009,0.00,2.58,0.00,0.000,4,0.000,0.060,2741,656,1662
$GC,13038,1.30,303.8,635.5,8.4,623,13044,0.00,2.53,0.00,0.000,6,0.000,0.040,2741,2085,1662
$GC,13354,1.30,303.8,608.9,8.7,639,13355,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2086,1662
$GC,13663,1.30,303.8,578.4,10.3,654,13667,0.00,2.60,0.00,0.000,4,0.000,0.058,2741,658,1662
$GC,13719,1.30,303.8,571.8,11.4,656,13723,0.00,2.50,0.00,0.000,6,0.000,0.038,2742,2080,1663
$GC,14035,1.30,303.8,534.5,11.4,671,14036,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2080,1662
$GC,14344,1.30,303.8,501.6,10.5,686,14345,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2081,1663
$GC,14654,1.30,303.8,467.3,11.1,701,14658,0.00,2.58,0.00,0.000,4,0.000,0.059,2741,666,1663
$GC,14692,1.30,303.8,462.8,11.3,702,14699,0.00,2.47,0.00,0.000,6,0.000,0.039,2741,2078,1663
$GC,15008,1.30,303.8,430.2,10.2,718,15009,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2078,1663
$GC,15318,1.30,303.8,400.6,9.2,733,15322,0.00,2.58,0.00,0.000,4,0.000,0.059,2742,667,1663
$GC,15345,1.30,303.8,397.8,10.3,734,15349,0.00,2.50,0.00,0.000,6,0.000,0.040,2742,2083,1663
$GC,15661,1.30,303.8,368.7,9.1,749,15665,0.00,2.60,0.00,0.000,4,0.000,0.059,2742,659,1663
$GC,15683,1.30,303.8,366.7,9.1,750,15687,0.00,2.50,0.00,0.000,6,0.000,0.041,2742,2076,1663
$GC,16004,1.30,303.8,338.1,8.7,766,16005,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2076,1664
$GC,16313,1.30,303.8,311.0,8.6,781,16314,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2076,1664
$GC,16623,1.30,303.8,283.8,8.7,796,16624,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2076,1664
$GC,16932,1.30,303.8,255.8,9.4,811,16933,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2076,1664
$GC,17241,1.30,303.8,225.7,9.9,826,17242,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2076,1664
$GC,17551,1.30,303.8,192.6,10.9,841,17552,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2076,1665
$GC,17860,1.30,303.8,157.7,11.2,856,17861,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2075,1665
$GC,18169,1.30,303.8,121.7,11.5,871,18173,0.00,2.60,0.00,0.000,4,0.000,0.062,2742,661,1665
$GC,18219,1.30,303.8,115.1,13.6,873,18223,0.00,2.50,0.00,0.000,6,0.000,0.044,2742,2078,1665
$GC,18535,1.30,303.8,79.8,11.0,888,18536,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2078,1665
$GC,18844,1.30,303.8,48.5,8.3,903,18848,0.00,2.62,0.00,0.000,4,0.000,0.066,2742,658,1665
$GC,18907,1.30,303.8,41.4,11.2,906,18911,0.00,2.53,0.00,0.000,6,0.000,0.045,2742,2081,1665
$GC,19234,1.30,303.8,9.2,9.9,922,19238,0.00,2.60,0.00,0.000,4,0.000,0.067,2741,3497,1665
$GC,19252,1.40,388.2,8.4,3.7,923,19319,0.00,2.53,61.62,0.689,2,0.000,0.041,2742,2056,1348
$STATE,19320,end climb,SURFACE_DEPTH_REACHED
$STATE,19320,begin surface coast
$FINISH,1.4,1.027439
$STATE,19324,end surface coast,CONTROL_FINISHED_OK
$STATE,19324,begin surface
$SM_CCo,19410,0.00,0.000,0,0,1345,381.93
$SM_GC,1.17,12.00,0.00,0.00,0.029,0.000,0.000,50,2669,1345,-10.94,-0.17,381.93
$IRIDIUM_FIX,6303.50,-1321.32,160798,090940
$TT8_MAMPS,0.028379
$HUMID,1788
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.6,105.0
$24V_AH,23.3,46.915
$10V_AH,10.1,26.677
$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,26.650,130.750,444.500,0.000,0.000,50.589,120.246,129.323,6.000,0.000,0.000,14.476,1651.410,15073.807,540.047,1988.374,636.626,33.355,1557.149,0.000,1946.199,0.000,42.285,0.000
$DEVICE_MAMPS,161.070,102.778,1197.287,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,646.919,683.611,513.497,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47439,926
$CAP_FILE_SIZE,128349,0
$CFSIZE,260165632,241254400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210409,192906,6323.322,-1319.022,28,1.3,28,-12.4