version: 66.04
glider: 103
mission: 11
dive: 283
start: 4 24 109 18 35 53
data:
$ID,103
$MISSION,11
$DIVE,283
$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,-148461.39
$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,21
$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
$GPS1,182536,6305.192,-1305.314,46,1.5,46,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-62.2
$GPS2,183501,6305.258,-1304.985,12,1.4,18,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.116,-0.147
$KALMAN_X,-28182.7,909.7,7638.3,8141.3,3828.1
$KALMAN_Y,67865.8,-200.6,-2282.2,-160219.3,4917.5
$MHEAD_RNG_PITCHd_Wd,230.5,28258,-13.9,-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,-1.28,-101.5,0.0,0.0,0,60,0.00,0.00,-40.28,0.000,6,0.000,0.000,48,2678,3317
$GC,64,-1.28,-101.5,4.2,-11.4,2,86,11.95,2.70,0.00,0.000,4,0.160,0.071,2156,1266,3317
$GC,165,-1.28,-101.5,21.7,-10.1,6,169,0.00,2.62,0.00,0.000,6,0.000,0.063,2156,2682,3317
$GC,481,-1.28,-101.5,52.1,-9.5,21,484,0.00,2.08,0.00,0.000,4,0.000,0.080,2156,3783,3317
$GC,542,-1.28,-101.5,57.2,-9.1,23,549,0.00,2.00,0.00,0.000,6,0.000,0.046,2156,2651,3317
$GC,859,-1.28,-101.5,84.5,-9.1,39,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2651,3317
$GC,1168,-1.28,-101.5,111.7,-8.4,54,1171,0.00,2.17,0.00,0.000,4,0.000,0.077,2156,3793,3317
$GC,1216,-1.28,-101.5,115.7,-8.7,56,1219,0.00,1.98,0.00,0.000,6,0.000,0.044,2156,2672,3317
$GC,1551,-1.28,-101.5,144.1,-8.6,72,1554,0.00,2.12,0.00,0.000,4,0.000,0.079,2156,3787,3317
$GC,1590,-1.28,-101.5,147.8,-9.0,73,1596,0.00,2.00,0.00,0.000,6,0.000,0.043,2156,2646,3317
$GC,1905,-1.28,-101.5,173.8,-8.3,89,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2646,3317
$GC,2216,-1.28,-101.5,200.5,-8.8,104,2219,0.00,2.17,0.00,0.000,4,0.000,0.079,2156,3787,3317
$GC,2284,-1.28,-101.5,207.1,-10.1,107,2288,0.00,1.98,0.00,0.000,6,0.000,0.043,2156,2665,3317
$GC,2617,-1.28,-101.5,237.9,-9.4,123,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2664,3317
$GC,2926,-1.28,-101.5,267.4,-9.5,138,2930,0.00,2.12,0.00,0.000,4,0.000,0.078,2156,3783,3318
$GC,2972,-1.28,-101.5,272.2,-10.4,140,2976,0.00,1.95,0.00,0.000,6,0.000,0.043,2156,2672,3318
$GC,3305,-1.28,-101.5,304.8,-9.5,156,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2672,3318
$GC,3615,-1.28,-101.5,335.1,-9.9,171,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2672,3318
$GC,3924,-1.28,-101.5,365.4,-9.8,186,3928,0.00,2.12,0.00,0.000,4,0.000,0.078,2156,3791,3318
$GC,3980,-1.28,-101.5,371.2,-10.5,188,3984,0.00,1.98,0.00,0.000,6,0.000,0.041,2156,2664,3318
$GC,4304,-1.28,-101.5,401.4,-8.9,204,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2664,3318
$GC,4612,-1.28,-101.5,425.9,-7.8,219,4615,0.00,2.12,0.00,0.000,4,0.000,0.080,2156,3783,3318
$GC,4651,-1.28,-101.5,429.1,-7.9,220,4657,0.00,1.98,0.00,0.000,6,0.000,0.041,2156,2672,3318
$GC,4970,-1.28,-101.5,450.3,-6.3,236,4973,0.00,2.12,0.00,0.000,4,0.000,0.081,2156,3786,3318
$GC,5031,-1.28,-101.5,454.7,-6.2,238,5037,0.00,1.95,0.00,0.000,6,0.000,0.041,2156,2670,3318
$GC,5347,-1.29,-103.6,472.5,-5.9,254,5351,0.00,2.12,0.00,0.000,4,0.000,0.080,2156,3790,3318
$GC,5466,-1.29,-103.6,482.2,-8.7,259,5469,0.00,1.98,0.00,0.000,6,0.000,0.042,2156,2665,3318
