version: 66.04
glider: 103
mission: 11
dive: 273
start: 4 22 109 13 4 30
data:
$ID,103
$MISSION,11
$DIVE,273
$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,-148209.27
$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,22
$R_STBD_OVSHOOT,10
$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
$GPS1,125506,6315.544,-1300.602,60,1.7,66,-12.1
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-60.0
$GPS2,130337,6315.586,-1300.579,61,2.0,66,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IE
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.138,-0.169
$KALMAN_X,-16770.7,521.0,4214.9,4103.5,-555.2
$KALMAN_Y,38587.3,185.9,1761.3,-116269.3,5103.8
$MHEAD_RNG_PITCHd_Wd,231.3,12070,-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,-41.65,0.000,2,0.000,0.000,49,2676,3413
$GC,62,-1.10,-146.6,5.3,-15.2,2,85,12.10,2.72,-1.30,0.000,4,0.158,0.089,2193,1268,3502
$GC,261,-1.10,-146.6,34.9,-15.9,10,267,0.00,2.62,0.00,0.000,6,0.000,0.067,2193,2681,3502
$GC,577,-1.10,-146.6,62.7,-6.8,26,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2681,3502
$GC,888,-1.10,-146.6,86.1,-7.8,41,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2681,3502
$GC,1196,-1.10,-146.6,113.8,-8.1,56,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2681,3502
$GC,1505,-1.10,-146.6,139.6,-7.9,71,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2681,3502
$GC,1814,-1.10,-146.6,163.6,-7.7,86,1818,0.00,2.12,0.00,0.000,4,0.000,0.090,2193,3790,3502
$GC,1860,-1.10,-146.6,167.4,-8.3,88,1864,0.00,2.03,0.00,0.000,6,0.000,0.061,2193,2681,3502
$GC,2193,-1.10,-146.6,192.3,-7.4,104,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2681,3502
$GC,2502,-1.10,-146.6,213.7,-7.0,119,2506,0.00,2.60,0.00,0.000,4,0.000,0.067,2193,1259,3502
$GC,2523,-1.10,-146.6,215.3,-7.2,120,2528,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2675,3502
$GC,2846,-1.10,-146.6,239.9,-8.0,136,2850,0.00,2.12,0.00,0.000,4,0.000,0.088,2193,3790,3502
$GC,2885,-1.10,-146.6,243.2,-8.5,137,2891,0.00,2.05,0.00,0.000,6,0.000,0.060,2193,2666,3502
$GC,3201,-1.10,-146.6,268.8,-8.1,153,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2666,3502
$GC,3510,-1.10,-146.6,294.2,-8.3,168,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2666,3502
$GC,3819,-1.10,-146.6,319.3,-8.1,183,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2666,3502
$GC,4129,-1.10,-146.6,344.8,-8.2,198,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2666,3502
$GC,4438,-1.10,-146.6,370.1,-8.1,213,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2666,3502
$GC,4747,-1.10,-146.6,394.6,-7.7,228,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2666,3502
$GC,5056,-1.10,-146.6,417.4,-7.2,243,5061,0.00,2.60,0.00,0.000,4,0.000,0.071,2193,1248,3502
$GC,5084,-1.10,-146.6,419.7,-7.4,244,5089,0.00,2.62,0.00,0.000,6,0.000,0.061,2193,2680,3502
$GC,5401,-1.10,-146.6,442.4,-7.3,259,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2680,3502
$GC,5709,-1.10,-146.6,466.1,-7.9,274,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2680,3502
