version: 66.04
glider: 103
mission: 11
dive: 187
start: 4 2 109 18 37 32
data:
$ID,103
$MISSION,11
$DIVE,187
$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,-146676.72
$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,17
$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
$GPS1,183107,6247.552,-1228.276,33,1.6,33,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-59.3
$GPS2,183638,6247.538,-1228.277,13,1.5,13,-11.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.146,0.163
$KALMAN_X,-16234.4,880.6,-149.6,-9785.8,-7667.0
$KALMAN_Y,-28573.2,1571.0,1250.1,-1828.9,-21098.9
$MHEAD_RNG_PITCHd_Wd,329.7,31386,-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,-41.38,0.000,2,0.000,0.000,47,2647,3143
$GC,62,-1.10,-146.6,3.5,-10.9,2,88,12.23,2.75,-6.15,0.000,4,0.161,0.089,2195,1229,3501
$GC,333,-1.10,-146.6,32.4,-8.5,14,338,0.00,2.65,0.00,0.000,6,0.000,0.069,2196,2648,3501
$GC,661,-1.10,-146.6,58.0,-7.8,30,665,0.00,2.20,0.00,0.000,4,0.000,0.091,2196,3793,3501
$GC,723,-1.10,-146.6,63.4,-7.6,32,730,0.00,2.12,0.00,0.000,6,0.000,0.059,2196,2649,3501
$GC,1039,-1.10,-146.6,88.0,-7.6,48,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3501
$GC,1349,-1.10,-146.6,111.7,-7.7,63,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3501
$GC,1658,-1.10,-146.6,136.2,-8.2,78,1662,0.00,2.20,0.00,0.000,4,0.000,0.088,2195,3785,3501
$GC,1709,-1.10,-146.6,140.4,-8.2,80,1713,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2644,3501
$GC,2036,-1.10,-146.6,166.0,-7.6,96,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,2346,-1.10,-146.6,189.7,-7.6,111,2350,0.00,2.22,0.00,0.000,4,0.000,0.088,2195,3790,3501
$GC,2402,-1.10,-146.6,194.2,-7.8,113,2406,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2652,3501
$GC,2723,-1.10,-146.6,218.0,-7.3,129,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2651,3501
$GC,3033,-1.10,-146.6,239.4,-7.0,144,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2651,3501
$GC,3342,-1.10,-146.6,261.3,-7.0,159,3345,0.00,2.20,0.00,0.000,4,0.000,0.086,2196,3792,3501
$GC,3392,-1.10,-146.6,265.1,-7.5,161,3396,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2643,3501
$GC,3719,-1.10,-146.6,287.8,-7.3,177,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3502
$GC,4028,-1.10,-146.6,309.7,-6.9,192,4032,0.00,2.20,0.00,0.000,4,0.000,0.087,2196,3790,3502
$GC,4074,-1.10,-146.6,313.0,-7.4,194,4077,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2641,3502
$GC,4406,-1.10,-146.6,335.2,-6.7,210,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3502
$GC,4715,-1.10,-146.6,359.0,-8.2,225,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3502
$GC,5025,-1.10,-146.6,384.3,-8.0,240,5028,0.00,2.20,0.00,0.000,4,0.000,0.086,2195,3785,3502
$GC,5075,-1.10,-146.6,388.3,-7.2,242,5079,0.00,2.05,0.00,0.000,6,0.000,0.055,2196,2648,3502
$GC,5403,-1.10,-146.6,410.8,-5.9,258,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3502
$GC,5712,-1.10,-146.6,430.0,-6.4,273,5715,0.00,2.20,0.00,0.000,4,0.000,0.086,2195,3792,3502
$GC,5758,-1.10,-146.6,432.8,-6.1,275,5761,0.00,2.08,0.00,0.000,6,0.000,0.054,2195,2640,3502
$GC,6091,-1.10,-146.6,456.0,-7.9,291,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2639,3502
$GC,6400,-1.10,-146.6,481.5,-8.0,306,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2639,3502
$GC,6710,-1.10,-146.6,504.7,-7.4,321,6713,0.00,2.20,0.00,0.000,4,0.000,0.084,2195,3790,3502
