version: 66.04
glider: 103
mission: 11
dive: 345
start: 5 7 109 19 29 22
data:
$ID,103
$MISSION,11
$DIVE,345
$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,412.5
$T_MISSION,440
$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,-150549.91
$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,2675
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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
$GPS1,192000,6226.198,-1153.276,38,2.0,38,-11.2
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-60.1
$GPS2,192834,6226.164,-1153.167,14,2.3,33,-11.2
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P1
$TGT_LATLONG,6215.000,-1130.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.231,0.075
$KALMAN_X,-121859.7,76.8,376.3,178441.2,-2510.5
$KALMAN_Y,8704.0,14.3,581.3,-54393.1,-5251.9
$MHEAD_RNG_PITCHd_Wd,83.1,28750,-14.9,-8.000
$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,-1.42,-146.6,0.0,0.0,0,59,0.00,0.00,-41.12,0.000,2,0.000,0.000,48,2682,3236
$GC,63,-1.42,-146.6,3.9,-12.1,2,86,11.68,2.67,-4.28,0.000,4,0.156,0.081,2125,1256,3502
$GC,218,-1.42,-146.6,28.7,-12.0,8,224,0.00,2.67,0.00,0.000,6,0.000,0.071,2125,2678,3502
$GC,535,-1.42,-146.6,65.0,-11.6,24,539,0.00,2.10,0.00,0.000,4,0.000,0.080,2125,3792,3502
$GC,582,-1.42,-146.6,70.7,-11.5,26,586,0.00,2.03,0.00,0.000,6,0.000,0.051,2125,2667,3502
$GC,915,-1.42,-146.6,108.9,-11.2,42,920,0.00,2.58,0.00,0.000,4,0.000,0.065,2125,1258,3502
$GC,949,-1.42,-146.6,113.0,-11.7,43,955,0.00,2.62,0.00,0.000,6,0.000,0.064,2125,2680,3502
$GC,1267,-1.42,-146.6,148.3,-11.2,59,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2680,3502
$GC,1574,-1.42,-146.6,182.0,-10.7,74,1577,0.00,2.08,0.00,0.000,4,0.000,0.077,2125,3789,3502
$GC,1624,-1.42,-146.6,187.8,-11.1,76,1628,0.00,1.98,0.00,0.000,6,0.000,0.046,2125,2661,3502
$GC,1952,-1.42,-146.6,222.3,-10.7,92,1955,0.00,2.15,0.00,0.000,4,0.000,0.077,2125,3793,3502
$GC,2025,-1.42,-146.6,230.3,-10.9,95,2028,0.00,2.00,0.00,0.000,6,0.000,0.048,2125,2673,3502
$GC,2352,-1.42,-146.6,265.8,-11.0,111,2356,0.00,2.12,0.00,0.000,4,0.000,0.079,2125,3790,3502
$GC,2421,-1.42,-146.6,273.5,-11.2,114,2425,0.00,2.00,0.00,0.000,6,0.000,0.047,2125,2660,3502
$GC,2754,-1.42,-146.6,309.2,-10.6,130,2758,0.00,2.15,0.00,0.000,4,0.000,0.078,2125,3792,3502
$GC,2860,-1.42,-146.6,321.5,-12.1,134,2866,0.00,2.00,0.00,0.000,6,0.000,0.047,2125,2665,3502
$GC,3177,-1.42,-146.6,355.0,-10.8,150,3180,0.00,2.15,0.00,0.000,4,0.000,0.081,2125,3793,3502
$GC,3261,-1.42,-146.6,364.4,-10.2,153,3267,0.00,1.98,0.00,0.000,6,0.000,0.043,2125,2669,3502
$GC,3577,-1.42,-146.6,396.5,-10.0,169,3581,0.00,2.15,0.00,0.000,4,0.000,0.084,2125,3793,3502
$GC,3647,-1.42,-146.6,403.5,-10.1,172,3651,0.00,1.98,0.00,0.000,6,0.000,0.046,2125,2677,3502
$GC,3980,-1.42,-146.6,435.0,-9.2,188,3984,0.00,2.10,0.00,0.000,4,0.000,0.079,2125,3790,3502
$GC,4064,-1.42,-146.6,443.2,-9.0,191,4070,0.00,1.98,0.00,0.000,6,0.000,0.046,2125,2672,3502
$GC,4380,-1.42,-146.6,472.2,-9.2,207,4384,0.00,2.10,0.00,0.000,4,0.000,0.077,2125,3785,3502
$GC,4443,-1.42,-146.6,478.2,-9.4,209,4449,0.00,1.95,0.00,0.000,6,0.000,0.043,2125,2675,3502
$GC,4760,-1.42,-146.6,507.9,-9.4,225,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2675,3502