$GC,6019,-1.10,-146.6,490.2,-7.9,289,6023,0.00,2.10,0.00,0.000,4,0.000,0.087,2193,3788,3502
$GC,6087,-1.10,-146.6,495.7,-8.5,292,6091,0.00,2.03,0.00,0.000,6,0.000,0.055,2193,2665,3502
$GC,6420,-1.10,-146.6,519.2,-6.6,308,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2665,3502
$GC,6730,-1.10,-146.6,541.8,-7.9,323,6734,0.00,2.58,0.00,0.000,4,0.000,0.070,2193,1258,3502
$GC,6774,-1.10,-146.6,545.7,-8.3,325,6778,0.00,2.60,0.00,0.000,6,0.000,0.060,2193,2678,3502
$GC,7096,-1.10,-146.6,567.7,-6.8,341,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3502
$GC,7405,-1.10,-146.6,590.8,-7.0,356,7409,0.00,2.10,0.00,0.000,4,0.000,0.089,2193,3785,3502
$GC,7474,-1.10,-146.6,595.8,-7.1,359,7477,0.00,2.00,0.00,0.000,6,0.000,0.054,2193,2671,3502
$GC,7806,-1.10,-146.6,616.6,-6.4,375,7810,0.00,2.15,0.00,0.000,4,0.000,0.088,2193,3783,3502
$GC,7845,-1.10,-146.6,619.5,-7.2,376,7851,0.00,2.00,0.00,0.000,6,0.000,0.054,2193,2673,3502
$STATE,8034,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8035,begin apogee
$GC,8043,-0.42,0.0,632.9,6.9,386,8171,0.77,0.00,124.43,1.093,6,0.102,0.000,2345,2066,2902
$STATE,8171,end apogee,CONTROL_FINISHED_OK
$STATE,8171,begin climb
$GC,8175,1.10,146.6,638.1,0.0,392,8306,1.58,2.70,121.70,1.064,4,0.059,0.059,2680,651,2303
$GC,8562,1.17,203.4,629.0,4.4,409,8617,0.00,2.53,48.55,1.050,6,0.000,0.037,2680,2091,2072
$GC,8943,1.19,220.5,608.3,5.5,428,8965,0.00,2.60,15.48,0.991,4,0.000,0.063,2680,3476,2003
$GC,8990,1.20,223.0,605.6,5.9,430,8999,0.00,2.55,4.07,0.670,6,0.000,0.043,2680,2058,1992
$GC,9323,1.23,250.5,586.8,5.2,446,9353,0.12,2.72,23.92,1.027,4,0.044,0.064,2721,3482,1880
$GC,9381,1.23,250.5,582.6,7.4,448,9387,0.00,2.55,0.00,0.000,6,0.000,0.044,2721,2067,1880
$GC,9697,1.23,250.5,559.3,7.4,464,9698,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2067,1880
$GC,10006,1.23,250.5,537.5,7.6,479,10010,0.00,2.55,0.00,0.000,4,0.000,0.061,2721,661,1879
$GC,10040,1.23,250.5,534.3,9.5,480,10044,0.00,2.50,0.00,0.000,6,0.000,0.040,2721,2077,1879
$GC,10356,1.23,250.5,508.0,7.9,495,10357,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2077,1879
$GC,10665,1.23,250.5,485.5,7.5,510,10666,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2077,1879
$GC,10974,1.23,250.5,460.6,8.3,525,10979,0.00,2.58,0.00,0.000,4,0.000,0.058,2721,665,1879
$GC,11016,1.23,250.5,457.1,8.8,527,11020,0.00,2.47,0.00,0.000,6,0.000,0.039,2721,2076,1879
$GC,11343,1.23,250.5,427.2,9.7,543,11347,0.00,2.60,0.00,0.000,4,0.000,0.067,2721,3485,1879
$GC,11370,1.23,250.5,424.2,10.3,544,11374,0.00,2.53,0.00,0.000,6,0.000,0.046,2721,2072,1879
$GC,11686,1.23,250.5,396.4,8.4,559,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2072,1879
$GC,11995,1.23,250.5,371.5,7.7,574,12000,0.00,2.62,0.00,0.000,4,0.000,0.066,2721,3485,1879
$GC,12040,1.23,250.5,367.9,7.7,576,12045,0.00,2.53,0.00,0.000,6,0.000,0.048,2720,2075,1879
$GC,12361,1.23,250.5,344.9,7.2,592,12362,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2075,1879
$GC,12671,1.23,250.5,321.0,7.8,607,12672,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2075,1879
