version: 66.04
glider: 103
mission: 11
dive: 303
start: 4 29 109 11 32 34
data:
$ID,103
$MISSION,11
$DIVE,303
$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,-148823.05
$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
$GPS1,112455,6246.202,-1301.268,50,1.6,50,-11.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-61.7
$GPS2,113143,6246.294,-1301.252,12,1.7,17,-11.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.217,-0.021
$KALMAN_X,-41103.7,712.8,3028.2,28916.8,-18717.6
$KALMAN_Y,111010.5,-450.0,-3069.4,-237465.7,-6658.3
$MHEAD_RNG_PITCHd_Wd,107.4,36966,-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,-146.6,0.0,0.0,0,60,0.00,0.00,-41.75,0.000,2,0.000,0.000,55,2672,3259
$GC,64,-1.10,-146.6,4.1,-11.5,2,86,12.00,0.00,-3.95,0.000,6,0.156,0.000,2194,2672,3502
$GC,397,-1.10,-146.6,42.6,-9.3,18,400,0.00,2.17,0.00,0.000,4,0.000,0.092,2194,3790,3503
$GC,503,-1.10,-146.6,53.7,-10.6,22,510,0.00,2.05,0.00,0.000,6,0.000,0.064,2194,2675,3503
$GC,820,-1.10,-146.6,81.9,-8.5,38,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2675,3503
$GC,1129,-1.10,-146.6,108.0,-8.5,53,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2675,3503
$GC,1438,-1.10,-146.6,133.3,-8.1,68,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2675,3503
$GC,1747,-1.10,-146.6,156.3,-6.9,83,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2675,3503
$GC,2056,-1.10,-146.6,178.6,-7.1,98,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2675,3502
$GC,2368,-1.10,-146.6,201.3,-7.5,113,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2675,3503
$GC,2676,-1.10,-146.6,225.9,-8.2,128,2679,0.00,2.15,0.00,0.000,4,0.000,0.089,2194,3787,3502
$GC,2715,-1.10,-146.6,229.5,-8.6,129,2721,0.00,2.05,0.00,0.000,6,0.000,0.061,2194,2668,3503
$GC,3031,-1.10,-146.6,255.1,-8.2,145,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2668,3502
$GC,3340,-1.10,-146.6,280.5,-8.1,160,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2668,3502
$GC,3649,-1.10,-146.6,306.0,-8.3,175,3653,0.00,2.17,0.00,0.000,4,0.000,0.088,2194,3792,3503
$GC,3688,-1.10,-146.6,309.4,-8.5,176,3694,0.00,2.05,0.00,0.000,6,0.000,0.060,2194,2672,3503
$GC,4004,-1.10,-146.6,334.8,-7.9,192,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2672,3503
$GC,4313,-1.10,-146.6,359.0,-7.9,207,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2672,3503
$GC,4623,-1.10,-146.6,383.7,-8.2,222,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2672,3503
$GC,4932,-1.10,-146.6,408.6,-8.2,237,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2672,3503
$GC,5241,-1.10,-146.6,433.0,-7.7,252,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2672,3503
$GC,5550,-1.10,-146.6,457.1,-7.8,267,5554,0.00,2.15,0.00,0.000,4,0.000,0.086,2195,3789,3503
$GC,5606,-1.10,-146.6,461.9,-8.7,269,5610,0.00,2.03,0.00,0.000,6,0.000,0.054,2194,2665,3502
$GC,5928,-1.10,-146.6,488.2,-8.3,285,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2665,3502
$GC,6237,-1.10,-146.6,515.6,-8.8,300,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2665,3502
$GC,6547,-1.10,-146.6,541.6,-8.1,315,6551,0.00,2.17,0.00,0.000,4,0.000,0.088,2194,3792,3503
$GC,6593,-1.10,-146.6,545.7,-8.8,317,6596,0.00,2.03,0.00,0.000,6,0.000,0.053,2194,2664,3503
$GC,6925,-1.10,-146.6,571.5,-7.6,333,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2664,3503
$GC,7235,-1.10,-146.6,594.9,-7.6,348,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2664,3503
