version: 66.04
glider: 103
mission: 11
dive: 285
start: 4 25 109 4 0 25
data:
$ID,103
$MISSION,11
$DIVE,285
$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,-148514.45
$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
$GPS1,035337,6305.180,-1257.364,37,0.9,37,-12.0
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-62.6
$GPS2,035931,6305.205,-1257.352,12,1.8,17,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.005,-0.218
$KALMAN_X,-18601.5,632.2,7763.8,4919.2,-5227.4
$KALMAN_Y,73906.7,-309.7,2207.7,-170753.1,12740.6
$MHEAD_RNG_PITCHd_Wd,193.3,28893,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.42,0.000,2,0.000,0.000,42,2676,3169
$GC,62,-1.10,-146.6,3.8,-11.7,2,86,12.07,2.72,-5.68,0.000,4,0.156,0.082,2193,1258,3502
$GC,178,-1.10,-146.6,18.9,-7.8,7,183,0.00,2.67,0.00,0.000,6,0.000,0.067,2193,2687,3502
$GC,506,-1.10,-146.6,44.4,-8.2,23,510,0.00,2.10,0.00,0.000,4,0.000,0.086,2193,3789,3502
$GC,553,-1.10,-146.6,48.2,-8.3,25,556,0.00,2.03,0.00,0.000,6,0.000,0.057,2193,2678,3502
$GC,886,-1.10,-146.6,74.3,-7.9,41,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3502
$GC,1195,-1.10,-146.6,99.3,-7.8,56,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3502
$GC,1504,-1.10,-146.6,124.6,-8.6,71,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3502
$GC,1815,-1.10,-146.6,149.7,-7.9,86,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3502
$GC,2123,-1.10,-146.6,174.2,-7.9,101,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3502
$GC,2432,-1.10,-146.6,197.9,-7.6,116,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3502
$GC,2742,-1.10,-146.6,222.6,-8.3,131,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3502
$GC,3051,-1.10,-146.6,248.5,-8.4,146,3054,0.00,2.12,0.00,0.000,4,0.000,0.084,2193,3785,3502
$GC,3084,-1.10,-146.6,251.6,-9.1,147,3088,0.00,2.03,0.00,0.000,6,0.000,0.058,2193,2674,3502
$GC,3406,-1.10,-146.6,277.6,-7.9,163,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2673,3502
$GC,3715,-1.10,-146.6,302.2,-8.0,178,3718,0.00,2.15,0.00,0.000,4,0.000,0.088,2193,3783,3502
$GC,3748,-1.10,-146.6,305.0,-8.1,179,3752,0.00,2.03,0.00,0.000,6,0.000,0.058,2193,2671,3502
$GC,4070,-1.10,-146.6,329.8,-7.7,195,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2672,3502
$GC,4379,-1.10,-146.6,354.5,-8.1,210,4383,0.00,2.60,0.00,0.000,4,0.000,0.071,2193,1256,3502
$GC,4401,-1.10,-146.6,356.2,-7.5,211,4406,0.00,2.62,0.00,0.000,6,0.000,0.063,2193,2678,3502
$GC,4722,-1.10,-146.6,381.7,-7.8,227,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2678,3502
$GC,5031,-1.10,-146.6,405.2,-7.2,242,5035,0.00,2.12,0.00,0.000,4,0.000,0.089,2193,3793,3502
$GC,5065,-1.10,-146.6,407.7,-7.5,243,5069,0.00,2.05,0.00,0.000,6,0.000,0.056,2193,2664,3502
$GC,5387,-1.10,-146.6,430.2,-7.1,259,5391,0.00,2.60,0.00,0.000,4,0.000,0.071,2193,1248,3502
$GC,5420,-1.10,-146.6,432.6,-7.3,260,5426,0.00,2.60,0.00,0.000,6,0.000,0.059,2193,2675,3502
