version: 66.04
glider: 103
mission: 11
dive: 279
start: 4 23 109 18 45 57
data:
$ID,103
$MISSION,11
$DIVE,279
$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,-148374.86
$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,21
$R_STBD_OVSHOOT,10
$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
$GPS1,183806,6311.200,-1311.989,38,1.5,38,-12.2
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-56.2
$GPS2,184507,6311.302,-1312.077,28,1.5,33,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.056,-0.211
$KALMAN_X,-11868.4,-106.7,-488.4,-4708.7,-3292.5
$KALMAN_Y,62105.0,-1540.1,-925.0,-143265.6,16997.2
$MHEAD_RNG_PITCHd_Wd,177.4,39903,-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,-146.6,0.0,0.0,0,72,0.00,0.00,-53.88,0.000,6,0.000,0.000,47,2669,3501
$GC,75,-1.10,-146.6,2.6,-7.5,2,92,12.18,2.62,0.00,0.000,4,0.159,0.068,2190,1265,3502
$GC,145,-1.10,-146.6,21.6,-6.7,6,149,0.00,2.62,0.00,0.000,6,0.000,0.061,2190,2690,3503
$GC,472,-1.10,-146.6,40.3,-5.7,22,476,0.00,2.08,0.00,0.000,4,0.000,0.087,2190,3779,3503
$GC,551,-1.10,-146.6,47.5,-10.0,25,555,0.00,2.03,0.00,0.000,6,0.000,0.058,2190,2668,3502
$GC,873,-1.10,-146.6,70.0,-8.4,41,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2668,3503
$GC,1182,-1.10,-146.6,94.7,-7.6,56,1186,0.00,2.15,0.00,0.000,4,0.000,0.084,2190,3785,3502
$GC,1228,-1.10,-146.6,98.2,-7.4,58,1232,0.00,2.03,0.00,0.000,6,0.000,0.059,2190,2673,3502
$GC,1561,-1.10,-146.6,126.8,-9.0,74,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2672,3502
$GC,1870,-1.10,-146.6,155.3,-9.3,89,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2673,3503
$GC,2179,-1.10,-146.6,184.3,-9.1,104,2183,0.00,2.58,0.00,0.000,4,0.000,0.064,2190,1246,3502
$GC,2206,-1.10,-146.6,186.8,-8.7,105,2211,0.00,2.62,0.00,0.000,6,0.000,0.064,2190,2672,3502
$GC,2522,-1.10,-146.6,213.9,-8.5,120,2526,0.00,2.12,0.00,0.000,4,0.000,0.088,2190,3787,3503
$GC,2561,-1.10,-146.6,217.5,-9.0,121,2568,0.00,2.03,0.00,0.000,6,0.000,0.054,2190,2666,3503
$GC,2878,-1.10,-146.6,244.4,-8.0,137,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2666,3503
$GC,3186,-1.10,-146.6,267.8,-7.2,152,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2665,3503
$GC,3496,-1.10,-146.6,288.1,-6.3,167,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2666,3503
$GC,3805,-1.10,-146.6,307.0,-6.0,182,3809,0.00,2.15,0.00,0.000,4,0.000,0.088,2190,3782,3503
$GC,3861,-1.10,-146.6,310.6,-6.5,184,3865,0.00,2.00,0.00,0.000,6,0.000,0.055,2190,2674,3503
$GC,4183,-1.10,-146.6,329.3,-5.4,200,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2674,3503
$GC,4493,-1.10,-146.6,346.6,-5.9,215,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2674,3503
