version: 66.04
glider: 103
mission: 11
dive: 242
start: 4 15 109 17 25 6
data:
$ID,103
$MISSION,11
$DIVE,242
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,135
$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,-147609.64
$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,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
$GPS1,171907,6401.640,-1249.075,30,2.0,30,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-61.7
$GPS2,172449,6401.572,-1249.160,15,2.0,32,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6353.936,-1231.803
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.030,0.216
$KALMAN_X,-78076.3,999.8,7411.5,4319.0,-13087.8
$KALMAN_Y,-42360.0,-323.2,-2812.1,144833.7,-2623.9
$MHEAD_RNG_PITCHd_Wd,147.3,20000,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,80,0.00,0.00,-56.72,0.000,6,0.000,0.000,45,2645,3500
$GC,84,-1.10,-146.6,6.8,-13.6,3,106,12.23,2.70,0.00,0.000,4,0.161,0.074,2194,1241,3501
$GC,290,-1.10,-146.6,34.5,-8.9,12,295,0.00,2.65,0.00,0.000,6,0.000,0.068,2193,2655,3501
$GC,613,-1.10,-146.6,62.6,-9.2,28,616,0.00,2.20,0.00,0.000,4,0.000,0.097,2194,3786,3501
$GC,663,-1.10,-146.6,67.8,-9.9,30,667,0.00,2.10,0.00,0.000,6,0.000,0.063,2193,2648,3501
$GC,991,-1.10,-146.6,96.5,-7.6,46,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3501
$GC,1299,-1.10,-146.6,115.9,-6.1,61,1303,0.00,2.22,0.00,0.000,4,0.000,0.092,2194,3786,3501
$GC,1333,-1.10,-146.6,118.2,-7.1,62,1337,0.00,2.10,0.00,0.000,6,0.000,0.062,2194,2644,3501
$GC,1655,-1.10,-146.6,141.2,-7.6,78,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3501
$GC,1964,-1.10,-146.6,165.7,-7.9,93,1967,0.00,2.22,0.00,0.000,4,0.000,0.092,2194,3783,3502
$GC,1997,-1.10,-146.6,168.5,-8.6,94,2001,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2652,3501
$GC,2319,-1.10,-146.6,192.9,-7.5,110,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3501
$GC,2628,-1.10,-146.6,215.9,-7.3,125,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3501
$GC,2937,-1.10,-146.6,238.0,-7.2,140,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3501
$GC,3247,-1.10,-146.6,259.9,-7.0,155,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3501
$GC,3556,-1.10,-146.6,281.5,-7.3,170,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3502
$GC,3865,-1.10,-146.6,305.4,-7.8,185,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3502
$GC,4175,-1.10,-146.6,332.2,-8.8,200,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3502
$GC,4483,-1.10,-146.6,354.7,-7.6,215,4487,0.00,2.20,0.00,0.000,4,0.000,0.090,2194,3787,3501
$GC,4539,-1.10,-146.6,359.8,-9.6,217,4543,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2648,3501
$GC,4861,-1.10,-146.6,390.2,-9.0,233,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3501
$GC,5170,-1.10,-146.6,419.4,-9.3,248,5174,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3793,3502
$GC,5243,-1.10,-146.6,426.3,-8.6,251,5246,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2649,3502
$GC,5570,-1.10,-146.6,453.6,-8.4,267,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3501
