version: 66.04
glider: 103
mission: 11
dive: 189
start: 4 3 109 5 52 22
data:
$ID,103
$MISSION,11
$DIVE,189
$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,-146724.83
$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,20
$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
$GPS1,054231,6252.795,-1239.951,52,1.3,52,-11.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-62.3
$GPS2,055131,6252.841,-1239.942,15,1.4,15,-11.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.213,0.049
$KALMAN_X,-14659.0,458.6,397.6,-21282.3,-3643.0
$KALMAN_Y,-23163.8,1603.8,-203.7,4029.8,-9172.3
$MHEAD_RNG_PITCHd_Wd,294.8,21832,-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,-146.6,0.0,0.0,0,60,0.00,0.00,-41.60,0.000,2,0.000,0.000,51,2652,3328
$GC,63,-1.10,-146.6,4.2,-11.9,2,86,12.07,2.70,-2.80,0.000,4,0.156,0.094,2197,1243,3502
$GC,289,-1.10,-146.6,32.9,-9.1,12,294,0.00,2.62,0.00,0.000,6,0.000,0.070,2197,2651,3503
$GC,617,-1.10,-146.6,59.9,-8.0,28,621,0.00,2.22,0.00,0.000,4,0.000,0.097,2196,3792,3502
$GC,684,-1.10,-146.6,66.1,-8.7,31,688,0.00,2.10,0.00,0.000,6,0.000,0.062,2197,2651,3502
$GC,1012,-1.10,-146.6,93.6,-8.0,47,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2651,3502
$GC,1321,-1.10,-146.6,118.7,-7.7,62,1324,0.00,2.22,0.00,0.000,4,0.000,0.091,2197,3792,3502
$GC,1367,-1.10,-146.6,122.3,-7.7,64,1371,0.00,2.10,0.00,0.000,6,0.000,0.061,2197,2647,3502
$GC,1700,-1.10,-146.6,144.9,-6.5,80,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2647,3502
$GC,2009,-1.10,-146.6,165.3,-6.6,95,2012,0.00,2.20,0.00,0.000,4,0.000,0.087,2197,3785,3502
$GC,2082,-1.10,-146.6,170.2,-6.5,98,2085,0.00,2.08,0.00,0.000,6,0.000,0.061,2197,2649,3502
$GC,2409,-1.10,-146.6,191.7,-6.4,114,2413,0.00,2.20,0.00,0.000,4,0.000,0.086,2197,3793,3502
$GC,2459,-1.10,-146.6,195.3,-7.1,116,2462,0.00,2.10,0.00,0.000,6,0.000,0.061,2197,2650,3502
$GC,2786,-1.10,-146.6,217.0,-6.8,132,2789,0.00,2.17,0.00,0.000,4,0.000,0.088,2197,3787,3502
$GC,2825,-1.10,-146.6,219.9,-7.7,133,2831,0.00,2.08,0.00,0.000,6,0.000,0.060,2197,2649,3502
$GC,3141,-1.10,-146.6,242.4,-7.4,149,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3502
$GC,3450,-1.10,-146.6,265.3,-7.5,164,3454,0.00,2.20,0.00,0.000,4,0.000,0.087,2197,3787,3502
$GC,3519,-1.10,-146.6,271.1,-8.8,167,3522,0.00,2.08,0.00,0.000,6,0.000,0.060,2196,2648,3502
$GC,3851,-1.10,-146.6,298.5,-7.7,183,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3502
$GC,4161,-1.10,-146.6,322.1,-7.5,198,4164,0.00,2.20,0.00,0.000,4,0.000,0.087,2196,3790,3502
$GC,4207,-1.10,-146.6,325.7,-8.2,200,4210,0.00,2.08,0.00,0.000,6,0.000,0.059,2197,2648,3502
$GC,4540,-1.10,-146.6,349.9,-7.4,216,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2648,3502
$GC,4849,-1.10,-146.6,373.8,-7.8,231,4853,0.00,2.17,0.00,0.000,4,0.000,0.084,2197,3786,3502
$GC,4895,-1.10,-146.6,377.5,-8.3,233,4899,0.00,2.05,0.00,0.000,6,0.000,0.058,2197,2647,3502
$GC,5227,-1.10,-146.6,401.7,-7.2,249,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2647,3502
$GC,5536,-1.10,-146.6,422.1,-6.8,264,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3502
$GC,5846,-1.10,-146.6,445.1,-7.4,279,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2647,3502
$GC,6155,-1.10,-146.6,467.0,-7.2,294,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2647,3502