$GC,4801,-1.10,-146.6,365.7,-6.7,230,4806,0.00,2.58,0.00,0.000,4,0.000,0.070,2191,1258,3503
$GC,4846,-1.10,-146.6,369.0,-8.1,232,4850,0.00,2.60,0.00,0.000,6,0.000,0.060,2190,2681,3503
$GC,5167,-1.10,-146.6,392.3,-6.9,248,5171,0.00,2.10,0.00,0.000,4,0.000,0.088,2190,3787,3503
$GC,5206,-1.10,-146.6,395.1,-7.2,249,5212,0.00,2.03,0.00,0.000,6,0.000,0.054,2190,2664,3503
$GC,5522,-1.10,-146.6,416.7,-7.0,265,5526,0.00,2.15,0.00,0.000,4,0.000,0.084,2190,3786,3503
$GC,5562,-1.10,-146.6,419.7,-7.8,266,5567,0.00,2.00,0.00,0.000,6,0.000,0.054,2190,2674,3503
$GC,5877,-1.10,-146.6,445.9,-9.1,282,5882,0.00,2.60,0.00,0.000,4,0.000,0.069,2191,1254,3503
$GC,5907,-1.10,-146.6,448.5,-9.5,283,5911,0.00,2.60,0.00,0.000,6,0.000,0.061,2190,2674,3503
$GC,6223,-1.10,-146.6,478.1,-9.4,298,6227,0.00,2.60,0.00,0.000,4,0.000,0.066,2190,1256,3503
$GC,6256,-1.10,-146.6,481.3,-9.2,299,6262,0.00,2.62,0.00,0.000,6,0.000,0.062,2190,2682,3503
$GC,6572,-1.10,-146.6,507.5,-7.7,315,6575,0.00,2.10,0.00,0.000,4,0.000,0.088,2190,3789,3502
$GC,6640,-1.10,-146.6,512.9,-8.1,318,6644,0.00,2.00,0.00,0.000,6,0.000,0.051,2190,2671,3503
$GC,6973,-1.10,-146.6,534.4,-6.4,334,6977,0.00,2.58,0.00,0.000,4,0.000,0.067,2191,1256,3503
$GC,7013,-1.10,-146.6,537.3,-7.5,336,7018,0.00,2.60,0.00,0.000,6,0.000,0.061,2190,2676,3502
$GC,7341,-1.10,-146.6,558.2,-6.5,352,7344,0.00,2.12,0.00,0.000,4,0.000,0.090,2190,3789,3502
$GC,7397,-1.10,-146.6,562.4,-7.6,354,7400,0.00,2.00,0.00,0.000,6,0.000,0.051,2190,2673,3502
$GC,7719,-1.10,-146.6,583.5,-6.1,370,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2673,3502
$GC,8028,-1.10,-146.6,604.5,-7.1,385,8032,0.00,2.60,0.00,0.000,4,0.000,0.069,2190,1249,3502
$GC,8049,-1.10,-146.6,606.0,-6.5,386,8054,0.00,2.62,0.00,0.000,6,0.000,0.062,2191,2678,3502
$GC,8371,-1.10,-146.6,628.2,-7.2,402,8374,0.00,2.12,0.00,0.000,4,0.000,0.091,2190,3787,3501
$GC,8422,-1.10,-146.6,631.9,-7.3,404,8425,0.00,2.00,0.00,0.000,6,0.000,0.052,2190,2674,3501
$GC,8749,-1.10,-146.6,654.9,-6.5,420,8753,0.00,2.60,0.00,0.000,4,0.000,0.070,2190,1253,3501
$GC,8781,-1.10,-146.6,657.1,-7.4,421,8788,0.00,2.62,0.00,0.000,6,0.000,0.062,2190,2679,3501
$GC,9098,-1.10,-146.6,682.7,-8.8,437,9102,0.00,2.10,0.00,0.000,4,0.000,0.091,2191,3783,3500
$GC,9215,-1.10,-146.6,693.0,-10.0,442,9219,0.00,2.00,0.00,0.000,6,0.000,0.053,2190,2671,3500
$GC,9543,-1.10,-146.6,722.8,-9.7,458,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2671,3500
$STATE,9622,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9622,begin apogee
$GC,9631,-0.42,0.0,731.5,10.5,462,9764,0.77,0.00,126.10,1.168,6,0.094,0.000,2345,2064,2901
$STATE,9765,end apogee,CONTROL_FINISHED_OK
