version: 66.04
glider: 103
mission: 11
dive: 276
start: 4 23 109 2 54 26
data:
$ID,103
$MISSION,11
$DIVE,276
$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,-148296.14
$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,22
$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
$GPS1,023927,6314.747,-1301.360,31,3.0,50,-12.1
$_CALLS,3
$_XMS_NAKs,17
$_XMS_TOUTs,1
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-60.0
$GPS2,025336,6314.810,-1301.503,16,1.1,32,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.050,-0.213
$KALMAN_X,-2243.9,-355.4,-155.1,-5816.9,10318.1
$KALMAN_Y,49435.7,-283.1,726.7,-127031.8,10796.4
$MHEAD_RNG_PITCHd_Wd,205.2,46043,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.10,-146.6,0.0,0.0,0,62,0.00,0.00,-41.08,0.000,2,0.000,0.000,46,2673,3265
$GC,66,-1.10,-146.6,4.0,-11.7,2,88,12.27,2.15,-3.75,0.000,4,0.163,0.101,2194,3788,3500
$GC,145,-1.10,-146.6,21.1,-11.8,5,149,0.00,2.05,0.00,0.000,6,0.000,0.063,2194,2679,3501
$GC,468,-1.10,-146.6,47.0,-8.0,21,472,0.00,2.15,0.00,0.000,4,0.000,0.088,2194,3786,3501
$GC,515,-1.10,-146.6,50.9,-8.5,23,518,0.00,2.05,0.00,0.000,6,0.000,0.061,2194,2670,3501
$GC,848,-1.10,-146.6,77.9,-8.3,39,852,0.00,2.65,0.00,0.000,4,0.000,0.075,2194,1248,3501
$GC,892,-1.10,-146.6,81.0,-6.7,41,897,0.00,2.67,0.00,0.000,6,0.000,0.069,2194,2682,3501
$GC,1214,-1.10,-146.6,104.8,-7.1,57,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2682,3500
$GC,1523,-1.10,-146.6,128.4,-6.5,72,1526,0.00,2.12,0.00,0.000,4,0.000,0.092,2194,3786,3501
$GC,1556,-1.10,-146.6,131.2,-8.0,73,1560,0.00,2.03,0.00,0.000,6,0.000,0.058,2194,2675,3500
$GC,1878,-1.10,-146.6,157.4,-8.2,89,1882,0.00,2.65,0.00,0.000,4,0.000,0.074,2193,1247,3501
$GC,1905,-1.10,-146.6,160.0,-8.2,90,1910,0.00,2.65,0.00,0.000,6,0.000,0.063,2194,2683,3501
$GC,2227,-1.10,-146.6,183.8,-6.8,106,2231,0.00,2.12,0.00,0.000,4,0.000,0.092,2194,3787,3501
$GC,2261,-1.10,-146.6,186.2,-7.2,107,2265,0.00,2.05,0.00,0.000,6,0.000,0.059,2194,2668,3501
$GC,2582,-1.10,-146.6,210.2,-7.0,123,2587,0.00,2.62,0.00,0.000,4,0.000,0.074,2194,1250,3501
$GC,2612,-1.10,-146.6,212.2,-6.5,124,2616,0.00,2.65,0.00,0.000,6,0.000,0.063,2194,2684,3501
$GC,2928,-1.10,-146.6,235.1,-7.5,139,2932,0.00,2.12,0.00,0.000,4,0.000,0.092,2194,3790,3500
$GC,2967,-1.10,-146.6,238.4,-8.1,140,2973,0.00,2.03,0.00,0.000,6,0.000,0.059,2194,2674,3500
$GC,3284,-1.10,-146.6,262.8,-7.6,156,3288,0.00,2.62,0.00,0.000,4,0.000,0.073,2194,1256,3500
$GC,3328,-1.10,-146.6,266.7,-8.1,158,3332,0.00,2.62,0.00,0.000,6,0.000,0.064,2194,2676,3500
$GC,3649,-1.10,-146.6,294.8,-8.2,174,3653,0.00,2.12,0.00,0.000,4,0.000,0.092,2194,3785,3500
$GC,3699,-1.10,-146.6,298.9,-7.9,176,3702,0.00,2.03,0.00,0.000,6,0.000,0.058,2194,2674,3500
$GC,4026,-1.10,-146.6,324.4,-7.1,192,4030,0.00,2.60,0.00,0.000,4,0.000,0.072,2194,1255,3500
$GC,4059,-1.10,-146.6,326.8,-7.3,193,4065,0.00,2.62,0.00,0.000,6,0.000,0.063,2194,2678,3500
$GC,4376,-1.10,-146.6,350.0,-7.7,209,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2678,3500
$GC,4685,-1.10,-146.6,376.3,-7.8,224,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2678,3500
$GC,4994,-1.10,-146.6,398.2,-6.9,239,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2678,3500
