version: 66.04
glider: 103
mission: 11
dive: 261
start: 4 20 109 0 52 17
data:
$ID,103
$MISSION,11
$DIVE,261
$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,-147960.38
$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,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,12
$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
$GPS1,004255,6331.348,-1305.994,45,1.5,45,-12.3
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-58.0
$GPS2,005126,6331.432,-1306.168,13,1.8,13,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.004,-0.218
$KALMAN_X,-1703.4,208.5,260.4,-11172.0,-6424.6
$KALMAN_Y,20304.0,-727.1,-329.6,-65602.6,13082.8
$MHEAD_RNG_PITCHd_Wd,193.3,31309,-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,17,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-40.40,0.000,2,0.000,0.000,47,2676,3137
$GC,62,-1.10,-146.6,3.4,-8.8,2,88,12.15,2.72,-6.55,0.000,4,0.160,0.088,2193,1262,3503
$GC,139,-1.10,-146.6,14.0,-6.9,5,144,0.00,2.67,0.00,0.000,6,0.000,0.071,2193,2677,3503
$GC,455,-1.10,-146.6,39.3,-8.8,20,459,0.00,2.15,0.00,0.000,4,0.000,0.092,2193,3790,3503
$GC,547,-1.10,-146.6,46.9,-8.4,24,551,0.00,2.03,0.00,0.000,6,0.000,0.058,2193,2678,3503
$GC,882,-1.10,-146.6,76.5,-8.6,40,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3503
$GC,1189,-1.10,-146.6,101.2,-8.4,55,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3503
$GC,1499,-1.10,-146.6,128.0,-9.0,70,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3503
$GC,1808,-1.10,-146.6,156.7,-9.3,85,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3503
$GC,2117,-1.10,-146.6,185.3,-9.3,100,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3503
$GC,2426,-1.10,-146.6,213.8,-8.9,115,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3503
$GC,2735,-1.10,-146.6,239.8,-8.4,130,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3503
$GC,3045,-1.10,-146.6,266.2,-8.7,145,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3502
$GC,3354,-1.10,-146.6,292.5,-8.5,160,3358,0.00,2.15,0.00,0.000,4,0.000,0.089,2193,3789,3502
$GC,3388,-1.10,-146.6,295.5,-9.1,161,3391,0.00,2.03,0.00,0.000,6,0.000,0.058,2193,2675,3502
$GC,3709,-1.10,-146.6,323.2,-8.3,177,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2675,3502
$GC,4018,-1.10,-146.6,347.6,-7.7,192,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2675,3502
$GC,4328,-1.10,-146.6,372.2,-7.8,207,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2675,3502
$GC,4637,-1.10,-146.6,395.8,-7.9,222,4641,0.00,2.62,0.00,0.000,4,0.000,0.072,2193,1246,3502
$GC,4666,-1.10,-146.6,398.0,-7.9,223,4670,0.00,2.65,0.00,0.000,6,0.000,0.064,2193,2679,3502
$GC,4982,-1.10,-146.6,420.2,-6.9,238,4985,0.00,2.12,0.00,0.000,4,0.000,0.090,2193,3792,3502
$GC,5032,-1.10,-146.6,424.0,-8.0,240,5036,0.00,2.03,0.00,0.000,6,0.000,0.055,2193,2670,3502
$GC,5360,-1.10,-146.6,447.2,-7.3,256,5364,0.00,2.60,0.00,0.000,4,0.000,0.071,2193,1256,3502
$GC,5404,-1.10,-146.6,450.8,-8.0,258,5409,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2681,3502
