version: 66.04
glider: 103
mission: 11
dive: 278
start: 4 23 109 13 18 13
data:
$ID,103
$MISSION,11
$DIVE,278
$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,-148338.22
$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,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
$GPS1,130336,6312.853,-1305.613,98,1.7,98,-12.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-56.3
$GPS2,131720,6312.905,-1305.882,21,1.6,21,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.027,-0.217
$KALMAN_X,-4406.1,-1359.1,-793.6,-5575.7,8088.1
$KALMAN_Y,58859.8,-1136.5,-490.1,-137882.7,16413.6
$MHEAD_RNG_PITCHd_Wd,199.4,42427,-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,16,-1.10,-146.6,0.0,0.0,0,64,0.00,0.00,-45.78,0.000,2,0.000,0.000,48,2680,3432
$GC,67,-1.10,-146.6,4.9,-7.6,3,89,12.12,2.72,-1.10,0.000,4,0.158,0.088,2194,1268,3501
$GC,136,-1.10,-146.6,17.7,-7.0,6,141,0.00,2.62,0.00,0.000,6,0.000,0.067,2194,2675,3501
$GC,466,-1.10,-146.6,50.0,-7.8,22,469,0.00,2.15,0.00,0.000,4,0.000,0.094,2194,3787,3501
$GC,572,-1.10,-146.6,59.9,-8.7,26,578,0.00,2.03,0.00,0.000,6,0.000,0.061,2194,2677,3501
$GC,888,-1.10,-146.6,83.3,-8.2,42,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2678,3501
$GC,1198,-1.10,-146.6,104.8,-7.4,57,1202,0.00,2.65,0.00,0.000,4,0.000,0.075,2194,1255,3501
$GC,1238,-1.10,-146.6,108.4,-9.4,59,1242,0.00,2.62,0.00,0.000,6,0.000,0.063,2194,2676,3501
$GC,1565,-1.10,-146.6,135.7,-7.8,75,1568,0.00,2.15,0.00,0.000,4,0.000,0.092,2194,3792,3501
$GC,1644,-1.10,-146.6,142.3,-8.8,78,1647,0.00,2.05,0.00,0.000,6,0.000,0.060,2194,2673,3501
$GC,1965,-1.10,-146.6,170.5,-8.8,94,1969,0.00,2.62,0.00,0.000,4,0.000,0.072,2194,1250,3501
$GC,2009,-1.10,-146.6,174.4,-9.2,96,2014,0.00,2.62,0.00,0.000,6,0.000,0.060,2194,2679,3501
$GC,2330,-1.10,-146.6,202.9,-8.8,112,2334,0.00,2.12,0.00,0.000,4,0.000,0.091,2194,3787,3501
$GC,2381,-1.10,-146.6,207.7,-9.0,114,2384,0.00,2.05,0.00,0.000,6,0.000,0.058,2194,2664,3501
$GC,2708,-1.10,-146.6,236.2,-8.6,130,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2664,3501
$GC,3017,-1.10,-146.6,261.9,-7.9,145,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2664,3501
$GC,3326,-1.10,-146.6,287.4,-8.5,160,3330,0.00,2.17,0.00,0.000,4,0.000,0.090,2194,3783,3502
$GC,3388,-1.10,-146.6,292.7,-8.3,162,3394,0.00,2.03,0.00,0.000,6,0.000,0.058,2194,2673,3502
$GC,3704,-1.10,-146.6,316.6,-7.2,178,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2673,3502
$GC,4013,-1.10,-146.6,338.2,-6.9,193,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2673,3502
$GC,4322,-1.10,-146.6,359.4,-6.7,208,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2673,3502
$GC,4632,-1.10,-146.6,380.8,-6.9,223,4636,0.00,2.15,0.00,0.000,4,0.000,0.089,2194,3785,3502
$GC,4682,-1.10,-146.6,384.6,-8.2,225,4686,0.00,2.03,0.00,0.000,6,0.000,0.056,2194,2667,3502
$GC,5010,-1.10,-146.6,409.1,-7.8,241,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3502
$GC,5320,-1.10,-146.6,434.7,-8.7,256,5324,0.00,2.60,0.00,0.000,4,0.000,0.070,2194,1248,3502
$GC,5369,-1.10,-146.6,439.4,-8.8,258,5374,0.00,2.62,0.00,0.000,6,0.000,0.058,2194,2684,3502
$GC,5685,-1.10,-146.6,467.2,-8.9,273,5689,0.00,2.10,0.00,0.000,4,0.000,0.089,2194,3786,3502
$GC,5714,-1.10,-146.6,469.8,-9.3,274,5717,0.00,2.00,0.00,0.000,6,0.000,0.053,2194,2673,3502
$GC,6041,-1.10,-146.6,496.8,-7.6,290,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2673,3502