$STATE,9765,begin climb
$GC,9768,1.10,146.6,738.3,0.0,469,9901,1.55,2.75,122.85,1.144,4,0.058,0.060,2679,3493,2305
$GC,9943,1.15,187.4,738.0,4.9,477,9985,0.00,2.58,36.03,1.095,6,0.000,0.041,2679,2057,2138
$GC,10310,1.17,198.2,716.7,5.7,495,10326,0.00,2.60,11.02,1.011,4,0.000,0.062,2679,665,2093
$GC,10561,1.22,241.4,700.4,4.8,505,10605,0.12,2.53,37.42,1.109,6,0.043,0.038,2721,2093,1917
$GC,10921,1.24,261.5,678.6,5.4,523,10941,0.00,0.00,18.27,1.063,6,0.000,0.000,2721,2093,1836
$GC,11250,1.24,261.5,658.6,6.6,539,11255,0.00,2.58,0.00,0.000,4,0.000,0.067,2721,3493,1836
$GC,11278,1.24,261.5,656.5,7.1,540,11283,0.00,2.55,0.00,0.000,6,0.000,0.046,2721,2074,1836
$GC,11594,1.24,261.5,633.9,7.1,555,11596,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2074,1835
$GC,11903,1.24,261.5,610.7,8.4,570,11904,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2074,1835
$GC,12212,1.24,261.5,582.3,9.6,585,12214,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2074,1835
$GC,12522,1.24,261.5,553.2,8.7,600,12523,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2074,1835
$GC,12831,1.24,261.5,525.3,8.6,615,12835,0.00,2.60,0.00,0.000,4,0.000,0.066,2721,3484,1835
$GC,12875,1.24,261.5,521.0,9.5,617,12880,0.00,2.53,0.00,0.000,6,0.000,0.048,2721,2076,1834
$GC,13196,1.24,261.5,492.2,8.4,633,13201,0.00,2.62,0.00,0.000,4,0.000,0.066,2721,3485,1834
$GC,13230,1.24,261.5,489.4,8.1,634,13236,0.00,2.55,0.00,0.000,6,0.000,0.047,2721,2065,1835
$GC,13546,1.24,261.5,466.2,7.4,650,13550,0.00,2.65,0.00,0.000,4,0.000,0.064,2722,3491,1835
$GC,13569,1.24,261.5,464.5,7.1,651,13574,0.00,2.55,0.00,0.000,6,0.000,0.048,2721,2068,1835
$GC,13897,1.24,261.5,439.1,7.8,667,13901,0.00,2.62,0.00,0.000,4,0.000,0.064,2721,3482,1835
$GC,13918,1.24,261.5,437.3,8.6,668,13923,0.00,2.53,0.00,0.000,6,0.000,0.047,2721,2070,1835
$GC,14246,1.24,261.5,414.6,6.5,684,14250,0.00,2.62,0.00,0.000,4,0.000,0.066,2721,3484,1835
$GC,14279,1.24,261.5,412.3,6.7,685,14285,0.00,2.53,0.00,0.000,6,0.000,0.048,2721,2068,1835
$GC,14595,1.24,261.5,392.5,6.2,701,14596,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2068,1835
$GC,14904,1.24,261.5,368.8,7.7,716,14908,0.00,2.62,0.00,0.000,4,0.000,0.067,2722,3484,1835
$GC,14961,1.24,261.5,364.0,8.2,718,14965,0.00,2.55,0.00,0.000,6,0.000,0.050,2721,2067,1835
$GC,15277,1.24,261.5,339.2,7.8,733,15281,0.00,2.55,0.00,0.000,4,0.000,0.062,2721,658,1836
$GC,15310,1.24,261.5,336.5,7.8,734,15316,0.00,2.50,0.00,0.000,6,0.000,0.038,2721,2087,1836
$GC,15626,1.24,261.5,311.6,7.9,750,15631,0.00,2.58,0.00,0.000,4,0.000,0.067,2721,3493,1836
$GC,15666,1.24,261.5,308.1,8.4,752,15671,0.00,2.55,0.00,0.000,6,0.000,0.048,2721,2069,1836
