version: 66.04
glider: 103
mission: 11
dive: 274
start: 4 22 109 17 56 26
data:
$ID,103
$MISSION,11
$DIVE,274
$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,-148224.69
$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,14
$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
$GPS1,174931,6314.558,-1302.242,39,2.0,39,-12.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-58.9
$GPS2,175532,6314.637,-1302.149,14,2.0,14,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.100,0.029
$KALMAN_X,-16174.2,165.4,7749.6,-909.6,-7690.5
$KALMAN_Y,39939.8,-11.4,4283.5,-121703.2,-135.3
$MHEAD_RNG_PITCHd_Wd,298.4,10734,-27.3,-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,-2.31,-29.1,0.0,0.0,0,58,0.00,0.00,-36.97,0.000,6,0.000,0.000,52,2686,3022
$GC,61,-2.31,-29.1,3.6,-10.2,2,77,10.62,2.72,0.00,0.000,4,0.158,0.080,1930,1262,3022
$GC,329,-2.31,-29.1,47.6,-16.2,13,334,0.00,2.67,0.00,0.000,6,0.000,0.074,1930,2674,3022
$GC,652,-2.31,-29.1,92.8,-13.8,29,656,0.00,2.67,0.00,0.000,4,0.000,0.074,1930,1252,3022
$GC,786,-2.31,-29.1,113.0,-14.9,35,791,0.00,2.70,0.00,0.000,6,0.000,0.073,1931,2682,3022
$GC,1107,-2.31,-29.1,157.1,-13.5,51,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2682,3022
$GC,1418,-2.31,-29.1,200.1,-13.9,66,1422,0.00,2.67,0.00,0.000,4,0.000,0.075,1930,1259,3022
$GC,1468,-2.31,-29.1,207.3,-13.7,68,1472,0.00,2.67,0.00,0.000,6,0.000,0.071,1930,2681,3022
$GC,1784,-2.31,-29.1,250.8,-13.8,83,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2682,3022
$GC,2093,-2.31,-29.1,294.9,-14.6,98,2097,0.00,2.70,0.00,0.000,4,0.000,0.077,1930,1251,3022
$GC,2137,-2.31,-29.1,301.6,-14.7,100,2142,0.00,2.67,0.00,0.000,6,0.000,0.071,1930,2678,3022
$GC,2459,-2.31,-29.1,347.9,-14.2,116,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2678,3022
$GC,2769,-2.31,-29.1,393.6,-14.7,131,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2678,3022
$GC,3078,-2.31,-29.1,435.3,-13.0,146,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2678,3023
$GC,3388,-2.31,-29.1,476.5,-13.4,161,3392,0.00,2.65,0.00,0.000,4,0.000,0.074,1930,1260,3022
$GC,3528,-2.31,-29.1,495.0,-13.2,167,3533,0.00,2.65,0.00,0.000,6,0.000,0.070,1930,2679,3022
$GC,3844,-2.31,-29.1,533.9,-11.8,182,3848,0.00,2.12,0.00,0.000,4,0.000,0.093,1930,3786,3022
$GC,3890,-2.31,-29.1,539.6,-12.6,184,3894,0.00,2.00,0.00,0.000,6,0.000,0.056,1931,2677,3022
$GC,4223,-2.31,-29.1,582.6,-13.2,200,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2677,3022
$GC,4532,-2.31,-29.1,621.3,-12.0,215,4536,0.00,2.15,0.00,0.000,4,0.000,0.090,1930,3788,3022
$GC,4611,-2.31,-29.1,631.6,-12.8,218,4615,0.00,2.03,0.00,0.000,6,0.000,0.058,1930,2673,3022
$STATE,4723,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4723,begin apogee
$GC,4732,-0.42,0.0,646.0,12.5,224,4766,2.25,0.00,26.58,1.071,6,0.138,0.000,2344,2066,2902
$STATE,4767,end apogee,CONTROL_FINISHED_OK
$STATE,4767,begin climb
$GC,4770,2.31,29.1,649.1,0.0,226,4806,2.75,2.70,25.85,1.053,4,0.054,0.054,2949,3495,2783
$GC,4868,2.40,101.6,650.1,-4.0,230,4935,0.00,2.55,60.97,1.078,6,0.000,0.039,2949,2063,2487
$GC,5250,2.42,121.9,639.6,3.2,248,5275,0.00,2.62,18.48,1.023,4,0.000,0.058,2949,668,2404
$GC,5528,2.42,121.9,622.1,6.7,260,5533,0.00,2.50,0.00,0.000,6,0.000,0.035,2949,2102,2403
$GC,5844,2.42,121.9,600.0,6.8,275,5849,0.00,2.62,0.00,0.000,4,0.000,0.057,2949,662,2403
$GC,6102,2.42,121.9,580.2,8.0,286,6108,0.00,2.47,0.00,0.000,6,0.000,0.036,2949,2085,2403
$GC,6418,2.42,121.9,555.9,7.6,302,6422,0.00,2.53,0.00,0.000,4,0.000,0.056,2948,3481,2402
