version: 66.04
glider: 103
mission: 11
dive: 272
start: 4 22 109 7 48 19
data:
$ID,103
$MISSION,11
$DIVE,272
$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,-148142.16
$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,19
$R_STBD_OVSHOOT,17
$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
$GPS1,074119,6317.580,-1308.672,37,2.0,56,-12.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-59.5
$GPS2,074726,6317.621,-1308.483,10,1.5,10,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.118,-0.184
$KALMAN_X,-19344.4,1632.8,1628.0,1701.0,-10692.6
$KALMAN_Y,37624.3,-356.8,1143.5,-110354.5,3659.3
$MHEAD_RNG_PITCHd_Wd,159.5,7285,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.67,0.000,2,0.000,0.000,53,2676,3325
$GC,62,-1.10,-146.6,4.6,-12.4,2,85,12.02,2.67,-2.83,0.000,4,0.156,0.081,2193,1256,3502
$GC,114,-1.10,-146.6,16.4,-9.4,4,118,0.00,2.65,0.00,0.000,6,0.000,0.067,2192,2671,3502
$GC,435,-1.10,-146.6,43.1,-7.8,20,439,0.00,2.15,0.00,0.000,4,0.000,0.093,2193,3782,3502
$GC,496,-1.10,-146.6,48.2,-8.0,22,503,0.00,2.03,0.00,0.000,6,0.000,0.061,2193,2670,3502
$GC,813,-1.10,-146.6,73.8,-8.4,38,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2670,3502
$GC,1123,-1.10,-146.6,98.8,-7.9,53,1128,0.00,2.62,0.00,0.000,4,0.000,0.075,2193,1260,3502
$GC,1151,-1.10,-146.6,101.1,-7.4,54,1155,0.00,2.62,0.00,0.000,6,0.000,0.065,2193,2674,3502
$GC,1467,-1.10,-146.6,124.7,-7.9,69,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2674,3502
$GC,1776,-1.10,-146.6,154.9,-9.0,84,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2674,3502
$GC,2085,-1.10,-146.6,178.1,-7.1,99,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2674,3502
$GC,2395,-1.10,-146.6,204.0,-8.5,114,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2674,3502
$GC,2704,-1.10,-146.6,229.6,-8.7,129,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2675,3502
$GC,3013,-1.10,-146.6,255.5,-8.0,144,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2674,3502
$GC,3322,-1.10,-146.6,278.0,-7.0,159,3326,0.00,2.12,0.00,0.000,4,0.000,0.088,2193,3788,3502
$GC,3369,-1.10,-146.6,281.3,-7.2,161,3372,0.00,2.05,0.00,0.000,6,0.000,0.059,2193,2666,3502
$GC,3701,-1.10,-146.6,303.1,-6.8,177,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2666,3502
$GC,4011,-1.10,-146.6,324.6,-6.9,192,4016,0.00,2.60,0.00,0.000,4,0.000,0.072,2193,1254,3502
$GC,4038,-1.10,-146.6,326.6,-6.9,193,4043,0.00,2.62,0.00,0.000,6,0.000,0.062,2192,2677,3502
$GC,4360,-1.10,-146.6,348.7,-6.7,209,4364,0.00,2.10,0.00,0.000,4,0.000,0.090,2193,3785,3502
$GC,4411,-1.10,-146.6,352.4,-7.4,211,4414,0.00,2.03,0.00,0.000,6,0.000,0.058,2193,2672,3502
$GC,4738,-1.10,-146.6,373.1,-6.5,227,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2672,3502
$GC,5047,-1.10,-146.6,394.1,-6.8,242,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2673,3502
$GC,5357,-1.10,-146.6,415.3,-6.8,257,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2673,3502
$GC,5666,-1.10,-146.6,436.4,-6.7,272,5670,0.00,2.60,0.00,0.000,4,0.000,0.070,2193,1253,3502
$GC,5698,-1.10,-146.6,438.7,-7.2,273,5704,0.00,2.60,0.00,0.000,6,0.000,0.060,2193,2676,3502
$GC,6015,-1.10,-146.6,458.2,-5.4,289,6019,0.00,2.12,0.00,0.000,4,0.000,0.088,2193,3792,3502