$GC,5879,-1.10,-146.6,481.6,-8.7,282,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3502
$GC,6188,-1.10,-146.6,507.7,-8.4,297,6192,0.00,2.20,0.00,0.000,4,0.000,0.091,2194,3786,3502
$GC,6239,-1.10,-146.6,512.2,-8.8,299,6243,0.00,2.08,0.00,0.000,6,0.000,0.056,2194,2637,3502
$GC,6566,-1.10,-146.6,537.2,-6.9,315,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2637,3501
$GC,6876,-1.10,-146.6,559.4,-7.4,330,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2637,3501
$GC,7185,-1.10,-146.6,581.6,-7.4,345,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2637,3501
$GC,7496,-1.10,-146.6,605.0,-7.7,360,7500,0.00,2.58,0.00,0.000,4,0.000,0.074,2194,1236,3500
$GC,7540,-1.10,-146.6,608.5,-7.9,362,7544,0.00,2.62,0.00,0.000,6,0.000,0.066,2194,2656,3500
$STATE,7858,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7858,begin apogee
$GC,7867,-0.42,0.0,633.0,7.7,378,7994,0.80,0.00,124.57,1.110,6,0.109,0.000,2347,1995,2901
$STATE,7995,end apogee,CONTROL_FINISHED_OK
$STATE,7995,begin climb
$GC,7998,1.10,146.6,638.5,0.0,384,8128,1.58,2.67,121.00,1.096,4,0.061,0.066,2680,582,2304
$GC,8386,1.15,185.6,632.0,4.9,401,8426,0.00,2.53,33.72,1.069,6,0.000,0.039,2681,2017,2145
$GC,8746,1.19,218.9,613.9,5.1,419,8781,0.00,2.78,28.88,1.076,4,0.000,0.068,2680,590,2009
$GC,8805,1.21,234.6,610.5,5.6,421,8825,0.10,2.53,14.60,1.019,6,0.049,0.043,2715,1997,1945
$GC,9141,1.21,234.6,588.3,6.7,438,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1997,1944
$GC,9450,1.21,234.6,566.6,6.9,453,9455,0.00,2.62,0.00,0.000,4,0.000,0.066,2715,587,1943
$GC,9495,1.21,234.6,563.1,8.0,455,9499,0.00,2.53,0.00,0.000,6,0.000,0.041,2715,2010,1943
$GC,9817,1.21,234.6,539.9,7.3,471,9818,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2010,1943
$GC,10126,1.21,234.6,518.6,6.5,486,10130,0.00,2.62,0.00,0.000,4,0.000,0.064,2715,589,1942
$GC,10143,1.21,234.6,517.5,6.1,487,10147,0.00,2.47,0.00,0.000,6,0.000,0.040,2715,2002,1942
$GC,10475,1.21,234.6,496.5,6.3,503,10480,0.00,2.62,0.00,0.000,4,0.000,0.071,2715,3415,1942
$GC,10497,1.21,234.6,495.0,6.2,504,10502,0.00,2.58,0.00,0.000,6,0.000,0.050,2715,1985,1942
$GC,10819,1.22,238.5,475.5,5.9,520,10825,0.00,0.00,4.70,0.775,6,0.000,0.000,2715,1985,1929
$GC,11128,1.27,284.0,459.7,4.7,535,11171,0.00,2.80,38.15,1.020,4,0.000,0.068,2715,3412,1744
$GC,11183,1.27,284.0,456.4,6.4,537,11187,0.00,2.60,0.00,0.000,6,0.000,0.051,2715,1993,1744
$GC,11499,1.27,284.0,434.8,7.8,552,11503,0.00,2.65,0.00,0.000,4,0.000,0.068,2715,3406,1743
$GC,11532,1.27,284.0,432.1,7.9,553,11538,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,1994,1743
$GC,11848,1.27,284.0,409.4,7.6,569,11852,0.00,2.65,0.00,0.000,4,0.000,0.068,2715,3408,1744
$GC,11881,1.27,284.0,406.8,7.5,570,11887,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,1994,1743
$GC,12197,1.27,284.0,385.5,6.2,586,12198,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1994,1744
$GC,12507,1.33,335.4,370.9,4.6,601,12557,0.00,2.75,43.50,0.946,4,0.000,0.069,2715,3403,1534
$GC,12593,1.33,335.4,366.7,6.6,605,12598,0.00,2.58,0.00,0.000,6,0.000,0.052,2715,1994,1534
$GC,12921,1.33,335.4,343.1,8.0,621,12926,0.00,2.65,0.00,0.000,4,0.000,0.068,2715,3408,1533
