version: 66.04
glider: 103
mission: 11
dive: 277
start: 4 23 109 7 59 30
data:
$ID,103
$MISSION,11
$DIVE,277
$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,-148313.02
$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,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
$GPS1,074856,6314.192,-1303.329,43,1.5,43,-12.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-57.5
$GPS2,075838,6314.320,-1303.172,16,1.9,16,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.047,-0.213
$KALMAN_X,-785.4,-1931.6,-1009.5,-6209.6,13114.4
$KALMAN_Y,57413.8,-687.6,-1320.2,-133473.9,20920.7
$MHEAD_RNG_PITCHd_Wd,204.6,45067,-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,-146.6,0.0,0.0,0,61,0.00,0.00,-41.42,0.000,2,0.000,0.000,52,2681,3017
$GC,64,-1.10,-146.6,3.1,-7.2,2,92,12.07,2.67,-9.35,0.000,4,0.157,0.084,2194,1264,3501
$GC,188,-1.10,-146.6,15.7,-9.9,7,194,0.00,2.62,0.00,0.000,6,0.000,0.067,2194,2675,3501
$GC,505,-1.10,-146.6,45.8,-8.6,23,509,0.00,2.15,0.00,0.000,4,0.000,0.093,2194,3787,3500
$GC,578,-1.10,-146.6,52.6,-9.6,26,582,0.00,2.03,0.00,0.000,6,0.000,0.058,2194,2678,3501
$GC,907,-1.10,-146.6,83.9,-10.6,42,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2678,3501
$GC,1215,-1.10,-146.6,115.3,-9.5,57,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2678,3501
$GC,1524,-1.10,-146.6,141.0,-8.9,72,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2678,3501
$GC,1833,-1.10,-146.6,170.1,-9.2,87,1838,0.00,2.60,0.00,0.000,4,0.000,0.064,2194,1250,3501
$GC,1861,-1.10,-146.6,173.0,-10.0,88,1865,0.00,2.65,0.00,0.000,6,0.000,0.065,2194,2677,3500
$GC,2177,-1.10,-146.6,202.8,-9.7,103,2180,0.00,2.12,0.00,0.000,4,0.000,0.089,2194,3787,3501
$GC,2227,-1.10,-146.6,208.3,-11.3,105,2231,0.00,2.05,0.00,0.000,6,0.000,0.059,2194,2665,3500
$GC,2555,-1.10,-146.6,239.6,-9.3,121,2559,0.00,2.60,0.00,0.000,4,0.000,0.071,2194,1250,3500
$GC,2582,-1.10,-146.6,242.1,-8.7,122,2587,0.00,2.62,0.00,0.000,6,0.000,0.063,2194,2674,3500
$GC,2898,-1.10,-146.6,268.2,-8.0,137,2902,0.00,2.12,0.00,0.000,4,0.000,0.092,2194,3784,3500
$GC,2937,-1.10,-146.6,271.5,-8.2,138,2943,0.00,2.03,0.00,0.000,6,0.000,0.059,2194,2676,3500
$GC,3253,-1.10,-146.6,296.8,-7.6,154,3258,0.00,2.60,0.00,0.000,4,0.000,0.072,2194,1249,3500
$GC,3283,-1.10,-146.6,299.1,-8.2,155,3287,0.00,2.65,0.00,0.000,6,0.000,0.064,2194,2683,3500
$GC,3599,-1.10,-146.6,323.9,-8.4,170,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2683,3500
$GC,3908,-1.10,-146.6,351.9,-9.1,185,3911,0.00,2.12,0.00,0.000,4,0.000,0.092,2194,3790,3500
$GC,3947,-1.10,-146.6,355.7,-9.3,186,3953,0.00,2.05,0.00,0.000,6,0.000,0.058,2194,2664,3500
$GC,4263,-1.10,-146.6,384.9,-9.7,202,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2664,3500
$GC,4572,-1.10,-146.6,417.0,-9.9,217,4575,0.00,2.20,0.00,0.000,4,0.000,0.092,2194,3792,3500
$GC,4611,-1.10,-146.6,420.6,-9.1,218,4617,0.00,2.03,0.00,0.000,6,0.000,0.054,2194,2670,3500
$GC,4927,-1.10,-146.6,444.6,-7.4,234,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2670,3500
$GC,5236,-1.10,-146.6,470.3,-7.9,249,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2670,3500
$GC,5545,-1.10,-146.6,492.3,-7.1,264,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2670,3500
$GC,5855,-1.10,-146.6,512.5,-6.6,279,5859,0.00,2.58,0.00,0.000,4,0.000,0.067,2194,1257,3500
