version: 66.04
glider: 103
mission: 11
dive: 286
start: 4 25 109 8 39 23
data:
$ID,103
$MISSION,11
$DIVE,286
$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,-148531.25
$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,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
$GPS1,083257,6305.197,-1254.491,42,3.8,61,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-63.7
$GPS2,083831,6305.250,-1254.333,11,1.1,16,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.041,-0.215
$KALMAN_X,-9548.5,187.9,2116.7,4444.3,5694.5
$KALMAN_Y,82275.8,-315.9,911.2,-177747.3,21220.1
$MHEAD_RNG_PITCHd_Wd,202.9,29647,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,61,0.00,0.00,-41.40,0.000,2,0.000,0.000,52,2684,3371
$GC,65,-1.10,-146.6,4.3,-11.4,2,87,12.05,2.75,-2.10,0.000,4,0.156,0.090,2193,1268,3502
$GC,340,-1.10,-146.6,35.3,-7.9,14,344,0.00,2.62,0.00,0.000,6,0.000,0.066,2194,2674,3502
$GC,663,-1.10,-146.6,60.9,-8.0,30,666,0.00,2.15,0.00,0.000,4,0.000,0.094,2194,3785,3502
$GC,713,-1.10,-146.6,65.2,-8.2,32,717,0.00,2.03,0.00,0.000,6,0.000,0.060,2194,2681,3502
$GC,1041,-1.10,-146.6,91.5,-8.1,48,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2681,3502
$GC,1350,-1.10,-146.6,115.8,-7.7,63,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2681,3502
$GC,1659,-1.10,-146.6,141.2,-8.4,78,1664,0.00,2.65,0.00,0.000,4,0.000,0.074,2194,1255,3502
$GC,1682,-1.10,-146.6,143.2,-8.1,79,1687,0.00,2.65,0.00,0.000,6,0.000,0.065,2194,2679,3502
$GC,2003,-1.10,-146.6,171.2,-8.6,95,2007,0.00,2.12,0.00,0.000,4,0.000,0.091,2194,3792,3502
$GC,2043,-1.10,-146.6,174.8,-8.8,96,2050,0.00,2.05,0.00,0.000,6,0.000,0.058,2194,2667,3502
$GC,2360,-1.10,-146.6,201.6,-8.2,112,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3502
$GC,2668,-1.10,-146.6,226.8,-8.5,127,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2667,3502
$GC,2978,-1.10,-146.6,253.1,-8.5,142,2981,0.00,2.17,0.00,0.000,4,0.000,0.091,2194,3786,3502
$GC,3040,-1.10,-146.6,258.7,-8.9,144,3046,0.00,2.03,0.00,0.000,6,0.000,0.059,2194,2675,3502
$GC,3356,-1.10,-146.6,284.6,-7.9,160,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2675,3502
$GC,3665,-1.10,-146.6,308.3,-7.6,175,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2675,3502
$GC,3974,-1.10,-146.6,330.5,-7.0,190,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2675,3502
$GC,4283,-1.10,-146.6,352.2,-6.9,205,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2675,3502
$GC,4593,-1.10,-146.6,373.4,-6.8,220,4596,0.00,2.15,0.00,0.000,4,0.000,0.089,2194,3790,3502
$GC,4632,-1.10,-146.6,376.2,-7.2,221,4638,0.00,2.03,0.00,0.000,6,0.000,0.056,2194,2675,3502
$GC,4948,-1.10,-146.6,398.1,-7.0,237,4952,0.00,2.60,0.00,0.000,4,0.000,0.071,2194,1257,3502
$GC,5010,-1.10,-146.6,402.5,-7.2,240,5015,0.00,2.62,0.00,0.000,6,0.000,0.063,2194,2684,3502
$GC,5338,-1.10,-146.6,425.4,-7.3,256,5342,0.00,2.10,0.00,0.000,4,0.000,0.089,2194,3787,3502
