version: 66.04
glider: 103
mission: 11
dive: 245
start: 4 16 109 8 15 23
data:
$ID,103
$MISSION,11
$DIVE,245
$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,-147653.05
$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,19
$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
$GPS1,080837,6351.938,-1258.484,40,1.0,40,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-62.7
$GPS2,081431,6351.945,-1258.593,13,1.1,13,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.212,-0.055
$KALMAN_X,2948.2,-133.0,1581.6,-10674.0,1906.3
$KALMAN_Y,-268.4,12.9,-144.2,-8002.5,-173.8
$MHEAD_RNG_PITCHd_Wd,267.9,9989,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.10,0.000,2,0.000,0.000,48,2643,3049
$GC,62,-1.10,-146.6,3.5,-9.1,2,88,12.20,2.25,-8.12,0.000,4,0.160,0.110,2193,3783,3501
$GC,341,-1.10,-146.6,32.4,-8.5,14,344,0.00,2.10,0.00,0.000,6,0.000,0.067,2193,2657,3501
$GC,662,-1.10,-146.6,57.9,-8.1,30,666,0.00,2.22,0.00,0.000,4,0.000,0.095,2193,3786,3501
$GC,842,-1.10,-146.6,73.3,-7.7,38,846,0.00,2.10,0.00,0.000,6,0.000,0.064,2193,2647,3501
$GC,1171,-1.10,-146.6,97.2,-7.2,54,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3501
$GC,1479,-1.10,-146.6,120.3,-7.7,69,1483,0.00,2.22,0.00,0.000,4,0.000,0.093,2193,3783,3501
$GC,1513,-1.10,-146.6,123.3,-8.4,70,1516,0.00,2.10,0.00,0.000,6,0.000,0.064,2193,2645,3501
$GC,1835,-1.10,-146.6,148.8,-8.0,86,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3501
$GC,2144,-1.10,-146.6,174.7,-8.7,101,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3501
$GC,2454,-1.10,-146.6,201.7,-8.6,116,2457,0.00,2.22,0.00,0.000,4,0.000,0.092,2193,3786,3501
$GC,2493,-1.10,-146.6,205.2,-8.6,117,2499,0.00,2.10,0.00,0.000,6,0.000,0.062,2193,2644,3501
$GC,2809,-1.10,-146.6,233.2,-8.8,133,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3501
$GC,3118,-1.10,-146.6,260.3,-8.9,148,3122,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3786,3501
$GC,3164,-1.10,-146.6,264.6,-9.6,150,3168,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2650,3501
$GC,3497,-1.10,-146.6,294.4,-8.8,166,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3501
$GC,3807,-1.10,-146.6,321.5,-9.5,181,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3501
$GC,4118,-1.10,-146.6,350.2,-9.3,196,4121,0.00,2.20,0.00,0.000,4,0.000,0.090,2193,3787,3501
$GC,4168,-1.10,-146.6,355.7,-10.8,198,4172,0.00,2.08,0.00,0.000,6,0.000,0.060,2193,2651,3501
$GC,4496,-1.10,-146.6,387.9,-9.8,214,4500,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3790,3501
$GC,4542,-1.10,-146.6,392.5,-10.3,216,4546,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2650,3501
$GC,4875,-1.10,-146.6,423.7,-7.8,232,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3501
$GC,5185,-1.10,-146.6,448.7,-7.3,247,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3501
$GC,5493,-1.10,-146.6,471.7,-7.4,262,5497,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3787,3501
$GC,5566,-1.10,-146.6,477.7,-8.0,265,5570,0.00,2.08,0.00,0.000,6,0.000,0.056,2193,2641,3501
$GC,5894,-1.10,-146.6,503.3,-8.2,281,5898,0.00,2.22,0.00,0.000,4,0.000,0.089,2193,3792,3501
$GC,5922,-1.10,-146.6,506.0,-9.1,282,5926,0.00,2.05,0.00,0.000,6,0.000,0.056,2193,2652,3501
