version: 66.04
glider: 103
mission: 11
dive: 190
start: 4 3 109 11 12 36
data:
$ID,103
$MISSION,11
$DIVE,190
$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,-146754.62
$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,21
$R_STBD_OVSHOOT,14
$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
$GPS1,110531,6254.681,-1247.266,41,1.2,41,-11.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-62.8
$GPS2,111143,6254.756,-1247.303,12,1.3,29,-11.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,-0.067
$KALMAN_X,-12870.3,277.0,262.2,-28905.3,-934.3
$KALMAN_Y,-18739.2,426.6,-17.0,4176.3,-2371.3
$MHEAD_RNG_PITCHd_Wd,263.9,17364,-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,15,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.70,0.000,2,0.000,0.000,51,2648,3391
$GC,62,-1.10,-146.6,4.7,-13.7,2,85,12.07,2.70,-1.73,0.000,4,0.157,0.089,2196,1250,3502
$GC,236,-1.10,-146.6,26.7,-7.6,9,243,0.00,2.60,0.00,0.000,6,0.000,0.068,2196,2650,3501
$GC,554,-1.10,-146.6,51.2,-7.9,25,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3501
$GC,862,-1.10,-146.6,73.8,-7.0,40,866,0.00,2.22,0.00,0.000,4,0.000,0.097,2196,3793,3501
$GC,925,-1.10,-146.6,78.9,-7.5,43,929,0.00,2.10,0.00,0.000,6,0.000,0.063,2196,2653,3502
$GC,1258,-1.10,-146.6,101.9,-7.1,59,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2653,3501
$GC,1567,-1.10,-146.6,124.7,-7.9,74,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2653,3502
$GC,1876,-1.10,-146.6,148.5,-8.5,89,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2653,3501
$GC,2185,-1.10,-146.6,174.8,-8.1,104,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2653,3502
$GC,2495,-1.10,-146.6,194.5,-5.7,119,2499,0.00,2.20,0.00,0.000,4,0.000,0.091,2196,3785,3502
$GC,2534,-1.10,-146.6,197.1,-6.7,120,2541,0.00,2.08,0.00,0.000,6,0.000,0.060,2196,2639,3502
$GC,2851,-1.10,-146.6,214.7,-5.8,136,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2639,3502
$GC,3160,-1.10,-146.6,232.3,-7.0,151,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2639,3501
$GC,3469,-1.10,-146.6,257.8,-8.6,166,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2639,3502
$GC,3778,-1.10,-146.6,285.2,-8.9,181,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2637,3502
$GC,4088,-1.10,-146.6,316.3,-10.5,196,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2637,3502
$GC,4397,-1.10,-146.6,348.5,-9.7,211,4400,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3786,3502
$GC,4442,-1.10,-146.6,352.0,-7.5,213,4446,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2643,3502
$GC,4775,-1.10,-146.6,380.4,-9.3,229,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3502
$GC,5085,-1.10,-146.6,400.5,-7.7,244,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3502
$GC,5396,-1.10,-146.6,425.1,-10.5,259,5400,0.00,2.22,0.00,0.000,4,0.000,0.089,2196,3791,3501
$GC,5487,-1.10,-146.6,435.0,-9.8,263,5491,0.00,2.08,0.00,0.000,6,0.000,0.056,2196,2643,3502
$GC,5820,-1.10,-146.6,462.2,-8.1,279,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3502
$GC,6129,-1.10,-146.6,480.4,-6.8,294,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3502
$GC,6439,-1.10,-146.6,505.2,-9.8,309,6443,0.00,2.58,0.00,0.000,4,0.000,0.071,2196,1236,3502
$GC,6488,-1.10,-146.6,510.8,-11.4,311,6493,0.00,2.60,0.00,0.000,6,0.000,0.061,2196,2662,3502
