version: 66.04
glider: 103
mission: 11
dive: 271
start: 4 22 109 1 49 56
data:
$ID,103
$MISSION,11
$DIVE,271
$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,-148128.3
$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,19
$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
$GPS1,014307,6319.148,-1317.279,33,1.1,33,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-59.5
$GPS2,014902,6319.114,-1317.183,14,1.3,14,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.152,-0.157
$KALMAN_X,-22362.9,1508.9,647.4,-1231.2,-13299.5
$KALMAN_Y,38902.5,-746.4,-1369.4,-105936.6,7911.8
$MHEAD_RNG_PITCHd_Wd,148.1,7834,-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,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,77,0.00,0.00,-56.28,0.000,6,0.000,0.000,48,2679,3501
$GC,81,-1.10,-146.6,7.0,-14.2,3,102,12.07,2.12,0.00,0.000,4,0.158,0.077,2195,3780,3502
$GC,273,-1.10,-146.6,36.2,-9.2,11,277,0.00,2.05,0.00,0.000,6,0.000,0.070,2194,2683,3502
$GC,595,-1.10,-146.6,66.2,-9.3,27,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2683,3502
$GC,905,-1.10,-146.6,95.5,-9.3,42,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2683,3502
$GC,1215,-1.10,-146.6,123.1,-9.1,57,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2682,3502
$GC,1524,-1.10,-146.6,150.5,-8.7,72,1528,0.00,2.62,0.00,0.000,4,0.000,0.067,2195,1248,3502
$GC,1551,-1.10,-146.6,153.2,-8.5,73,1556,0.00,2.65,0.00,0.000,6,0.000,0.067,2194,2670,3502
$GC,1867,-1.10,-146.6,179.5,-8.2,88,1871,0.00,2.15,0.00,0.000,4,0.000,0.093,2195,3787,3502
$GC,1958,-1.10,-146.6,187.6,-9.4,92,1962,0.00,2.05,0.00,0.000,6,0.000,0.058,2195,2663,3502
$GC,2290,-1.10,-146.6,216.0,-8.8,108,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2663,3502
$GC,2599,-1.10,-146.6,242.1,-8.2,123,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2663,3501
$GC,2909,-1.10,-146.6,267.8,-8.4,138,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2663,3501
$GC,3218,-1.10,-146.6,295.0,-8.0,153,3222,0.00,2.20,0.00,0.000,4,0.000,0.094,2195,3785,3502
$GC,3252,-1.10,-146.6,297.8,-8.5,154,3255,0.00,2.03,0.00,0.000,6,0.000,0.058,2195,2673,3501
$GC,3573,-1.10,-146.6,319.4,-6.2,170,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2672,3501
$GC,3883,-1.10,-146.6,334.5,-4.1,185,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2673,3502
$GC,4192,-1.10,-146.6,352.6,-6.8,200,4196,0.00,2.60,0.00,0.000,4,0.000,0.068,2195,1248,3501
$GC,4224,-1.10,-146.6,355.0,-7.3,201,4231,0.00,2.65,0.00,0.000,6,0.000,0.064,2194,2684,3502
$GC,4541,-1.10,-146.6,379.6,-8.7,217,4544,0.00,2.10,0.00,0.000,4,0.000,0.092,2195,3783,3501
$GC,4586,-1.10,-146.6,383.8,-9.6,219,4590,0.00,2.03,0.00,0.000,6,0.000,0.057,2195,2664,3501
$GC,4919,-1.10,-146.6,411.1,-7.1,235,4923,0.00,2.58,0.00,0.000,4,0.000,0.070,2195,1256,3501
$GC,4963,-1.10,-146.6,414.0,-6.3,237,4968,0.00,2.62,0.00,0.000,6,0.000,0.062,2194,2682,3502
$GC,5284,-1.10,-146.6,434.1,-6.5,253,5288,0.00,2.12,0.00,0.000,4,0.000,0.091,2195,3790,3501
$GC,5314,-1.10,-146.6,436.2,-6.6,254,5317,0.00,2.03,0.00,0.000,6,0.000,0.055,2195,2670,3502
$GC,5641,-1.10,-146.6,459.8,-7.0,270,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2671,3501
$GC,5951,-1.10,-146.6,482.6,-7.0,285,5955,0.00,2.60,0.00,0.000,4,0.000,0.068,2194,1245,3502
$GC,5983,-1.10,-146.6,485.2,-7.7,286,5990,0.00,2.65,0.00,0.000,6,0.000,0.062,2195,2685,3501
$GC,6299,-1.10,-146.6,508.3,-7.1,302,6303,0.00,2.10,0.00,0.000,4,0.000,0.091,2195,3789,3501
$GC,6339,-1.10,-146.6,511.4,-7.7,303,6345,0.00,2.03,0.00,0.000,6,0.000,0.054,2195,2665,3501
$GC,6654,-1.10,-146.6,535.1,-7.2,319,6658,0.00,2.17,0.00,0.000,4,0.000,0.091,2195,3785,3501
