version: 66.04
glider: 103
mission: 11
dive: 288
start: 4 25 109 17 45 48
data:
$ID,103
$MISSION,11
$DIVE,288
$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,-148558.25
$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,11
$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
$GPS1,173936,6302.609,-1258.369,39,1.4,44,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-59.1
$GPS2,174456,6302.621,-1258.473,13,1.5,13,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.086,-0.201
$KALMAN_X,-3303.5,-1338.2,-709.9,-731.9,13893.2
$KALMAN_Y,84248.9,-2588.2,-1552.8,-179745.9,21267.5
$MHEAD_RNG_PITCHd_Wd,215.3,24016,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-59.03,0.000,2,0.000,0.000,52,2672,3479
$GC,82,-1.10,-146.6,5.5,-10.7,3,104,12.05,2.20,-0.35,0.000,4,0.156,0.097,2194,3789,3502
$GC,356,-1.10,-146.6,39.1,-8.8,15,360,0.00,2.08,0.00,0.000,6,0.000,0.065,2195,2673,3502
$GC,685,-1.10,-146.6,64.8,-7.8,31,689,0.00,2.20,0.00,0.000,4,0.000,0.094,2194,3792,3502
$GC,860,-1.10,-146.6,79.4,-8.3,38,866,0.00,2.05,0.00,0.000,6,0.000,0.061,2195,2669,3502
$GC,1177,-1.10,-146.6,104.4,-8.0,54,1182,0.00,2.62,0.00,0.000,4,0.000,0.074,2195,1257,3502
$GC,1211,-1.10,-146.6,107.2,-8.0,55,1217,0.00,2.62,0.00,0.000,6,0.000,0.067,2194,2677,3502
$GC,1529,-1.10,-146.6,131.6,-7.7,71,1533,0.00,2.12,0.00,0.000,4,0.000,0.091,2194,3784,3502
$GC,1613,-1.10,-146.6,138.9,-8.0,74,1619,0.00,2.03,0.00,0.000,6,0.000,0.058,2195,2664,3502
$GC,1929,-1.10,-146.6,162.6,-7.3,90,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2664,3502
$GC,2239,-1.10,-146.6,184.7,-7.3,105,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2664,3502
$GC,2547,-1.10,-146.6,206.5,-7.0,120,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2664,3502
$GC,2857,-1.10,-146.6,228.2,-7.2,135,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2664,3502
$GC,3169,-1.10,-146.6,250.2,-7.2,150,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2664,3502
$GC,3475,-1.10,-146.6,273.6,-7.5,165,3479,0.00,2.20,0.00,0.000,4,0.000,0.093,2194,3792,3503
$GC,3508,-1.10,-146.6,276.2,-7.9,166,3512,0.00,2.03,0.00,0.000,6,0.000,0.056,2195,2676,3502
$GC,3832,-1.10,-146.6,301.4,-8.0,182,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2676,3502
$GC,4139,-1.10,-146.6,327.5,-8.1,197,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2676,3502
$GC,4448,-1.10,-146.6,353.3,-8.4,212,4452,0.00,2.62,0.00,0.000,4,0.000,0.071,2195,1247,3502
$GC,4488,-1.10,-146.6,356.7,-8.7,214,4493,0.00,2.65,0.00,0.000,6,0.000,0.064,2194,2684,3502
$GC,4815,-1.10,-146.6,384.3,-8.8,230,4818,0.00,2.10,0.00,0.000,4,0.000,0.090,2195,3788,3502
$GC,4893,-1.10,-146.6,391.9,-10.9,233,4897,0.00,2.03,0.00,0.000,6,0.000,0.054,2194,2666,3503
$GC,5215,-1.10,-146.6,422.0,-9.0,249,5220,0.00,2.60,0.00,0.000,4,0.000,0.071,2195,1250,3502
$GC,5243,-1.10,-146.6,424.7,-9.3,250,5248,0.00,2.62,0.00,0.000,6,0.000,0.062,2194,2675,3502
$GC,5565,-1.10,-146.6,452.4,-8.3,266,5568,0.00,2.12,0.00,0.000,4,0.000,0.090,2194,3789,3502
$GC,5621,-1.10,-146.6,457.4,-9.1,268,5625,0.00,2.03,0.00,0.000,6,0.000,0.054,2195,2665,3503
$GC,5942,-1.10,-146.6,483.6,-7.9,284,5947,0.00,2.60,0.00,0.000,4,0.000,0.071,2195,1249,3502
