version: 66.04
glider: 103
mission: 11
dive: 228
start: 4 13 109 4 17 28
data:
$ID,103
$MISSION,11
$DIVE,228
$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,-147354.52
$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
$GPS1,040736,6343.884,-1314.738,34,1.0,34,-12.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-57.4
$GPS2,041637,6343.749,-1315.068,11,1.2,16,-12.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.212,0.053
$KALMAN_X,-57992.5,-605.6,12768.7,-18697.9,-9081.9
$KALMAN_Y,-54663.6,114.2,4287.2,126906.6,-7431.4
$MHEAD_RNG_PITCHd_Wd,88.4,12294,-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,-41.72,0.000,2,0.000,0.000,47,2662,3072
$GC,63,-1.10,-146.6,3.2,-7.2,2,86,12.27,0.00,-8.00,0.000,6,0.160,0.000,2193,2662,3502
$GC,390,-1.10,-146.6,40.3,-8.6,18,394,0.00,2.20,0.00,0.000,4,0.000,0.093,2193,3790,3502
$GC,436,-1.10,-146.6,44.1,-8.7,20,440,0.00,2.10,0.00,0.000,6,0.000,0.064,2193,2657,3502
$GC,769,-1.10,-146.6,72.0,-8.7,36,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2658,3502
$GC,1079,-1.10,-146.6,96.9,-7.7,51,1082,0.00,2.20,0.00,0.000,4,0.000,0.091,2193,3785,3502
$GC,1148,-1.10,-146.6,102.6,-8.0,54,1151,0.00,2.10,0.00,0.000,6,0.000,0.062,2193,2646,3502
$GC,1481,-1.10,-146.6,131.5,-8.8,70,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,1790,-1.10,-146.6,156.5,-7.2,85,1794,0.00,2.65,0.00,0.000,4,0.000,0.075,2193,1220,3502
$GC,1812,-1.10,-146.6,158.6,-8.9,86,1816,0.00,2.65,0.00,0.000,6,0.000,0.065,2193,2650,3502
$GC,2133,-1.10,-146.6,189.6,-10.6,102,2136,0.00,2.20,0.00,0.000,4,0.000,0.091,2193,3790,3502
$GC,2179,-1.10,-146.6,195.1,-11.8,104,2182,0.00,2.10,0.00,0.000,6,0.000,0.060,2193,2646,3502
$GC,2512,-1.10,-146.6,226.1,-8.8,120,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,2821,-1.10,-146.6,255.0,-9.9,135,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3502
$GC,3130,-1.10,-146.6,283.0,-11.1,150,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3502
$GC,3439,-1.10,-146.6,324.9,-13.3,165,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3502
$GC,3748,-1.10,-146.6,360.4,-12.1,180,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3502
$GC,4058,-1.10,-146.6,393.0,-10.2,195,4062,0.00,2.22,0.00,0.000,4,0.000,0.090,2193,3790,3502
$GC,4097,-1.10,-146.6,397.5,-10.8,196,4103,0.00,2.10,0.00,0.000,6,0.000,0.058,2193,2640,3502
$GC,4413,-1.10,-146.6,424.1,-6.8,212,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3502
$GC,4723,-1.10,-146.6,445.9,-8.5,227,4726,0.00,2.22,0.00,0.000,4,0.000,0.087,2193,3793,3502
$GC,4778,-1.10,-146.6,451.2,-9.5,229,4782,0.00,2.08,0.00,0.000,6,0.000,0.055,2193,2647,3501
$GC,5100,-1.10,-146.6,484.2,-10.5,245,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,5410,-1.10,-146.6,510.3,-6.6,260,5414,0.00,2.62,0.00,0.000,4,0.000,0.074,2193,1226,3502
$GC,5472,-1.10,-146.6,515.5,-9.2,263,5476,0.00,2.62,0.00,0.000,6,0.000,0.064,2193,2652,3502
$GC,5801,-1.10,-146.6,551.7,-11.9,279,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3502
$GC,6108,-1.10,-146.6,583.3,-9.5,294,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3502