$GC,6350,-1.10,-146.6,517.8,-6.2,305,6354,0.00,2.58,0.00,0.000,4,0.000,0.068,2194,1257,3502
$GC,6400,-1.10,-146.6,521.1,-6.8,307,6404,0.00,2.60,0.00,0.000,6,0.000,0.059,2194,2679,3502
$GC,6716,-1.10,-146.6,543.7,-7.5,322,6720,0.00,2.10,0.00,0.000,4,0.000,0.090,2194,3786,3501
$GC,6784,-1.10,-146.6,549.5,-8.0,325,6789,0.00,2.00,0.00,0.000,6,0.000,0.053,2194,2670,3502
$GC,7118,-1.10,-146.6,576.3,-7.7,341,7122,0.00,2.58,0.00,0.000,4,0.000,0.068,2194,1258,3501
$GC,7196,-1.10,-146.6,582.4,-7.4,344,7202,0.00,2.60,0.00,0.000,6,0.000,0.060,2194,2676,3501
$GC,7512,-1.10,-146.6,604.6,-7.3,360,7515,0.00,2.12,0.00,0.000,4,0.000,0.091,2194,3787,3501
$GC,7545,-1.10,-146.6,607.1,-7.9,361,7549,0.00,2.00,0.00,0.000,6,0.000,0.053,2194,2673,3501
$GC,7867,-1.10,-146.6,629.3,-7.3,377,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2673,3501
$GC,8176,-1.10,-146.6,653.9,-7.6,392,8180,0.00,2.60,0.00,0.000,4,0.000,0.068,2194,1251,3501
$GC,8209,-1.10,-146.6,656.8,-8.7,393,8216,0.00,2.62,0.00,0.000,6,0.000,0.061,2194,2680,3501
$GC,8525,-1.10,-146.6,679.8,-7.0,409,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2680,3500
$STATE,8811,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8811,begin apogee
$GC,8819,-0.42,0.0,701.0,7.7,423,8948,0.77,0.00,125.28,1.144,6,0.101,0.000,2346,2071,2902
$STATE,8949,end apogee,CONTROL_FINISHED_OK
$STATE,8949,begin climb
$GC,8952,1.10,146.6,707.1,0.0,429,9085,1.55,2.67,123.20,1.114,4,0.058,0.058,2678,3494,2304
$GC,9169,1.19,214.0,705.9,4.1,439,9237,0.00,2.55,57.85,1.088,6,0.000,0.038,2678,2061,2029
$GC,9550,1.19,214.0,682.5,6.8,458,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2061,2029
$GC,9855,1.19,214.0,662.4,6.5,473,9860,0.00,2.67,0.00,0.000,4,0.000,0.062,2678,3500,2029
$GC,9900,1.19,214.0,659.4,6.6,475,9905,0.00,2.55,0.00,0.000,6,0.000,0.041,2678,2071,2029
$GC,10223,1.19,220.7,639.7,5.8,491,10232,0.00,0.00,7.32,0.917,6,0.000,0.000,2678,2071,2002
$GC,10532,1.19,220.7,621.2,6.1,506,10533,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2071,2002
$GC,10841,1.19,220.7,602.7,6.0,521,10846,0.00,2.65,0.00,0.000,4,0.000,0.063,2678,3495,2001
$GC,10863,1.19,220.7,601.2,6.4,522,10867,0.00,2.55,0.00,0.000,6,0.000,0.044,2678,2068,2001
$GC,11184,1.19,220.7,581.4,6.3,538,11185,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2068,2001
$GC,11494,1.21,232.2,562.9,5.7,553,11510,0.12,2.60,11.07,0.975,4,0.045,0.059,2721,659,1955
$GC,11580,1.21,232.2,556.8,7.5,556,11584,0.00,2.50,0.00,0.000,6,0.000,0.036,2721,2090,1955
$GC,11906,1.21,232.2,534.2,7.0,572,11911,0.00,2.60,0.00,0.000,4,0.000,0.058,2721,655,1955
$GC,11952,1.21,232.2,530.8,7.2,574,11956,0.00,2.47,0.00,0.000,6,0.000,0.037,2720,2076,1955
$GC,12285,1.21,232.2,506.1,7.3,590,12286,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2076,1955
$GC,12595,1.22,243.1,484.4,5.7,605,12610,0.00,2.60,10.55,0.928,4,0.000,0.056,2720,666,1911
$GC,12695,1.22,243.1,477.6,7.2,608,12701,0.00,2.47,0.00,0.000,6,0.000,0.037,2720,2077,1911
$GC,13011,1.22,243.1,455.8,7.1,624,13015,0.00,2.55,0.00,0.000,4,0.000,0.058,2720,664,1911
$GC,13061,1.22,243.1,452.0,7.3,626,13066,0.00,2.47,0.00,0.000,6,0.000,0.037,2720,2080,1911
$GC,13383,1.22,243.1,429.4,7.0,642,13387,0.00,2.58,0.00,0.000,4,0.000,0.057,2720,659,1911
$GC,13422,1.22,243.1,426.5,6.9,644,13427,0.00,2.47,0.00,0.000,6,0.000,0.037,2720,2077,1911
