version: 66.04
glider: 103
mission: 11
dive: 291
start: 4 26 109 8 36 0
data:
$ID,103
$MISSION,11
$DIVE,291
$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,-148606.59
$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,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
$GPS1,082937,6301.072,-1316.072,29,0.9,29,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-59.4
$GPS2,083508,6301.117,-1316.130,15,1.4,15,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.010,-0.218
$KALMAN_X,-13097.2,-95.2,-256.7,-7039.5,-2821.8
$KALMAN_Y,90756.3,-1034.9,265.6,-192475.5,14417.7
$MHEAD_RNG_PITCHd_Wd,194.9,22638,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-76.78,0.000,6,0.000,0.000,48,2673,3500
$GC,103,-1.10,-146.6,6.4,-8.9,4,125,12.15,2.67,0.00,0.000,4,0.160,0.067,2194,1264,3501
$GC,176,-1.10,-146.6,23.1,-8.7,7,180,0.00,2.67,0.00,0.000,6,0.000,0.069,2194,2683,3501
$GC,499,-1.10,-146.6,47.5,-7.7,23,502,0.00,2.15,0.00,0.000,4,0.000,0.094,2194,3790,3501
$GC,549,-1.10,-146.6,51.8,-8.4,25,553,0.00,2.05,0.00,0.000,6,0.000,0.060,2194,2677,3501
$GC,877,-1.10,-146.6,78.2,-8.1,41,881,0.00,2.65,0.00,0.000,4,0.000,0.075,2194,1258,3501
$GC,909,-1.10,-146.6,81.0,-8.2,42,916,0.00,2.65,0.00,0.000,6,0.000,0.067,2194,2685,3501
$GC,1227,-1.10,-146.6,108.6,-9.4,58,1231,0.00,2.12,0.00,0.000,4,0.000,0.091,2194,3789,3501
$GC,1328,-1.10,-146.6,119.0,-10.5,62,1332,0.00,2.05,0.00,0.000,6,0.000,0.060,2194,2671,3501
$GC,1650,-1.10,-146.6,149.2,-9.3,78,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2671,3501
$GC,1958,-1.10,-146.6,177.1,-8.9,93,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2671,3501
$GC,2268,-1.10,-146.6,205.1,-8.9,108,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2671,3501
$GC,2577,-1.10,-146.6,230.8,-8.2,123,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2670,3501
$GC,2886,-1.10,-146.6,256.3,-8.2,138,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2670,3501
$GC,3196,-1.10,-146.6,282.6,-8.7,153,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2670,3501
$GC,3505,-1.10,-146.6,307.5,-7.8,168,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2670,3501
$GC,3814,-1.10,-146.6,331.2,-8.0,183,3817,0.00,2.17,0.00,0.000,4,0.000,0.091,2194,3790,3500
$GC,3860,-1.10,-146.6,335.1,-8.7,185,3863,0.00,2.05,0.00,0.000,6,0.000,0.058,2194,2665,3500
$GC,4193,-1.10,-146.6,363.0,-8.7,201,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2665,3501
$GC,4502,-1.10,-146.6,389.3,-8.4,216,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2665,3500
$GC,4812,-1.10,-146.6,414.5,-8.0,231,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2665,3500
$GC,5121,-1.10,-146.6,441.3,-8.4,246,5125,0.00,2.60,0.00,0.000,4,0.000,0.071,2194,1252,3501
$GC,5148,-1.10,-146.6,443.9,-9.3,247,5153,0.00,2.62,0.00,0.000,6,0.000,0.062,2194,2682,3501
$GC,5464,-1.10,-146.6,473.2,-9.6,262,5468,0.00,2.10,0.00,0.000,4,0.000,0.087,2194,3783,3500
$GC,5527,-1.10,-146.6,479.8,-9.8,264,5533,0.00,2.00,0.00,0.000,6,0.000,0.053,2194,2674,3501
$GC,5843,-1.10,-146.6,511.5,-10.2,280,5847,0.00,2.15,0.00,0.000,4,0.000,0.086,2194,3788,3501
$GC,5877,-1.10,-146.6,515.0,-10.4,281,5881,0.00,2.03,0.00,0.000,6,0.000,0.052,2194,2664,3501
$GC,6199,-1.10,-146.6,547.2,-10.0,297,6202,0.00,2.17,0.00,0.000,4,0.000,0.087,2194,3790,3501
$GC,6238,-1.10,-146.6,551.3,-10.4,298,6244,0.00,2.00,0.00,0.000,6,0.000,0.051,2194,2675,3501
$GC,6554,-1.10,-146.6,581.8,-9.8,314,6558,0.00,2.58,0.00,0.000,4,0.000,0.067,2194,1254,3501