$GC,6464,-1.10,-146.6,492.2,-8.4,309,6469,0.00,2.55,0.00,0.000,4,0.000,0.064,2197,1235,3502
$GC,6492,-1.10,-146.6,494.8,-9.0,310,6497,0.00,2.60,0.00,0.000,6,0.000,0.060,2196,2662,3502
$GC,6808,-1.10,-146.6,524.5,-8.6,325,6813,0.00,2.12,0.00,0.000,4,0.000,0.088,2197,3789,3502
$GC,6899,-1.10,-146.6,535.0,-11.6,329,6902,0.00,2.05,0.00,0.000,6,0.000,0.052,2197,2641,3502
$GC,7232,-1.10,-146.6,568.4,-9.5,345,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2641,3502
$GC,7541,-1.10,-146.6,596.2,-9.0,360,7544,0.00,2.22,0.00,0.000,4,0.000,0.090,2197,3792,3502
$GC,7591,-1.10,-146.6,600.6,-8.3,362,7594,0.00,2.05,0.00,0.000,6,0.000,0.053,2197,2648,3502
$GC,7918,-1.10,-146.6,627.8,-7.5,378,7922,0.00,2.20,0.00,0.000,4,0.000,0.090,2197,3789,3502
$GC,8070,-1.10,-146.6,638.6,-6.5,384,8076,0.00,2.05,0.00,0.000,6,0.000,0.054,2197,2650,3502
$GC,8386,-1.10,-146.6,658.6,-5.7,400,8390,0.00,2.60,0.00,0.000,4,0.000,0.072,2197,1233,3502
$GC,8413,-1.10,-146.6,660.8,-7.8,401,8418,0.00,2.62,0.00,0.000,6,0.000,0.063,2196,2662,3501
$STATE,8706,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8706,begin apogee
$GC,8714,-0.42,0.0,678.6,6.7,415,8841,0.75,0.00,123.93,1.142,6,0.094,0.000,2346,1997,2902
$STATE,8842,end apogee,CONTROL_FINISHED_OK
$STATE,8842,begin climb
$GC,8845,1.10,146.6,682.6,0.0,421,8973,1.55,0.00,121.22,1.111,6,0.058,0.000,2678,1997,2304
$GC,9283,1.10,148.4,664.7,6.0,443,9288,0.00,2.60,0.00,0.000,4,0.000,0.064,2678,587,2303
$GC,9347,1.11,149.0,661.8,6.0,446,9356,0.00,2.53,3.75,0.667,6,0.000,0.037,2678,2031,2294
$GC,9678,1.11,149.0,642.8,7.3,462,9683,0.00,2.50,0.00,0.000,4,0.000,0.062,2678,3397,2293
$GC,9734,1.11,149.0,639.5,6.7,464,9740,0.00,2.53,0.00,0.000,6,0.000,0.044,2678,1982,2294
$GC,10051,1.15,187.8,625.9,4.9,480,10089,0.00,0.00,33.62,1.100,6,0.000,0.000,2678,1982,2136
$GC,10400,1.20,229.1,608.5,4.9,497,10441,0.10,2.78,35.15,1.088,4,0.050,0.066,2714,3402,1968
$GC,10475,1.20,229.1,604.0,6.1,500,10480,0.00,2.55,0.00,0.000,6,0.000,0.045,2714,1988,1968
$GC,10791,1.20,229.1,585.1,6.6,515,10795,0.00,2.62,0.00,0.000,4,0.000,0.067,2714,3398,1967
$GC,10846,1.20,229.1,580.1,8.8,517,10852,0.00,2.53,0.00,0.000,6,0.000,0.047,2714,1992,1967
$GC,11162,1.20,229.1,552.4,8.4,533,11167,0.00,2.55,0.00,0.000,4,0.000,0.062,2714,595,1966
$GC,11230,1.20,229.1,546.7,7.8,536,11234,0.00,2.47,0.00,0.000,6,0.000,0.039,2714,2001,1966
$GC,11550,1.20,229.1,520.5,8.5,552,11555,0.00,2.60,0.00,0.000,4,0.000,0.067,2714,3410,1966
$GC,11595,1.20,229.1,516.4,8.9,554,11600,0.00,2.53,0.00,0.000,6,0.000,0.046,2715,1999,1966
$GC,11917,1.20,229.1,487.3,8.8,570,11918,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1999,1966
$GC,12226,1.20,229.1,462.4,7.3,585,12227,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1999,1966
$GC,12536,1.20,229.1,438.6,7.9,600,12537,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1999,1966
$GC,12845,1.20,229.1,414.7,7.5,615,12846,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1999,1966
$GC,13154,1.20,229.1,393.3,7.0,630,13158,0.00,2.55,0.00,0.000,4,0.000,0.060,2714,590,1966
$GC,13194,1.20,229.1,390.6,7.1,632,13198,0.00,2.47,0.00,0.000,6,0.000,0.038,2714,2006,1966
$GC,13520,1.20,229.1,366.6,7.8,648,13525,0.00,2.58,0.00,0.000,4,0.000,0.066,2714,3409,1967
