version: 66.04
glider: 103
mission: 11
dive: 222
start: 4 11 109 15 28 38
data:
$ID,103
$MISSION,11
$DIVE,222
$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,-147263.12
$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,18
$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
$GPS1,152205,6339.055,-1317.487,40,2.0,51,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-55.8
$GPS2,152744,6338.983,-1317.653,15,1.6,15,-12.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.169,0.139
$KALMAN_X,-16940.3,151.8,305.5,-50258.2,-8029.8
$KALMAN_Y,-29299.1,244.1,-3573.6,100467.6,8472.3
$MHEAD_RNG_PITCHd_Wd,63.1,21338,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.05,0.000,2,0.000,0.000,52,2662,3407
$GC,82,-1.10,-146.6,4.9,-9.1,3,104,12.02,2.75,-1.45,0.000,4,0.155,0.090,2195,1242,3503
$GC,253,-1.10,-146.6,30.8,-9.5,10,258,0.00,2.62,0.00,0.000,6,0.000,0.068,2195,2648,3503
$GC,569,-1.10,-146.6,53.9,-6.7,25,573,0.00,2.22,0.00,0.000,4,0.000,0.094,2195,3793,3503
$GC,610,-1.10,-146.6,56.9,-7.9,27,614,0.00,2.10,0.00,0.000,6,0.000,0.062,2195,2650,3503
$GC,943,-1.10,-146.6,84.7,-8.4,43,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3503
$GC,1254,-1.10,-146.6,111.5,-8.6,58,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3503
$GC,1561,-1.10,-146.6,136.4,-8.3,73,1565,0.00,2.20,0.00,0.000,4,0.000,0.091,2194,3785,3503
$GC,1601,-1.10,-146.6,139.7,-8.6,74,1607,0.00,2.08,0.00,0.000,6,0.000,0.061,2195,2646,3503
$GC,1917,-1.10,-146.6,163.5,-8.2,90,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3503
$GC,2226,-1.10,-146.6,191.0,-9.0,105,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3503
$GC,2535,-1.10,-146.6,217.6,-8.5,120,2539,0.00,2.22,0.00,0.000,4,0.000,0.089,2195,3792,3503
$GC,2581,-1.10,-146.6,221.6,-8.5,122,2585,0.00,2.10,0.00,0.000,6,0.000,0.060,2195,2644,3503
$GC,2914,-1.10,-146.6,248.1,-8.0,138,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3503
$GC,3223,-1.10,-146.6,272.3,-7.8,153,3227,0.00,2.22,0.00,0.000,4,0.000,0.087,2195,3793,3503
$GC,3281,-1.10,-146.6,276.9,-8.8,155,3287,0.00,2.08,0.00,0.000,6,0.000,0.060,2195,2650,3503
$GC,3597,-1.10,-146.6,301.6,-7.7,171,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3503
$GC,3907,-1.10,-146.6,324.2,-7.0,186,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3503
$GC,4216,-1.10,-146.6,347.6,-7.8,201,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2651,3503
$GC,4525,-1.10,-146.6,372.2,-8.2,216,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3503
$GC,4835,-1.10,-146.6,398.0,-8.3,231,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2651,3503
$GC,5144,-1.10,-146.6,422.6,-7.4,246,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3503
$GC,5453,-1.10,-146.6,449.7,-9.1,261,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3503
$GC,5763,-1.10,-146.6,476.2,-8.1,276,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3503
$GC,6071,-1.10,-146.6,497.1,-6.2,291,6075,0.00,2.17,0.00,0.000,4,0.000,0.086,2195,3789,3503
$GC,6110,-1.10,-146.6,499.7,-6.5,292,6117,0.00,2.08,0.00,0.000,6,0.000,0.054,2195,2640,3503
$GC,6427,-1.10,-146.6,519.5,-6.1,308,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3503
$GC,6735,-1.10,-146.6,537.9,-6.2,323,6740,0.00,2.58,0.00,0.000,4,0.000,0.067,2195,1223,3503
$GC,6769,-1.10,-146.6,540.1,-6.4,324,6775,0.00,2.60,0.00,0.000,6,0.000,0.057,2195,2654,3503
$GC,7085,-1.10,-146.6,561.8,-6.9,340,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2654,3503
