version: 66.04
glider: 103
mission: 11
dive: 289
start: 4 25 109 22 55 49
data:
$ID,103
$MISSION,11
$DIVE,289
$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,-148574.84
$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,8
$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
$GPS1,224907,6302.657,-1300.745,34,1.0,34,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-63.6
$GPS2,225455,6302.692,-1300.733,10,1.2,15,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.074,-0.206
$KALMAN_X,-3966.6,-1633.8,-634.2,-1723.6,11081.5
$KALMAN_Y,86482.8,-1356.3,-443.0,-184266.4,17114.4
$MHEAD_RNG_PITCHd_Wd,211.7,23781,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-40.92,0.000,2,0.000,0.000,50,2668,3171
$GC,62,-1.10,-146.6,3.7,-10.0,2,86,12.00,2.72,-5.70,0.000,4,0.155,0.087,2194,1264,3502
$GC,282,-1.10,-146.6,28.0,-8.6,11,289,0.00,2.65,0.00,0.000,6,0.000,0.069,2195,2684,3502
$GC,600,-1.10,-146.6,53.5,-7.9,27,604,0.00,2.12,0.00,0.000,4,0.000,0.091,2195,3789,3502
$GC,679,-1.10,-146.6,60.5,-9.0,30,682,0.00,2.03,0.00,0.000,6,0.000,0.058,2195,2681,3502
$GC,1002,-1.10,-146.6,86.8,-8.0,46,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2681,3502
$GC,1310,-1.10,-146.6,111.0,-7.8,61,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2681,3502
$GC,1619,-1.10,-146.6,134.1,-7.3,76,1624,0.00,2.65,0.00,0.000,4,0.000,0.074,2195,1254,3502
$GC,1675,-1.10,-146.6,138.2,-7.2,78,1682,0.00,2.65,0.00,0.000,6,0.000,0.067,2195,2685,3502
$GC,1991,-1.10,-146.6,160.1,-6.8,94,1995,0.00,2.12,0.00,0.000,4,0.000,0.091,2195,3795,3502
$GC,2037,-1.10,-146.6,163.5,-7.2,96,2041,0.00,2.05,0.00,0.000,6,0.000,0.058,2195,2669,3503
$GC,2370,-1.10,-146.6,186.8,-7.0,112,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3502
$GC,2679,-1.10,-146.6,210.0,-7.8,127,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2670,3503
$GC,2989,-1.10,-146.6,235.5,-8.5,142,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3502
$GC,3298,-1.10,-146.6,261.0,-8.4,157,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3502
$GC,3607,-1.10,-146.6,286.3,-7.9,172,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3502
$GC,3917,-1.10,-146.6,310.5,-7.6,187,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3502
$GC,4225,-1.10,-146.6,332.9,-7.1,202,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2668,3502
$GC,4535,-1.10,-146.6,353.2,-6.3,217,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3502
$GC,4844,-1.10,-146.6,372.7,-6.2,232,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2668,3502
$GC,5153,-1.10,-146.6,392.2,-6.5,247,5157,0.00,2.17,0.00,0.000,4,0.000,0.090,2195,3793,3502
$GC,5192,-1.10,-146.6,394.9,-7.1,248,5198,0.00,2.03,0.00,0.000,6,0.000,0.055,2195,2674,3502
$GC,5508,-1.10,-146.6,415.6,-6.6,264,5512,0.00,2.60,0.00,0.000,4,0.000,0.070,2195,1256,3502
$GC,5536,-1.10,-146.6,417.5,-6.8,265,5540,0.00,2.62,0.00,0.000,6,0.000,0.063,2195,2679,3502
$GC,5852,-1.10,-146.6,439.9,-7.4,280,5855,0.00,2.12,0.00,0.000,4,0.000,0.090,2195,3795,3502
$GC,5879,-1.10,-146.6,442.0,-7.3,281,5883,0.00,2.03,0.00,0.000,6,0.000,0.054,2195,2672,3502