$GC,13554,1.20,229.1,363.7,8.4,649,13560,0.00,2.53,0.00,0.000,6,0.000,0.047,2714,1995,1967
$GC,13870,1.20,229.1,336.0,8.8,665,13874,0.00,2.55,0.00,0.000,4,0.000,0.060,2714,584,1968
$GC,13903,1.20,229.1,332.8,8.8,666,13909,0.00,2.50,0.00,0.000,6,0.000,0.038,2714,2010,1968
$GC,14219,1.20,229.1,307.8,7.4,682,14220,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2010,1967
$GC,14528,1.20,229.1,286.7,6.8,697,14532,0.00,2.60,0.00,0.000,4,0.000,0.060,2714,587,1967
$GC,14567,1.20,229.1,283.6,7.9,698,14574,0.00,2.47,0.00,0.000,6,0.000,0.038,2714,2006,1967
$GC,14883,1.20,229.1,259.5,7.9,714,14887,0.00,2.58,0.00,0.000,4,0.000,0.067,2714,3407,1968
$GC,14923,1.20,229.1,256.2,8.2,716,14927,0.00,2.53,0.00,0.000,6,0.000,0.049,2714,1996,1968
$GC,15250,1.20,229.1,229.3,8.5,732,15254,0.00,2.55,0.00,0.000,4,0.000,0.061,2715,586,1968
$GC,15289,1.20,229.1,225.8,8.8,734,15294,0.00,2.47,0.00,0.000,6,0.000,0.038,2715,2002,1968
$GC,15617,1.20,229.1,199.5,8.0,750,15618,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2001,1969
$GC,15926,1.20,229.1,178.3,6.3,765,15930,0.00,2.58,0.00,0.000,4,0.000,0.068,2715,3408,1968
$GC,15954,1.20,229.1,176.4,6.7,766,15958,0.00,2.53,0.00,0.000,6,0.000,0.050,2715,1992,1968
$GC,16281,1.20,229.1,154.4,7.2,782,16282,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1992,1968
$GC,16591,1.20,229.1,133.2,6.5,797,16592,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1992,1969
$GC,16900,1.20,229.1,113.9,6.2,812,16904,0.00,2.62,0.00,0.000,4,0.000,0.067,2714,3405,1969
$GC,16932,1.20,229.1,111.6,6.3,813,16939,0.00,2.53,0.00,0.000,6,0.000,0.052,2714,1995,1969
$GC,17251,1.20,229.1,92.1,6.1,829,17255,0.00,2.55,0.00,0.000,4,0.000,0.064,2714,590,1969
$GC,17291,1.20,229.1,89.2,7.0,831,17295,0.00,2.47,0.00,0.000,6,0.000,0.040,2715,2002,1969
$GC,17618,1.20,229.1,68.2,6.5,847,17619,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2002,1970
$GC,17928,1.20,229.1,48.8,6.2,862,17932,0.00,2.60,0.00,0.000,4,0.000,0.068,2714,3415,1969
$GC,17960,1.20,229.1,46.5,8.0,863,17967,0.00,2.55,0.00,0.000,6,0.000,0.052,2715,1990,1970
$GC,18278,1.20,229.1,23.9,7.6,879,18279,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1990,1970
$GC,18586,1.20,229.1,2.0,7.0,894,18587,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1990,1970
$STATE,18603,end climb,SURFACE_DEPTH_REACHED
$STATE,18603,begin surface coast
$FINISH,0.1,1.027462
$STATE,18626,end surface coast,CONTROL_FINISHED_OK
$STATE,18626,begin surface
$SM_CCo,18710,0.00,0.000,0,0,1970,228.62
$SM_GC,1.97,11.68,0.00,0.00,0.030,0.000,0.000,51,2648,1970,-10.93,-0.06,228.62
$IRIDIUM_FIX,6230.49,-1236.33,280698,050525
$TT8_MAMPS,0.028379
$HUMID,1777
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.9,12.2
$24V_AH,23.4,35.516
$10V_AH,10.1,19.727
$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,26.150,146.750,317.675,0.000,0.000,63.914,57.832,219.258,6.000,0.000,0.000,15.954,1621.876,14580.797,444.061,1914.438,683.321,33.352,1392.505,0.000,1875.279,0.000,44.231,0.000
$DEVICE_MAMPS,156.468,96.642,1142.063,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,632.760,662.587,571.112,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44344,896
$CAP_FILE_SIZE,129797,0
$CFSIZE,260165632,246288384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030409,110531,6254.681,-1247.266,41,1.2,41,-11.9