$GC,6071,-1.10,-146.6,461.3,-5.9,291,6075,0.00,2.03,0.00,0.000,6,0.000,0.055,2193,2670,3502
$GC,6393,-1.10,-146.6,479.2,-5.7,307,6397,0.00,2.58,0.00,0.000,4,0.000,0.070,2193,1257,3502
$GC,6443,-1.10,-146.6,482.3,-6.1,309,6448,0.00,2.60,0.00,0.000,6,0.000,0.059,2193,2679,3502
$GC,6759,-1.10,-146.6,501.6,-6.5,324,6763,0.00,2.10,0.00,0.000,4,0.000,0.087,2193,3787,3502
$GC,6809,-1.10,-146.6,505.1,-7.1,326,6813,0.00,2.00,0.00,0.000,6,0.000,0.054,2193,2674,3502
$GC,7137,-1.10,-146.6,527.6,-6.8,342,7141,0.00,2.60,0.00,0.000,4,0.000,0.069,2193,1255,3502
$GC,7181,-1.10,-146.6,530.8,-6.9,344,7185,0.00,2.60,0.00,0.000,6,0.000,0.060,2193,2675,3502
$GC,7502,-1.10,-146.6,554.0,-7.3,360,7506,0.00,2.12,0.00,0.000,4,0.000,0.087,2193,3793,3502
$GC,7541,-1.10,-146.6,557.1,-8.2,361,7547,0.00,2.03,0.00,0.000,6,0.000,0.053,2193,2666,3502
$GC,7857,-1.10,-146.6,583.7,-8.2,377,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2666,3502
$GC,8166,-1.10,-146.6,608.4,-7.9,392,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2666,3502
$GC,8476,-1.10,-146.6,630.5,-6.9,407,8480,0.00,2.17,0.00,0.000,4,0.000,0.087,2193,3792,3501
$GC,8594,-1.10,-146.6,639.3,-6.2,412,8598,0.00,2.03,0.00,0.000,6,0.000,0.054,2193,2668,3501
$STATE,8733,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8733,begin apogee
$GC,8741,-0.42,0.0,650.0,7.3,419,8869,0.77,0.00,124.72,1.104,6,0.095,0.000,2347,2070,2902
$STATE,8870,end apogee,CONTROL_FINISHED_OK
$STATE,8870,begin climb
$GC,8874,1.10,146.6,654.6,0.0,425,9003,1.55,2.70,120.90,1.083,4,0.055,0.060,2679,3497,2304
$GC,9237,1.21,234.7,642.5,3.6,441,9318,0.12,2.55,73.97,1.062,6,0.048,0.040,2716,2065,1945
$GC,9635,1.21,234.7,617.0,6.4,461,9639,0.00,2.67,0.00,0.000,4,0.000,0.062,2717,3503,1945
$GC,9685,1.22,238.0,613.7,5.9,463,9697,0.00,2.55,4.55,0.728,6,0.000,0.042,2716,2074,1931
$GC,10006,1.22,238.0,593.8,6.4,479,10010,0.00,2.55,0.00,0.000,4,0.000,0.060,2716,668,1930
$GC,10045,1.22,238.0,591.2,7.1,480,10052,0.00,2.50,0.00,0.000,6,0.000,0.038,2716,2091,1930
$GC,10362,1.22,238.0,571.2,6.7,496,10363,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2092,1931
$GC,10671,1.22,238.0,550.1,6.5,511,10675,0.00,2.60,0.00,0.000,4,0.000,0.057,2716,665,1930
$GC,10721,1.22,238.0,546.6,6.5,513,10725,0.00,2.50,0.00,0.000,6,0.000,0.038,2717,2085,1930
$GC,11037,1.22,238.0,525.4,6.9,528,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2086,1930
$GC,11346,1.22,238.0,503.5,7.0,543,11350,0.00,2.58,0.00,0.000,4,0.000,0.057,2716,663,1930
$GC,11412,1.22,238.0,498.3,7.8,546,11417,0.00,2.47,0.00,0.000,6,0.000,0.038,2717,2076,1930
$GC,11734,1.22,238.0,473.8,8.0,562,11738,0.00,2.58,0.00,0.000,4,0.000,0.064,2717,3494,1930
$GC,11785,1.22,238.0,469.5,8.3,564,11789,0.00,2.53,0.00,0.000,6,0.000,0.044,2717,2071,1930
$GC,12106,1.22,238.0,443.0,8.3,580,12110,0.00,2.53,0.00,0.000,4,0.000,0.060,2717,666,1930
$GC,12139,1.22,238.0,440.4,8.7,581,12145,0.00,2.47,0.00,0.000,6,0.000,0.038,2717,2081,1930
$GC,12455,1.22,238.0,415.1,8.0,597,12459,0.00,2.58,0.00,0.000,4,0.000,0.058,2716,662,1930
$GC,12483,1.22,238.0,412.5,9.0,598,12487,0.00,2.47,0.00,0.000,6,0.000,0.038,2716,2076,1930