$GC,5793,-1.29,-103.6,505.0,-7.0,275,5797,0.00,2.50,0.00,0.000,4,0.000,0.058,2156,1260,3318
$GC,5820,-1.29,-103.6,507.2,-7.9,276,5825,0.00,2.60,0.00,0.000,6,0.000,0.059,2156,2681,3318
$GC,6142,-1.29,-103.6,528.3,-6.3,292,6146,0.00,2.08,0.00,0.000,4,0.000,0.081,2156,3790,3318
$GC,6204,-1.29,-103.6,533.1,-7.6,294,6210,0.00,1.98,0.00,0.000,6,0.000,0.043,2156,2666,3318
$GC,6520,-1.29,-103.6,557.0,-7.6,310,6524,0.00,2.12,0.00,0.000,4,0.000,0.082,2156,3783,3317
$GC,6582,-1.29,-103.6,562.0,-8.2,312,6588,0.00,1.95,0.00,0.000,6,0.000,0.044,2156,2672,3318
$GC,6898,-1.29,-103.6,586.2,-8.3,328,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2672,3317
$GC,7207,-1.29,-103.6,610.3,-7.4,343,7211,0.00,2.15,0.00,0.000,4,0.000,0.084,2156,3792,3317
$GC,7258,-1.29,-103.6,614.2,-7.9,345,7261,0.00,1.98,0.00,0.000,6,0.000,0.044,2156,2669,3316
$GC,7585,-1.29,-103.6,638.6,-7.3,361,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2669,3315
$STATE,7829,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7829,begin apogee
$GC,7838,-0.42,0.0,654.8,6.7,373,7932,0.98,0.00,86.65,1.148,6,0.100,0.000,2348,2071,2902
$STATE,7933,end apogee,CONTROL_FINISHED_OK
$STATE,7933,begin climb
$GC,7936,1.29,103.6,658.5,0.0,378,8030,1.75,2.65,85.72,1.144,4,0.062,0.060,2720,657,2478
$GC,8067,1.38,182.7,657.9,2.8,384,8139,0.00,2.55,66.47,1.106,6,0.000,0.036,2720,2108,2157
$GC,8450,1.38,182.7,632.7,7.0,402,8454,0.00,2.53,0.00,0.000,4,0.000,0.065,2720,3471,2156
$GC,8708,1.40,195.6,617.2,5.5,413,8729,0.10,2.53,12.38,0.999,6,0.051,0.044,2753,2060,2104
$GC,9045,1.40,195.6,595.8,6.2,430,9049,0.00,2.55,0.00,0.000,4,0.000,0.060,2753,662,2104
$GC,9162,1.40,195.6,588.5,6.9,435,9166,0.00,2.47,0.00,0.000,6,0.000,0.037,2753,2076,2103
$GC,9478,1.40,195.6,568.5,6.6,450,9482,0.00,2.58,0.00,0.000,4,0.000,0.062,2753,3483,2103
$GC,9524,1.40,195.6,565.1,7.5,452,9528,0.00,2.50,0.00,0.000,6,0.000,0.041,2753,2074,2103
$GC,9850,1.40,195.6,542.5,7.3,468,9855,0.00,2.55,0.00,0.000,4,0.000,0.060,2753,671,2103
$GC,9918,1.40,195.6,537.1,8.1,471,9922,0.00,2.47,0.00,0.000,6,0.000,0.038,2753,2083,2103
$GC,10239,1.40,195.6,511.6,8.9,487,10243,0.00,2.55,0.00,0.000,4,0.000,0.062,2753,3478,2102
$GC,10289,1.40,195.6,506.5,10.0,489,10293,0.00,2.50,0.00,0.000,6,0.000,0.041,2753,2069,2102
$GC,10605,1.40,195.6,477.7,8.4,504,10609,0.00,2.55,0.00,0.000,4,0.000,0.059,2753,661,2102
$GC,10734,1.40,195.6,465.3,9.4,509,10740,0.00,2.47,0.00,0.000,6,0.000,0.037,2753,2077,2102
$GC,11050,1.40,195.6,438.4,8.5,525,11051,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2077,2102
$GC,11359,1.40,195.6,413.1,7.8,540,11360,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2077,2102
$GC,11668,1.40,195.6,389.3,7.6,555,11672,0.00,2.58,0.00,0.000,4,0.000,0.057,2753,662,2102
$GC,11701,1.40,195.6,386.8,7.9,556,11708,0.00,2.47,0.00,0.000,6,0.000,0.037,2753,2077,2102
$GC,12017,1.40,195.6,364.9,6.6,572,12018,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2077,2102
$GC,12327,1.40,195.6,345.6,6.2,587,12328,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2077,2103
$GC,12636,1.40,195.6,326.2,6.4,602,12641,0.00,2.55,0.00,0.000,4,0.000,0.056,2754,668,2103
$GC,12681,1.40,195.6,322.9,7.0,604,12685,0.00,2.47,0.00,0.000,6,0.000,0.037,2753,2086,2103
