version: 66.04
glider: 103
mission: 11
dive: 282
start: 4 24 109 12 53 2
data:
$ID,103
$MISSION,11
$DIVE,282
$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,-148442.73
$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,9
$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
$GPS1,124401,6307.144,-1309.237,41,1.5,41,-12.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-51.6
$GPS2,125208,6307.135,-1309.156,15,1.6,15,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.078,-0.204
$KALMAN_X,-25769.0,1058.5,2880.4,6938.8,-14813.4
$KALMAN_Y,65660.0,-777.2,-1633.6,-154599.3,15963.7
$MHEAD_RNG_PITCHd_Wd,171.2,31928,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-80.62,0.000,2,0.000,0.000,45,2674,3179
$GC,103,-1.10,-146.6,3.6,-4.2,4,126,12.18,2.25,-5.40,0.000,4,0.159,0.105,2195,3790,3502
$GC,188,-1.10,-146.6,17.8,-8.4,7,194,0.00,2.08,0.00,0.000,6,0.000,0.066,2195,2672,3501
$GC,506,-1.10,-146.6,41.9,-7.6,23,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2672,3501
$GC,813,-1.10,-146.6,67.3,-8.2,38,817,0.00,2.20,0.00,0.000,4,0.000,0.091,2196,3792,3501
$GC,875,-1.10,-146.6,72.4,-7.5,40,881,0.00,2.08,0.00,0.000,6,0.000,0.063,2195,2664,3501
$GC,1191,-1.10,-146.6,96.1,-8.0,56,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2664,3501
$GC,1502,-1.10,-146.6,117.7,-6.4,71,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2664,3501
$GC,1810,-1.10,-146.6,139.9,-7.1,86,1813,0.00,2.22,0.00,0.000,4,0.000,0.095,2196,3790,3501
$GC,1856,-1.10,-146.6,143.2,-7.4,88,1860,0.00,2.08,0.00,0.000,6,0.000,0.062,2195,2665,3501
$GC,2189,-1.10,-146.6,166.8,-7.1,104,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2665,3500
$GC,2498,-1.10,-146.6,190.0,-7.5,119,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2665,3500
$GC,2807,-1.10,-146.6,212.5,-7.0,134,2811,0.00,2.20,0.00,0.000,4,0.000,0.094,2196,3786,3500
$GC,2846,-1.10,-146.6,215.5,-7.8,135,2853,0.00,2.03,0.00,0.000,6,0.000,0.061,2196,2675,3500
$GC,3163,-1.10,-146.6,238.4,-7.1,151,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3500
$GC,3472,-1.10,-146.6,262.2,-8.0,166,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3500
$GC,3782,-1.10,-146.6,285.5,-7.8,181,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2674,3500
$GC,4091,-1.10,-146.6,308.2,-7.5,196,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2674,3500
$GC,4400,-1.10,-146.6,332.3,-7.8,211,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2674,3500
$GC,4710,-1.10,-146.6,355.8,-7.7,226,4714,0.00,2.62,0.00,0.000,4,0.000,0.071,2196,1248,3500
$GC,4737,-1.10,-146.6,358.0,-7.7,227,4741,0.00,2.65,0.00,0.000,6,0.000,0.063,2195,2683,3500
$GC,5053,-1.10,-146.6,381.2,-7.4,242,5056,0.00,2.10,0.00,0.000,4,0.000,0.091,2196,3786,3500
$GC,5131,-1.10,-146.6,387.6,-8.6,245,5135,0.00,2.03,0.00,0.000,6,0.000,0.058,2195,2675,3500
$GC,5453,-1.10,-146.6,411.8,-7.3,261,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2674,3500
$GC,5763,-1.10,-146.6,431.8,-6.4,276,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3500
$GC,6073,-1.10,-146.6,454.8,-7.4,291,6076,0.00,2.17,0.00,0.000,4,0.000,0.093,2196,3788,3500
$GC,6151,-1.10,-146.6,460.6,-7.4,294,6155,0.00,2.03,0.00,0.000,6,0.000,0.056,2195,2664,3500
$GC,6472,-1.10,-146.6,482.0,-6.6,310,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2664,3500
$GC,6782,-1.10,-146.6,503.9,-7.3,325,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2664,3500