$GC,5068,-1.42,-146.6,538.6,-10.2,240,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2675,3502
$GC,5378,-1.42,-146.6,570.9,-10.4,255,5381,0.00,2.10,0.00,0.000,4,0.000,0.080,2125,3783,3502
$GC,5429,-1.42,-146.6,576.4,-11.4,257,5432,0.00,1.98,0.00,0.000,6,0.000,0.044,2125,2659,3502
$GC,5756,-1.42,-146.6,610.2,-10.1,273,5759,0.00,2.12,0.00,0.000,4,0.000,0.077,2125,3786,3502
$GC,5802,-1.42,-146.6,614.9,-10.4,275,5805,0.00,1.95,0.00,0.000,6,0.000,0.044,2125,2674,3502
$GC,6135,-1.42,-146.6,646.4,-9.2,291,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2673,3502
$GC,6444,-1.42,-146.6,673.1,-8.3,306,6448,0.00,2.10,0.00,0.000,4,0.000,0.075,2125,3789,3502
$GC,6502,-1.42,-146.6,678.1,-9.4,308,6505,0.00,1.98,0.00,0.000,6,0.000,0.044,2125,2665,3502
$GC,6824,-1.42,-146.6,707.5,-9.2,324,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2664,3502
$GC,7132,-1.42,-146.6,735.7,-9.2,339,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2664,3501
$GC,7442,-1.42,-146.6,763.5,-9.0,354,7445,0.00,2.12,0.00,0.000,4,0.000,0.077,2125,3789,3501
$GC,7493,-1.42,-146.6,768.4,-9.6,356,7496,0.00,1.95,0.00,0.000,6,0.000,0.045,2125,2672,3501
$GC,7820,-1.42,-146.6,798.5,-9.0,372,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2672,3501
$GC,8129,-1.42,-146.6,827.0,-9.3,387,8133,0.00,2.55,0.00,0.000,4,0.000,0.061,2125,1256,3500
$GC,8157,-1.42,-146.6,829.6,-9.7,388,8161,0.00,2.62,0.00,0.000,4,0.000,0.064,2125,2674,3500
$STATE,8162,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8162,begin apogee
$GC,8170,-0.42,0.0,830.2,9.7,388,8302,1.08,0.00,126.82,1.253,6,0.097,0.000,2343,2079,2902
$STATE,8303,end apogee,CONTROL_FINISHED_OK
$STATE,8303,begin climb
$GC,8306,1.42,146.6,836.1,0.0,395,8440,1.90,2.67,125.00,1.188,4,0.058,0.058,2749,3495,2304
$GC,8645,1.46,181.5,824.8,6.7,410,8682,0.00,2.53,31.35,1.143,6,0.000,0.040,2749,2065,2162
$GC,9001,1.54,240.1,802.6,5.9,428,9059,0.12,2.62,51.12,1.171,4,0.047,0.062,2787,669,1923
$GC,9123,1.54,240.1,791.8,9.7,432,9129,0.00,2.53,0.00,0.000,6,0.000,0.040,2787,2089,1923
$GC,9439,1.54,240.1,763.8,8.3,448,9444,0.00,2.62,0.00,0.000,4,0.000,0.060,2787,668,1922
$GC,9507,1.54,240.1,757.6,8.6,451,9511,0.00,2.50,0.00,0.000,6,0.000,0.038,2787,2087,1921
$GC,9828,1.54,240.1,729.0,9.6,467,9832,0.00,2.60,0.00,0.000,4,0.000,0.058,2787,670,1921
$GC,9942,1.54,240.1,717.5,10.2,472,9946,0.00,2.47,0.00,0.000,6,0.000,0.037,2787,2081,1920
$GC,10263,1.54,240.1,685.3,9.9,488,10267,0.00,2.58,0.00,0.000,4,0.000,0.057,2787,669,1920
$GC,10469,1.54,240.1,664.3,9.8,497,10473,0.00,2.45,0.00,0.000,6,0.000,0.035,2787,2075,1920
$GC,10785,1.54,240.1,636.0,9.0,512,10789,0.00,2.55,0.00,0.000,4,0.000,0.054,2787,668,1919
$GC,10846,1.54,240.1,630.2,9.4,514,10852,0.00,2.45,0.00,0.000,6,0.000,0.035,2787,2075,1919
$GC,11162,1.54,240.1,600.4,9.7,530,11166,0.00,2.55,0.00,0.000,4,0.000,0.054,2787,665,1919
$GC,11302,1.54,240.1,585.4,11.2,536,11306,0.00,2.45,0.00,0.000,6,0.000,0.034,2787,2078,1920
$GC,11619,1.54,240.1,552.3,10.6,551,11623,0.00,2.55,0.00,0.000,4,0.000,0.054,2787,669,1920
$GC,11742,1.54,240.1,538.7,10.7,556,11746,0.00,2.45,0.00,0.000,6,0.000,0.034,2787,2081,1920
$GC,12058,1.54,240.1,508.3,9.3,571,12063,0.00,2.55,0.00,0.000,4,0.000,0.053,2787,666,1921