$GC,6701,-1.10,-146.6,538.6,-8.4,321,6704,0.00,2.00,0.00,0.000,6,0.000,0.054,2195,2669,3501
$GC,7034,-1.10,-146.6,566.2,-8.5,337,7038,0.00,2.58,0.00,0.000,4,0.000,0.068,2195,1259,3501
$GC,7073,-1.10,-146.6,569.7,-8.4,339,7078,0.00,2.62,0.00,0.000,6,0.000,0.062,2195,2685,3502
$GC,7400,-1.10,-146.6,594.3,-7.1,355,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2685,3501
$GC,7710,-1.10,-146.6,616.5,-7.3,370,7714,0.00,2.62,0.00,0.000,4,0.000,0.064,2195,1255,3501
$GC,7750,-1.10,-146.6,619.5,-7.8,372,7755,0.00,2.60,0.00,0.000,6,0.000,0.061,2195,2675,3501
$GC,8077,-1.10,-146.6,643.1,-7.2,388,8081,0.00,2.12,0.00,0.000,4,0.000,0.089,2194,3790,3501
$GC,8123,-1.10,-146.6,646.5,-7.3,390,8127,0.00,2.00,0.00,0.000,6,0.000,0.051,2195,2670,3501
$GC,8457,-1.10,-146.6,670.0,-6.8,406,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2671,3501
$GC,8766,-1.10,-146.6,691.9,-7.4,421,8770,0.00,2.17,0.00,0.000,4,0.000,0.092,2194,3786,3500
$GC,8812,-1.10,-146.6,695.6,-7.8,423,8816,0.00,2.00,0.00,0.000,6,0.000,0.051,2195,2666,3500
$GC,9145,-1.10,-146.6,720.2,-7.0,439,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2666,3500
$GC,9454,-1.10,-146.6,741.7,-6.9,454,9459,0.00,2.58,0.00,0.000,4,0.000,0.070,2195,1252,3500
$GC,9496,-1.10,-146.6,744.8,-7.1,456,9500,0.00,2.62,0.00,0.000,6,0.000,0.064,2194,2676,3500
$STATE,9531,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9531,begin apogee
$GC,9539,-0.42,0.0,747.6,7.4,458,9672,0.77,0.00,126.18,1.161,6,0.095,0.000,2350,2070,2902
$STATE,9673,end apogee,CONTROL_FINISHED_OK
$STATE,9673,begin climb
$GC,9676,1.10,146.6,749.5,0.0,465,9809,1.50,2.78,123.53,1.131,4,0.043,0.067,2682,3491,2304
$GC,10064,1.19,220.1,739.2,4.0,482,10133,0.00,2.55,63.03,1.118,6,0.000,0.041,2682,2059,2004
$GC,10447,1.19,220.1,716.1,6.6,501,10448,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2059,2004
$GC,10752,1.19,220.1,696.5,6.2,516,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2059,2004
$GC,11061,1.20,221.9,678.0,5.9,531,11066,0.00,2.70,0.00,0.000,4,0.000,0.066,2682,3500,2003
$GC,11095,1.21,230.9,675.9,5.8,532,11111,0.00,2.55,10.52,1.009,6,0.000,0.044,2682,2074,1960
$GC,11427,1.21,230.9,655.0,6.3,549,11431,0.00,2.65,0.00,0.000,4,0.000,0.065,2682,3492,1960
$GC,11477,1.21,236.9,651.7,5.8,551,11490,0.10,2.55,6.62,0.905,6,0.051,0.043,2715,2064,1936
$GC,11798,1.21,236.9,629.4,6.6,567,11799,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2064,1936
$GC,12108,1.21,236.9,609.3,6.5,582,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2064,1935
$GC,12417,1.21,236.9,589.5,6.5,597,12418,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2064,1935
$GC,12726,1.21,236.9,569.9,6.3,612,12730,0.00,2.65,0.00,0.000,4,0.000,0.064,2715,3497,1935
$GC,12753,1.21,236.9,568.0,6.9,613,12758,0.00,2.55,0.00,0.000,6,0.000,0.044,2715,2064,1935
$GC,13069,1.21,236.9,548.1,6.4,628,13071,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2064,1935
$GC,13378,1.21,236.9,528.2,6.7,643,13383,0.00,2.65,0.00,0.000,4,0.000,0.064,2715,3499,1935
$GC,13406,1.21,236.9,526.3,7.1,644,13410,0.00,2.53,0.00,0.000,6,0.000,0.043,2715,2075,1935
$GC,13722,1.21,236.9,507.2,6.4,659,13726,0.00,2.55,0.00,0.000,4,0.000,0.060,2715,662,1936
$GC,13761,1.21,236.9,504.2,7.8,660,13768,0.00,2.47,0.00,0.000,6,0.000,0.037,2715,2091,1936
$GC,14078,1.21,236.9,480.7,7.7,676,14082,0.00,2.58,0.00,0.000,4,0.000,0.064,2715,3493,1936
$GC,14111,1.21,236.9,477.9,8.4,677,14117,0.00,2.53,0.00,0.000,6,0.000,0.044,2715,2074,1936
$GC,14427,1.21,236.9,454.0,7.5,693,14428,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2074,1936