$GC,7093,-1.10,-146.6,525.8,-7.1,340,7096,0.00,2.20,0.00,0.000,4,0.000,0.091,2196,3794,3499
$GC,7143,-1.10,-146.6,530.0,-8.2,342,7147,0.00,2.03,0.00,0.000,6,0.000,0.054,2196,2674,3499
$GC,7471,-1.10,-146.6,555.3,-8.2,358,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2674,3499
$GC,7779,-1.10,-146.6,579.0,-8.0,373,7784,0.00,2.60,0.00,0.000,4,0.000,0.069,2196,1255,3499
$GC,7807,-1.10,-146.6,581.3,-8.3,374,7812,0.00,2.62,0.00,0.000,6,0.000,0.061,2195,2681,3499
$GC,8124,-1.10,-146.6,605.5,-7.6,389,8127,0.00,2.12,0.00,0.000,4,0.000,0.092,2196,3789,3499
$GC,8225,-1.10,-146.6,613.3,-8.3,393,8228,0.00,2.03,0.00,0.000,6,0.000,0.054,2195,2669,3499
$GC,8547,-1.10,-146.6,635.2,-7.6,409,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2669,3498
$GC,8856,-1.10,-146.6,657.5,-6.9,424,8860,0.00,2.60,0.00,0.000,4,0.000,0.072,2195,1256,3497
$GC,8918,-1.10,-146.6,662.9,-8.7,427,8922,0.00,2.62,0.00,0.000,6,0.000,0.063,2195,2679,3497
$GC,9245,-1.10,-146.6,683.4,-5.4,443,9249,0.00,2.15,0.00,0.000,4,0.000,0.095,2196,3793,3496
$GC,9314,-1.10,-146.6,688.1,-5.4,446,9318,0.00,2.03,0.00,0.000,6,0.000,0.054,2195,2667,3496
$STATE,9417,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9417,begin apogee
$GC,9425,-0.42,0.0,696.3,7.8,451,9553,0.77,0.00,124.47,1.164,6,0.101,0.000,2347,2077,2902
$STATE,9554,end apogee,CONTROL_FINISHED_OK
$STATE,9554,begin climb
$GC,9558,1.10,146.6,700.7,0.0,457,9689,1.58,2.72,121.90,1.144,4,0.064,0.066,2680,3495,2304
$GC,9945,1.15,186.2,689.7,4.9,474,9986,0.00,2.58,34.97,1.100,6,0.000,0.045,2680,2066,2142
$GC,10305,1.20,226.9,670.5,4.9,492,10348,0.00,2.78,35.00,1.115,4,0.000,0.067,2680,3502,1977
$GC,10417,1.20,226.9,663.5,7.3,497,10422,0.10,2.58,0.00,0.000,6,0.052,0.045,2713,2075,1977
$GC,10743,1.20,226.9,636.5,7.9,513,10747,0.00,2.58,0.00,0.000,4,0.000,0.062,2713,661,1977
$GC,10857,1.20,226.9,627.5,8.9,518,10861,0.00,2.53,0.00,0.000,6,0.000,0.040,2713,2084,1977
$GC,11184,1.20,226.9,602.2,7.1,534,11188,0.00,2.62,0.00,0.000,4,0.000,0.070,2713,3491,1976
$GC,11224,1.20,226.9,599.2,7.8,536,11228,0.00,2.55,0.00,0.000,6,0.000,0.045,2713,2071,1976
$GC,11551,1.20,226.9,576.1,6.9,552,11555,0.00,2.65,0.00,0.000,4,0.000,0.068,2713,3483,1976
$GC,11579,1.20,226.9,574.0,7.7,553,11584,0.00,2.53,0.00,0.000,6,0.000,0.045,2713,2074,1976
$GC,11895,1.20,226.9,551.2,7.4,568,11899,0.00,2.58,0.00,0.000,4,0.000,0.061,2713,661,1975
$GC,11935,1.20,226.9,548.1,7.6,570,11939,0.00,2.50,0.00,0.000,6,0.000,0.039,2713,2077,1975
$GC,12262,1.20,226.9,526.6,6.4,586,12263,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2077,1975
$GC,12571,1.20,229.5,507.9,5.9,601,12580,0.00,2.65,3.65,0.655,4,0.000,0.059,2713,662,1966
$GC,12598,1.20,229.5,506.2,6.6,602,12603,0.00,2.50,0.00,0.000,6,0.000,0.038,2713,2077,1966
$GC,12920,1.20,229.5,487.8,6.2,618,12921,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2077,1966
$GC,13229,1.20,229.5,468.4,6.5,633,13233,0.00,2.58,0.00,0.000,4,0.000,0.059,2713,665,1966
$GC,13285,1.20,229.5,464.7,6.7,635,13289,0.00,2.50,0.00,0.000,6,0.000,0.038,2713,2085,1966
$GC,13601,1.20,229.5,443.4,6.7,650,13605,0.00,2.60,0.00,0.000,4,0.000,0.058,2713,658,1966
$GC,13645,1.20,229.5,440.2,6.9,652,13650,0.00,2.50,0.00,0.000,6,0.000,0.038,2713,2079,1966
$GC,13967,1.20,229.5,417.8,7.3,668,13968,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2079,1966
$GC,14276,1.20,229.5,393.8,7.7,683,14281,0.00,2.60,0.00,0.000,4,0.000,0.067,2713,3490,1966