$GC,5736,-1.10,-146.6,453.7,-6.4,276,5740,0.00,2.12,0.00,0.000,4,0.000,0.089,2193,3792,3502
$GC,5798,-1.10,-146.6,458.0,-7.3,278,5804,0.00,2.03,0.00,0.000,6,0.000,0.054,2193,2673,3502
$GC,6114,-1.10,-146.6,478.8,-6.7,294,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2673,3502
$GC,6423,-1.10,-146.6,499.0,-6.5,309,6427,0.00,2.17,0.00,0.000,4,0.000,0.092,2193,3789,3502
$GC,6493,-1.10,-146.6,503.6,-7.5,312,6497,0.00,2.03,0.00,0.000,6,0.000,0.054,2193,2666,3502
$GC,6825,-1.10,-146.6,528.5,-7.4,328,6829,0.00,2.60,0.00,0.000,4,0.000,0.069,2193,1245,3502
$GC,6853,-1.10,-146.6,530.6,-7.0,329,6858,0.00,2.62,0.00,0.000,6,0.000,0.060,2193,2675,3502
$GC,7175,-1.10,-146.6,551.6,-7.1,345,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2676,3502
$GC,7484,-1.10,-146.6,573.0,-7.2,360,7488,0.00,2.12,0.00,0.000,4,0.000,0.091,2193,3785,3501
$GC,7557,-1.10,-146.6,578.5,-7.3,363,7561,0.00,2.00,0.00,0.000,6,0.000,0.054,2193,2669,3501
$STATE,7860,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7860,begin apogee
$GC,7869,-0.42,0.0,601.2,7.5,378,7997,0.75,0.00,124.62,1.072,6,0.078,0.000,2346,2066,2902
$STATE,7998,end apogee,CONTROL_FINISHED_OK
$STATE,7998,begin climb
$GC,8001,1.10,146.6,605.6,0.0,384,8133,1.55,2.70,121.95,1.039,4,0.062,0.061,2677,655,2304
$GC,8392,1.16,194.1,598.1,4.7,401,8439,0.00,2.55,40.95,1.027,6,0.000,0.038,2677,2097,2110
$GC,8752,1.21,230.0,581.1,5.0,419,8788,0.12,2.72,30.92,1.021,4,0.043,0.058,2720,652,1964
$GC,8817,1.21,230.0,576.3,7.9,421,8821,0.00,2.55,0.00,0.000,6,0.000,0.038,2720,2084,1964
$GC,9138,1.21,230.0,552.3,7.6,437,9142,0.00,2.62,0.00,0.000,4,0.000,0.058,2720,656,1964
$GC,9182,1.21,230.0,548.7,7.8,439,9187,0.00,2.53,0.00,0.000,6,0.000,0.041,2720,2079,1964
$GC,9504,1.21,230.0,526.4,7.5,455,9508,0.00,2.60,0.00,0.000,4,0.000,0.065,2720,3488,1963
$GC,9543,1.21,230.0,523.2,7.9,457,9548,0.00,2.55,0.00,0.000,6,0.000,0.043,2720,2058,1963
$GC,9871,1.21,230.0,496.8,8.6,473,9875,0.00,2.53,0.00,0.000,4,0.000,0.059,2720,664,1963
$GC,9966,1.21,230.0,487.0,9.9,477,9970,0.00,2.50,0.00,0.000,6,0.000,0.039,2720,2079,1963
$GC,10281,1.21,230.0,453.7,9.6,492,10286,0.00,2.60,0.00,0.000,4,0.000,0.066,2720,3488,1962
$GC,10304,1.21,230.0,451.4,10.2,493,10308,0.00,2.53,0.00,0.000,6,0.000,0.044,2720,2074,1962
$GC,10625,1.21,230.0,421.1,9.0,509,10629,0.00,2.55,0.00,0.000,4,0.000,0.059,2720,665,1962
$GC,10658,1.21,230.0,417.8,9.7,510,10664,0.00,2.47,0.00,0.000,6,0.000,0.039,2720,2081,1962
$GC,10975,1.21,230.0,387.7,9.3,526,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2081,1962
$GC,11283,1.21,230.0,360.4,8.3,541,11288,0.00,2.58,0.00,0.000,4,0.000,0.059,2720,661,1962
$GC,11362,1.21,230.0,353.2,9.2,544,11368,0.00,2.50,0.00,0.000,6,0.000,0.039,2720,2080,1962
$GC,11678,1.21,230.0,327.9,8.0,560,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2080,1962
$GC,11987,1.21,230.0,303.2,7.9,575,11991,0.00,2.58,0.00,0.000,4,0.000,0.061,2720,666,1962