$GC,6587,-1.10,-146.6,585.2,-9.8,315,6594,0.00,2.62,0.00,0.000,6,0.000,0.061,2194,2682,3500
$GC,6903,-1.10,-146.6,614.6,-9.3,331,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2682,3501
$GC,7213,-1.10,-146.6,645.3,-9.6,346,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2682,3501
$GC,7523,-1.10,-146.6,672.3,-8.6,361,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2682,3501
$GC,7831,-1.10,-146.6,697.1,-7.8,376,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2682,3501
$GC,8140,-1.10,-146.6,719.5,-7.3,391,8144,0.00,2.10,0.00,0.000,4,0.000,0.087,2194,3787,3500
$GC,8187,-1.10,-146.6,722.9,-7.8,393,8190,0.00,2.00,0.00,0.000,6,0.000,0.050,2194,2667,3501
$GC,8519,-1.10,-146.6,745.1,-6.5,409,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3500
$GC,8829,-1.10,-146.6,766.0,-6.8,424,8832,0.00,2.17,0.00,0.000,4,0.000,0.087,2194,3792,3500
$GC,8983,-1.10,-146.6,775.9,-6.9,430,8989,0.00,2.03,0.00,0.000,6,0.000,0.053,2194,2667,3500
$GC,9299,-1.10,-146.6,796.5,-7.2,446,9303,0.00,2.17,0.00,0.000,4,0.000,0.093,2194,3782,3499
$GC,9415,-1.10,-146.6,804.5,-4.8,451,9419,0.00,2.00,0.00,0.000,6,0.000,0.051,2194,2667,3499
$STATE,9662,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9662,begin apogee
$GC,9671,-0.42,0.0,822.6,7.2,463,9805,0.77,0.00,126.65,1.238,6,0.096,0.000,2349,2062,2902
$STATE,9806,end apogee,CONTROL_FINISHED_OK
$STATE,9806,begin climb
$GC,9809,1.10,146.6,829.9,0.0,470,9942,1.58,2.70,124.15,1.208,4,0.068,0.066,2679,665,2304
$GC,10122,1.14,177.3,825.7,5.2,484,10155,0.00,2.55,27.38,1.166,6,0.000,0.040,2679,2103,2179
$GC,10465,1.25,263.3,806.8,3.6,501,10548,0.15,2.80,73.43,1.211,4,0.042,0.064,2724,662,1828
$GC,10695,1.25,263.3,790.3,8.6,511,10700,0.00,2.53,0.00,0.000,6,0.000,0.044,2724,2069,1828
$GC,11012,1.25,263.3,768.0,7.2,526,11016,0.00,2.67,0.00,0.000,4,0.000,0.073,2724,3490,1826
$GC,11074,1.25,263.3,763.2,6.9,529,11078,0.00,2.58,0.00,0.000,6,0.000,0.048,2725,2068,1826
$GC,11401,1.25,263.3,737.3,7.9,545,11405,0.00,2.58,0.00,0.000,4,0.000,0.063,2724,664,1825
$GC,11440,1.25,263.3,734.1,8.5,547,11445,0.00,2.53,0.00,0.000,6,0.000,0.041,2724,2084,1825
$GC,11768,1.25,263.3,708.9,7.6,563,11772,0.00,2.60,0.00,0.000,4,0.000,0.067,2724,3493,1825
$GC,11808,1.25,263.3,705.7,8.0,565,11812,0.00,2.55,0.00,0.000,6,0.000,0.044,2724,2066,1825
$GC,12141,1.25,263.3,681.1,7.3,581,12142,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2066,1825
$GC,12450,1.25,263.3,658.7,7.3,596,12454,0.00,2.65,0.00,0.000,4,0.000,0.064,2724,3493,1825
$GC,12506,1.25,263.3,654.4,7.8,598,12512,0.00,2.53,0.00,0.000,6,0.000,0.041,2724,2070,1825
$GC,12822,1.25,263.3,632.7,7.1,614,12823,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2070,1826
$GC,13131,1.25,263.3,611.9,7.2,629,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2070,1826
$GC,13440,1.25,263.3,592.2,6.3,644,13445,0.00,2.53,0.00,0.000,4,0.000,0.057,2724,668,1826
$GC,13481,1.25,263.3,589.4,7.1,646,13485,0.00,2.47,0.00,0.000,6,0.000,0.036,2724,2085,1826
$GC,13808,1.25,263.3,567.1,6.8,662,13809,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2085,1827
$GC,14117,1.25,263.3,546.1,7.1,677,14118,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2085,1827
$GC,14426,1.25,263.3,522.8,7.6,692,14427,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2085,1828
$GC,14735,1.25,263.3,497.7,8.5,707,14740,0.00,2.58,0.00,0.000,4,0.000,0.055,2724,667,1828
$GC,14758,1.25,263.3,495.6,8.9,708,14762,0.00,2.47,0.00,0.000,6,0.000,0.036,2724,2082,1828
$GC,15080,1.25,263.3,464.6,10.1,724,15081,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2082,1829