$GC,5303,-1.10,-146.6,418.3,-6.4,254,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2678,3500
$GC,5612,-1.10,-146.6,438.0,-7.2,269,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2678,3500
$GC,5922,-1.10,-146.6,462.0,-7.6,284,5925,0.00,2.10,0.00,0.000,4,0.000,0.089,2194,3785,3500
$GC,5968,-1.10,-146.6,465.6,-7.9,286,5972,0.00,2.00,0.00,0.000,6,0.000,0.055,2194,2668,3500
$GC,6300,-1.10,-146.6,491.1,-8.3,302,6304,0.00,2.58,0.00,0.000,4,0.000,0.068,2194,1256,3500
$GC,6356,-1.10,-146.6,496.1,-8.9,304,6362,0.00,2.60,0.00,0.000,6,0.000,0.060,2194,2677,3500
$GC,6672,-1.10,-146.6,521.6,-8.6,320,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2677,3500
$GC,6981,-1.10,-146.6,547.0,-8.0,335,6985,0.00,2.10,0.00,0.000,4,0.000,0.088,2194,3790,3500
$GC,7081,-1.10,-146.6,555.1,-8.2,339,7085,0.00,2.03,0.00,0.000,6,0.000,0.053,2194,2664,3500
$GC,7403,-1.10,-146.6,579.4,-7.1,355,7407,0.00,2.58,0.00,0.000,4,0.000,0.067,2194,1251,3500
$GC,7447,-1.10,-146.6,582.6,-6.6,357,7452,0.00,2.62,0.00,0.000,6,0.000,0.061,2194,2684,3500
$GC,7769,-1.10,-146.6,604.9,-7.2,373,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2683,3500
$GC,8078,-1.10,-146.6,626.8,-7.3,388,8082,0.00,2.08,0.00,0.000,4,0.000,0.089,2194,3784,3499
$GC,8151,-1.10,-146.6,632.7,-8.4,391,8155,0.00,2.00,0.00,0.000,6,0.000,0.051,2194,2666,3499
$STATE,8393,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8393,begin apogee
$GC,8401,-0.42,0.0,651.0,6.9,403,8529,0.77,0.00,124.28,1.102,6,0.094,0.000,2348,2068,2902
$STATE,8530,end apogee,CONTROL_FINISHED_OK
$STATE,8530,begin climb
$GC,8533,1.10,146.6,655.5,0.0,409,8665,1.55,2.62,121.70,1.078,4,0.058,0.058,2679,655,2304
$GC,8887,1.16,193.8,647.4,4.7,425,8933,0.00,2.53,40.75,1.048,6,0.000,0.036,2679,2092,2111
$GC,9253,1.25,267.6,631.1,4.0,443,9321,0.15,2.62,62.35,1.062,4,0.038,0.063,2727,3484,1811
$GC,9374,1.25,267.6,622.8,8.0,448,9381,0.00,2.55,0.00,0.000,6,0.000,0.041,2727,2056,1811
$GC,9691,1.25,267.6,598.2,7.6,464,9695,0.00,2.65,0.00,0.000,4,0.000,0.062,2727,3481,1810
$GC,9723,1.25,267.6,595.5,8.3,465,9730,0.00,2.50,0.00,0.000,6,0.000,0.041,2727,2068,1810
$GC,10040,1.25,267.6,572.5,7.2,481,10044,0.00,2.55,0.00,0.000,4,0.000,0.058,2727,661,1810
$GC,10067,1.25,267.6,570.2,8.6,482,10072,0.00,2.50,0.00,0.000,6,0.000,0.038,2727,2082,1810
$GC,10383,1.25,267.6,546.5,8.4,497,10387,0.00,2.58,0.00,0.000,4,0.000,0.062,2727,3488,1810
$GC,10410,1.25,267.6,543.7,10.3,498,10415,0.00,2.53,0.00,0.000,6,0.000,0.041,2727,2065,1810
$GC,10726,1.25,267.6,515.0,9.5,513,10728,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2065,1810
$GC,11035,1.25,267.6,489.8,8.4,528,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2065,1810
$GC,11345,1.25,267.6,460.3,9.8,543,11346,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2065,1809
$GC,11654,1.25,267.6,429.6,10.0,558,11658,0.00,2.53,0.00,0.000,4,0.000,0.060,2727,666,1809
$GC,11678,1.25,267.6,427.3,10.4,559,11682,0.00,2.47,0.00,0.000,6,0.000,0.038,2727,2077,1809
$GC,12005,1.25,267.6,396.9,9.0,575,12006,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2077,1810
$GC,12314,1.25,267.6,372.4,7.8,590,12319,0.00,2.60,0.00,0.000,4,0.000,0.066,2727,3492,1810
$GC,12354,1.25,267.6,368.9,9.1,592,12359,0.00,2.53,0.00,0.000,6,0.000,0.046,2727,2079,1809