$GC,7544,-1.10,-146.6,617.0,-7.1,363,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2664,3503
$GC,7853,-1.10,-146.6,640.8,-8.1,378,7857,0.00,2.17,0.00,0.000,4,0.000,0.086,2194,3796,3503
$GC,7904,-1.10,-146.6,645.3,-8.9,380,7907,0.00,2.03,0.00,0.000,6,0.000,0.053,2194,2668,3502
$GC,8231,-1.10,-146.6,671.5,-7.7,396,8236,0.00,2.58,0.00,0.000,4,0.000,0.067,2194,1256,3502
$GC,8276,-1.10,-146.6,675.0,-7.2,398,8281,0.00,2.62,0.00,0.000,6,0.000,0.061,2194,2687,3502
$GC,8603,-1.10,-146.6,699.4,-7.9,414,8607,0.00,2.08,0.00,0.000,4,0.000,0.086,2194,3783,3502
$GC,8642,-1.10,-146.6,702.6,-8.5,415,8649,0.00,2.00,0.00,0.000,6,0.000,0.050,2194,2657,3502
$GC,8959,-1.10,-146.6,728.8,-8.4,431,8963,0.00,2.53,0.00,0.000,4,0.000,0.062,2194,1258,3502
$GC,8998,-1.10,-146.6,732.0,-7.8,433,9003,0.00,2.60,0.00,0.000,6,0.000,0.062,2194,2674,3502
$GC,9326,-1.10,-146.6,755.3,-7.3,449,9330,0.00,2.12,0.00,0.000,4,0.000,0.092,2194,3789,3502
$GC,9421,-1.10,-146.6,762.2,-7.9,453,9425,0.00,2.03,0.00,0.000,6,0.000,0.051,2194,2675,3502
$STATE,9518,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9518,begin apogee
$GC,9527,-0.42,0.0,769.2,7.1,458,9660,0.77,0.00,125.47,1.198,6,0.104,0.000,2345,2065,2902
$STATE,9660,end apogee,CONTROL_FINISHED_OK
$STATE,9660,begin climb
$GC,9664,1.10,146.6,774.4,0.0,465,9797,1.55,2.75,123.20,1.163,4,0.055,0.061,2680,3491,2304
$GC,10055,1.16,196.2,763.8,4.6,482,10106,0.00,2.55,43.42,1.124,6,0.000,0.041,2680,2064,2102
$GC,10438,1.20,226.1,742.3,5.2,501,10471,0.00,2.80,26.65,1.111,4,0.000,0.064,2680,3497,1980
$GC,10531,1.24,258.8,737.2,5.1,505,10569,0.12,2.58,29.02,1.107,6,0.046,0.044,2719,2070,1846
$GC,10882,1.24,258.8,710.4,9.3,522,10886,0.00,2.58,0.00,0.000,4,0.000,0.061,2720,663,1845
$GC,10967,1.24,258.8,701.9,9.7,526,10972,0.00,2.53,0.00,0.000,6,0.000,0.040,2719,2088,1845
$GC,11294,1.24,258.8,672.6,8.7,542,11295,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2088,1844
$GC,11604,1.24,258.8,647.9,7.5,557,11605,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2088,1844
$GC,11913,1.24,258.8,625.0,7.4,572,11914,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2088,1844
$GC,12222,1.24,258.8,602.2,7.4,587,12226,0.00,2.60,0.00,0.000,4,0.000,0.057,2719,658,1844
$GC,12249,1.24,258.8,600.0,8.0,588,12254,0.00,2.50,0.00,0.000,6,0.000,0.037,2719,2082,1844
$GC,12571,1.24,258.8,574.7,8.0,604,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2082,1844
$GC,12880,1.24,258.8,548.9,8.4,619,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2082,1844
$GC,13189,1.24,258.8,522.3,8.7,634,13194,0.00,2.58,0.00,0.000,4,0.000,0.066,2719,3484,1844
$GC,13218,1.24,258.8,519.9,9.5,635,13222,0.00,2.53,0.00,0.000,6,0.000,0.043,2719,2064,1844
$GC,13533,1.24,258.8,493.1,8.5,650,13538,0.00,2.53,0.00,0.000,4,0.000,0.057,2719,658,1845
$GC,13567,1.24,258.8,490.2,8.1,651,13573,0.00,2.50,0.00,0.000,6,0.000,0.038,2719,2082,1845
$GC,13883,1.24,258.8,464.1,8.1,667,13884,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2082,1845
$GC,14192,1.24,258.8,439.8,7.7,682,14196,0.00,2.58,0.00,0.000,4,0.000,0.066,2719,3485,1845
$GC,14219,1.24,258.8,437.5,8.5,683,14223,0.00,2.53,0.00,0.000,6,0.000,0.044,2719,2069,1845
$GC,14540,1.24,258.8,412.7,7.7,699,14542,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2070,1845
$GC,14849,1.24,258.8,388.7,7.8,714,14854,0.00,2.62,0.00,0.000,4,0.000,0.065,2719,3484,1845