$GC,6749,-1.10,-146.6,507.6,-7.3,322,6755,0.00,2.05,0.00,0.000,6,0.000,0.053,2195,2645,3502
$GC,7065,-1.10,-146.6,527.3,-5.4,338,7069,0.00,2.20,0.00,0.000,4,0.000,0.087,2196,3787,3502
$GC,7116,-1.10,-146.6,530.2,-5.8,340,7120,0.00,2.05,0.00,0.000,6,0.000,0.053,2195,2644,3502
$GC,7444,-1.10,-146.6,547.8,-5.5,356,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3502
$GC,7753,-1.10,-146.6,566.7,-6.2,371,7756,0.00,2.20,0.00,0.000,4,0.000,0.087,2196,3787,3502
$GC,7815,-1.10,-146.6,570.6,-6.5,373,7821,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2644,3502
$GC,8131,-1.10,-146.6,588.3,-5.8,389,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3502
$GC,8440,-1.10,-146.6,609.3,-7.0,404,8444,0.00,2.55,0.00,0.000,4,0.000,0.065,2196,1235,3502
$GC,8473,-1.10,-146.6,612.0,-7.9,405,8480,0.00,2.58,0.00,0.000,6,0.000,0.059,2195,2658,3502
$GC,8790,-1.10,-146.6,636.0,-6.3,421,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2658,3501
$GC,9099,-1.10,-146.6,654.3,-6.3,436,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2658,3501
$GC,9412,-1.10,-146.6,676.3,-6.5,451,9416,0.00,2.15,0.00,0.000,4,0.000,0.090,2196,3786,3501
$GC,9497,-1.10,-146.6,681.6,-5.9,454,9503,0.00,2.05,0.00,0.000,6,0.000,0.054,2195,2642,3501
$GC,9813,-1.10,-146.6,701.3,-6.7,470,9814,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3500
$STATE,9913,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9913,begin apogee
$GC,9922,-0.42,0.0,708.8,7.1,475,10049,0.75,0.00,123.97,1.166,6,0.091,0.000,2346,1992,2902
$STATE,10050,end apogee,CONTROL_FINISHED_OK
$STATE,10050,begin climb
$GC,10053,1.10,146.6,714.2,0.0,481,10182,1.55,2.65,121.20,1.140,4,0.056,0.064,2679,590,2304
$GC,10225,1.22,242.0,711.9,3.4,489,10312,0.12,2.53,80.03,1.108,6,0.044,0.038,2722,2020,1915
$GC,10633,1.22,242.0,682.0,8.1,509,10635,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2020,1914
$GC,10943,1.22,242.0,658.6,7.6,524,10947,0.00,2.58,0.00,0.000,4,0.000,0.067,2722,3405,1913
$GC,11060,1.22,242.0,649.4,8.1,529,11065,0.00,2.55,0.00,0.000,6,0.000,0.047,2722,1985,1913
$GC,11376,1.22,242.0,624.7,7.5,544,11380,0.00,2.55,0.00,0.000,4,0.000,0.064,2722,595,1912
$GC,11421,1.22,242.0,621.2,8.5,546,11426,0.00,2.47,0.00,0.000,6,0.000,0.039,2722,1997,1912
$GC,11743,1.22,242.0,599.0,7.1,562,11747,0.00,2.60,0.00,0.000,4,0.000,0.061,2722,584,1911
$GC,11798,1.22,242.0,594.7,7.8,564,11804,0.00,2.50,0.00,0.000,6,0.000,0.038,2722,2007,1911
$GC,12114,1.22,242.0,573.5,6.7,580,12118,0.00,2.58,0.00,0.000,4,0.000,0.065,2722,3408,1910
$GC,12186,1.22,242.0,568.9,6.4,583,12190,0.00,2.53,0.00,0.000,6,0.000,0.044,2722,1988,1911
$GC,12502,1.22,242.0,550.0,6.6,598,12503,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1988,1910
$GC,12812,1.22,242.0,526.6,7.8,613,12816,0.00,2.62,0.00,0.000,4,0.000,0.064,2722,3407,1911
$GC,12856,1.22,242.0,522.8,7.7,615,12860,0.00,2.50,0.00,0.000,6,0.000,0.043,2722,1997,1911
$GC,13177,1.22,242.0,499.1,7.7,631,13182,0.00,2.55,0.00,0.000,4,0.000,0.058,2722,586,1911
$GC,13222,1.22,242.0,495.4,8.1,633,13226,0.00,2.47,0.00,0.000,6,0.000,0.035,2722,2007,1911
$GC,13543,1.22,242.0,474.5,6.4,649,13547,0.00,2.55,0.00,0.000,4,0.000,0.064,2722,3411,1912
$GC,13593,1.22,242.0,471.1,6.9,651,13597,0.00,2.53,0.00,0.000,6,0.000,0.045,2722,1990,1912
$GC,13914,1.22,242.0,448.8,6.6,667,13918,0.00,2.53,0.00,0.000,4,0.000,0.058,2722,588,1912