$GC,6417,-1.10,-146.6,611.5,-9.3,309,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3502
$GC,6726,-1.10,-146.6,635.2,-7.5,324,6730,0.00,2.15,0.00,0.000,4,0.000,0.087,2193,3785,3502
$GC,6817,-1.10,-146.6,642.2,-8.6,328,6821,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2643,3502
$GC,7150,-1.10,-146.6,672.3,-9.3,344,7154,0.00,2.60,0.00,0.000,4,0.000,0.071,2193,1227,3502
$GC,7228,-1.10,-146.6,680.2,-10.1,347,7234,0.00,2.62,0.00,0.000,6,0.000,0.062,2193,2658,3502
$GC,7544,-1.10,-146.6,707.5,-7.6,363,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2658,3501
$GC,7853,-1.10,-146.6,730.2,-6.9,378,7858,0.00,2.62,0.00,0.000,4,0.000,0.068,2193,1238,3501
$GC,7961,-1.10,-146.6,738.4,-7.3,383,7966,0.00,2.62,0.00,0.000,6,0.000,0.064,2193,2661,3501
$GC,8289,-1.10,-146.6,756.4,-5.4,399,8292,0.00,2.15,0.00,0.000,4,0.000,0.091,2193,3785,3500
$GC,8448,-1.10,-146.6,766.3,-6.0,406,8452,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2647,3500
$GC,8780,-1.10,-146.6,786.8,-6.2,422,8785,0.00,2.60,0.00,0.000,4,0.000,0.071,2193,1231,3500
$GC,8814,-1.10,-146.6,788.8,-6.1,423,8820,0.00,2.65,0.00,0.000,6,0.000,0.066,2193,2660,3500
$GC,9130,-1.10,-146.6,808.3,-6.5,439,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2659,3499
$STATE,9272,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9272,begin apogee
$GC,9280,-0.42,0.0,818.1,7.3,446,9413,0.77,0.00,125.78,1.245,6,0.098,0.000,2346,1992,2902
$STATE,9414,end apogee,CONTROL_FINISHED_OK
$STATE,9414,begin climb
$GC,9417,1.10,146.6,825.2,0.0,453,9550,1.58,2.78,124.40,1.191,4,0.060,0.067,2679,3415,2304
$GC,9809,1.17,203.0,817.1,4.4,470,9865,0.00,2.55,49.40,1.177,6,0.000,0.046,2679,1992,2074
$GC,10191,1.25,269.6,799.7,4.2,489,10255,0.15,2.75,57.28,1.180,4,0.039,0.067,2725,3422,1803
$GC,10369,1.25,269.6,787.6,6.7,497,10373,0.00,2.58,0.00,0.000,6,0.000,0.047,2725,1996,1803
$GC,10695,1.25,269.6,762.2,8.1,513,10700,0.00,2.67,0.00,0.000,4,0.000,0.067,2725,3420,1802
$GC,10740,1.25,269.6,758.4,8.4,515,10744,0.00,2.58,0.00,0.000,6,0.000,0.046,2725,1989,1802
$GC,11061,1.25,269.6,733.8,7.6,531,11066,0.00,2.67,0.00,0.000,4,0.000,0.066,2725,3422,1802
$GC,11142,1.25,269.6,727.9,8.5,534,11148,0.00,2.55,0.00,0.000,6,0.000,0.044,2725,1998,1802
$GC,11457,1.25,269.6,697.7,9.9,550,11459,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1998,1801
$GC,11767,1.25,269.6,668.7,9.5,565,11771,0.00,2.58,0.00,0.000,4,0.000,0.063,2725,592,1801
$GC,11856,1.25,269.6,660.2,9.8,569,11861,0.00,2.50,0.00,0.000,6,0.000,0.038,2725,2012,1801
$GC,12177,1.25,269.6,633.1,9.0,585,12181,0.00,2.58,0.00,0.000,4,0.000,0.067,2725,3406,1801
$GC,12205,1.25,269.6,630.4,9.8,586,12209,0.00,2.50,0.00,0.000,6,0.000,0.042,2725,1999,1801
$GC,12521,1.25,269.6,601.2,8.8,601,12526,0.00,2.55,0.00,0.000,4,0.000,0.061,2725,598,1801
$GC,12549,1.25,269.6,598.7,7.8,602,12554,0.00,2.47,0.00,0.000,6,0.000,0.036,2725,2013,1801
$GC,12866,1.32,326.1,577.0,4.4,617,12920,0.00,2.72,48.42,1.067,4,0.000,0.060,2725,593,1572
$GC,13000,1.32,326.1,567.0,6.6,623,13005,0.00,2.50,0.00,0.000,6,0.000,0.040,2725,1996,1572
$GC,13322,1.38,368.5,546.6,4.8,639,13365,0.00,2.65,36.83,1.032,4,0.000,0.061,2725,592,1399