$GC,5987,-1.10,-146.6,487.2,-7.7,286,5992,0.00,2.62,0.00,0.000,6,0.000,0.061,2194,2677,3503
$GC,6309,-1.10,-146.6,507.3,-5.8,302,6312,0.00,2.12,0.00,0.000,4,0.000,0.089,2195,3792,3502
$GC,6449,-1.10,-146.6,518.3,-8.4,308,6453,0.00,2.03,0.00,0.000,6,0.000,0.052,2195,2664,3503
$GC,6777,-1.10,-146.6,548.4,-10.0,324,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2664,3502
$GC,7085,-1.10,-146.6,576.4,-7.8,339,7090,0.00,2.58,0.00,0.000,4,0.000,0.069,2195,1259,3502
$GC,7148,-1.10,-146.6,580.5,-7.0,342,7153,0.00,2.62,0.00,0.000,6,0.000,0.063,2195,2684,3502
$GC,7476,-1.10,-146.6,601.2,-7.8,358,7479,0.00,2.12,0.00,0.000,4,0.000,0.093,2195,3789,3502
$GC,7554,-1.10,-146.6,607.8,-8.8,361,7558,0.00,2.03,0.00,0.000,6,0.000,0.054,2194,2665,3503
$GC,7876,-1.10,-146.6,626.8,-5.5,377,7880,0.00,2.17,0.00,0.000,4,0.000,0.094,2194,3783,3502
$GC,7937,-1.10,-146.6,632.4,-7.6,379,7943,0.00,2.03,0.00,0.000,6,0.000,0.056,2195,2664,3502
$STATE,8251,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8251,begin apogee
$GC,8259,-0.42,0.0,656.0,7.2,395,8387,0.77,0.00,124.75,1.126,6,0.097,0.000,2349,2074,2902
$STATE,8388,end apogee,CONTROL_FINISHED_OK
$STATE,8388,begin climb
$GC,8392,1.10,146.6,658.9,0.0,401,8518,1.52,0.00,121.28,1.108,6,0.057,0.000,2678,2073,2304
$GC,8826,1.10,146.6,643.6,6.5,422,8830,0.00,2.67,0.00,0.000,4,0.000,0.067,2678,3500,2303
$GC,9032,1.16,196.0,632.2,4.6,431,9084,0.00,2.58,42.20,1.085,6,0.000,0.041,2678,2057,2103
$GC,9396,1.21,237.3,610.8,4.9,449,9439,0.12,2.78,35.80,1.075,4,0.044,0.068,2716,3494,1934
$GC,9509,1.21,237.3,603.4,7.6,454,9513,0.00,2.58,0.00,0.000,6,0.000,0.046,2716,2073,1933
$GC,9835,1.21,237.3,577.7,8.2,470,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2073,1933
$GC,10144,1.21,237.3,557.4,6.7,485,10148,0.00,2.60,0.00,0.000,4,0.000,0.064,2716,656,1932
$GC,10251,1.21,237.3,548.3,8.4,489,10257,0.00,2.55,0.00,0.000,6,0.000,0.041,2716,2091,1932
$GC,10567,1.21,237.3,526.4,6.6,505,10568,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2091,1931
$GC,10876,1.21,237.3,504.5,7.2,520,10881,0.00,2.62,0.00,0.000,4,0.000,0.060,2716,663,1931
$GC,10910,1.21,237.3,502.1,7.3,521,10916,0.00,2.50,0.00,0.000,6,0.000,0.040,2717,2079,1931
$GC,11226,1.21,237.3,480.1,6.7,537,11230,0.00,2.60,0.00,0.000,4,0.000,0.067,2716,3491,1931
$GC,11271,1.21,237.3,476.9,7.0,539,11276,0.00,2.55,0.00,0.000,6,0.000,0.045,2716,2065,1931
$GC,11593,1.21,237.3,456.3,6.7,555,11598,0.00,2.65,0.00,0.000,4,0.000,0.066,2716,3487,1932
$GC,11615,1.21,237.3,454.6,7.6,556,11619,0.00,2.55,0.00,0.000,6,0.000,0.046,2717,2064,1932
$GC,11936,1.21,237.3,432.1,7.6,572,11940,0.00,2.55,0.00,0.000,4,0.000,0.061,2716,655,1932
$GC,12008,1.21,237.3,426.3,7.7,575,12013,0.00,2.50,0.00,0.000,6,0.000,0.038,2717,2080,1932
$GC,12330,1.21,237.3,402.4,7.7,591,12334,0.00,2.60,0.00,0.000,4,0.000,0.059,2717,655,1932
$GC,12363,1.21,237.3,399.9,7.2,592,12369,0.00,2.50,0.00,0.000,6,0.000,0.038,2716,2078,1932
$GC,12679,1.21,237.3,378.7,6.5,608,12684,0.00,2.60,0.00,0.000,4,0.000,0.067,2716,3491,1933
$GC,12701,1.21,237.3,377.0,7.2,609,12706,0.00,2.53,0.00,0.000,6,0.000,0.044,2717,2074,1933