$GC,6805,-1.10,-146.6,539.2,-7.9,326,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2662,3502
$GC,7115,-1.10,-146.6,561.8,-5.9,341,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2662,3502
$GC,7424,-1.10,-146.6,573.6,-0.3,356,7427,0.00,2.12,0.00,0.000,4,0.000,0.087,2196,3790,3501
$GC,7492,-1.10,-146.6,579.2,-7.8,359,7495,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2651,3501
$GC,7825,-1.10,-146.6,609.3,-10.0,375,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3501
$GC,8134,-1.10,-146.6,634.4,-10.0,390,8137,0.00,2.20,0.00,0.000,4,0.000,0.091,2196,3790,3501
$GC,8196,-1.10,-146.6,641.4,-11.4,392,8201,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2650,3501
$GC,8512,-1.10,-146.6,671.8,-12.2,408,8516,0.00,2.20,0.00,0.000,4,0.000,0.092,2196,3786,3500
$GC,8642,-1.10,-146.6,675.2,2.7,413,8648,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2643,3500
$GC,8958,-1.10,-146.6,654.1,4.3,429,8962,0.00,2.60,0.00,0.000,4,0.000,0.074,2196,1228,3499
$GC,9076,-1.10,-146.6,658.2,-9.7,434,9080,0.00,2.62,0.00,0.000,6,0.000,0.063,2196,2657,3499
$GC,9396,-1.10,-146.6,678.7,-6.7,450,9400,0.00,2.15,0.00,0.000,4,0.000,0.096,2196,3782,3499
$GC,9430,-1.10,-146.6,683.8,-14.4,451,9434,0.00,2.05,0.00,0.000,6,0.000,0.058,2196,2648,3499
$STATE,9522,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9522,begin apogee
$GC,9531,-0.42,0.0,694.6,11.0,456,9658,0.77,0.00,124.53,1.156,6,0.110,0.000,2345,1997,2902
$STATE,9659,end apogee,CONTROL_FINISHED_OK
$STATE,9659,begin climb
$GC,9662,1.10,146.6,699.0,0.0,462,9795,1.58,2.72,122.45,1.116,4,0.061,0.063,2679,583,2304
$GC,9849,1.15,182.1,695.5,5.0,470,9885,0.00,2.53,31.40,1.068,6,0.000,0.037,2679,2027,2159
$GC,10204,1.25,263.6,683.9,3.7,488,10281,0.15,2.78,68.68,1.115,4,0.038,0.061,2727,587,1827
$GC,10329,1.25,263.6,673.2,12.4,493,10335,0.00,2.50,0.00,0.000,6,0.000,0.037,2726,2006,1827
$GC,10645,1.25,263.6,637.2,12.8,509,10649,0.00,2.65,0.00,0.000,4,0.000,0.064,2727,577,1826
$GC,10797,1.25,263.6,625.4,6.7,516,10802,0.00,2.50,0.00,0.000,6,0.000,0.038,2727,1999,1826
$GC,11125,1.28,290.6,610.0,5.3,532,11154,0.00,2.70,23.70,1.072,4,0.000,0.066,2726,3404,1717
$GC,11228,1.28,290.6,603.6,7.2,536,11234,0.00,2.58,0.00,0.000,6,0.000,0.048,2726,1982,1717
$GC,11544,1.28,290.6,579.3,7.8,552,11545,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1982,1716
$GC,11853,1.28,290.6,553.7,6.9,567,11854,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1981,1716
$GC,12163,1.28,290.6,527.6,9.9,582,12167,0.00,2.65,0.00,0.000,4,0.000,0.064,2727,3407,1716
$GC,12196,1.28,290.6,524.1,10.7,583,12202,0.00,2.55,0.00,0.000,6,0.000,0.048,2727,1989,1716
$GC,12511,1.28,290.6,496.6,7.5,599,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1989,1716
$GC,12821,1.28,290.6,472.9,8.2,614,12825,0.00,2.62,0.00,0.000,4,0.000,0.065,2727,3405,1716
$GC,12871,1.28,290.6,468.6,8.4,616,12875,0.00,2.53,0.00,0.000,6,0.000,0.049,2726,2000,1716
$GC,13187,1.28,290.6,441.8,8.6,631,13191,0.00,2.60,0.00,0.000,4,0.000,0.066,2727,3402,1716
$GC,13242,1.28,290.6,436.8,9.2,633,13248,0.00,2.53,0.00,0.000,6,0.000,0.050,2727,1998,1716
$GC,13558,1.28,290.6,408.7,9.1,649,13563,0.00,2.62,0.00,0.000,4,0.000,0.066,2727,3412,1716