$GC,12160,1.54,240.1,498.1,10.1,575,12166,0.00,2.45,0.00,0.000,6,0.000,0.035,2787,2085,1921
$GC,12476,1.54,240.1,469.5,9.2,591,12480,0.00,2.55,0.00,0.000,4,0.000,0.053,2787,669,1921
$GC,12565,1.54,240.1,460.5,9.6,595,12569,0.00,2.45,0.00,0.000,6,0.000,0.035,2787,2079,1921
$GC,12887,1.54,240.1,430.2,9.2,611,12891,0.00,2.53,0.00,0.000,4,0.000,0.054,2787,670,1921
$GC,12978,1.54,240.1,421.1,10.2,615,12982,0.00,2.45,0.00,0.000,6,0.000,0.035,2787,2078,1921
$GC,13306,1.54,240.1,390.8,9.3,631,13310,0.00,2.55,0.00,0.000,4,0.000,0.054,2787,663,1922
$GC,13400,1.54,240.1,381.4,9.8,635,13405,0.00,2.47,0.00,0.000,6,0.000,0.036,2787,2082,1922
$GC,13716,1.54,240.1,352.9,8.9,650,13720,0.00,2.58,0.00,0.000,4,0.000,0.054,2787,658,1922
$GC,13811,1.54,240.1,343.8,9.3,654,13816,0.00,2.47,0.00,0.000,6,0.000,0.036,2787,2076,1922
$GC,14127,1.54,240.1,314.4,9.2,669,14131,0.00,2.55,0.00,0.000,4,0.000,0.056,2787,659,1923
$GC,14200,1.54,240.1,307.0,9.3,672,14204,0.00,2.50,0.00,0.000,6,0.000,0.038,2787,2086,1923
$GC,14521,1.54,240.1,277.2,9.3,688,14526,0.00,2.58,0.00,0.000,4,0.000,0.056,2787,663,1923
$GC,14634,1.54,240.1,265.7,10.4,693,14638,0.00,2.47,0.00,0.000,6,0.000,0.038,2787,2078,1923
$GC,14956,1.54,240.1,236.5,8.8,709,14960,0.00,2.58,0.00,0.000,4,0.000,0.057,2787,659,1923
$GC,15063,1.54,240.1,226.4,9.2,714,15067,0.00,2.50,0.00,0.000,6,0.000,0.038,2787,2086,1923
$GC,15389,1.54,240.1,197.1,8.9,730,15393,0.00,2.58,0.00,0.000,4,0.000,0.056,2787,665,1923
$GC,15497,1.54,240.1,186.9,9.4,735,15501,0.00,2.47,0.00,0.000,6,0.000,0.039,2787,2079,1924
$GC,15824,1.54,240.1,158.2,8.8,751,15825,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2079,1923
$GC,16134,1.54,240.1,129.7,9.8,766,16138,0.00,2.58,0.00,0.000,4,0.000,0.058,2787,665,1924
$GC,16304,1.54,240.1,112.9,9.0,773,16310,0.00,2.47,0.00,0.000,6,0.000,0.038,2787,2086,1924
$GC,16620,1.54,240.1,78.8,11.3,789,16625,0.00,2.60,0.00,0.000,4,0.000,0.059,2787,661,1924
$GC,16707,1.54,240.1,69.8,9.8,793,16711,0.00,2.47,0.00,0.000,6,0.000,0.038,2787,2079,1924
$GC,17035,1.54,240.1,42.0,10.3,809,17039,0.00,2.58,0.00,0.000,4,0.000,0.060,2787,669,1924
$GC,17223,1.54,240.1,26.3,10.2,817,17227,0.00,2.47,0.00,0.000,6,0.000,0.040,2787,2077,1924
$STATE,17438,end climb,SURFACE_DEPTH_REACHED
$STATE,17438,begin surface coast
$FINISH,0.4,1.027422
$STATE,17461,end surface coast,CONTROL_FINISHED_OK
$STATE,17461,begin surface
$SM_CCo,17546,0.00,0.000,0,0,1924,239.90
$SM_GC,1.58,11.95,0.00,0.00,0.027,0.000,0.000,44,2678,1924,-10.92,0.08,239.90
$IRIDIUM_FIX,6202.67,-1138.69,010898,191958
$TT8_MAMPS,0.028379
$HUMID,1786
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.4,39.4
$24V_AH,23.1,57.456
$10V_AH,10.1,33.114
$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,26.725,172.300,334.300,0.000,0.000,46.718,74.007,172.512,7.000,0.000,0.000,34.366,1600.224,13177.363,437.301,2176.296,657.039,33.358,1520.671,0.000,2103.222,0.000,48.584,0.000
$DEVICE_MAMPS,156.468,83.603,1253.278,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,576.567,613.436,466.134,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41161,829
$CAP_FILE_SIZE,134934,0
$CFSIZE,260165632,236580864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080509,002406,6225.734,-1143.925,100,1.1,100,-11.1