$GC,13023,1.21,237.3,355.0,7.5,625,13024,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2074,1932
$GC,13332,1.21,237.3,333.0,6.7,640,13337,0.00,2.58,0.00,0.000,4,0.000,0.061,2717,655,1932
$GC,13383,1.21,237.3,329.4,7.4,642,13387,0.00,2.50,0.00,0.000,6,0.000,0.040,2717,2077,1932
$GC,13699,1.21,237.3,309.0,6.3,657,13703,0.00,2.58,0.00,0.000,4,0.000,0.060,2716,662,1933
$GC,13743,1.21,237.3,306.0,6.5,659,13747,0.00,2.47,0.00,0.000,6,0.000,0.039,2716,2074,1933
$GC,14070,1.24,258.8,287.9,5.4,675,14095,0.00,2.67,19.00,0.854,4,0.000,0.060,2717,669,1846
$GC,14118,1.25,266.5,285.1,5.8,677,14135,0.00,2.50,8.12,0.761,6,0.000,0.039,2717,2074,1815
$GC,14445,1.25,266.5,265.4,6.2,693,14446,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2074,1815
$GC,14754,1.25,266.5,245.1,6.8,708,14755,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2074,1815
$GC,15063,1.25,266.5,222.9,7.3,723,15064,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2074,1815
$GC,15372,1.25,266.5,199.4,7.8,738,15373,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2074,1815
$GC,15681,1.25,266.5,174.8,7.9,753,15683,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2074,1815
$GC,15991,1.25,266.5,150.3,7.8,768,15992,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2074,1815
$GC,16301,1.25,266.5,126.5,7.6,783,16302,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2074,1815
$GC,16611,1.25,266.5,103.7,7.3,798,16615,0.00,2.60,0.00,0.000,4,0.000,0.063,2717,661,1815
$GC,16655,1.25,266.5,100.0,8.0,800,16660,0.00,2.50,0.00,0.000,6,0.000,0.042,2717,2075,1815
$GC,16977,1.25,266.5,76.8,7.4,816,16979,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2075,1815
$GC,17286,1.25,266.5,54.4,7.0,831,17288,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2075,1815
$GC,17596,1.25,266.5,32.8,7.2,846,17600,0.00,2.60,0.00,0.000,4,0.000,0.069,2716,3487,1815
$GC,17623,1.25,266.5,30.7,8.3,847,17628,0.00,2.55,0.00,0.000,6,0.000,0.051,2716,2074,1815
$GC,17941,1.25,266.5,7.0,7.7,862,17942,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2074,1815
$STATE,18019,end climb,SURFACE_DEPTH_REACHED
$STATE,18019,begin surface coast
$FINISH,0.3,1.014180
$STATE,18042,end surface coast,CONTROL_FINISHED_OK
$STATE,18042,begin surface
$SM_CCo,18127,0.00,0.000,0,0,1815,266.64
$SM_GC,1.44,11.73,0.00,0.00,0.031,0.000,0.000,50,2665,1815,-10.93,-0.31,266.64
$IRIDIUM_FIX,6239.86,-1250.78,200798,131347
$TT8_MAMPS,0.029146
$HUMID,1799
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.1,15.2
$24V_AH,23.3,49.361
$10V_AH,10.1,28.294
$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,26.200,138.225,351.150,0.000,0.000,22.339,30.566,140.508,5.500,0.000,0.000,13.225,1585.260,13946.096,457.110,1932.941,523.674,33.359,1427.857,0.000,1892.956,0.000,38.475,0.000
$DEVICE_MAMPS,156.468,96.642,1125.956,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,601.707,645.235,540.925,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44360,867
$CAP_FILE_SIZE,123302,0
$CFSIZE,260165632,240082944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250409,224907,6302.657,-1300.745,34,1.0,34,-12.0