$GC,7394,-1.10,-146.6,585.6,-7.6,355,7398,0.00,2.15,0.00,0.000,4,0.000,0.087,2195,3786,3503
$GC,7457,-1.10,-146.6,590.6,-8.1,357,7463,0.00,2.05,0.00,0.000,6,0.000,0.052,2195,2645,3503
$GC,7773,-1.10,-146.6,620.1,-11.0,373,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3503
$GC,8082,-1.10,-146.6,652.9,-10.7,388,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3503
$GC,8392,-1.10,-146.6,686.8,-10.0,403,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3503
$GC,8701,-1.10,-146.6,718.7,-8.9,418,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3503
$GC,9010,-1.10,-146.6,744.4,-7.5,433,9014,0.00,2.20,0.00,0.000,4,0.000,0.088,2195,3785,3503
$GC,9060,-1.10,-146.6,748.5,-8.3,435,9064,0.00,2.05,0.00,0.000,6,0.000,0.052,2195,2641,3503
$GC,9388,-1.10,-146.6,778.9,-7.9,451,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3503
$GC,9697,-1.10,-146.6,797.0,-7.6,466,9701,0.00,2.22,0.00,0.000,4,0.000,0.091,2195,3787,3503
$GC,9737,-1.10,-146.6,798.8,-2.8,467,9743,0.00,2.05,0.00,0.000,6,0.000,0.055,2195,2652,3503
$GC,10053,-1.10,-146.6,822.7,-7.1,483,10054,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3503
$STATE,10359,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10359,begin apogee
$GC,10368,-0.42,0.0,850.0,9.2,498,10502,0.75,0.00,128.20,1.224,6,0.093,0.000,2344,1995,2902
$STATE,10502,end apogee,CONTROL_FINISHED_OK
$STATE,10502,begin climb
$GC,10506,1.10,146.6,855.7,0.0,505,10639,1.58,2.67,125.35,1.193,4,0.058,0.064,2680,583,2304
$GC,10676,1.28,289.8,856.3,2.0,513,10808,0.17,2.55,123.07,1.180,6,0.040,0.035,2731,2038,1720
$GC,11127,1.28,289.8,820.5,8.6,535,11131,0.00,2.70,0.00,0.000,4,0.000,0.061,2731,576,1719
$GC,11227,1.28,289.8,811.8,9.2,539,11233,0.00,2.53,0.00,0.000,6,0.000,0.041,2731,1995,1719
$GC,11543,1.28,289.8,785.3,8.8,555,11548,0.00,2.62,0.00,0.000,4,0.000,0.062,2731,577,1718
$GC,11594,1.28,289.8,781.1,7.3,557,11598,0.00,2.53,0.00,0.000,6,0.000,0.040,2731,2005,1718
$GC,11909,1.28,289.8,754.3,8.3,572,11914,0.00,2.60,0.00,0.000,4,0.000,0.065,2731,3414,1718
$GC,12004,1.28,289.8,746.3,8.4,576,12009,0.00,2.55,0.00,0.000,6,0.000,0.045,2731,1989,1718
$GC,12321,1.28,289.8,717.3,9.7,591,12325,0.00,2.65,0.00,0.000,4,0.000,0.064,2731,3416,1718
$GC,12370,1.28,289.8,711.7,11.7,593,12375,0.00,2.55,0.00,0.000,6,0.000,0.044,2731,1988,1718
$GC,12687,1.28,289.8,675.5,12.0,608,12691,0.00,2.55,0.00,0.000,4,0.000,0.060,2731,586,1718
$GC,12720,1.28,289.8,671.3,12.1,609,12724,0.00,2.50,0.00,0.000,6,0.000,0.037,2731,2010,1718
$GC,13036,1.28,289.8,630.9,12.5,624,13040,0.00,2.58,0.00,0.000,4,0.000,0.059,2731,595,1718
$GC,13125,1.28,289.8,619.6,12.3,628,13129,0.00,2.47,0.00,0.000,6,0.000,0.036,2731,2012,1718
$GC,13452,1.28,289.8,583.7,9.7,644,13457,0.00,2.55,0.00,0.000,4,0.000,0.063,2731,3406,1718
$GC,13486,1.28,289.8,580.3,9.0,645,13492,0.00,2.47,0.00,0.000,6,0.000,0.042,2731,1999,1718
$GC,13802,1.28,289.8,553.5,7.6,661,13806,0.00,2.55,0.00,0.000,4,0.000,0.058,2731,588,1718
$GC,13836,1.28,289.8,550.8,7.9,662,13840,0.00,2.47,0.00,0.000,6,0.000,0.036,2731,2008,1718
$GC,14152,1.28,289.8,527.6,7.3,677,14155,0.00,2.55,0.00,0.000,4,0.000,0.064,2731,3412,1718
$GC,14203,1.28,289.8,523.6,8.0,679,14207,0.00,2.53,0.00,0.000,6,0.000,0.042,2731,1988,1718
$GC,14524,1.28,289.8,498.0,8.2,695,14528,0.00,2.53,0.00,0.000,4,0.000,0.059,2731,590,1719
$GC,14563,1.28,289.8,494.5,8.2,697,14568,0.00,2.47,0.00,0.000,6,0.000,0.035,2731,2012,1719