$GC,5895,-1.10,-146.6,515.4,-7.4,281,5899,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2676,3500
$GC,6222,-1.10,-146.6,533.8,-4.8,297,6226,0.00,2.12,0.00,0.000,4,0.000,0.089,2194,3792,3500
$GC,6284,-1.10,-146.6,537.4,-6.1,299,6290,0.00,2.03,0.00,0.000,6,0.000,0.054,2194,2665,3500
$GC,6600,-1.10,-146.6,551.7,-4.5,315,6604,0.00,2.58,0.00,0.000,4,0.000,0.068,2194,1255,3500
$GC,6644,-1.10,-146.6,554.5,-6.4,317,6649,0.00,2.62,0.00,0.000,6,0.000,0.063,2194,2679,3500
$GC,6966,-1.10,-146.6,570.2,-5.1,333,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2679,3500
$GC,7275,-1.10,-146.6,586.7,-5.7,348,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2679,3500
$GC,7585,-1.10,-146.6,604.4,-5.8,363,7589,0.00,2.12,0.00,0.000,4,0.000,0.091,2194,3787,3500
$GC,7658,-1.10,-146.6,608.9,-5.9,366,7662,0.00,2.00,0.00,0.000,6,0.000,0.053,2194,2674,3500
$GC,7986,-1.10,-146.6,628.6,-5.9,382,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2674,3499
$GC,8295,-1.10,-146.6,649.4,-6.9,397,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2673,3499
$STATE,8354,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8354,begin apogee
$GC,8362,-0.42,0.0,653.8,7.2,400,8490,0.75,0.00,124.53,1.105,6,0.091,0.000,2345,2072,2902
$STATE,8490,end apogee,CONTROL_FINISHED_OK
$STATE,8491,begin climb
$GC,8494,1.10,146.6,658.9,0.0,406,8626,1.55,2.70,122.10,1.078,4,0.056,0.060,2679,659,2304
$GC,8686,1.18,212.6,659.3,4.2,415,8749,0.00,2.53,56.28,1.049,6,0.000,0.035,2679,2099,2035
$GC,9063,1.19,215.6,638.2,5.9,433,9072,0.00,2.58,4.32,0.703,4,0.000,0.064,2679,3479,2023
$GC,9101,1.19,215.6,635.2,7.8,434,9107,0.00,2.53,0.00,0.000,6,0.000,0.041,2679,2068,2023
$GC,9416,1.19,215.6,611.9,8.8,450,9418,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2068,2023
$GC,9726,1.19,215.6,588.5,8.4,465,9727,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2068,2022
$GC,10035,1.19,215.6,567.3,7.1,480,10036,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2068,2022
$GC,10344,1.19,215.6,548.1,6.5,495,10349,0.00,2.62,0.00,0.000,4,0.000,0.065,2680,3478,2022
$GC,10389,1.19,215.6,544.9,6.8,497,10393,0.00,2.50,0.00,0.000,6,0.000,0.044,2679,2075,2021
$GC,10710,1.19,215.6,523.3,6.4,513,10711,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2075,2021
$GC,11019,1.19,215.6,503.8,6.5,528,11023,0.00,2.60,0.00,0.000,4,0.000,0.065,2679,3474,2021
$GC,11041,1.19,215.6,502.3,6.9,529,11045,0.00,2.50,0.00,0.000,6,0.000,0.044,2679,2073,2021
$GC,11362,1.19,215.6,482.1,6.7,545,11366,0.00,2.55,0.00,0.000,4,0.000,0.061,2679,666,2021
$GC,11419,1.19,215.6,477.8,7.4,547,11425,0.00,2.47,0.00,0.000,6,0.000,0.039,2679,2075,2021
$GC,11735,1.19,215.6,456.3,6.5,563,11736,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2075,2021
$GC,12044,1.19,215.6,435.8,6.5,578,12045,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2075,2021
$GC,12353,1.19,215.6,416.6,6.2,593,12357,0.00,2.60,0.00,0.000,4,0.000,0.064,2679,3491,2021
$GC,12375,1.19,215.6,415.1,6.6,594,12380,0.00,2.53,0.00,0.000,6,0.000,0.043,2679,2070,2021
$GC,12697,1.20,227.8,395.6,5.7,610,12719,0.10,2.72,11.40,0.876,4,0.051,0.064,2715,3484,1973
$GC,12736,1.20,227.8,392.8,7.3,611,12742,0.00,2.55,0.00,0.000,6,0.000,0.045,2715,2069,1972
