version: 66.04
glider: 103
mission: 11
dive: 184
start: 4 2 109 3 0 6
data:
$ID,103
$MISSION,11
$DIVE,184
$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,0
$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,-146613.66
$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,8
$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
$GPS1,025301,6247.506,-1203.118,42,1.2,42,-11.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-62.0
$GPS2,025914,6247.462,-1203.128,14,1.3,14,-11.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.176,0.129
$KALMAN_X,-14963.0,1648.7,247.3,8880.1,-13794.8
$KALMAN_Y,-19587.0,1042.7,-437.7,-8660.7,-23085.8
$MHEAD_RNG_PITCHd_Wd,317.6,52528,-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,15,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.75,0.000,2,0.000,0.000,48,2649,3188
$GC,62,-1.10,-146.6,3.5,-9.0,2,86,12.18,2.72,-5.40,0.000,4,0.160,0.087,2193,1242,3502
$GC,300,-1.10,-146.6,28.8,-9.0,12,304,0.00,2.65,0.00,0.000,6,0.000,0.067,2193,2663,3503
$GC,616,-1.10,-146.6,55.6,-7.1,27,620,0.00,2.15,0.00,0.000,4,0.000,0.091,2193,3785,3503
$GC,662,-1.10,-146.6,58.9,-7.3,29,666,0.00,2.05,0.00,0.000,6,0.000,0.057,2193,2655,3503
$GC,995,-1.10,-146.6,83.6,-7.7,45,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2656,3503
$GC,1305,-1.10,-146.6,108.9,-7.4,60,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2655,3503
$GC,1616,-1.10,-146.6,131.3,-6.6,75,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2656,3503
$GC,1923,-1.10,-146.6,153.9,-7.7,90,1926,0.00,2.20,0.00,0.000,4,0.000,0.092,2193,3783,3503
$GC,1969,-1.10,-146.6,157.7,-8.4,92,1972,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2643,3503
$GC,2302,-1.10,-146.6,185.9,-8.0,108,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3503
$GC,2611,-1.10,-146.6,211.3,-8.2,123,2614,0.00,2.22,0.00,0.000,4,0.000,0.092,2193,3783,3503
$GC,2679,-1.10,-146.6,217.2,-8.1,126,2683,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2642,3503
$GC,3012,-1.10,-146.6,243.1,-7.7,142,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3503
$GC,3321,-1.10,-146.6,266.9,-7.4,157,3325,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3786,3503
$GC,3360,-1.10,-146.6,269.8,-7.3,158,3366,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2647,3502
$GC,3677,-1.10,-146.6,291.5,-5.9,174,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,3985,-1.10,-146.6,311.8,-6.7,189,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3503
$GC,4294,-1.10,-146.6,337.3,-9.5,204,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3503
$GC,4604,-1.10,-146.6,369.3,-10.2,219,4608,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3793,3503
$GC,4661,-1.10,-146.6,375.4,-10.6,221,4664,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2649,3503
$GC,4982,-1.10,-146.6,404.1,-7.6,237,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3503
$GC,5292,-1.10,-146.6,425.0,-6.4,252,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3503
$GC,5601,-1.10,-146.6,442.5,-5.5,267,5605,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3793,3503