$GC,6675,2.42,121.9,533.5,9.1,313,6681,0.00,2.47,0.00,0.000,6,0.000,0.036,2949,2067,2402
$GC,6991,2.42,121.9,509.6,6.9,329,6995,0.00,2.50,0.00,0.000,4,0.000,0.056,2948,672,2402
$GC,7149,2.42,121.9,498.3,6.7,336,7154,0.00,2.42,0.00,0.000,6,0.000,0.035,2949,2079,2402
$GC,7477,2.43,124.0,477.1,5.7,352,7481,0.00,2.55,0.00,0.000,4,0.000,0.054,2949,670,2401
$GC,7734,2.43,127.9,463.5,5.5,363,7745,0.00,2.42,6.15,0.809,6,0.000,0.034,2949,2080,2380
$GC,8067,2.43,127.9,443.1,6.3,380,8072,0.00,2.55,0.00,0.000,4,0.000,0.054,2949,671,2380
$GC,8325,2.43,127.9,425.4,7.6,391,8331,0.00,2.42,0.00,0.000,6,0.000,0.034,2949,2082,2380
$GC,8642,2.43,127.9,401.6,7.9,407,8646,0.00,2.55,0.00,0.000,4,0.000,0.054,2949,664,2380
$GC,8899,2.43,127.9,380.3,8.6,418,8905,0.00,2.42,0.00,0.000,6,0.000,0.034,2949,2079,2380
$GC,9215,2.43,127.9,355.2,8.0,434,9219,0.00,2.50,0.00,0.000,4,0.000,0.054,2949,3481,2380
$GC,9473,2.43,127.9,333.5,7.8,445,9479,0.00,2.42,0.00,0.000,6,0.000,0.035,2949,2073,2380
$GC,9789,2.43,127.9,308.5,7.9,461,9793,0.00,2.50,0.00,0.000,4,0.000,0.054,2948,667,2380
$GC,9913,2.43,127.9,298.4,8.1,466,9917,0.00,2.42,0.00,0.000,6,0.000,0.032,2949,2089,2380
$GC,10229,2.43,127.9,275.5,7.0,481,10233,0.00,2.55,0.00,0.000,4,0.000,0.052,2949,667,2380
$GC,10487,2.43,127.9,256.6,7.5,492,10493,0.00,2.42,0.00,0.000,6,0.000,0.033,2949,2085,2380
$GC,10802,2.43,127.9,236.1,6.4,508,10806,0.00,2.53,0.00,0.000,4,0.000,0.052,2948,672,2380
$GC,11061,2.43,127.9,219.3,6.5,519,11065,0.00,2.40,0.00,0.000,6,0.000,0.032,2949,2080,2380
$GC,11382,2.43,127.9,199.1,6.1,535,11387,0.00,2.53,0.00,0.000,4,0.000,0.052,2949,671,2381
$GC,11641,2.43,127.9,182.4,6.0,546,11647,0.00,2.40,0.00,0.000,6,0.000,0.032,2949,2076,2381
$GC,11957,2.43,127.9,161.7,6.9,562,11961,0.00,2.53,0.00,0.000,4,0.000,0.051,2949,663,2381
$GC,12214,2.43,127.9,143.0,7.2,573,12221,0.00,2.40,0.00,0.000,6,0.000,0.033,2949,2077,2381
$GC,12531,2.43,127.9,121.8,6.8,589,12535,0.00,2.53,0.00,0.000,4,0.000,0.051,2949,664,2381
$GC,12788,2.43,127.9,104.0,6.6,600,12795,0.00,2.40,0.00,0.000,6,0.000,0.032,2949,2076,2381
$GC,13107,2.43,128.1,84.3,6.0,616,13111,0.00,2.53,0.00,0.000,4,0.000,0.057,2949,3482,2381
$GC,13365,2.43,128.1,68.0,6.0,627,13371,0.00,2.45,0.00,0.000,6,0.000,0.036,2949,2063,2382
$GC,13681,2.43,128.1,49.4,6.2,643,13686,0.00,2.58,0.00,0.000,4,0.000,0.057,2949,3481,2382
$GC,13939,2.43,128.1,30.7,7.8,654,13946,0.00,2.42,0.00,0.000,6,0.000,0.034,2949,2068,2382
$GC,14256,2.46,149.7,13.5,3.0,670,14282,0.12,2.58,19.15,0.685,4,0.050,0.054,2983,671,2291
$STATE,14414,end climb,SURFACE_DEPTH_REACHED
$STATE,14414,begin surface coast
$FINISH,0.3,1.027447
$STATE,14437,end surface coast,CONTROL_FINISHED_OK
$STATE,14438,begin surface
$SM_CCo,14466,54.88,0.683,0,0,1984,225.19
$SM_GC,0.99,0.00,0.00,54.88,0.000,0.000,0.683,52,2659,1984,-10.98,-0.45,225.19
$IRIDIUM_FIX,6249.28,-1256.09,170798,131301
$TT8_MAMPS,0.028379
$HUMID,1766
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.0,28.4
$24V_AH,23.3,47.488
$10V_AH,10.1,27.105
$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,28.750,127.375,157.175,54.875,0.000,28.114,30.030,174.991,5.250,0.000,0.000,14.795,1393.748,10455.362,331.815,2173.681,531.087,33.356,1348.033,0.000,2118.633,0.000,39.303,0.000
$DEVICE_MAMPS,158.002,92.807,1078.402,682.630,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.223,502.471,445.236,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34813,678
$CAP_FILE_SIZE,116622,0
$CFSIZE,260165632,240963584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220409,215936,6316.399,-1259.378,27,1.2,27,-12.1