$GC,14736,1.21,236.9,430.5,7.8,708,14740,0.00,2.55,0.00,0.000,4,0.000,0.060,2715,664,1936
$GC,14776,1.21,236.9,427.4,7.9,710,14780,0.00,2.47,0.00,0.000,6,0.000,0.038,2715,2079,1936
$GC,15103,1.21,236.9,402.6,7.8,726,15108,0.00,2.60,0.00,0.000,4,0.000,0.067,2715,3493,1936
$GC,15148,1.21,236.9,398.9,8.7,728,15153,0.00,2.53,0.00,0.000,6,0.000,0.044,2715,2073,1937
$GC,15469,1.21,236.9,375.3,7.5,744,15471,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2073,1937
$GC,15778,1.21,236.9,352.6,7.4,759,15779,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2073,1937
$GC,16088,1.21,236.9,329.3,7.6,774,16089,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2073,1937
$GC,16397,1.21,236.9,306.5,7.3,789,16398,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2073,1937
$GC,16706,1.21,236.9,284.8,7.0,804,16707,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2073,1937
$GC,17015,1.21,236.9,262.6,7.3,819,17016,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2073,1937
$GC,17325,1.21,236.9,240.8,6.6,834,17326,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2073,1938
$GC,17634,1.21,236.9,221.2,6.0,849,17635,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2073,1937
$GC,17943,1.21,236.9,200.2,7.2,864,17944,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2073,1938
$GC,18252,1.21,236.9,178.7,7.2,879,18254,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2073,1938
$GC,18562,1.21,236.9,157.0,6.7,894,18563,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2073,1938
$GC,18872,1.21,236.9,137.9,6.0,909,18873,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2073,1938
$GC,19181,1.21,236.9,116.4,7.0,924,19185,0.00,2.62,0.00,0.000,4,0.000,0.068,2715,3480,1938
$GC,19221,1.21,236.9,113.5,7.4,926,19226,0.00,2.53,0.00,0.000,6,0.000,0.051,2715,2075,1938
$GC,19548,1.21,236.9,90.0,6.8,942,19552,0.00,2.55,0.00,0.000,4,0.000,0.062,2715,665,1938
$GC,19588,1.21,236.9,87.3,7.1,944,19592,0.00,2.47,0.00,0.000,6,0.000,0.041,2715,2082,1938
$GC,19921,1.21,236.9,65.9,6.1,960,19925,0.00,2.60,0.00,0.000,4,0.000,0.068,2715,3494,1938
$GC,19938,1.21,236.9,64.8,6.2,961,19943,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,2074,1938
$GC,20266,1.21,236.9,45.0,6.2,977,20271,0.00,2.55,0.00,0.000,4,0.000,0.063,2715,665,1939
$GC,20300,1.22,245.3,42.8,5.8,978,20316,0.00,2.47,8.95,0.661,6,0.000,0.039,2715,2088,1901
$GC,20638,1.22,245.3,20.8,7.0,995,20643,0.00,2.62,0.00,0.000,4,0.000,0.074,2715,3493,1901
$GC,20672,1.22,245.3,17.9,8.4,996,20678,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,2068,1901
$STATE,20882,end climb,SURFACE_DEPTH_REACHED
$STATE,20882,begin surface coast
$FINISH,0.4,1.003574
$STATE,20904,end surface coast,CONTROL_FINISHED_OK
$STATE,20904,begin surface
$SM_CCo,20989,0.00,0.000,0,0,1900,245.79
$SM_GC,1.46,11.75,0.00,0.00,0.031,0.000,0.000,53,2672,1900,-10.93,-0.08,245.79
$IRIDIUM_FIX,6258.74,-1319.10,160798,191907
$TT8_MAMPS,0.027612
$HUMID,1783
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.7,80.9
$24V_AH,23.3,47.180
$10V_AH,10.1,26.865
$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,26.200,148.325,338.825,0.000,0.000,26.247,29.401,158.885,5.750,0.000,0.000,14.691,1796.979,16421.971,456.738,2074.664,586.555,33.360,1499.421,0.000,2035.692,0.000,40.608,0.000
$DEVICE_MAMPS,158.002,93.574,1161.238,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,703.902,747.205,588.708,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50586,1008
$CAP_FILE_SIZE,137439,0
$CFSIZE,260165632,241106944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220409,074119,6317.580,-1308.672,37,2.0,56,-12.2