$GC,13750,1.22,243.1,403.4,7.2,660,13754,0.00,2.58,0.00,0.000,4,0.000,0.058,2720,659,1911
$GC,13829,1.22,243.1,397.5,7.3,663,13835,0.00,2.47,0.00,0.000,6,0.000,0.038,2720,2075,1911
$GC,14145,1.22,243.1,374.9,7.1,679,14149,0.00,2.55,0.00,0.000,4,0.000,0.058,2720,665,1911
$GC,14173,1.22,243.1,372.8,7.6,680,14177,0.00,2.47,0.00,0.000,6,0.000,0.038,2720,2080,1911
$GC,14489,1.22,243.1,349.1,8.0,695,14490,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2080,1911
$GC,14798,1.22,243.1,324.7,7.7,710,14799,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2080,1911
$GC,15108,1.22,243.1,299.6,8.1,725,15109,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2080,1911
$GC,15416,1.22,243.1,274.2,8.3,740,15417,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2080,1912
$GC,15726,1.22,243.1,249.7,8.0,755,15730,0.00,2.58,0.00,0.000,4,0.000,0.059,2720,657,1912
$GC,15767,1.22,243.1,246.3,8.5,756,15773,0.00,2.50,0.00,0.000,6,0.000,0.039,2720,2084,1912
$GC,16082,1.22,243.1,221.0,8.0,772,16084,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2083,1912
$GC,16392,1.22,243.1,196.9,7.9,787,16396,0.00,2.58,0.00,0.000,4,0.000,0.059,2720,665,1912
$GC,16442,1.22,243.1,192.7,9.4,789,16446,0.00,2.47,0.00,0.000,6,0.000,0.039,2720,2079,1912
$GC,16758,1.22,243.1,168.6,7.4,804,16762,0.00,2.58,0.00,0.000,4,0.000,0.059,2721,663,1912
$GC,16779,1.22,243.1,166.9,7.4,805,16783,0.00,2.47,0.00,0.000,6,0.000,0.039,2721,2076,1912
$GC,17101,1.22,243.1,144.6,6.8,821,17106,0.00,2.58,0.00,0.000,4,0.000,0.060,2721,661,1912
$GC,17146,1.22,243.1,141.2,6.6,823,17150,0.00,2.47,0.00,0.000,6,0.000,0.039,2720,2075,1913
$GC,17467,1.22,243.1,118.1,6.5,839,17468,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2075,1913
$GC,17778,1.22,243.1,98.5,6.8,854,17779,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2075,1913
$GC,18086,1.22,243.1,75.1,6.9,869,18091,0.00,2.58,0.00,0.000,4,0.000,0.064,2720,665,1913
$GC,18131,1.22,243.1,71.8,7.2,871,18135,0.00,2.47,0.00,0.000,6,0.000,0.038,2721,2081,1913
$GC,18452,1.22,243.1,47.3,8.5,887,18453,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2082,1913
$GC,18762,1.22,243.1,21.3,6.1,902,18766,0.00,2.62,0.00,0.000,4,0.000,0.067,2721,658,1913
$GC,18874,1.29,294.9,12.9,4.6,907,18922,0.00,2.47,42.33,0.690,6,0.000,0.038,2720,2078,1699
$STATE,19008,end climb,SURFACE_DEPTH_REACHED
$STATE,19008,begin surface coast
$FINISH,0.1,1.020718
$STATE,19032,end surface coast,CONTROL_FINISHED_OK
$STATE,19032,begin surface
$SM_CCo,19117,0.00,0.000,0,0,1698,295.34
$SM_GC,1.37,11.68,0.00,0.00,0.023,0.000,0.000,47,2668,1698,-10.93,-0.20,295.34
$IRIDIUM_FIX,6249.28,-1308.97,180798,131312
$TT8_MAMPS,0.029146
$HUMID,1769
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.2,84.0
$24V_AH,23.3,48.022
$10V_AH,10.1,27.442
$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,26.250,153.625,377.600,0.000,0.000,82.802,89.479,376.695,5.250,0.000,0.000,24.575,1655.753,14923.058,471.596,1975.021,911.305,33.377,1473.042,0.000,1926.019,0.000,39.268,0.000
$DEVICE_MAMPS,158.002,93.574,1144.364,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,638.034,679.435,557.772,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47356,915
$CAP_FILE_SIZE,137256,0
$CFSIZE,260165632,240693248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230409,183806,6311.200,-1311.989,38,1.5,38,-12.2