version: 66.04
glider: 103
mission: 11
dive: 284
start: 4 24 109 23 38 49
data:
$ID,103
$MISSION,11
$DIVE,284
$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,-148496.06
$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,24
$R_STBD_OVSHOOT,13
$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
$GPS1,232833,6306.536,-1300.545,96,1.2,96,-12.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-62.9
$GPS2,233756,6306.551,-1300.321,34,1.4,34,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.088,-0.200
$KALMAN_X,-37681.7,-291.7,26089.1,4213.0,-23508.2
$KALMAN_Y,75405.8,660.4,-3434.5,-165114.0,14186.0
$MHEAD_RNG_PITCHd_Wd,168.4,30907,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.10,-146.6,0.0,0.0,0,60,0.00,0.00,-41.47,0.000,2,0.000,0.000,48,2684,3400
$GC,63,-1.10,-146.6,4.5,-12.6,2,86,12.12,2.15,-1.58,0.000,4,0.158,0.097,2194,3784,3501
$GC,187,-1.10,-146.6,25.2,-8.1,7,191,0.00,2.03,0.00,0.000,6,0.000,0.061,2193,2684,3501
$GC,511,-1.10,-146.6,50.3,-8.1,23,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2684,3501
$GC,818,-1.10,-146.6,77.4,-9.6,38,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2684,3501
$GC,1128,-1.10,-146.6,104.7,-8.5,53,1132,0.00,2.65,0.00,0.000,4,0.000,0.072,2194,1257,3501
$GC,1155,-1.10,-146.6,107.1,-8.3,54,1160,0.00,2.65,0.00,0.000,6,0.000,0.064,2194,2682,3501
$GC,1473,-1.10,-146.6,134.4,-8.5,69,1477,0.00,2.10,0.00,0.000,4,0.000,0.087,2194,3783,3501
$GC,1523,-1.10,-146.6,139.1,-9.2,71,1527,0.00,2.03,0.00,0.000,6,0.000,0.056,2194,2667,3501
$GC,1851,-1.10,-146.6,167.0,-8.2,87,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3501
$GC,2160,-1.10,-146.6,192.0,-8.3,102,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3501
$GC,2469,-1.10,-146.6,217.2,-8.5,117,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3501
$GC,2779,-1.10,-146.6,241.8,-7.7,132,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3501
$GC,3087,-1.10,-146.6,265.3,-7.5,147,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3502
$GC,3397,-1.10,-146.6,288.9,-7.7,162,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3501
$GC,3706,-1.10,-146.6,313.3,-7.8,177,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3502
$GC,4015,-1.10,-146.6,338.5,-8.2,192,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3501
$GC,4325,-1.10,-146.6,363.8,-8.0,207,4328,0.00,2.17,0.00,0.000,4,0.000,0.089,2194,3792,3502
$GC,4370,-1.10,-146.6,367.5,-7.9,209,4374,0.00,2.03,0.00,0.000,6,0.000,0.055,2194,2672,3501
$GC,4703,-1.10,-146.6,392.1,-7.1,225,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2672,3502
$GC,5012,-1.10,-146.6,414.1,-7.2,240,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2672,3502
$GC,5322,-1.10,-146.6,436.6,-7.2,255,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2672,3501
$GC,5631,-1.10,-146.6,459.2,-7.3,270,5635,0.00,2.15,0.00,0.000,4,0.000,0.086,2194,3789,3502
$GC,5687,-1.10,-146.6,463.6,-7.8,272,5691,0.00,2.03,0.00,0.000,6,0.000,0.054,2194,2664,3502
$GC,6009,-1.10,-146.6,487.9,-7.0,288,6013,0.00,2.58,0.00,0.000,4,0.000,0.068,2194,1252,3501
$GC,6036,-1.10,-146.6,490.0,-7.7,289,6041,0.00,2.62,0.00,0.000,6,0.000,0.060,2194,2686,3502
$GC,6352,-1.10,-146.6,513.8,-7.5,304,6355,0.00,2.10,0.00,0.000,4,0.000,0.089,2194,3787,3502
$GC,6402,-1.10,-146.6,518.0,-7.9,306,6406,0.00,2.00,0.00,0.000,6,0.000,0.053,2194,2674,3502
$GC,6729,-1.10,-146.6,539.5,-7.0,322,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2674,3502
$GC,7038,-1.10,-146.6,562.1,-6.9,337,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2674,3501
$GC,7348,-1.10,-146.6,583.7,-7.4,352,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2674,3501
$GC,7656,-1.10,-146.6,605.0,-7.0,367,7660,0.00,2.17,0.00,0.000,4,0.000,0.093,2194,3788,3501
$STATE,7732,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7732,begin apogee
$GC,7743,-0.42,0.0,611.0,7.6,370,7874,0.75,0.00,124.80,1.085,6,0.099,0.000,2345,2063,2902
$STATE,7875,end apogee,CONTROL_FINISHED_OK
$STATE,7875,begin climb
$GC,7879,1.10,146.6,616.6,0.0,377,8011,1.55,2.70,122.12,1.053,4,0.061,0.060,2677,652,2304
$GC,8072,1.25,268.7,618.1,2.6,386,8183,0.17,2.55,102.70,1.041,6,0.038,0.039,2732,2092,1806