$GC,12037,1.21,230.0,299.0,7.8,577,12042,0.00,2.50,0.00,0.000,6,0.000,0.040,2720,2084,1962
$GC,12358,1.21,230.0,274.4,7.4,593,12360,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2084,1963
$GC,12668,1.21,230.0,251.3,7.5,608,12669,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2084,1963
$GC,12976,1.21,230.0,228.7,7.2,623,12981,0.00,2.58,0.00,0.000,4,0.000,0.061,2720,669,1963
$GC,13004,1.21,230.0,226.6,7.9,624,13008,0.00,2.50,0.00,0.000,6,0.000,0.041,2720,2086,1963
$GC,13320,1.21,230.0,204.3,6.8,639,13324,0.00,2.58,0.00,0.000,4,0.000,0.060,2720,668,1963
$GC,13347,1.21,230.0,202.4,6.8,640,13351,0.00,2.50,0.00,0.000,6,0.000,0.041,2720,2085,1963
$GC,13669,1.21,230.0,179.7,7.2,656,13673,0.00,2.60,0.00,0.000,4,0.000,0.061,2720,662,1963
$GC,13696,1.21,230.0,177.3,7.9,657,13700,0.00,2.50,0.00,0.000,6,0.000,0.041,2720,2079,1963
$GC,14012,1.21,230.0,153.8,7.6,672,14016,0.00,2.60,0.00,0.000,4,0.000,0.061,2720,657,1963
$GC,14039,1.21,230.0,151.5,9.0,673,14043,0.00,2.50,0.00,0.000,6,0.000,0.041,2720,2076,1964
$GC,14356,1.21,230.0,128.1,7.3,688,14360,0.00,2.60,0.00,0.000,4,0.000,0.061,2720,656,1964
$GC,14396,1.21,230.0,125.0,7.6,690,14400,0.00,2.50,0.00,0.000,6,0.000,0.041,2720,2081,1964
$GC,14728,1.21,230.0,99.9,7.3,706,14733,0.00,2.60,0.00,0.000,4,0.000,0.063,2720,664,1964
$GC,14807,1.21,230.0,93.7,7.1,709,14814,0.00,2.47,0.00,0.000,6,0.000,0.041,2720,2076,1964
$GC,15123,1.21,230.0,71.6,7.1,725,15128,0.00,2.60,0.00,0.000,4,0.000,0.066,2720,3491,1964
$GC,15146,1.21,230.0,69.9,7.1,726,15150,0.00,2.55,0.00,0.000,6,0.000,0.049,2720,2070,1964
$GC,15468,1.21,230.0,47.9,6.8,742,15472,0.00,2.55,0.00,0.000,4,0.000,0.062,2720,665,1964
$GC,15501,1.21,230.0,45.3,7.1,743,15507,0.00,2.47,0.00,0.000,6,0.000,0.041,2720,2080,1964
$GC,15817,1.21,230.0,23.1,7.0,759,15821,0.00,2.60,0.00,0.000,4,0.000,0.064,2720,666,1964
$GC,15857,1.21,230.0,20.4,7.4,761,15861,0.00,2.50,0.00,0.000,6,0.000,0.041,2720,2086,1964
$STATE,16148,end climb,SURFACE_DEPTH_REACHED
$STATE,16148,begin surface coast
$FINISH,0.5,1.027432
$STATE,16168,end surface coast,CONTROL_FINISHED_OK
$STATE,16168,begin surface
$SM_CCo,16253,0.00,0.000,0,0,1963,230.34
$SM_GC,2.10,11.70,0.00,0.00,0.029,0.000,0.000,52,2681,1963,-10.93,0.17,230.34
$IRIDIUM_FIX,6244.56,-1257.54,190798,232333
$TT8_MAMPS,0.028379
$HUMID,1775
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.1,110.1
$24V_AH,23.3,48.994
$10V_AH,10.1,28.059
$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,26.200,144.400,318.450,0.000,0.000,27.703,28.860,168.230,4.000,0.000,0.000,17.759,1421.292,12524.467,414.242,1704.521,543.340,33.354,1280.348,0.000,1672.234,0.000,29.007,0.000
$DEVICE_MAMPS,155.701,92.040,1072.266,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,539.435,578.898,521.961,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38031,776
$CAP_FILE_SIZE,114237,0
$CFSIZE,260165632,240275456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250409,083257,6305.197,-1254.491,42,3.8,61,-12.0