$GC,15388,1.25,263.3,432.7,10.0,739,15389,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2082,1829
$GC,15698,1.25,263.3,403.4,8.9,754,15702,0.00,2.58,0.00,0.000,4,0.000,0.064,2725,3490,1829
$GC,15737,1.25,263.3,399.7,8.5,755,15743,0.00,2.50,0.00,0.000,6,0.000,0.044,2724,2077,1829
$GC,16053,1.25,263.3,372.2,8.7,771,16054,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2077,1829
$GC,16362,1.25,263.3,344.0,9.4,786,16364,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2077,1829
$GC,16672,1.25,263.3,314.6,9.3,801,16673,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2077,1829
$GC,16981,1.25,263.3,286.9,8.5,816,16982,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2077,1829
$GC,17291,1.25,263.3,260.8,8.3,831,17295,0.00,2.62,0.00,0.000,4,0.000,0.067,2725,3485,1829
$GC,17314,1.25,263.3,258.8,9.0,832,17318,0.00,2.53,0.00,0.000,6,0.000,0.048,2724,2076,1829
$GC,17640,1.25,263.3,232.0,8.2,848,17641,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2077,1829
$GC,17950,1.25,263.3,207.0,7.8,863,17954,0.00,2.62,0.00,0.000,4,0.000,0.067,2724,3484,1829
$GC,17972,1.25,263.3,205.3,7.5,864,17976,0.00,2.53,0.00,0.000,6,0.000,0.048,2724,2076,1829
$GC,18293,1.25,263.3,181.2,7.3,880,18294,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2076,1830
$GC,18602,1.25,263.3,159.8,6.7,895,18603,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2076,1830
$GC,18913,1.25,263.3,138.7,6.9,910,18917,0.00,2.62,0.00,0.000,4,0.000,0.067,2724,3486,1830
$GC,18953,1.25,263.3,135.9,6.4,912,18957,0.00,2.55,0.00,0.000,6,0.000,0.049,2724,2069,1830
$GC,19280,1.25,269.5,116.4,5.8,928,19295,0.00,2.65,7.22,0.673,4,0.000,0.064,2724,659,1803
$GC,19313,1.25,269.5,114.2,6.4,929,19318,0.00,2.53,0.00,0.000,6,0.000,0.041,2724,2084,1803
$GC,19629,1.25,269.5,93.2,6.9,944,19634,0.00,2.60,0.00,0.000,4,0.000,0.069,2725,3488,1803
$GC,19670,1.25,269.5,90.1,7.3,946,19674,0.00,2.55,0.00,0.000,6,0.000,0.050,2724,2076,1803
$GC,19997,1.25,269.5,64.7,8.2,962,19999,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2076,1803
$GC,20306,1.25,269.5,40.3,7.8,977,20311,0.00,2.65,0.00,0.000,4,0.000,0.069,2724,3493,1804
$GC,20339,1.25,269.5,37.5,9.0,978,20345,0.00,2.55,0.00,0.000,6,0.000,0.052,2724,2073,1804
$GC,20657,1.25,269.5,12.9,8.1,994,20662,0.00,2.60,0.00,0.000,4,0.000,0.068,2725,659,1804
$GC,20766,1.25,269.5,3.9,7.7,999,20770,0.00,2.50,0.00,0.000,6,0.000,0.043,2724,2074,1803
$STATE,20801,end climb,SURFACE_DEPTH_REACHED
$STATE,20801,begin surface coast
$FINISH,0.3,1.027405
$STATE,20823,end surface coast,CONTROL_FINISHED_OK
$STATE,20823,begin surface
$SM_CCo,20908,0.00,0.000,0,0,1802,269.58
$SM_GC,1.19,11.75,0.00,0.00,0.029,0.000,0.000,47,2670,1802,-10.94,-0.14,269.58
$IRIDIUM_FIX,6235.17,-1303.58,210798,040419
$TT8_MAMPS,0.029146
$HUMID,1778
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.3,55.5
$24V_AH,23.2,49.829
$10V_AH,10.1,28.542
$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,26.400,143.350,358.825,0.000,0.000,31.152,29.913,140.829,6.750,0.000,0.000,15.351,1787.707,16278.253,494.761,2101.848,573.616,33.365,1546.678,0.000,2061.672,0.000,46.667,0.000
$DEVICE_MAMPS,160.303,94.341,1237.938,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,700.024,741.611,587.006,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50545,1002
$CAP_FILE_SIZE,135986,0
$CFSIZE,260165632,239882240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260409,142537,6259.895,-1321.334,31,1.0,31,-12.2