$GC,8505,1.25,268.7,586.8,8.5,407,8509,0.00,2.58,0.00,0.000,4,0.000,0.066,2732,3476,1806
$GC,8628,1.25,268.7,576.0,8.2,412,8634,0.00,2.55,0.00,0.000,6,0.000,0.045,2732,2059,1806
$GC,8944,1.25,268.7,549.9,8.2,428,8948,0.00,2.55,0.00,0.000,4,0.000,0.061,2732,663,1805
$GC,8972,1.25,268.7,547.4,8.3,429,8976,0.00,2.50,0.00,0.000,6,0.000,0.038,2732,2076,1805
$GC,9293,1.25,268.7,520.7,8.6,445,9294,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2077,1804
$GC,9602,1.25,268.7,493.7,8.7,460,9607,0.00,2.62,0.00,0.000,4,0.000,0.068,2732,3490,1803
$GC,9630,1.25,268.7,490.9,9.9,461,9635,0.00,2.55,0.00,0.000,6,0.000,0.045,2732,2071,1804
$GC,9946,1.25,268.7,460.1,9.8,476,9951,0.00,2.55,0.00,0.000,4,0.000,0.061,2732,667,1803
$GC,9980,1.25,268.7,456.6,10.3,477,9986,0.00,2.50,0.00,0.000,6,0.000,0.038,2733,2085,1803
$GC,10296,1.25,268.7,423.8,10.3,493,10300,0.00,2.58,0.00,0.000,4,0.000,0.067,2733,3484,1803
$GC,10323,1.25,268.7,420.8,10.6,494,10328,0.00,2.53,0.00,0.000,6,0.000,0.046,2732,2075,1803
$GC,10645,1.25,268.7,388.8,9.8,510,10649,0.00,2.58,0.00,0.000,4,0.000,0.060,2732,656,1803
$GC,10685,1.25,268.7,385.0,10.1,512,10689,0.00,2.50,0.00,0.000,6,0.000,0.038,2733,2078,1803
$GC,11011,1.25,268.7,354.6,9.3,528,11012,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2078,1803
$GC,11321,1.25,268.7,327.0,9.1,543,11322,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2078,1803
$GC,11630,1.25,268.7,299.9,9.0,558,11634,0.00,2.58,0.00,0.000,4,0.000,0.061,2732,665,1803
$GC,11663,1.25,268.7,296.6,9.4,559,11668,0.00,2.50,0.00,0.000,6,0.000,0.039,2732,2085,1803
$GC,11979,1.25,268.7,268.6,8.8,574,11980,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2085,1803
$GC,12288,1.25,268.7,240.7,9.2,589,12293,0.00,2.60,0.00,0.000,4,0.000,0.069,2733,3494,1803
$GC,12310,1.25,268.7,238.6,9.6,590,12315,0.00,2.55,0.00,0.000,6,0.000,0.048,2732,2074,1804
$GC,12632,1.25,268.7,210.6,8.6,606,12637,0.00,2.55,0.00,0.000,4,0.000,0.060,2733,663,1804
$GC,12666,1.25,268.7,207.5,8.5,607,12672,0.00,2.50,0.00,0.000,6,0.000,0.040,2733,2083,1805
$GC,12982,1.25,268.7,181.1,8.2,623,12983,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2083,1805
$GC,13291,1.25,268.7,154.5,8.7,638,13292,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2083,1805
$GC,13601,1.25,268.7,127.5,9.1,653,13606,0.00,2.60,0.00,0.000,4,0.000,0.062,2733,666,1805
$GC,13629,1.25,268.7,124.6,10.3,654,13634,0.00,2.50,0.00,0.000,6,0.000,0.041,2732,2081,1805
$GC,13948,1.25,268.7,97.4,8.5,669,13952,0.00,2.60,0.00,0.000,4,0.000,0.063,2732,666,1805
$GC,13988,1.25,268.7,93.6,9.0,671,13992,0.00,2.50,0.00,0.000,6,0.000,0.042,2733,2081,1805
$GC,14315,1.25,268.7,66.2,8.4,687,14319,0.00,2.60,0.00,0.000,4,0.000,0.067,2732,3492,1805
$GC,14337,1.25,268.7,64.4,8.0,688,14341,0.00,2.55,0.00,0.000,6,0.000,0.049,2733,2074,1805
$GC,14660,1.25,268.7,38.8,7.3,704,14664,0.00,2.58,0.00,0.000,4,0.000,0.064,2733,661,1806
$GC,14683,1.25,268.7,37.0,7.3,705,14687,0.00,2.50,0.00,0.000,6,0.000,0.040,2733,2080,1806
$GC,15004,1.25,268.7,11.1,9.2,721,15009,0.00,2.62,0.00,0.000,4,0.000,0.067,2733,665,1806
$GC,15045,1.25,268.7,7.1,9.7,723,15049,0.00,2.47,0.00,0.000,6,0.000,0.038,2733,2080,1806
$STATE,15107,end climb,SURFACE_DEPTH_REACHED
$STATE,15107,begin surface coast
$FINISH,0.4,1.016802
$STATE,15129,end surface coast,CONTROL_FINISHED_OK
$STATE,15129,begin surface
$SM_CCo,15214,0.00,0.000,0,0,1805,269.09
$SM_GC,1.30,11.77,0.00,0.00,0.029,0.000,0.000,42,2672,1805,-10.94,-0.08,269.09
$IRIDIUM_FIX,6239.86,-1250.78,190798,232323
$TT8_MAMPS,0.029146
$HUMID,1800
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.0,44.6
$24V_AH,23.3,48.885
$10V_AH,10.1,27.983
$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,26.375,114.450,349.625,0.000,0.000,49.902,62.787,230.402,4.750,0.000,0.000,34.054,1311.318,11862.029,416.895,1535.838,646.775,33.367,1199.758,0.000,1487.500,0.000,34.970,0.000
$DEVICE_MAMPS,158.002,96.642,1084.538,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,505.621,547.105,472.551,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34872,727
$CAP_FILE_SIZE,105132,0
$CFSIZE,260165632,240340992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250409,035337,6305.180,-1257.364,37,0.9,37,-12.0