$GC,6249,-1.10,-146.6,530.9,-7.3,298,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3501
$GC,6559,-1.10,-146.6,556.9,-9.6,313,6563,0.00,2.17,0.00,0.000,4,0.000,0.088,2193,3784,3501
$GC,6621,-1.10,-146.6,562.9,-9.4,315,6627,0.00,2.05,0.00,0.000,6,0.000,0.055,2193,2637,3501
$GC,6937,-1.10,-146.6,589.9,-8.0,331,6941,0.00,2.53,0.00,0.000,4,0.000,0.065,2193,1235,3501
$GC,6965,-1.10,-146.6,592.1,-7.3,332,6969,0.00,2.62,0.00,0.000,6,0.000,0.064,2193,2660,3501
$GC,7286,-1.10,-146.6,612.7,-6.1,348,7289,0.00,2.15,0.00,0.000,4,0.000,0.091,2193,3785,3501
$GC,7386,-1.10,-146.6,618.7,-6.2,352,7390,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2644,3501
$GC,7709,-1.10,-146.6,634.9,-4.9,368,7713,0.00,2.58,0.00,0.000,4,0.000,0.070,2193,1235,3501
$GC,7749,-1.10,-146.6,636.9,-5.5,370,7753,0.00,2.60,0.00,0.000,6,0.000,0.064,2193,2651,3501
$GC,8076,-1.10,-146.6,654.7,-6.1,386,8080,0.00,2.20,0.00,0.000,4,0.000,0.094,2193,3792,3501
$GC,8138,-1.10,-146.6,659.1,-7.8,388,8144,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2654,3501
$GC,8454,-1.10,-146.6,680.6,-7.3,404,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2654,3500
$GC,8763,-1.10,-146.6,704.2,-8.5,419,8764,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2654,3499
$STATE,8987,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8987,begin apogee
$GC,8995,-0.42,0.0,722.7,8.3,430,9124,0.77,0.00,125.68,1.166,6,0.097,0.000,2346,1997,2902
$STATE,9125,end apogee,CONTROL_FINISHED_OK
$STATE,9125,begin climb
$GC,9128,1.10,146.6,729.3,0.0,436,9261,1.55,2.70,124.07,1.134,4,0.055,0.065,2679,588,2304
$GC,9309,1.17,198.6,731.7,4.6,444,9362,0.00,2.53,45.55,1.101,6,0.000,0.038,2679,2019,2092
$GC,9672,1.17,198.6,713.0,6.6,462,9676,0.00,2.58,0.00,0.000,4,0.000,0.068,2679,3403,2091
$GC,9740,1.25,268.0,709.3,4.1,465,9807,0.15,2.55,59.20,1.123,6,0.044,0.048,2721,1989,1809
$GC,10134,1.25,268.0,673.9,9.9,484,10139,0.00,2.58,0.00,0.000,4,0.000,0.064,2721,592,1808
$GC,10179,1.25,268.0,669.3,10.6,486,10184,0.00,2.50,0.00,0.000,6,0.000,0.040,2721,2004,1808
$GC,10500,1.25,268.0,636.8,10.7,502,10505,0.00,2.62,0.00,0.000,4,0.000,0.071,2721,3409,1807
$GC,10530,1.25,268.0,633.5,11.4,503,10534,0.00,2.55,0.00,0.000,6,0.000,0.048,2721,1993,1807
$GC,10846,1.25,268.0,601.2,10.0,518,10850,0.00,2.58,0.00,0.000,4,0.000,0.064,2721,590,1807
$GC,10890,1.25,268.0,596.6,9.9,520,10894,0.00,2.50,0.00,0.000,6,0.000,0.040,2721,2006,1807
$GC,11211,1.25,268.0,570.9,8.1,536,11215,0.00,2.60,0.00,0.000,4,0.000,0.070,2721,3406,1806
$GC,11278,1.25,268.0,565.1,8.2,539,11282,0.00,2.53,0.00,0.000,6,0.000,0.048,2721,1993,1806
$GC,11604,1.25,268.0,538.3,8.1,555,11609,0.00,2.55,0.00,0.000,4,0.000,0.061,2721,586,1806
$GC,11667,1.25,268.0,533.0,8.4,558,11671,0.00,2.47,0.00,0.000,6,0.000,0.038,2721,2001,1806
$GC,11994,1.25,268.0,506.7,8.3,574,11998,0.00,2.58,0.00,0.000,4,0.000,0.064,2721,3405,1806
$GC,12021,1.25,268.0,504.4,9.1,575,12025,0.00,2.53,0.00,0.000,6,0.000,0.045,2721,1989,1806
$GC,12337,1.25,268.0,475.5,8.8,590,12341,0.00,2.62,0.00,0.000,4,0.000,0.065,2721,3405,1806
$GC,12370,1.25,268.0,472.3,8.7,591,12376,0.00,2.53,0.00,0.000,6,0.000,0.046,2721,1988,1806
$GC,12686,1.25,268.0,444.3,8.6,607,12687,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1988,1806