$GC,12979,1.23,250.5,296.6,7.8,622,12981,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2075,1880
$GC,13289,1.23,250.5,273.7,7.4,637,13293,0.00,2.62,0.00,0.000,4,0.000,0.069,2721,3485,1880
$GC,13316,1.23,250.5,271.6,8.3,638,13321,0.00,2.53,0.00,0.000,6,0.000,0.048,2721,2076,1880
$GC,13632,1.23,250.5,248.6,7.3,653,13636,0.00,2.58,0.00,0.000,4,0.000,0.062,2721,654,1880
$GC,13659,1.23,250.5,246.5,7.1,654,13664,0.00,2.50,0.00,0.000,6,0.000,0.041,2721,2073,1880
$GC,13975,1.23,250.5,223.2,7.4,669,13980,0.00,2.60,0.00,0.000,4,0.000,0.068,2721,3485,1880
$GC,14003,1.23,250.5,220.9,7.8,670,14007,0.00,2.53,0.00,0.000,6,0.000,0.048,2721,2074,1880
$GC,14319,1.23,250.5,196.9,7.6,685,14323,0.00,2.55,0.00,0.000,4,0.000,0.061,2721,662,1880
$GC,14346,1.23,250.5,194.6,8.4,686,14350,0.00,2.50,0.00,0.000,6,0.000,0.041,2721,2082,1880
$GC,14668,1.23,250.5,170.8,7.2,702,14672,0.00,2.60,0.00,0.000,4,0.000,0.068,2721,3491,1881
$GC,14697,1.23,250.5,168.7,7.3,703,14701,0.00,2.55,0.00,0.000,6,0.000,0.048,2721,2069,1880
$GC,15013,1.23,250.5,146.1,7.2,718,15017,0.00,2.55,0.00,0.000,4,0.000,0.062,2721,661,1881
$GC,15040,1.23,250.5,143.7,8.1,719,15045,0.00,2.50,0.00,0.000,6,0.000,0.041,2721,2080,1881
$GC,15359,1.23,250.5,118.7,7.9,734,15363,0.00,2.60,0.00,0.000,4,0.000,0.069,2721,3489,1881
$GC,15382,1.23,250.5,116.7,8.3,735,15386,0.00,2.55,0.00,0.000,6,0.000,0.050,2721,2069,1881
$GC,15704,1.23,250.5,94.6,6.9,751,15705,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2069,1881
$GC,16014,1.24,262.0,74.4,5.7,766,16030,0.00,2.60,10.90,0.693,4,0.000,0.063,2721,657,1833
$GC,16099,1.24,262.0,68.3,7.6,769,16104,0.00,2.53,0.00,0.000,6,0.000,0.044,2721,2077,1833
$GC,16427,1.24,262.0,44.4,6.8,785,16431,0.00,2.60,0.00,0.000,4,0.000,0.062,2721,661,1833
$GC,16516,1.24,262.0,36.9,7.7,789,16521,0.00,2.50,0.00,0.000,6,0.000,0.041,2721,2077,1834
$GC,16838,1.24,262.0,7.9,9.8,805,16839,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2077,1833
$STATE,16918,end climb,SURFACE_DEPTH_REACHED
$STATE,16918,begin surface coast
$FINISH,0.5,1.018241
$STATE,16940,end surface coast,CONTROL_FINISHED_OK
$STATE,16940,begin surface
$SM_CCo,17025,0.00,0.000,0,0,1833,262.23
$SM_GC,1.49,11.75,0.00,0.00,0.031,0.000,0.000,52,2686,1833,-10.93,0.31,262.23
$IRIDIUM_FIX,6254.00,-1312.24,170798,070716
$TT8_MAMPS,0.028379
$HUMID,1771
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.1,40.9
$24V_AH,23.3,47.418
$10V_AH,10.1,27.028
$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,26.325,125.975,349.050,0.000,0.000,28.921,29.306,264.986,5.250,0.000,0.000,66.482,1471.105,13211.863,429.013,1777.182,643.452,33.355,1301.138,0.000,1689.850,0.000,38.534,0.000
$DEVICE_MAMPS,158.002,89.739,1092.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,563.536,600.892,511.722,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41168,810
$CAP_FILE_SIZE,117040,0
$CFSIZE,260165632,241016832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220409,174931,6314.558,-1302.242,39,2.0,39,-12.1