$GC,5640,-1.10,-146.6,444.8,-6.3,268,5646,0.00,2.08,0.00,0.000,6,0.000,0.056,2193,2644,3503
$GC,5956,-1.10,-146.6,464.5,-7.0,284,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3503
$GC,6265,-1.10,-146.6,490.4,-9.2,299,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3503
$GC,6574,-1.10,-146.6,517.5,-8.1,314,6578,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3787,3503
$GC,6614,-1.10,-146.6,520.8,-8.2,315,6620,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2640,3503
$GC,6930,-1.10,-146.6,542.0,-6.4,331,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3503
$GC,7239,-1.10,-146.6,563.1,-7.5,346,7243,0.00,2.22,0.00,0.000,4,0.000,0.088,2193,3792,3502
$GC,7286,-1.10,-146.6,566.8,-8.3,348,7289,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2650,3503
$GC,7618,-1.10,-146.6,594.3,-8.3,364,7622,0.00,2.17,0.00,0.000,4,0.000,0.087,2193,3785,3503
$GC,7693,-1.10,-146.6,600.4,-9.0,367,7697,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2641,3502
$GC,8025,-1.10,-146.6,625.1,-7.3,383,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3502
$GC,8330,-1.10,-146.6,643.4,-4.5,398,8331,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3502
$GC,8639,-1.10,-146.6,662.2,-6.5,413,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3501
$STATE,8739,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8739,begin apogee
$GC,8748,-0.42,0.0,672.8,10.7,418,8876,0.77,0.00,125.05,1.124,6,0.097,0.000,2347,2005,2902
$STATE,8877,end apogee,CONTROL_FINISHED_OK
$STATE,8877,begin climb
$GC,8880,1.10,146.6,678.1,0.0,424,9012,1.55,2.75,122.47,1.098,4,0.058,0.067,2679,3419,2304
$GC,9077,1.16,197.0,678.5,4.6,433,9129,0.00,2.60,43.35,1.069,6,0.000,0.047,2679,1982,2099
$GC,9448,1.16,197.0,658.1,7.1,451,9452,0.00,2.67,0.00,0.000,4,0.000,0.064,2679,3417,2098
$GC,9600,1.16,197.0,648.7,6.3,458,9604,0.00,2.55,0.00,0.000,6,0.000,0.047,2679,1998,2097
$GC,9927,1.26,271.0,630.0,4.0,474,9995,0.15,2.75,61.78,1.107,4,0.040,0.070,2724,3424,1797
$GC,10079,1.26,271.0,623.0,6.6,481,10083,0.00,2.60,0.00,0.000,6,0.000,0.050,2724,1993,1796
$GC,10399,1.26,271.0,602.8,6.4,497,10404,0.00,2.58,0.00,0.000,4,0.000,0.065,2724,593,1795
$GC,10565,1.26,271.0,592.1,6.3,504,10569,0.00,2.53,0.00,0.000,6,0.000,0.040,2724,2023,1795
$GC,10880,1.26,271.0,567.9,8.2,519,10885,0.00,2.58,0.00,0.000,4,0.000,0.069,2724,3410,1795
$GC,10936,1.26,271.0,563.0,8.7,521,10941,0.00,2.53,0.00,0.000,6,0.000,0.046,2724,2000,1795
$GC,11253,1.26,271.0,537.7,7.6,536,11257,0.00,2.55,0.00,0.000,4,0.000,0.060,2724,594,1794
$GC,11293,1.26,271.0,534.5,9.0,538,11297,0.00,2.47,0.00,0.000,6,0.000,0.038,2724,2007,1794
$GC,11619,1.26,271.0,508.7,8.0,554,11623,0.00,2.58,0.00,0.000,4,0.000,0.067,2724,3406,1794
$GC,11663,1.26,271.0,505.0,8.7,556,11668,0.00,2.53,0.00,0.000,6,0.000,0.046,2725,1989,1794
$GC,11985,1.26,271.0,476.3,9.3,572,11986,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1989,1795
$GC,12294,1.26,271.0,445.4,10.0,587,12295,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1989,1795
$GC,12604,1.26,271.0,413.0,10.5,602,12608,0.00,2.62,0.00,0.000,4,0.000,0.067,2725,3407,1795