$GC,12681,1.25,267.6,342.7,8.2,608,12686,0.00,2.58,0.00,0.000,4,0.000,0.061,2727,654,1809
$GC,12732,1.25,267.6,338.5,7.9,610,12736,0.00,2.50,0.00,0.000,6,0.000,0.039,2727,2077,1809
$GC,13048,1.25,267.6,319.9,6.8,625,13049,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2077,1810
$GC,13357,1.25,267.6,298.4,7.2,640,13358,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2077,1810
$GC,13666,1.25,267.6,277.2,6.5,655,13671,0.00,2.58,0.00,0.000,4,0.000,0.060,2727,662,1810
$GC,13717,1.25,267.6,274.0,6.2,657,13721,0.00,2.50,0.00,0.000,6,0.000,0.040,2727,2084,1810
$GC,14033,1.26,277.4,255.9,5.7,672,14044,0.00,0.00,9.45,0.777,6,0.000,0.000,2727,2084,1771
$GC,14342,1.26,277.4,236.3,6.4,687,14346,0.00,2.62,0.00,0.000,4,0.000,0.061,2727,654,1771
$GC,14382,1.26,277.4,233.4,7.3,689,14386,0.00,2.50,0.00,0.000,6,0.000,0.041,2727,2074,1771
$GC,14714,1.26,277.4,211.5,6.7,705,14719,0.00,2.62,0.00,0.000,4,0.000,0.068,2727,3493,1771
$GC,14732,1.26,277.4,210.2,6.8,706,14737,0.00,2.55,0.00,0.000,6,0.000,0.048,2727,2070,1771
$GC,15060,1.29,300.7,190.8,5.4,722,15086,0.00,2.62,20.45,0.788,4,0.000,0.061,2727,654,1676
$GC,15114,1.29,300.7,187.6,6.2,724,15121,0.00,2.55,0.00,0.000,6,0.000,0.042,2727,2090,1676
$GC,15430,1.29,300.7,165.9,7.6,740,15434,0.00,2.58,0.00,0.000,4,0.000,0.068,2727,3484,1675
$GC,15452,1.29,300.7,163.9,8.8,741,15456,0.00,2.55,0.00,0.000,6,0.000,0.050,2728,2069,1676
$GC,15775,1.29,300.7,141.9,6.1,757,15776,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2069,1675
$GC,16083,1.29,300.7,118.5,8.3,772,16087,0.00,2.55,0.00,0.000,4,0.000,0.064,2727,666,1675
$GC,16110,1.29,300.7,115.9,8.9,773,16114,0.00,2.50,0.00,0.000,6,0.000,0.043,2727,2080,1675
$GC,16426,1.29,300.7,89.1,9.2,788,16430,0.00,2.60,0.00,0.000,4,0.000,0.068,2727,3490,1676
$GC,16448,1.29,300.7,86.9,9.0,789,16452,0.00,2.55,0.00,0.000,6,0.000,0.050,2727,2074,1676
$GC,16770,1.29,300.7,61.4,7.5,805,16771,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2074,1675
$GC,17078,1.29,300.7,36.0,8.8,820,17079,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2074,1676
$GC,17388,1.29,300.7,11.5,8.3,835,17392,0.00,2.55,0.00,0.000,4,0.000,0.058,2727,658,1676
$GC,17405,1.29,300.7,9.6,9.4,836,17410,0.00,2.55,0.00,0.000,6,0.000,0.049,2728,2081,1676
$STATE,17483,end climb,SURFACE_DEPTH_REACHED
$STATE,17483,begin surface coast
$FINISH,0.5,1.027454
$STATE,17504,end surface coast,CONTROL_FINISHED_OK
$STATE,17504,begin surface
$SM_CCo,17589,0.00,0.000,0,0,1674,301.23
$SM_GC,1.16,11.68,0.00,0.00,0.026,0.000,0.000,52,2676,1674,-10.92,0.00,301.23
$IRIDIUM_FIX,6249.28,-1259.68,180798,020252
$TT8_MAMPS,0.029146
$HUMID,1777
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.6,59.4
$24V_AH,23.3,47.753
$10V_AH,10.1,27.267
$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,26.425,158.175,378.975,0.000,0.000,86.689,105.251,378.035,5.000,0.000,0.000,32.140,1534.594,13683.728,464.542,1832.358,918.379,33.364,1402.780,0.000,1772.386,0.000,36.897,0.000
$DEVICE_MAMPS,163.371,101.244,1102.179,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,585.100,623.769,526.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41143,841
$CAP_FILE_SIZE,130288,0
$CFSIZE,260165632,240828416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230409,074856,6314.192,-1303.329,43,1.5,43,-12.1