$GC,13052,1.20,227.8,370.6,7.4,627,13056,0.00,2.55,0.00,0.000,4,0.000,0.060,2716,659,1972
$GC,13108,1.20,227.8,366.2,7.9,629,13114,0.00,2.47,0.00,0.000,6,0.000,0.038,2715,2073,1972
$GC,13423,1.20,227.8,342.7,7.6,645,13425,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2073,1973
$GC,13733,1.20,227.8,317.7,8.0,660,13734,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2073,1973
$GC,14042,1.20,227.8,293.5,7.8,675,14047,0.00,2.58,0.00,0.000,4,0.000,0.059,2715,661,1973
$GC,14105,1.20,227.8,288.4,7.9,678,14109,0.00,2.50,0.00,0.000,6,0.000,0.040,2716,2081,1973
$GC,14432,1.20,227.8,264.0,7.5,694,14436,0.00,2.58,0.00,0.000,4,0.000,0.058,2716,666,1973
$GC,14459,1.20,227.8,261.7,8.5,695,14463,0.00,2.50,0.00,0.000,6,0.000,0.040,2715,2086,1973
$GC,14775,1.20,227.8,234.2,8.5,710,14779,0.00,2.60,0.00,0.000,4,0.000,0.059,2716,660,1973
$GC,14802,1.20,227.8,231.6,9.5,711,14806,0.00,2.50,0.00,0.000,6,0.000,0.040,2715,2081,1973
$GC,15119,1.20,227.8,205.4,8.0,726,15123,0.00,2.58,0.00,0.000,4,0.000,0.060,2715,666,1974
$GC,15147,1.20,227.8,203.3,7.7,727,15151,0.00,2.50,0.00,0.000,6,0.000,0.041,2716,2087,1974
$GC,15468,1.20,227.8,182.3,7.2,743,15469,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2087,1974
$GC,15777,1.20,227.8,157.6,7.1,758,15782,0.00,2.60,0.00,0.000,4,0.000,0.060,2715,662,1973
$GC,15811,1.20,227.8,154.9,7.5,759,15817,0.00,2.50,0.00,0.000,6,0.000,0.041,2716,2083,1974
$GC,16127,1.20,227.8,132.1,7.2,775,16128,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2083,1974
$GC,16437,1.20,227.8,111.6,6.7,790,16441,0.00,2.60,0.00,0.000,4,0.000,0.061,2715,660,1973
$GC,16523,1.20,227.8,105.4,8.5,794,16528,0.00,2.50,0.00,0.000,6,0.000,0.041,2716,2080,1974
$GC,16850,1.20,227.8,83.1,6.7,810,16855,0.00,2.60,0.00,0.000,4,0.000,0.063,2716,664,1974
$GC,16884,1.20,227.8,80.5,6.5,811,16891,0.00,2.50,0.00,0.000,6,0.000,0.041,2716,2083,1974
$GC,17201,1.21,233.5,62.1,5.8,827,17209,0.00,0.00,6.55,0.632,6,0.000,0.000,2716,2083,1950
$GC,17511,1.21,233.5,39.8,8.3,842,17516,0.00,2.60,0.00,0.000,4,0.000,0.061,2716,666,1949
$GC,17643,1.24,258.4,29.8,5.3,848,17669,0.00,2.50,21.05,0.693,6,0.000,0.046,2715,2074,1848
$GC,17991,1.24,258.4,4.1,9.8,865,17995,0.00,2.55,0.00,0.000,4,0.000,0.054,2715,668,1847
$STATE,18015,end climb,SURFACE_DEPTH_REACHED
$STATE,18015,begin surface coast
$FINISH,1.1,1.027445
$STATE,18022,end surface coast,CONTROL_FINISHED_OK
$STATE,18022,begin surface
$SM_CCo,18110,0.00,0.000,0,0,1846,259.04
$SM_GC,1.58,11.80,0.00,0.00,0.031,0.000,0.000,48,2678,1846,-10.94,0.08,259.04
$IRIDIUM_FIX,6249.28,-1300.75,180798,080847
$TT8_MAMPS,0.029146
$HUMID,1765
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.1,37.0
$24V_AH,23.3,47.877
$10V_AH,10.1,27.351
$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,26.275,149.725,346.225,0.000,0.000,55.005,54.092,269.432,5.750,0.000,0.000,16.244,1570.742,14104.017,460.492,1830.279,722.304,33.362,1389.085,0.000,1788.691,0.000,44.052,0.000
$DEVICE_MAMPS,157.235,92.807,1105.247,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,603.553,638.487,540.846,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44371,866
$CAP_FILE_SIZE,128660,0
$CFSIZE,260165632,240766976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230409,130336,6312.853,-1305.613,98,1.7,98,-12.2