version: 66.04
glider: 103
mission: 11
dive: 183
start: 4 1 109 22 9 53
data:
$ID,103
$MISSION,11
$DIVE,183
$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,0
$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,-146598.02
$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,2650
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,11
$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
$GPS1,220031,6248.935,-1155.375,90,1.4,90,-11.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-57.3
$GPS2,220902,6248.838,-1155.493,10,2.0,10,-11.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.182,0.121
$KALMAN_X,-17599.7,1348.5,456.1,18031.0,-23424.9
$KALMAN_Y,-13022.4,-821.0,-532.6,-10667.0,-21168.0
$MHEAD_RNG_PITCHd_Wd,315.1,58814,-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,16,-1.10,-146.6,0.0,0.0,0,78,0.00,0.00,-59.78,0.000,6,0.000,0.000,50,2649,3501
$GC,81,-1.10,-146.6,5.3,-9.9,3,103,12.10,2.70,0.00,0.000,4,0.158,0.074,2196,1240,3501
$GC,268,-1.10,-146.6,30.2,-8.5,11,273,0.00,2.65,0.00,0.000,6,0.000,0.068,2196,2659,3502
$GC,590,-1.10,-146.6,55.5,-7.9,27,594,0.00,2.20,0.00,0.000,4,0.000,0.095,2196,3790,3502
$GC,663,-1.10,-146.6,62.0,-8.9,30,667,0.00,2.10,0.00,0.000,6,0.000,0.061,2196,2650,3502
$GC,991,-1.10,-146.6,88.6,-7.8,46,994,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3786,3501
$GC,1037,-1.10,-146.6,92.4,-8.7,48,1041,0.00,2.08,0.00,0.000,6,0.000,0.061,2196,2647,3502
$GC,1369,-1.10,-146.6,118.6,-7.8,64,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3501
$GC,1680,-1.10,-146.6,141.0,-7.4,79,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3501
$GC,1988,-1.10,-146.6,162.4,-6.9,94,1991,0.00,2.22,0.00,0.000,4,0.000,0.094,2196,3785,3501
$GC,2038,-1.10,-146.6,166.0,-7.3,96,2042,0.00,2.08,0.00,0.000,6,0.000,0.061,2196,2650,3502
$GC,2365,-1.10,-146.6,190.2,-8.0,112,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3502
$GC,2675,-1.10,-146.6,214.9,-8.0,127,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3502
$GC,2984,-1.10,-146.6,239.3,-7.9,142,2987,0.00,2.20,0.00,0.000,4,0.000,0.089,2196,3790,3502
$GC,3017,-1.10,-146.6,241.9,-8.6,143,3021,0.00,2.10,0.00,0.000,6,0.000,0.060,2196,2643,3501
$GC,3338,-1.10,-146.6,267.5,-8.0,159,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3501
$GC,3648,-1.10,-146.6,294.8,-8.9,174,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3501
$GC,3957,-1.10,-146.6,320.9,-8.2,189,3961,0.00,2.22,0.00,0.000,4,0.000,0.093,2196,3785,3501
$GC,4025,-1.10,-146.6,326.3,-7.9,192,4028,0.00,2.08,0.00,0.000,6,0.000,0.059,2196,2643,3501
$GC,4358,-1.10,-146.6,350.7,-7.6,208,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3501
$GC,4666,-1.10,-146.6,374.4,-7.6,223,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3501
$GC,4976,-1.10,-146.6,397.6,-7.5,238,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3501
$GC,5285,-1.10,-146.6,421.4,-7.7,253,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3501
$GC,5594,-1.10,-146.6,442.7,-6.6,268,5598,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3787,3501