$GC,13383,1.44,423.4,544.0,4.5,641,13436,0.12,2.55,46.97,1.018,6,0.047,0.041,2760,2012,1176
$GC,13757,1.44,423.4,509.7,12.3,660,13759,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2012,1176
$GC,14067,1.44,423.4,471.4,11.5,675,14071,0.00,2.60,0.00,0.000,4,0.000,0.067,2760,3414,1176
$GC,14107,1.44,423.4,466.2,13.0,677,14111,0.00,2.55,0.00,0.000,6,0.000,0.047,2760,1997,1176
$GC,14433,1.44,423.4,425.0,12.9,693,14434,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1997,1176
$GC,14743,1.44,423.4,384.8,12.4,708,14747,0.00,2.65,0.00,0.000,4,0.000,0.067,2760,3413,1176
$GC,14776,1.44,423.4,380.5,12.4,709,14782,0.00,2.55,0.00,0.000,6,0.000,0.048,2760,1998,1176
$GC,15091,1.44,423.4,341.1,11.9,725,15093,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1998,1176
$GC,15401,1.44,423.4,303.6,11.9,740,15405,0.00,2.65,0.00,0.000,4,0.000,0.067,2760,3418,1176
$GC,15428,1.44,423.4,300.0,13.8,741,15433,0.00,2.58,0.00,0.000,6,0.000,0.050,2761,1993,1176
$GC,15745,1.44,423.4,262.9,11.8,756,15746,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1993,1177
$GC,16054,1.44,423.4,229.0,10.5,771,16059,0.00,2.67,0.00,0.000,4,0.000,0.070,2760,3420,1177
$GC,16105,1.44,423.4,222.8,11.4,773,16109,0.00,2.58,0.00,0.000,6,0.000,0.051,2760,1999,1177
$GC,16421,1.44,423.4,184.8,12.2,788,16425,0.00,2.65,0.00,0.000,4,0.000,0.070,2760,3410,1177
$GC,16448,1.44,423.4,181.3,11.9,789,16453,0.00,2.55,0.00,0.000,6,0.000,0.051,2760,2000,1177
$GC,16764,1.44,423.4,144.5,11.9,804,16766,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2000,1177
$GC,17075,1.44,423.4,109.9,11.7,819,17080,0.00,2.62,0.00,0.000,4,0.000,0.069,2760,3407,1177
$GC,17099,1.44,423.4,106.9,12.8,820,17103,0.00,2.58,0.00,0.000,6,0.000,0.054,2760,1990,1177
$GC,17421,1.44,423.4,67.9,13.2,836,17422,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1990,1177
$GC,17731,1.44,423.4,32.0,10.4,851,17735,0.00,2.65,0.00,0.000,4,0.000,0.066,2760,3416,1177
$GC,17775,1.44,423.4,26.0,14.6,853,17780,0.00,2.58,0.00,0.000,6,0.000,0.054,2760,1996,1177
$STATE,17970,end climb,SURFACE_DEPTH_REACHED
$STATE,17970,begin surface coast
$FINISH,0.5,1.027159
$STATE,17992,end surface coast,CONTROL_FINISHED_OK
$STATE,17992,begin surface
$SM_CCo,18077,0.00,0.000,0,0,1177,423.14
$SM_GC,1.16,11.90,0.00,0.00,0.028,0.000,0.000,47,2667,1177,-10.93,0.48,423.14
$IRIDIUM_FIX,6317.84,-1318.60,080798,040422
$TT8_MAMPS,0.028379
$HUMID,1776
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.8,75.8
$24V_AH,23.2,41.236
$10V_AH,10.1,23.401
$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,26.800,141.975,489.075,0.000,0.000,53.596,133.374,155.442,6.500,0.000,0.000,16.271,1565.590,13894.514,546.309,1919.464,684.238,33.357,1535.181,0.000,1878.734,0.000,45.439,0.000
$DEVICE_MAMPS,159.536,92.807,1244.841,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,605.496,643.901,489.482,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44319,864
$CAP_FILE_SIZE,125381,0
$CFSIZE,260165632,243650560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130409,092006,6342.979,-1314.613,38,1.0,43,-12.4