$GC,5394,-1.10,-146.6,430.1,-8.4,258,5398,0.00,2.03,0.00,0.000,6,0.000,0.055,2194,2670,3502
$GC,5715,-1.10,-146.6,456.5,-8.4,274,5719,0.00,2.17,0.00,0.000,4,0.000,0.091,2194,3790,3502
$GC,5779,-1.10,-146.6,461.9,-9.1,276,5785,0.00,2.03,0.00,0.000,6,0.000,0.054,2194,2670,3502
$GC,6095,-1.10,-146.6,488.0,-7.9,292,6098,0.00,2.15,0.00,0.000,4,0.000,0.088,2194,3785,3502
$GC,6134,-1.10,-146.6,491.3,-8.1,293,6140,0.00,2.00,0.00,0.000,6,0.000,0.054,2194,2674,3502
$GC,6450,-1.10,-146.6,516.2,-7.7,309,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2674,3502
$GC,6759,-1.10,-146.6,540.0,-7.7,324,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2674,3502
$GC,7068,-1.10,-146.6,561.8,-7.1,339,7072,0.00,2.15,0.00,0.000,4,0.000,0.088,2194,3789,3502
$STATE,7127,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7127,begin apogee
$GC,7138,-0.42,0.0,566.4,7.4,341,7266,0.75,0.00,124.30,1.045,6,0.107,0.000,2343,2066,2902
$STATE,7267,end apogee,CONTROL_FINISHED_OK
$STATE,7267,begin climb
$GC,7270,1.10,146.6,572.3,0.0,348,7399,1.58,2.72,120.78,1.020,4,0.058,0.061,2680,3501,2304
$GC,7658,1.17,197.4,562.9,4.6,365,7706,0.00,2.55,43.38,1.002,6,0.000,0.040,2680,2058,2097
$GC,8018,1.19,219.1,544.2,5.4,383,8043,0.00,2.75,19.48,0.969,4,0.000,0.064,2680,3495,2008
$GC,8151,1.19,219.1,536.1,6.5,389,8156,0.00,2.53,0.00,0.000,6,0.000,0.043,2680,2076,2008
$GC,8479,1.19,219.1,516.3,6.0,405,8483,0.00,2.62,0.00,0.000,4,0.000,0.063,2680,3491,2008
$GC,8512,1.20,224.0,514.2,5.9,406,8523,0.00,2.55,5.70,0.783,6,0.000,0.044,2680,2069,1988
$GC,8845,1.20,228.0,494.4,5.9,423,8855,0.00,2.58,5.07,0.746,4,0.000,0.061,2680,668,1972
$GC,8878,1.20,228.0,492.4,6.7,424,8884,0.00,2.53,0.00,0.000,6,0.000,0.039,2680,2092,1972
$GC,9193,1.20,228.0,472.9,6.2,440,9198,0.00,2.58,0.00,0.000,4,0.000,0.064,2679,3494,1971
$GC,9251,1.20,228.0,469.3,6.6,442,9257,0.00,2.55,0.00,0.000,6,0.000,0.043,2680,2066,1971
$GC,9567,1.20,228.0,449.8,6.4,458,9568,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2066,1971
$GC,9876,1.20,228.0,430.6,6.3,473,9881,0.10,2.65,0.00,0.000,4,0.053,0.066,2717,3484,1972
$GC,9926,1.20,228.0,426.9,7.6,475,9930,0.00,2.53,0.00,0.000,6,0.000,0.045,2717,2074,1972
$GC,10242,1.20,228.0,404.6,7.0,490,10246,0.00,2.55,0.00,0.000,4,0.000,0.059,2717,655,1971
$GC,10298,1.20,228.0,400.5,7.1,492,10302,0.00,2.50,0.00,0.000,6,0.000,0.038,2717,2078,1972
$GC,10614,1.20,228.0,378.1,7.3,507,10618,0.00,2.58,0.00,0.000,4,0.000,0.058,2717,664,1972
$GC,10647,1.20,228.0,375.4,8.4,508,10653,0.00,2.50,0.00,0.000,6,0.000,0.039,2717,2085,1972
$GC,10963,1.20,228.0,351.0,7.6,524,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2085,1972
$GC,11272,1.20,228.0,328.5,7.0,539,11276,0.00,2.60,0.00,0.000,4,0.000,0.059,2717,658,1972
$GC,11334,1.20,228.0,324.1,7.2,541,11340,0.00,2.50,0.00,0.000,6,0.000,0.040,2717,2080,1972
$GC,11649,1.20,228.0,303.5,6.1,557,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2080,1972