$GC,12804,1.22,238.0,388.1,7.2,614,12806,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2076,1930
$GC,13113,1.22,238.0,367.3,6.9,629,13114,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2076,1931
$GC,13422,1.22,238.0,345.2,7.2,644,13427,0.00,2.58,0.00,0.000,4,0.000,0.065,2717,3484,1931
$GC,13445,1.22,238.0,343.4,7.8,645,13449,0.00,2.53,0.00,0.000,6,0.000,0.046,2717,2067,1931
$GC,13766,1.22,238.0,320.5,6.9,661,13770,0.00,2.53,0.00,0.000,4,0.000,0.060,2717,662,1931
$GC,13794,1.22,238.0,318.3,7.6,662,13798,0.00,2.47,0.00,0.000,6,0.000,0.039,2717,2075,1931
$GC,14116,1.22,238.0,295.2,7.3,678,14117,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2075,1931
$GC,14425,1.22,238.0,273.9,6.6,693,14426,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2075,1931
$GC,14734,1.22,238.0,253.8,6.5,708,14735,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2076,1932
$GC,15043,1.22,238.0,232.2,7.1,723,15045,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2075,1932
$GC,15353,1.22,238.0,209.3,7.6,738,15354,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2075,1932
$GC,15662,1.22,238.0,186.2,7.3,753,15666,0.00,2.58,0.00,0.000,4,0.000,0.061,2717,658,1932
$GC,15695,1.22,238.0,183.5,7.6,754,15699,0.00,2.50,0.00,0.000,6,0.000,0.041,2717,2079,1932
$GC,16011,1.22,238.0,160.1,7.5,769,16012,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2079,1932
$GC,16321,1.22,238.0,138.3,6.8,784,16322,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2079,1932
$GC,16630,1.22,238.0,117.9,6.6,799,16631,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2079,1932
$GC,16939,1.22,238.0,95.9,7.7,814,16944,0.00,2.60,0.00,0.000,4,0.000,0.063,2717,658,1932
$GC,16980,1.22,238.0,92.5,7.4,816,16984,0.00,2.50,0.00,0.000,6,0.000,0.043,2717,2085,1932
$GC,17307,1.22,238.0,68.7,7.9,832,17308,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2084,1933
$GC,17616,1.22,238.0,43.6,8.8,847,17618,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2084,1933
$GC,17927,1.22,238.0,17.3,9.4,862,17931,0.00,2.62,0.00,0.000,4,0.000,0.064,2717,658,1933
$GC,18083,1.22,238.0,7.9,6.8,869,18088,0.00,2.50,0.00,0.000,6,0.000,0.040,2717,2082,1933
$STATE,18196,end climb,SURFACE_DEPTH_REACHED
$STATE,18196,begin surface coast
$FINISH,0.3,1.002878
$STATE,18218,end surface coast,CONTROL_FINISHED_OK
$STATE,18218,begin surface
$SM_CCo,18303,0.00,0.000,0,0,1932,237.94
$SM_GC,1.95,11.77,0.00,0.00,0.032,0.000,0.000,49,2674,1932,-10.94,-0.03,237.94
$IRIDIUM_FIX,6254.00,-1316.90,170798,010105
$TT8_MAMPS,0.029146
$HUMID,1778
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.0,84.0
$24V_AH,23.3,47.294
$10V_AH,10.1,26.947
$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,26.250,128.925,324.150,0.000,0.000,29.201,26.431,176.957,4.750,0.000,0.000,13.232,1572.242,14279.159,414.143,1830.072,568.537,33.359,1335.009,0.000,1803.811,0.000,34.144,0.000
$DEVICE_MAMPS,155.701,92.807,1104.480,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,610.961,653.404,547.682,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44327,876
$CAP_FILE_SIZE,121191,0
$CFSIZE,260165632,241065984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220409,125506,6315.544,-1300.602,60,1.7,66,-12.1