$GC,14310,1.20,229.5,391.0,8.2,684,14316,0.00,2.53,0.00,0.000,6,0.000,0.047,2713,2075,1966
$GC,14626,1.20,229.5,367.4,7.4,700,14630,0.00,2.55,0.00,0.000,4,0.000,0.061,2713,666,1967
$GC,14683,1.20,229.5,362.9,8.2,702,14689,0.00,2.47,0.00,0.000,6,0.000,0.038,2713,2075,1967
$GC,14999,1.20,229.5,340.4,6.6,718,15000,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2075,1967
$GC,15308,1.20,229.5,318.5,6.8,733,15309,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2075,1968
$GC,15618,1.20,229.5,296.7,7.2,748,15619,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2075,1968
$GC,15927,1.20,229.5,274.4,7.3,763,15930,0.00,2.55,0.00,0.000,4,0.000,0.059,2713,665,1969
$GC,15960,1.20,229.5,272.0,6.6,764,15964,0.00,2.47,0.00,0.000,6,0.000,0.039,2713,2075,1969
$GC,16276,1.20,229.5,249.5,7.2,779,16277,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2075,1969
$GC,16585,1.20,229.5,227.1,7.1,794,16589,0.00,2.55,0.00,0.000,4,0.000,0.058,2713,663,1969
$GC,16612,1.20,229.5,225.0,8.0,795,16617,0.00,2.50,0.00,0.000,6,0.000,0.039,2713,2086,1969
$GC,16929,1.20,229.5,203.4,6.4,810,16930,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2085,1969
$GC,17237,1.20,229.5,181.9,7.1,825,17242,0.00,2.60,0.00,0.000,4,0.000,0.059,2713,658,1969
$GC,17265,1.20,229.5,179.7,7.0,826,17269,0.00,2.50,0.00,0.000,6,0.000,0.039,2713,2081,1969
$GC,17587,1.20,229.5,156.6,7.4,842,17588,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2081,1970
$GC,17896,1.20,229.5,133.3,7.5,857,17901,0.00,2.60,0.00,0.000,4,0.000,0.061,2713,659,1970
$GC,17924,1.20,229.5,130.9,7.4,858,17928,0.00,2.50,0.00,0.000,6,0.000,0.040,2713,2080,1970
$GC,18242,1.20,229.5,106.1,7.3,873,18243,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2080,1970
$GC,18550,1.20,229.5,84.3,6.9,888,18554,0.00,2.60,0.00,0.000,4,0.000,0.061,2713,659,1970
$GC,18583,1.20,229.5,81.9,6.8,889,18589,0.00,2.47,0.00,0.000,6,0.000,0.040,2713,2078,1970
$GC,18901,1.20,229.5,60.2,6.9,905,18902,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2078,1971
$GC,19209,1.20,229.5,39.2,7.1,920,19213,0.00,2.60,0.00,0.000,4,0.000,0.062,2713,661,1971
$GC,19242,1.20,229.5,36.7,7.0,921,19248,0.00,2.47,0.00,0.000,6,0.000,0.040,2713,2079,1971
$GC,19559,1.20,229.5,16.4,7.0,937,19561,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2079,1971
$STATE,19761,end climb,SURFACE_DEPTH_REACHED
$STATE,19761,begin surface coast
$FINISH,0.2,1.027449
$STATE,19784,end surface coast,CONTROL_FINISHED_OK
$STATE,19785,begin surface
$SM_CCo,19870,0.00,0.000,0,0,1970,228.37
$SM_GC,1.63,11.62,0.00,0.00,0.027,0.000,0.000,48,2674,1970,-10.93,-0.03,228.37
$IRIDIUM_FIX,6244.56,-1322.89,190798,070704
$TT8_MAMPS,0.028379
$HUMID,1779
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.4,54.1
$24V_AH,23.2,48.654
$10V_AH,10.1,27.825
$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,26.250,143.075,320.000,0.000,0.000,31.331,26.675,289.163,5.500,0.000,0.000,15.265,1710.959,15477.614,458.574,1992.610,710.962,33.352,1458.743,0.000,1957.945,0.000,38.911,0.000
$DEVICE_MAMPS,158.769,105.079,1164.306,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,659.273,713.734,588.764,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47360,948
$CAP_FILE_SIZE,132997,0
$CFSIZE,260165632,240427008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240409,182536,6305.192,-1305.314,46,1.5,46,-12.1