$GC,5726,-1.10,-146.6,475.6,-7.5,274,5729,0.00,2.10,0.00,0.000,4,0.000,0.089,2193,3786,3502
$GC,5760,-1.10,-146.6,478.7,-9.1,275,5763,0.00,2.00,0.00,0.000,6,0.000,0.054,2193,2673,3502
$GC,6081,-1.10,-146.6,506.1,-8.1,291,6083,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2673,3502
$GC,6391,-1.10,-146.6,532.2,-9.2,306,6395,0.00,2.60,0.00,0.000,4,0.000,0.067,2193,1248,3502
$GC,6413,-1.10,-146.6,533.7,-6.5,307,6417,0.00,2.62,0.00,0.000,6,0.000,0.060,2193,2684,3502
$GC,6734,-1.10,-146.6,556.8,-5.9,323,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2684,3502
$GC,7043,-1.10,-146.6,578.8,-6.9,338,7047,0.00,2.10,0.00,0.000,4,0.000,0.087,2193,3792,3502
$GC,7094,-1.10,-146.6,582.5,-7.6,340,7097,0.00,2.00,0.00,0.000,6,0.000,0.051,2193,2672,3502
$GC,7421,-1.10,-146.6,606.2,-7.3,356,7425,0.00,2.17,0.00,0.000,4,0.000,0.091,2193,3793,3502
$GC,7483,-1.10,-146.6,610.7,-6.9,358,7489,0.00,2.00,0.00,0.000,6,0.000,0.051,2193,2674,3502
$GC,7799,-1.10,-146.6,631.6,-6.5,374,7803,0.00,2.15,0.00,0.000,4,0.000,0.089,2193,3787,3502
$GC,7850,-1.10,-146.6,634.8,-6.1,376,7853,0.00,2.00,0.00,0.000,6,0.000,0.053,2193,2674,3502
$GC,8177,-1.10,-146.6,651.7,-5.0,392,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2674,3502
$GC,8487,-1.10,-146.6,669.0,-5.4,407,8490,0.00,2.15,0.00,0.000,4,0.000,0.089,2193,3790,3502
$GC,8588,-1.10,-146.6,678.5,-11.4,411,8591,0.00,2.00,0.00,0.000,6,0.000,0.052,2193,2672,3502
$STATE,8886,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8886,begin apogee
$GC,8895,-0.42,0.0,702.3,7.2,426,9028,0.77,0.00,125.65,1.127,6,0.091,0.000,2349,2025,2902
$STATE,9029,end apogee,CONTROL_FINISHED_OK
$STATE,9029,begin climb
$GC,9032,1.10,146.6,708.7,0.0,433,9164,1.55,2.78,122.43,1.104,4,0.055,0.065,2679,3452,2304
$GC,9421,1.10,146.6,693.9,6.7,451,9425,0.00,2.60,0.00,0.000,6,0.000,0.045,2679,2007,2304
$GC,9747,1.10,146.6,674.7,7.2,467,9748,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2007,2303
$GC,10057,1.10,146.6,647.1,8.5,482,10061,0.00,2.58,0.00,0.000,4,0.000,0.068,2679,612,2302
$GC,10158,1.22,238.6,641.8,3.5,486,10241,0.12,2.53,76.70,1.106,6,0.044,0.041,2722,2046,1929
$GC,10552,1.25,267.0,619.0,5.2,505,10582,0.00,2.62,25.10,1.054,4,0.000,0.067,2722,3427,1813
$GC,10633,1.27,285.0,614.3,5.5,508,10655,0.00,2.55,16.45,1.012,6,0.000,0.047,2722,2020,1740
$GC,10966,1.41,400.1,601.3,2.8,524,11066,0.12,0.00,97.38,1.064,6,0.045,0.000,2761,2020,1270
$GC,11375,1.43,411.2,574.6,5.7,544,11388,0.00,0.00,10.75,0.937,6,0.000,0.000,2761,2020,1225
$GC,11683,1.43,411.2,553.3,8.2,559,11685,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2020,1225
$GC,11993,1.43,411.2,527.0,8.4,574,11997,0.00,2.62,0.00,0.000,4,0.000,0.065,2760,3436,1225
$GC,12020,1.43,411.2,524.5,9.7,575,12025,0.00,2.55,0.00,0.000,6,0.000,0.046,2761,2017,1225
$GC,12336,1.43,411.2,495.3,9.3,590,12340,0.00,2.62,0.00,0.000,4,0.000,0.065,2761,3430,1225
$GC,12354,1.43,411.2,493.6,9.3,591,12358,0.00,2.53,0.00,0.000,6,0.000,0.047,2761,2026,1225
$GC,12680,1.43,411.2,463.5,9.0,607,12682,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2026,1226