$GC,6207,-1.10,-146.6,463.5,-6.5,297,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2672,3502
$GC,6516,-1.10,-146.6,482.3,-6.4,312,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2672,3503
$GC,6825,-1.10,-146.6,503.1,-6.8,327,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2671,3502
$GC,7135,-1.10,-146.6,524.4,-7.1,342,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2671,3502
$GC,7444,-1.10,-146.6,543.1,-5.7,357,7448,0.00,2.15,0.00,0.000,4,0.000,0.090,2195,3785,3502
$GC,7490,-1.10,-146.6,545.3,-4.1,359,7494,0.00,2.00,0.00,0.000,6,0.000,0.054,2195,2674,3502
$GC,7824,-1.10,-146.6,559.2,-4.3,375,7828,0.00,2.15,0.00,0.000,4,0.000,0.089,2195,3787,3502
$GC,7864,-1.10,-146.6,561.1,-3.7,376,7870,0.00,2.03,0.00,0.000,6,0.000,0.053,2195,2661,3503
$GC,8179,-1.10,-146.6,591.1,-9.4,392,8183,0.00,2.17,0.00,0.000,4,0.000,0.091,2195,3792,3502
$GC,8226,-1.10,-146.6,596.5,-9.4,394,8229,0.00,2.03,0.00,0.000,6,0.000,0.055,2195,2666,3502
$GC,8559,-1.10,-146.6,615.5,-5.4,410,8562,0.00,2.17,0.00,0.000,4,0.000,0.091,2195,3789,3502
$GC,8688,-1.10,-146.6,613.0,2.3,415,8695,0.00,2.00,0.00,0.000,6,0.000,0.052,2195,2666,3502
$GC,9005,-1.10,-146.6,656.0,-9.6,431,9008,0.00,2.17,0.00,0.000,4,0.000,0.091,2195,3785,3502
$GC,9262,-1.10,-146.6,682.0,-9.6,442,9266,0.00,2.00,0.00,0.000,6,0.000,0.053,2195,2667,3501
$STATE,9416,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9416,begin apogee
$GC,9424,-0.42,0.0,693.4,5.9,450,9553,0.75,0.00,125.70,1.141,6,0.095,0.000,2345,2073,2902
$STATE,9554,end apogee,CONTROL_FINISHED_OK
$STATE,9554,begin climb
$GC,9557,1.10,146.6,698.6,0.0,456,9690,1.55,2.75,122.90,1.114,4,0.051,0.064,2682,3492,2304
$GC,9944,1.25,266.4,675.6,2.7,473,10054,0.12,2.58,100.95,1.104,6,0.048,0.045,2719,2061,1816
$GC,10363,1.25,266.4,649.1,6.3,494,10367,0.00,2.70,0.00,0.000,4,0.000,0.068,2719,3495,1815
$GC,10412,1.25,266.4,642.8,11.0,496,10417,0.00,2.60,0.00,0.000,6,0.000,0.052,2719,2071,1815
$GC,10729,1.25,266.4,620.3,8.8,511,10733,0.00,2.67,0.00,0.000,4,0.000,0.066,2719,3499,1815
$GC,10757,1.30,304.3,618.8,5.0,512,10796,0.00,2.60,33.00,1.078,6,0.000,0.050,2719,2068,1661
$GC,11122,1.30,304.3,582.5,11.3,530,11126,0.00,2.58,0.00,0.000,4,0.000,0.062,2719,663,1660
$GC,11235,1.31,313.8,572.1,5.7,535,11252,0.00,2.55,9.70,0.963,6,0.000,0.042,2719,2092,1622
$GC,11561,1.31,313.8,552.5,6.5,551,11565,0.00,2.60,0.00,0.000,4,0.000,0.071,2719,3490,1622
$GC,11617,1.32,322.8,548.9,5.7,553,11632,0.00,2.58,9.27,0.952,6,0.000,0.048,2719,2065,1585
$GC,11955,1.32,322.8,528.6,7.6,570,11959,0.00,2.67,0.00,0.000,4,0.000,0.069,2719,3484,1584
$GC,11982,1.32,322.8,526.2,9.0,571,11986,0.00,2.55,0.00,0.000,6,0.000,0.048,2719,2069,1584
$GC,12299,1.32,322.8,498.5,7.7,586,12303,0.00,2.55,0.00,0.000,4,0.000,0.059,2719,663,1584
$GC,12354,1.32,322.8,493.9,7.7,588,12360,0.00,2.50,0.00,0.000,6,0.000,0.040,2719,2079,1584
$GC,12670,1.32,322.8,468.0,8.5,604,12674,0.00,2.60,0.00,0.000,4,0.000,0.069,2719,3493,1584
$GC,12711,1.32,322.8,464.2,10.1,606,12715,0.00,2.55,0.00,0.000,6,0.000,0.047,2719,2070,1584
$GC,13037,1.32,322.8,436.1,7.7,622,13038,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2070,1585