$GC,13592,1.28,290.6,405.5,8.6,650,13598,0.00,2.53,0.00,0.000,6,0.000,0.050,2726,2001,1716
$GC,13908,1.28,290.6,380.8,7.5,666,13913,0.00,2.60,0.00,0.000,4,0.000,0.067,2726,3402,1716
$GC,13941,1.28,290.6,378.0,7.7,667,13947,0.00,2.53,0.00,0.000,6,0.000,0.050,2727,1997,1716
$GC,14257,1.28,290.6,354.0,7.3,683,14261,0.00,2.62,0.00,0.000,4,0.000,0.067,2726,3409,1717
$GC,14301,1.28,290.6,350.4,7.8,685,14305,0.00,2.55,0.00,0.000,6,0.000,0.051,2726,1995,1717
$GC,14629,1.28,290.6,322.1,9.1,701,14633,0.00,2.62,0.00,0.000,4,0.000,0.067,2727,3407,1717
$GC,14691,1.28,290.6,316.4,9.0,704,14695,0.00,2.53,0.00,0.000,6,0.000,0.052,2727,1998,1717
$GC,15018,1.28,290.6,290.9,7.2,720,15022,0.00,2.62,0.00,0.000,4,0.000,0.068,2727,3407,1718
$GC,15084,1.28,290.6,286.0,7.9,723,15088,0.00,2.55,0.00,0.000,6,0.000,0.053,2727,1998,1718
$GC,15405,1.28,290.6,264.5,6.5,739,15406,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1998,1718
$GC,15715,1.28,290.6,241.3,8.1,754,15719,0.00,2.62,0.00,0.000,4,0.000,0.068,2727,3406,1719
$GC,15761,1.28,290.6,237.1,9.1,756,15765,0.00,2.55,0.00,0.000,6,0.000,0.052,2727,1992,1719
$GC,16088,1.28,290.6,206.4,9.8,772,16093,0.00,2.62,0.00,0.000,4,0.000,0.067,2727,3405,1720
$GC,16133,1.28,290.6,201.8,10.4,774,16137,0.00,2.55,0.00,0.000,6,0.000,0.053,2727,1992,1720
$GC,16453,1.28,290.6,172.6,8.9,790,16455,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1992,1719
$GC,16763,1.28,290.6,145.6,8.9,805,16767,0.00,2.62,0.00,0.000,4,0.000,0.069,2726,3400,1719
$GC,16808,1.28,290.6,141.2,10.5,807,16812,0.00,2.55,0.00,0.000,6,0.000,0.054,2727,1993,1720
$GC,17129,1.28,290.6,111.8,9.3,823,17130,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1993,1720
$GC,17440,1.28,290.6,84.3,8.6,838,17444,0.00,2.65,0.00,0.000,4,0.000,0.071,2727,3411,1720
$GC,17490,1.28,290.6,79.6,9.1,840,17494,0.00,2.58,0.00,0.000,6,0.000,0.055,2726,1993,1720
$GC,17808,1.28,290.6,53.5,8.2,855,17812,0.00,2.65,0.00,0.000,4,0.000,0.071,2727,3409,1721
$GC,17848,1.28,290.6,50.0,8.7,857,17852,0.00,2.58,0.00,0.000,6,0.000,0.057,2726,1995,1721
$GC,18175,1.28,290.6,24.0,8.3,873,18179,0.00,2.65,0.00,0.000,4,0.000,0.072,2726,3407,1721
$GC,18208,1.28,290.6,21.0,7.9,874,18214,0.00,2.55,0.00,0.000,6,0.000,0.055,2727,1996,1721
$STATE,18438,end climb,SURFACE_DEPTH_REACHED
$STATE,18438,begin surface coast
$FINISH,0.2,1.007114
$STATE,18462,end surface coast,CONTROL_FINISHED_OK
$STATE,18462,begin surface
$SM_CCo,18547,0.00,0.000,0,0,1720,289.70
$SM_GC,1.04,11.85,0.00,0.00,0.034,0.000,0.000,51,2649,1720,-10.94,-0.03,289.70
$IRIDIUM_FIX,6230.49,-1245.54,280698,050530
$TT8_MAMPS,0.028379
$HUMID,1777
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,675.2,29.1
$24V_AH,23.3,35.648
$10V_AH,10.1,19.811
$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,26.425,145.625,370.750,0.000,0.000,25.445,27.294,171.331,6.250,0.000,0.000,29.175,1613.232,14317.902,462.591,1956.922,563.894,33.363,1446.451,0.000,1901.020,0.000,43.339,0.000
$DEVICE_MAMPS,157.235,96.642,1155.869,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,625.544,656.250,540.560,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44282,887
$CAP_FILE_SIZE,127631,0
$CFSIZE,260165632,246218752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030409,162301,6254.389,-1250.910,40,1.2,40,-11.9