$GC,14891,1.28,289.8,467.6,7.6,713,14892,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2013,1719
$GC,15200,1.28,289.8,446.3,6.4,728,15204,0.00,2.55,0.00,0.000,4,0.000,0.064,2731,3409,1719
$GC,15250,1.28,289.8,442.7,6.9,730,15254,0.00,2.53,0.00,0.000,6,0.000,0.044,2731,1989,1719
$GC,15566,1.28,289.8,420.8,8.0,745,15567,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1988,1719
$GC,15875,1.28,289.8,394.2,8.5,760,15879,0.00,2.62,0.00,0.000,4,0.000,0.063,2731,3412,1719
$GC,15914,1.28,289.8,390.5,9.6,762,15919,0.00,2.53,0.00,0.000,6,0.000,0.047,2731,1998,1719
$GC,16241,1.28,289.8,361.1,9.4,778,16245,0.00,2.60,0.00,0.000,4,0.000,0.064,2731,3408,1719
$GC,16268,1.28,289.8,358.4,9.9,779,16272,0.00,2.53,0.00,0.000,6,0.000,0.048,2731,1996,1719
$GC,16584,1.28,289.8,328.5,9.8,794,16585,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1996,1719
$GC,16893,1.28,289.8,299.7,9.4,809,16897,0.00,2.60,0.00,0.000,4,0.000,0.066,2731,3405,1719
$GC,16933,1.28,289.8,295.6,9.4,810,16939,0.00,2.53,0.00,0.000,6,0.000,0.050,2731,1991,1719
$GC,17249,1.28,289.8,264.4,9.8,826,17250,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1991,1719
$GC,17558,1.28,289.8,238.1,7.5,841,17562,0.00,2.62,0.00,0.000,4,0.000,0.067,2731,3403,1719
$GC,17603,1.28,289.8,234.4,7.5,843,17607,0.00,2.53,0.00,0.000,6,0.000,0.050,2731,1999,1719
$GC,17923,1.28,289.8,209.0,7.9,859,17925,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1999,1719
$GC,18233,1.28,289.8,183.0,8.8,874,18234,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1999,1720
$GC,18542,1.28,289.8,156.0,9.1,889,18547,0.00,2.62,0.00,0.000,4,0.000,0.067,2731,3409,1720
$GC,18576,1.28,289.8,152.9,8.6,890,18582,0.00,2.53,0.00,0.000,6,0.000,0.050,2731,1998,1720
$GC,18892,1.28,289.8,127.7,7.9,906,18893,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1997,1720
$GC,19202,1.28,289.8,99.3,9.1,921,19206,0.00,2.62,0.00,0.000,4,0.000,0.068,2731,3406,1720
$GC,19235,1.28,289.8,95.9,10.1,922,19241,0.00,2.53,0.00,0.000,6,0.000,0.051,2731,1998,1720
$GC,19552,1.28,289.8,66.5,10.8,938,19557,0.00,2.58,0.00,0.000,4,0.000,0.067,2731,590,1720
$GC,19603,1.28,289.8,60.9,10.1,940,19607,0.00,2.47,0.00,0.000,6,0.000,0.041,2731,1998,1720
$GC,19921,1.28,289.8,34.9,6.9,955,19922,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1998,1720
$GC,20228,1.28,289.8,14.7,7.4,970,20229,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1999,1720
$STATE,20369,end climb,SURFACE_DEPTH_REACHED
$STATE,20369,begin surface coast
$FINISH,0.4,1.027464
$STATE,20392,end surface coast,CONTROL_FINISHED_OK
$STATE,20392,begin surface
$SM_CCo,20477,0.00,0.000,0,0,1719,290.19
$SM_GC,1.26,11.65,0.00,0.00,0.022,0.000,0.000,47,2651,1719,-10.94,0.03,290.19
$IRIDIUM_FIX,6313.04,-1325.79,060798,101034
$TT8_MAMPS,0.029146
$HUMID,1780
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.6,33.8
$24V_AH,23.3,40.326
$10V_AH,10.1,22.843
$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,26.175,144.425,376.625,0.000,0.000,24.662,25.594,154.633,7.500,0.000,0.000,15.679,1727.626,16017.637,488.784,2010.015,570.369,33.349,1510.476,0.000,1970.831,0.000,53.093,0.000
$DEVICE_MAMPS,154.934,94.341,1224.132,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,683.372,729.496,560.862,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50644,978
$CAP_FILE_SIZE,132295,0
$CFSIZE,260165632,244039680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110409,211111,6339.668,-1319.681,33,2.0,38,-12.5