$GC,12954,1.33,335.4,339.8,9.3,622,12960,0.00,2.58,0.00,0.000,6,0.000,0.052,2715,1988,1534
$GC,13270,1.33,335.4,311.7,9.3,638,13274,0.00,2.67,0.00,0.000,4,0.000,0.071,2715,3411,1534
$GC,13314,1.33,335.4,307.3,9.4,640,13318,0.00,2.58,0.00,0.000,6,0.000,0.052,2715,1993,1534
$GC,13636,1.33,335.4,276.6,10.1,656,13640,0.00,2.65,0.00,0.000,4,0.000,0.070,2715,3405,1534
$GC,13669,1.33,335.4,273.2,10.5,657,13675,0.00,2.58,0.00,0.000,6,0.000,0.054,2715,1989,1534
$GC,13985,1.33,335.4,246.8,7.5,673,13989,0.00,2.65,0.00,0.000,4,0.000,0.070,2715,3405,1535
$GC,14034,1.33,335.4,242.8,7.9,675,14039,0.00,2.55,0.00,0.000,6,0.000,0.054,2715,1999,1535
$GC,14350,1.38,370.4,224.9,5.0,690,14386,0.12,2.72,29.55,0.827,4,0.048,0.071,2750,3407,1392
$GC,14426,1.38,370.4,220.2,7.1,693,14430,0.00,2.58,0.00,0.000,6,0.000,0.053,2751,2001,1392
$GC,14742,1.38,370.4,197.4,8.2,708,14746,0.00,2.65,0.00,0.000,4,0.000,0.072,2751,3412,1392
$GC,14763,1.38,370.4,195.5,8.2,709,14768,0.00,2.58,0.00,0.000,6,0.000,0.052,2751,1994,1392
$GC,15085,1.38,370.4,169.5,8.5,725,15089,0.00,2.67,0.00,0.000,4,0.000,0.072,2750,3412,1392
$GC,15112,1.38,370.4,167.0,9.1,726,15117,0.00,2.58,0.00,0.000,6,0.000,0.054,2750,1997,1392
$GC,15428,1.38,370.4,138.9,9.4,741,15430,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1997,1392
$GC,15738,1.38,370.4,109.4,9.3,756,15743,0.00,2.65,0.00,0.000,4,0.000,0.072,2751,3407,1392
$GC,15772,1.38,370.4,105.9,9.4,757,15778,0.00,2.55,0.00,0.000,6,0.000,0.055,2751,1998,1392
$GC,16089,1.38,370.4,76.8,9.2,773,16094,0.00,2.65,0.00,0.000,4,0.000,0.072,2751,3407,1392
$GC,16117,1.38,370.4,73.8,10.6,774,16121,0.00,2.58,0.00,0.000,6,0.000,0.057,2751,1996,1392
$GC,16433,1.38,370.4,42.3,10.1,789,16438,0.00,2.65,0.00,0.000,4,0.000,0.072,2751,3407,1392
$GC,16461,1.38,370.4,39.3,10.8,790,16465,0.00,2.58,0.00,0.000,6,0.000,0.056,2750,1994,1392
$GC,16779,1.38,370.4,8.5,9.9,805,16783,0.00,2.67,0.00,0.000,4,0.000,0.076,2751,3405,1392
$GC,16801,1.38,370.4,5.8,11.3,806,16806,0.00,2.58,0.00,0.000,6,0.000,0.057,2751,1995,1392
$STATE,16851,end climb,SURFACE_DEPTH_REACHED
$STATE,16851,begin surface coast
$FINISH,0.4,1.010585
$STATE,16873,end surface coast,CONTROL_FINISHED_OK
$STATE,16873,begin surface
$SM_CCo,16958,0.00,0.000,0,0,1391,370.40
$SM_GC,1.22,11.95,0.00,0.00,0.031,0.000,0.000,48,2654,1391,-10.94,0.11,370.40
$IRIDIUM_FIX,6337.14,-1253.05,100798,131348
$TT8_MAMPS,0.028379
$HUMID,1799
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.2,41.5
$24V_AH,23.3,43.089
$10V_AH,10.1,24.411
$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,26.775,143.600,438.675,0.000,0.000,31.059,30.208,137.588,5.000,0.000,0.000,32.826,1467.487,13033.204,515.195,1762.683,518.855,0.000,1424.717,0.000,1707.489,0.000,35.298,0.000
$DEVICE_MAMPS,161.070,97.409,1109.849,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,575.723,589.715,492.879,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41103,810
$CAP_FILE_SIZE,117805,0
$CFSIZE,260165632,242921472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150409,220906,6356.567,-1250.826,40,1.6,45,-12.3