$GC,5685,-1.10,-146.6,448.9,-6.9,272,5689,0.00,2.08,0.00,0.000,6,0.000,0.058,2197,2640,3501
$GC,6018,-1.10,-146.6,469.9,-6.2,288,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2640,3501
$GC,6327,-1.10,-146.6,489.3,-6.5,303,6331,0.00,2.22,0.00,0.000,4,0.000,0.090,2196,3790,3501
$GC,6361,-1.10,-146.6,491.7,-7.3,304,6365,0.00,2.08,0.00,0.000,6,0.000,0.056,2196,2641,3500
$GC,6682,-1.10,-146.6,515.3,-7.2,320,6686,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3789,3500
$GC,6728,-1.10,-146.6,519.0,-8.7,322,6732,0.00,2.05,0.00,0.000,6,0.000,0.056,2196,2650,3500
$GC,7061,-1.10,-146.6,546.0,-7.9,338,7065,0.00,2.20,0.00,0.000,4,0.000,0.091,2196,3786,3501
$GC,7130,-1.10,-146.6,551.8,-8.7,341,7134,0.00,2.05,0.00,0.000,6,0.000,0.057,2196,2650,3501
$GC,7466,-1.10,-146.6,576.4,-7.0,357,7469,0.00,2.20,0.00,0.000,4,0.000,0.091,2197,3787,3501
$GC,7512,-1.10,-146.6,579.9,-7.6,359,7516,0.00,2.08,0.00,0.000,6,0.000,0.057,2196,2643,3501
$GC,7845,-1.10,-146.6,605.2,-7.9,375,7849,0.00,2.60,0.00,0.000,4,0.000,0.073,2197,1227,3500
$GC,7922,-1.10,-146.6,611.2,-6.9,378,7928,0.00,2.62,0.00,0.000,6,0.000,0.062,2196,2659,3500
$GC,8238,-1.10,-146.6,631.8,-6.5,394,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2660,3499
$STATE,8297,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8297,begin apogee
$GC,8305,-0.42,0.0,636.4,7.3,397,8433,0.75,0.00,123.85,1.104,6,0.097,0.000,2344,1991,2902
$STATE,8433,end apogee,CONTROL_FINISHED_OK
$STATE,8433,begin climb
$GC,8436,1.10,146.6,642.2,0.0,403,8562,1.58,0.00,121.07,1.081,6,0.064,0.000,2678,1990,2304
$GC,8870,1.25,265.7,636.4,2.7,424,8978,0.15,2.78,99.47,1.080,4,0.040,0.067,2724,3412,1818
$GC,9086,1.25,265.7,622.6,6.5,434,9091,0.00,2.58,0.00,0.000,6,0.000,0.049,2724,1990,1817
$GC,9413,1.25,270.1,601.6,5.9,450,9423,0.00,2.60,5.28,0.812,4,0.000,0.066,2724,596,1799
$GC,9597,1.25,270.1,589.1,6.8,458,9601,0.00,2.53,0.00,0.000,6,0.000,0.041,2724,2019,1799
$GC,9913,1.25,270.1,569.8,6.2,473,9917,0.00,2.60,0.00,0.000,4,0.000,0.070,2724,3415,1798
$GC,9946,1.25,270.1,567.2,7.6,474,9952,0.00,2.55,0.00,0.000,6,0.000,0.049,2724,2003,1799
$GC,10262,1.25,270.1,542.9,8.7,490,10266,0.00,2.62,0.00,0.000,4,0.000,0.068,2724,3405,1797
$GC,10323,1.25,270.1,536.6,10.2,492,10329,0.00,2.55,0.00,0.000,6,0.000,0.049,2724,1989,1798
$GC,10639,1.25,270.1,500.7,11.3,508,10643,0.00,2.53,0.00,0.000,4,0.000,0.062,2723,594,1797
$GC,10691,1.25,270.1,494.7,11.3,510,10695,0.00,2.47,0.00,0.000,6,0.000,0.038,2724,2004,1797
$GC,11012,1.25,270.1,455.9,11.9,526,11017,0.00,2.60,0.00,0.000,4,0.000,0.067,2724,3410,1797
$GC,11068,1.25,270.1,449.4,11.2,528,11074,0.00,2.55,0.00,0.000,6,0.000,0.048,2724,1989,1797
$GC,11384,1.25,270.1,417.9,8.8,544,11385,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1989,1798
$GC,11693,1.25,270.1,394.6,7.3,559,11697,0.00,2.65,0.00,0.000,4,0.000,0.067,2724,3415,1798
$GC,11743,1.25,270.1,391.1,6.8,561,11747,0.00,2.55,0.00,0.000,6,0.000,0.050,2724,1994,1798
$GC,12059,1.25,270.1,368.7,7.4,576,12064,0.00,2.55,0.00,0.000,4,0.000,0.061,2723,588,1799