$GC,14877,1.24,258.8,386.3,8.5,715,14882,0.00,2.53,0.00,0.000,6,0.000,0.046,2719,2072,1845
$GC,15193,1.24,258.8,362.2,7.5,730,15195,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2072,1845
$GC,15502,1.24,258.8,339.9,7.2,745,15503,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2072,1846
$GC,15811,1.24,258.8,316.6,7.6,760,15813,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2072,1846
$GC,16121,1.24,258.8,292.6,7.9,775,16126,0.00,2.62,0.00,0.000,4,0.000,0.068,2719,3482,1846
$GC,16149,1.24,258.8,290.3,8.5,776,16153,0.00,2.53,0.00,0.000,6,0.000,0.048,2719,2075,1846
$GC,16470,1.24,258.8,267.1,6.9,792,16471,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2075,1846
$GC,16779,1.24,258.8,245.6,6.9,807,16780,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2075,1846
$GC,17089,1.24,258.8,224.3,6.9,822,17093,0.00,2.62,0.00,0.000,4,0.000,0.069,2719,3481,1846
$GC,17122,1.24,258.8,221.9,6.8,823,17128,0.00,2.53,0.00,0.000,6,0.000,0.048,2720,2074,1846
$GC,17438,1.24,258.8,200.3,6.9,839,17439,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2073,1846
$GC,17747,1.24,258.8,180.0,6.4,854,17751,0.00,2.62,0.00,0.000,4,0.000,0.069,2720,3481,1846
$GC,17775,1.24,258.8,178.1,6.8,855,17780,0.00,2.55,0.00,0.000,6,0.000,0.050,2719,2063,1846
$GC,18097,1.24,258.8,158.0,6.3,871,18098,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2063,1847
$GC,18407,1.24,260.4,139.7,6.0,886,18412,0.00,2.67,0.00,0.000,4,0.000,0.070,2719,3492,1847
$GC,18457,1.24,260.4,136.6,6.7,888,18461,0.00,2.55,0.00,0.000,6,0.000,0.049,2719,2074,1847
$GC,18773,1.24,260.4,118.1,6.0,903,18777,0.00,2.55,0.00,0.000,4,0.000,0.061,2720,665,1847
$GC,18829,1.25,268.5,114.3,5.8,905,18845,0.00,2.47,9.65,0.700,6,0.000,0.041,2719,2077,1806
$GC,19167,1.25,268.5,92.2,6.2,922,19172,0.00,2.62,0.00,0.000,4,0.000,0.070,2719,3492,1806
$GC,19201,1.25,268.5,89.7,6.4,923,19207,0.00,2.55,0.00,0.000,6,0.000,0.050,2719,2070,1806
$GC,19519,1.25,268.5,69.6,7.3,939,19520,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2070,1806
$GC,19826,1.25,268.5,49.4,6.1,954,19827,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2070,1806
$GC,20135,1.25,268.5,30.2,7.1,969,20140,0.00,2.55,0.00,0.000,4,0.000,0.063,2720,666,1806
$GC,20199,1.25,268.5,25.2,8.6,972,20203,0.00,2.50,0.00,0.000,6,0.000,0.041,2719,2082,1806
$STATE,20504,end climb,SURFACE_DEPTH_REACHED
$STATE,20504,begin surface coast
$FINISH,0.5,1.021949
$STATE,20524,end surface coast,CONTROL_FINISHED_OK
$STATE,20524,begin surface
$SM_CCo,20609,0.00,0.000,0,0,1805,269.09
$SM_GC,1.67,11.60,0.00,0.00,0.025,0.000,0.000,46,2669,1805,-10.93,-0.17,269.09
$IRIDIUM_FIX,6221.17,-1258.27,240798,050552
$TT8_MAMPS,0.029146
$HUMID,1794
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.4,53.2
$24V_AH,23.2,51.519
$10V_AH,10.1,29.683
$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,26.050,123.300,357.425,0.000,0.000,28.122,27.062,210.500,6.250,0.000,0.000,17.239,1740.482,16178.877,446.801,2004.527,637.356,33.370,1451.767,0.000,1975.392,0.000,43.770,0.000
$DEVICE_MAMPS,155.701,93.574,1198.054,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,686.705,745.530,595.365,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50527,988
$CAP_FILE_SIZE,130894,0
$CFSIZE,260165632,239071232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290409,171727,6247.022,-1256.196,26,2.2,45,-11.9