$GC,15994,1.24,261.5,280.6,8.7,768,15998,0.00,2.62,0.00,0.000,4,0.000,0.067,2721,3484,1836
$GC,16016,1.24,261.5,278.6,8.6,769,16020,0.00,2.53,0.00,0.000,6,0.000,0.049,2721,2075,1837
$GC,16337,1.24,261.5,250.6,8.4,785,16338,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2075,1837
$GC,16646,1.24,261.5,224.2,8.5,800,16651,0.00,2.62,0.00,0.000,4,0.000,0.068,2721,3486,1838
$GC,16697,1.24,261.5,219.8,8.9,802,16701,0.00,2.55,0.00,0.000,6,0.000,0.050,2721,2068,1838
$GC,17013,1.24,261.5,195.5,7.2,817,17017,0.00,2.65,0.00,0.000,4,0.000,0.068,2721,3490,1838
$GC,17036,1.24,261.5,193.7,8.1,818,17040,0.00,2.55,0.00,0.000,6,0.000,0.051,2721,2073,1838
$GC,17357,1.24,261.5,170.3,7.5,834,17361,0.00,2.65,0.00,0.000,4,0.000,0.069,2721,3492,1838
$GC,17379,1.24,261.5,168.3,9.2,835,17383,0.00,2.55,0.00,0.000,6,0.000,0.051,2721,2076,1838
$GC,17700,1.24,261.5,139.7,9.3,851,17704,0.00,2.62,0.00,0.000,4,0.000,0.069,2721,3482,1838
$GC,17733,1.24,261.5,136.1,9.9,852,17739,0.00,2.53,0.00,0.000,6,0.000,0.050,2721,2068,1838
$GC,18051,1.24,261.5,107.6,8.5,868,18052,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2068,1838
$GC,18358,1.24,261.5,82.2,8.8,883,18363,0.00,2.65,0.00,0.000,4,0.000,0.069,2721,3486,1838
$GC,18422,1.24,261.5,76.7,9.7,886,18426,0.00,2.55,0.00,0.000,6,0.000,0.052,2721,2071,1838
$GC,18751,1.27,281.9,52.8,5.4,902,18775,0.00,2.62,18.25,0.710,4,0.000,0.067,2721,657,1752
$GC,18837,1.27,281.9,43.4,11.4,905,18843,0.00,2.53,0.00,0.000,6,0.000,0.043,2722,2081,1752
$GC,19155,1.27,281.9,6.5,12.7,921,19159,0.00,2.58,0.00,0.000,4,0.000,0.054,2721,656,1752
$STATE,19185,end climb,SURFACE_DEPTH_REACHED
$STATE,19185,begin surface coast
$FINISH,0.8,1.027450
$STATE,19193,end surface coast,CONTROL_FINISHED_OK
$STATE,19193,begin surface
$SM_CCo,19281,0.00,0.000,0,0,1751,282.59
$SM_GC,1.12,11.88,0.00,0.00,0.035,0.000,0.000,52,2666,1751,-10.93,-0.25,282.59
$IRIDIUM_FIX,6249.28,-1255.03,180798,131329
$TT8_MAMPS,0.029146
$HUMID,1795
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.0,40.7
$24V_AH,23.3,48.155
$10V_AH,10.1,27.530
$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,26.500,183.450,369.950,0.000,0.000,23.949,30.807,188.873,6.250,0.000,0.000,36.012,1688.694,14857.190,495.775,2012.285,640.259,33.356,1524.241,0.000,1949.349,0.000,45.010,0.000
$DEVICE_MAMPS,158.769,91.273,1168.141,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,641.596,692.985,539.011,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47440,923
$CAP_FILE_SIZE,138144,0
$CFSIZE,260165632,240627712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240409,000906,6309.928,-1314.135,70,1.3,70,-12.2