$GC,12094,1.25,270.1,365.7,8.9,577,12100,0.00,2.47,0.00,0.000,6,0.000,0.038,2724,2001,1799
$GC,12410,1.25,270.1,341.7,7.9,593,12414,0.00,2.60,0.00,0.000,4,0.000,0.068,2724,3412,1799
$GC,12454,1.25,270.1,338.1,7.9,595,12459,0.00,2.55,0.00,0.000,6,0.000,0.050,2724,1994,1799
$GC,12776,1.25,270.1,315.7,6.6,611,12781,0.00,2.55,0.00,0.000,4,0.000,0.062,2724,588,1800
$GC,12817,1.25,270.1,312.9,7.6,613,12821,0.00,2.47,0.00,0.000,6,0.000,0.038,2724,2002,1800
$GC,13144,1.25,270.1,289.1,7.7,629,13148,0.00,2.60,0.00,0.000,4,0.000,0.068,2724,3411,1800
$GC,13190,1.25,270.1,285.5,7.7,631,13194,0.00,2.55,0.00,0.000,6,0.000,0.051,2724,1990,1800
$GC,13516,1.25,270.1,259.6,8.4,647,13517,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1990,1800
$GC,13826,1.25,270.1,232.8,8.5,662,13827,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1991,1801
$GC,14135,1.25,270.1,208.6,7.9,677,14139,0.00,2.62,0.00,0.000,4,0.000,0.068,2724,3410,1800
$GC,14174,1.25,270.1,205.4,8.2,679,14179,0.00,2.53,0.00,0.000,6,0.000,0.051,2724,1995,1801
$GC,14502,1.25,270.1,179.4,8.0,695,14506,0.00,2.55,0.00,0.000,4,0.000,0.063,2724,589,1801
$GC,14535,1.25,270.1,176.6,8.3,696,14541,0.00,2.47,0.00,0.000,6,0.000,0.040,2724,2000,1801
$GC,14850,1.25,270.1,153.6,7.0,712,14854,0.00,2.60,0.00,0.000,4,0.000,0.069,2724,3409,1801
$GC,14906,1.25,270.1,149.3,7.3,714,14911,0.00,2.55,0.00,0.000,6,0.000,0.051,2724,1989,1801
$GC,15222,1.25,270.1,126.3,7.1,729,15224,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1989,1802
$GC,15532,1.25,270.1,103.1,7.9,744,15533,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1989,1802
$GC,15842,1.25,270.1,79.9,8.1,759,15847,0.00,2.65,0.00,0.000,4,0.000,0.069,2724,3411,1802
$GC,15870,1.25,270.1,77.3,8.4,760,15875,0.00,2.55,0.00,0.000,6,0.000,0.052,2724,1996,1802
$GC,16187,1.25,270.1,50.8,8.4,775,16188,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1996,1802
$GC,16496,1.25,270.1,26.1,7.8,790,16497,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1996,1803
$STATE,16802,end climb,SURFACE_DEPTH_REACHED
$STATE,16802,begin surface coast
$FINISH,0.3,1.027485
$STATE,16824,end surface coast,CONTROL_FINISHED_OK
$STATE,16824,begin surface
$SM_CCo,16909,0.00,0.000,0,0,1802,269.83
$SM_GC,1.17,11.75,0.00,0.00,0.031,0.000,0.000,48,2648,1802,-10.93,-0.14,269.83
$IRIDIUM_FIX,6225.82,-1156.47,260698,222207
$TT8_MAMPS,0.028379
$HUMID,1780
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.4,69.9
$24V_AH,23.4,34.776
$10V_AH,10.1,19.218
$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,26.325,133.100,349.675,0.000,0.000,55.675,55.201,224.750,5.000,0.000,0.000,10.921,1472.989,13075.188,445.758,1785.046,641.811,33.355,1344.916,0.000,1751.047,0.000,37.640,0.000
$DEVICE_MAMPS,158.002,95.108,1103.713,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,570.505,587.203,516.680,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41163,806
$CAP_FILE_SIZE,117167,0
$CFSIZE,260165632,246669312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020409,025301,6247.506,-1203.118,42,1.2,42,-11.4