$GC,13002,1.40,195.6,302.1,6.6,620,13006,0.00,2.58,0.00,0.000,4,0.000,0.057,2753,666,2104
$GC,13082,1.40,195.6,296.3,6.8,623,13088,0.00,2.47,0.00,0.000,6,0.000,0.038,2753,2084,2103
$GC,13398,1.40,195.6,274.2,7.2,639,13399,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2084,2104
$GC,13707,1.40,195.6,251.9,7.4,654,13711,0.00,2.58,0.00,0.000,4,0.000,0.057,2753,665,2104
$GC,13802,1.40,195.6,244.4,7.9,658,13806,0.00,2.47,0.00,0.000,6,0.000,0.038,2753,2082,2105
$GC,14118,1.40,195.6,221.6,7.0,673,14122,0.00,2.55,0.00,0.000,4,0.000,0.056,2753,668,2104
$GC,14174,1.40,195.6,217.3,7.6,675,14178,0.00,2.47,0.00,0.000,6,0.000,0.038,2753,2083,2105
$GC,14490,1.40,195.6,196.0,6.6,690,14495,0.00,2.58,0.00,0.000,4,0.000,0.057,2753,662,2105
$GC,14553,1.40,195.6,191.5,6.6,693,14557,0.00,2.47,0.00,0.000,6,0.000,0.038,2753,2077,2105
$GC,14879,1.40,195.6,168.8,7.0,709,14884,0.00,2.58,0.00,0.000,4,0.000,0.058,2753,658,2105
$GC,14965,1.40,195.6,162.7,7.1,713,14969,0.00,2.50,0.00,0.000,6,0.000,0.039,2753,2087,2105
$GC,15294,1.40,195.6,140.8,6.4,729,15298,0.00,2.58,0.00,0.000,4,0.000,0.058,2753,668,2106
$GC,15327,1.40,195.6,138.3,7.0,730,15333,0.00,2.45,0.00,0.000,6,0.000,0.038,2753,2077,2106
$GC,15644,1.40,195.6,118.4,6.3,746,15648,0.00,2.58,0.00,0.000,4,0.000,0.058,2753,661,2106
$GC,15706,1.40,195.6,114.2,6.7,749,15710,0.00,2.50,0.00,0.000,6,0.000,0.039,2753,2088,2106
$GC,16033,1.40,195.6,91.9,6.7,765,16037,0.00,2.60,0.00,0.000,4,0.000,0.059,2753,659,2107
$GC,16111,1.40,195.6,86.4,6.6,768,16118,0.00,2.47,0.00,0.000,6,0.000,0.038,2753,2083,2107
$GC,16429,1.40,195.6,65.0,6.7,784,16433,0.00,2.58,0.00,0.000,4,0.000,0.060,2753,669,2106
$GC,16497,1.41,207.5,60.9,5.5,787,16514,0.00,2.47,11.70,0.691,6,0.000,0.038,2753,2083,2055
$GC,16824,1.41,207.5,39.8,6.5,803,16829,0.00,2.60,0.00,0.000,4,0.000,0.060,2753,663,2055
$GC,16919,1.41,207.5,32.6,7.3,807,16924,0.00,2.50,0.00,0.000,6,0.000,0.040,2753,2082,2055
$GC,17238,1.41,207.5,10.5,6.8,822,17242,0.00,2.58,0.00,0.000,4,0.000,0.056,2753,663,2055
$GC,17316,1.41,207.5,4.3,7.4,825,17322,0.00,2.50,0.00,0.000,6,0.000,0.044,2753,2081,2055
$STATE,17361,end climb,SURFACE_DEPTH_REACHED
$STATE,17361,begin surface coast
$FINISH,0.3,1.001385
$STATE,17383,end surface coast,CONTROL_FINISHED_OK
$STATE,17383,begin surface
$SM_CCo,17408,14.23,0.673,0,0,1983,225.19
$SM_GC,2.60,0.00,0.00,14.23,0.000,0.000,0.673,48,2680,1983,-11.00,0.14,225.19
$IRIDIUM_FIX,6239.86,-1305.73,190798,181833
$TT8_MAMPS,0.029146
$HUMID,1777
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.8,38.3
$24V_AH,23.2,48.760
$10V_AH,10.1,27.909
$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,26.675,163.075,262.925,14.225,0.000,59.860,56.072,241.636,5.500,0.000,0.000,18.034,1563.270,13346.684,401.335,1965.131,708.658,33.361,1387.174,0.000,1919.064,0.000,41.392,0.000
$DEVICE_MAMPS,160.303,85.137,1148.199,672.659,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,575.826,620.610,530.669,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41183,829
$CAP_FILE_SIZE,132000,0
$CFSIZE,260165632,240365568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240409,232833,6306.536,-1300.545,96,1.2,96,-12.1