$GC,13346,1.32,322.8,413.8,7.8,637,13348,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2070,1585
$GC,13656,1.32,322.8,388.0,8.9,652,13661,0.00,2.65,0.00,0.000,4,0.000,0.068,2719,3490,1585
$GC,13696,1.32,322.8,384.4,9.0,654,13700,0.00,2.53,0.00,0.000,6,0.000,0.048,2719,2075,1585
$GC,14022,1.32,322.8,354.3,9.6,670,14023,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2075,1586
$GC,14332,1.32,322.8,323.2,10.2,685,14336,0.00,2.65,0.00,0.000,4,0.000,0.071,2719,3490,1586
$GC,14359,1.32,322.8,320.2,10.4,686,14364,0.00,2.55,0.00,0.000,6,0.000,0.049,2719,2073,1586
$GC,14675,1.32,322.8,286.4,11.3,701,14680,0.00,2.65,0.00,0.000,4,0.000,0.071,2719,3492,1587
$GC,14693,1.32,322.8,284.4,11.3,702,14697,0.00,2.58,0.00,0.000,6,0.000,0.051,2719,2068,1587
$GC,15019,1.32,322.8,246.7,11.4,718,15024,0.00,2.67,0.00,0.000,4,0.000,0.070,2719,3493,1587
$GC,15041,1.32,322.8,243.9,12.5,719,15046,0.00,2.58,0.00,0.000,6,0.000,0.051,2719,2068,1587
$GC,15363,1.32,322.8,206.7,11.2,735,15364,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2068,1587
$GC,15671,1.32,322.8,171.5,11.5,750,15676,0.00,2.67,0.00,0.000,4,0.000,0.071,2719,3490,1587
$GC,15705,1.32,322.8,167.4,11.1,751,15711,0.00,2.58,0.00,0.000,6,0.000,0.051,2719,2067,1587
$GC,16021,1.32,322.8,132.3,10.8,767,16023,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2067,1587
$GC,16332,1.32,322.8,100.5,10.2,782,16336,0.00,2.67,0.00,0.000,4,0.000,0.072,2719,3488,1588
$GC,16372,1.32,322.8,96.2,10.3,784,16376,0.00,2.58,0.00,0.000,6,0.000,0.053,2719,2068,1588
$GC,16699,1.32,322.8,64.0,9.6,800,16703,0.00,2.58,0.00,0.000,4,0.000,0.066,2719,658,1588
$GC,16727,1.32,322.8,61.3,10.9,801,16731,0.00,2.53,0.00,0.000,6,0.000,0.045,2719,2079,1588
$GC,17043,1.32,322.8,34.0,8.5,816,17048,0.00,2.62,0.00,0.000,4,0.000,0.072,2719,3489,1588
$GC,17077,1.32,322.8,31.1,8.1,817,17083,0.00,2.55,0.00,0.000,6,0.000,0.054,2719,2076,1588
$GC,17393,1.32,322.8,5.5,8.1,833,17395,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2076,1588
$STATE,17431,end climb,SURFACE_DEPTH_REACHED
$STATE,17432,begin surface coast
$FINISH,0.3,1.014667
$STATE,17453,end surface coast,CONTROL_FINISHED_OK
$STATE,17453,begin surface
$SM_CCo,17538,0.00,0.000,0,0,1587,322.57
$SM_GC,1.21,11.57,0.00,0.00,0.022,0.000,0.000,44,2673,1587,-10.94,-0.06,322.57
$IRIDIUM_FIX,6239.86,-1255.41,200798,171718
$TT8_MAMPS,0.028379
$HUMID,1787
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.2,51.4
$24V_AH,23.3,49.500
$10V_AH,10.1,28.374
$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,26.000,139.025,401.525,0.000,0.000,31.542,27.667,152.043,6.000,0.000,0.000,15.965,1527.555,13447.920,483.235,1875.449,549.292,33.396,1435.944,0.000,1831.999,0.000,44.767,0.000
$DEVICE_MAMPS,154.934,91.273,1141.296,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,583.693,619.877,506.752,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41126,836
$CAP_FILE_SIZE,122329,0
$CFSIZE,260165632,240029696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260409,034924,6300.784,-1306.689,39,1.2,39,-12.1