$GC,12990,1.43,411.2,435.1,9.3,622,12991,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2026,1226
$GC,13299,1.43,411.2,407.2,8.9,637,13301,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2026,1226
$GC,13608,1.43,411.2,379.4,8.9,652,13613,0.00,2.62,0.00,0.000,4,0.000,0.067,2760,3435,1226
$GC,13630,1.43,411.2,377.2,10.1,653,13635,0.00,2.55,0.00,0.000,6,0.000,0.050,2761,2023,1226
$GC,13952,1.43,411.2,350.7,8.3,669,13953,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2023,1226
$GC,14261,1.43,411.2,322.8,8.7,684,14265,0.00,2.60,0.00,0.000,4,0.000,0.067,2761,3430,1226
$GC,14288,1.43,411.2,320.3,8.8,685,14293,0.00,2.55,0.00,0.000,6,0.000,0.051,2761,2018,1226
$GC,14604,1.43,411.2,293.6,8.8,700,14605,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2018,1226
$GC,14914,1.43,411.2,263.8,10.0,715,14915,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2018,1226
$GC,15223,1.43,411.2,231.1,11.0,730,15227,0.00,2.62,0.00,0.000,4,0.000,0.067,2760,3430,1226
$GC,15244,1.43,411.2,228.5,11.2,731,15249,0.00,2.55,0.00,0.000,6,0.000,0.052,2761,2021,1226
$GC,15566,1.43,411.2,193.4,11.0,747,15567,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2021,1226
$GC,15875,1.43,411.2,159.7,10.8,762,15879,0.00,2.62,0.00,0.000,4,0.000,0.068,2760,3428,1226
$GC,15898,1.43,411.2,157.2,11.1,763,15903,0.00,2.55,0.00,0.000,6,0.000,0.053,2761,2021,1226
$GC,16220,1.43,411.2,122.3,11.2,779,16221,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2021,1227
$GC,16529,1.43,411.2,88.2,10.8,794,16533,0.00,2.62,0.00,0.000,4,0.000,0.070,2761,3429,1227
$GC,16550,1.43,411.2,85.7,11.1,795,16555,0.00,2.55,0.00,0.000,6,0.000,0.054,2761,2026,1227
$GC,16873,1.43,411.2,50.5,11.0,811,16877,0.00,2.65,0.00,0.000,4,0.000,0.074,2760,3433,1227
$GC,16892,1.43,411.2,48.6,9.3,812,16896,0.00,2.55,0.00,0.000,6,0.000,0.050,2761,2015,1227
$GC,17219,1.43,411.2,14.5,9.8,828,17223,0.00,2.58,0.00,0.000,4,0.000,0.069,2761,614,1227
$GC,17240,1.43,411.2,11.9,11.9,829,17245,0.00,2.50,0.00,0.000,6,0.000,0.044,2761,2024,1226
$STATE,17332,end climb,SURFACE_DEPTH_REACHED
$STATE,17332,begin surface coast
$FINISH,0.5,1.027455
$STATE,17354,end surface coast,CONTROL_FINISHED_OK
$STATE,17354,begin surface
$SM_CCo,17439,0.00,0.000,0,0,1227,411.12
$SM_GC,1.31,11.77,0.00,0.00,0.024,0.000,0.000,48,2673,1227,-10.93,-0.06,411.12
$IRIDIUM_FIX,6303.50,-1302.57,150798,000053
$TT8_MAMPS,0.028379
$HUMID,1787
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.4,84.7
$24V_AH,23.3,45.605
$10V_AH,10.1,26.060
$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,26.500,118.875,474.450,0.000,0.000,56.517,72.652,187.303,5.500,0.000,0.000,13.667,1490.096,13558.162,530.795,1736.214,628.666,33.372,1417.213,0.000,1699.819,0.000,40.333,0.000
$DEVICE_MAMPS,159.536,92.040,1126.723,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,585.774,612.269,489.402,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41106,835
$CAP_FILE_SIZE,117351,0
$CFSIZE,260165632,241717248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200409,054407,6330.886,-1307.739,34,1.1,34,-12.3