$GC,11959,1.21,235.7,285.8,5.8,572,11969,0.00,0.00,7.95,0.765,6,0.000,0.000,2717,2080,1941
$GC,12268,1.21,235.7,266.1,6.6,587,12269,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2080,1941
$GC,12577,1.21,235.7,244.8,7.2,602,12578,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2080,1941
$GC,12886,1.21,235.7,221.4,7.7,617,12888,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2080,1941
$GC,13196,1.21,235.7,197.4,7.6,632,13200,0.00,2.60,0.00,0.000,4,0.000,0.060,2717,654,1941
$GC,13246,1.21,235.7,193.2,7.9,634,13251,0.00,2.53,0.00,0.000,6,0.000,0.041,2717,2083,1941
$GC,13568,1.21,235.7,170.0,7.1,650,13572,0.00,2.60,0.00,0.000,4,0.000,0.061,2717,661,1941
$GC,13601,1.21,235.7,167.6,7.2,651,13607,0.00,2.50,0.00,0.000,6,0.000,0.042,2717,2077,1941
$GC,13917,1.21,235.7,144.7,7.4,667,13918,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2077,1941
$GC,14226,1.21,235.7,122.7,7.1,682,14230,0.00,2.60,0.00,0.000,4,0.000,0.061,2717,657,1941
$GC,14253,1.21,235.7,120.6,7.9,683,14258,0.00,2.53,0.00,0.000,6,0.000,0.041,2717,2087,1941
$GC,14570,1.21,235.7,99.5,6.6,698,14571,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2087,1941
$GC,14880,1.21,235.7,79.3,6.6,713,14885,0.00,2.58,0.00,0.000,4,0.000,0.068,2717,3485,1941
$GC,14921,1.21,235.7,76.3,7.5,715,14925,0.00,2.55,0.00,0.000,6,0.000,0.051,2717,2067,1942
$GC,15249,1.21,235.7,54.7,6.8,731,15253,0.00,2.55,0.00,0.000,4,0.000,0.063,2717,661,1942
$GC,15293,1.21,235.7,51.4,7.6,733,15297,0.00,2.50,0.00,0.000,6,0.000,0.041,2717,2078,1942
$GC,15614,1.21,235.7,29.4,6.7,749,15615,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2078,1942
$GC,15924,1.21,235.7,8.7,6.7,764,15928,0.00,2.60,0.00,0.000,4,0.000,0.061,2717,659,1942
$GC,15979,1.21,235.7,4.6,7.5,766,15985,0.00,2.53,0.00,0.000,6,0.000,0.049,2717,2078,1942
$STATE,16024,end climb,SURFACE_DEPTH_REACHED
$STATE,16024,begin surface coast
$FINISH,0.3,1.027430
$STATE,16046,end surface coast,CONTROL_FINISHED_OK
$STATE,16046,begin surface
$SM_CCo,16131,0.00,0.000,0,0,1941,235.73
$SM_GC,1.86,11.82,0.00,0.00,0.035,0.000,0.000,50,2667,1941,-10.93,-0.23,235.73
$IRIDIUM_FIX,6239.86,-1301.10,200798,040424
$TT8_MAMPS,0.029146
$HUMID,1786
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.7,50.2
$24V_AH,23.4,49.100
$10V_AH,10.1,28.135
$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,26.300,128.600,326.650,0.000,0.000,24.812,42.810,136.847,4.250,0.000,0.000,16.169,1405.383,12408.130,423.898,1711.892,513.061,33.365,1281.417,0.000,1679.691,0.000,30.471,0.000
$DEVICE_MAMPS,156.468,93.574,1044.654,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,534.573,570.006,521.911,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37977,770
$CAP_FILE_SIZE,111163,0
$CFSIZE,260165632,240218112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250409,130942,6303.940,-1250.936,40,1.8,51,-12.0