$GC,12995,1.25,268.0,416.6,9.4,622,12999,0.00,2.62,0.00,0.000,4,0.000,0.065,2721,3405,1807
$GC,13023,1.25,268.0,414.0,9.3,623,13027,0.00,2.53,0.00,0.000,6,0.000,0.046,2721,1988,1807
$GC,13338,1.25,268.0,386.6,9.2,638,13340,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1989,1808
$GC,13648,1.25,268.0,358.0,8.8,653,13652,0.00,2.62,0.00,0.000,4,0.000,0.066,2721,3405,1808
$GC,13688,1.25,268.0,354.8,8.1,655,13692,0.00,2.53,0.00,0.000,6,0.000,0.049,2721,1994,1808
$GC,14014,1.25,268.0,328.7,9.0,671,14016,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1994,1809
$GC,14324,1.25,268.0,300.8,8.6,686,14328,0.00,2.62,0.00,0.000,4,0.000,0.067,2721,3405,1809
$GC,14374,1.25,268.0,296.4,8.2,688,14378,0.00,2.53,0.00,0.000,6,0.000,0.051,2721,2000,1809
$GC,14690,1.25,268.0,271.0,8.1,703,14694,0.00,2.62,0.00,0.000,4,0.000,0.068,2721,3412,1809
$GC,14722,1.25,268.0,267.9,9.3,704,14729,0.00,2.55,0.00,0.000,6,0.000,0.050,2721,1991,1809
$GC,15039,1.25,268.0,238.2,9.4,720,15043,0.00,2.62,0.00,0.000,4,0.000,0.068,2721,3405,1809
$GC,15078,1.25,268.0,234.4,10.1,722,15082,0.00,2.53,0.00,0.000,6,0.000,0.051,2721,1998,1809
$GC,15405,1.25,268.0,205.0,8.8,738,15406,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1998,1810
$GC,15714,1.25,268.0,177.5,9.9,753,15719,0.00,2.62,0.00,0.000,4,0.000,0.069,2721,3408,1810
$GC,15765,1.25,268.0,172.8,9.1,755,15769,0.00,2.55,0.00,0.000,6,0.000,0.051,2721,1993,1810
$GC,16081,1.25,268.0,141.3,10.1,770,16086,0.00,2.65,0.00,0.000,4,0.000,0.069,2721,3410,1810
$GC,16122,1.25,268.0,137.2,10.0,772,16127,0.00,2.55,0.00,0.000,6,0.000,0.052,2721,1997,1810
$GC,16450,1.25,268.0,107.2,9.2,788,16451,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1997,1810
$GC,16759,1.25,268.0,77.8,10.0,803,16763,0.00,2.62,0.00,0.000,4,0.000,0.069,2721,3405,1810
$GC,16804,1.25,268.0,73.1,12.1,805,16808,0.00,2.55,0.00,0.000,6,0.000,0.054,2721,1998,1810
$GC,17125,1.25,268.0,43.5,8.5,821,17129,0.00,2.62,0.00,0.000,4,0.000,0.069,2721,3405,1810
$GC,17165,1.25,268.0,40.0,8.8,823,17169,0.00,2.53,0.00,0.000,6,0.000,0.054,2721,2000,1811
$GC,17492,1.25,268.0,14.4,7.6,839,17493,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1999,1811
$STATE,17654,end climb,SURFACE_DEPTH_REACHED
$STATE,17654,begin surface coast
$FINISH,0.5,1.017501
$STATE,17676,end surface coast,CONTROL_FINISHED_OK
$STATE,17676,begin surface
$SM_CCo,17761,0.00,0.000,0,0,1810,267.87
$SM_GC,1.48,11.75,0.00,0.00,0.029,0.000,0.000,51,2635,1810,-10.93,-0.42,267.87
$IRIDIUM_FIX,6327.46,-1304.07,110798,030319
$TT8_MAMPS,0.028379
$HUMID,1774
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.1,56.6
$24V_AH,23.3,43.474
$10V_AH,10.1,24.657
$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,26.425,156.800,354.500,0.000,0.000,31.550,33.001,156.711,5.750,0.000,0.000,14.000,1558.651,13652.587,442.501,1900.711,557.819,31.427,1410.682,0.000,1856.320,0.000,40.534,0.000
$DEVICE_MAMPS,160.303,109.681,1165.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,594.853,623.234,520.077,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44268,848
$CAP_FILE_SIZE,125680,0
$CFSIZE,260165632,242733056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160409,131237,6353.353,-1305.223,35,1.7,35,-12.4