$GC,13954,1.22,242.0,445.9,7.1,669,13958,0.00,2.47,0.00,0.000,6,0.000,0.036,2722,2009,1912
$GC,14280,1.22,242.0,421.5,7.6,685,14282,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2009,1912
$GC,14589,1.22,242.0,396.3,8.2,700,14591,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2009,1913
$GC,14899,1.22,242.0,371.2,8.4,715,14903,0.00,2.58,0.00,0.000,4,0.000,0.066,2722,3414,1913
$GC,14943,1.22,242.0,367.1,9.1,717,14947,0.00,2.53,0.00,0.000,6,0.000,0.047,2722,2000,1913
$GC,15264,1.22,242.0,340.6,8.3,733,15265,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2000,1914
$GC,15573,1.22,242.0,316.3,7.3,748,15577,0.00,2.55,0.00,0.000,4,0.000,0.061,2722,589,1914
$GC,15612,1.22,242.0,313.4,7.5,750,15617,0.00,2.47,0.00,0.000,6,0.000,0.038,2722,2007,1914
$GC,15940,1.22,242.0,291.8,6.3,766,15944,0.00,2.58,0.00,0.000,4,0.000,0.067,2722,3409,1914
$GC,15974,1.22,243.4,289.6,6.0,767,15978,0.00,2.53,0.00,0.000,6,0.000,0.048,2722,1998,1915
$GC,16290,1.22,243.4,270.0,6.5,782,16291,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1998,1915
$GC,16599,1.22,243.4,248.0,7.5,797,16600,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1998,1915
$GC,16908,1.22,243.4,226.7,6.5,812,16913,0.00,2.62,0.00,0.000,4,0.000,0.067,2722,3412,1915
$GC,16959,1.22,243.4,223.2,6.2,814,16963,0.00,2.55,0.00,0.000,6,0.000,0.050,2722,1989,1914
$GC,17275,1.22,243.4,202.7,6.5,829,17276,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1989,1915
$GC,17584,1.22,243.4,181.3,6.9,844,17585,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1989,1916
$GC,17893,1.22,243.4,159.3,6.9,859,17894,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1989,1916
$GC,18203,1.22,243.4,137.9,7.1,874,18205,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1989,1916
$GC,18512,1.22,243.4,115.3,7.4,889,18516,0.00,2.65,0.00,0.000,4,0.000,0.069,2722,3414,1916
$GC,18545,1.22,243.4,112.6,8.1,890,18551,0.00,2.55,0.00,0.000,6,0.000,0.052,2722,1989,1916
$GC,18863,1.22,243.4,88.9,7.5,906,18864,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1989,1916
$GC,19170,1.22,243.4,66.1,7.4,921,19172,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1989,1916
$GC,19480,1.22,243.4,42.7,8.0,936,19481,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1989,1916
$GC,19789,1.22,243.4,22.4,6.8,951,19790,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1989,1916
$STATE,20074,end climb,SURFACE_DEPTH_REACHED
$STATE,20075,begin surface coast
$FINISH,0.2,1.027358
$STATE,20096,end surface coast,CONTROL_FINISHED_OK
$STATE,20097,begin surface
$SM_CCo,20181,0.00,0.000,0,0,1916,241.87
$SM_GC,1.87,11.75,0.00,0.00,0.031,0.000,0.000,50,2656,1916,-10.93,0.17,241.87
$IRIDIUM_FIX,6221.17,-1218.48,270698,131318
$TT8_MAMPS,0.028379
$HUMID,1770
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.3,41.4
$24V_AH,23.3,35.279
$10V_AH,10.1,19.554
$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,26.400,131.275,325.200,0.000,0.000,22.246,32.188,145.103,5.750,0.000,0.000,13.712,1726.277,15811.449,418.267,2009.193,545.536,33.353,1417.978,0.000,1973.920,0.000,40.496,0.000
$DEVICE_MAMPS,161.070,90.506,1165.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,677.729,714.865,583.083,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47429,966
$CAP_FILE_SIZE,130311,0
$CFSIZE,260165632,246407168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030409,001507,6249.649,-1236.515,37,1.8,37,-11.7