$GC,12665,1.26,271.0,406.4,10.3,604,12672,0.00,2.53,0.00,0.000,6,0.000,0.049,2725,1997,1795
$GC,12981,1.26,271.0,376.5,9.0,620,12982,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1996,1796
$GC,13291,1.26,271.0,352.9,7.1,635,13295,0.00,2.55,0.00,0.000,4,0.000,0.061,2725,588,1796
$GC,13340,1.26,271.0,349.5,7.1,637,13345,0.00,2.47,0.00,0.000,6,0.000,0.039,2724,2002,1796
$GC,13662,1.28,288.3,330.4,5.5,653,13684,0.00,2.65,15.52,0.868,4,0.000,0.067,2724,3409,1726
$GC,13731,1.30,308.7,326.4,5.4,656,13756,0.00,2.55,18.12,0.863,6,0.000,0.051,2724,2003,1643
$GC,14084,1.30,308.7,304.0,6.6,673,14089,0.00,2.65,0.00,0.000,4,0.000,0.069,2724,3419,1643
$GC,14112,1.30,308.7,302.1,7.0,674,14116,0.00,2.58,0.00,0.000,6,0.000,0.051,2724,1995,1643
$GC,14428,1.30,308.7,280.5,7.2,689,14429,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1995,1643
$GC,14737,1.30,308.7,256.1,8.3,704,14741,0.00,2.65,0.00,0.000,4,0.000,0.068,2725,3413,1644
$GC,14777,1.30,308.7,252.6,8.8,706,14781,0.00,2.55,0.00,0.000,6,0.000,0.051,2724,2000,1644
$GC,15104,1.30,308.7,224.5,8.4,722,15105,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2000,1644
$GC,15413,1.30,308.7,199.5,8.0,737,15417,0.00,2.62,0.00,0.000,4,0.000,0.069,2725,3410,1645
$GC,15468,1.30,308.7,194.8,8.4,739,15474,0.00,2.55,0.00,0.000,6,0.000,0.052,2724,2000,1645
$GC,15784,1.30,308.7,170.4,7.4,755,15785,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2000,1645
$GC,16094,1.30,308.7,146.7,7.6,770,16098,0.00,2.62,0.00,0.000,4,0.000,0.068,2724,3410,1645
$GC,16126,1.30,308.7,144.1,7.5,771,16133,0.00,2.55,0.00,0.000,6,0.000,0.053,2724,1991,1645
$GC,16445,1.30,308.7,121.7,7.1,787,16450,0.00,2.65,0.00,0.000,4,0.000,0.070,2725,3409,1645
$GC,16479,1.30,308.7,118.9,7.2,788,16485,0.00,2.55,0.00,0.000,6,0.000,0.055,2725,1996,1645
$GC,16796,1.30,308.7,95.3,8.1,804,16798,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1996,1645
$GC,17105,1.30,308.7,70.7,7.6,819,17109,0.00,2.65,0.00,0.000,4,0.000,0.070,2724,3416,1645
$GC,17154,1.30,308.7,66.6,8.1,821,17158,0.00,2.58,0.00,0.000,6,0.000,0.056,2724,1996,1645
$GC,17476,1.30,308.7,41.4,8.1,837,17480,0.00,2.65,0.00,0.000,4,0.000,0.071,2725,3410,1645
$GC,17503,1.30,308.7,38.9,7.7,838,17508,0.00,2.58,0.00,0.000,6,0.000,0.058,2725,1998,1645
$GC,17821,1.30,308.7,12.0,8.2,853,17823,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1998,1646
$STATE,17940,end climb,SURFACE_DEPTH_REACHED
$STATE,17940,begin surface coast
$FINISH,0.3,1.019068
$STATE,17962,end surface coast,CONTROL_FINISHED_OK
$STATE,17962,begin surface
$SM_CCo,18047,0.00,0.000,0,0,1645,308.34
$SM_GC,1.39,11.75,0.00,0.00,0.029,0.000,0.000,46,2652,1645,-10.94,0.06,308.34
$IRIDIUM_FIX,6225.82,-1150.90,260698,222215
$TT8_MAMPS,0.028379
$HUMID,1775
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.1,55.9
$24V_AH,23.4,34.911
$10V_AH,10.1,19.300
$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,26.400,134.300,386.300,0.000,0.000,23.314,27.149,197.593,5.250,0.000,0.000,15.010,1561.102,13929.524,467.134,1872.712,586.968,33.356,1416.991,0.000,1844.999,0.000,36.956,0.000
$DEVICE_MAMPS,160.303,92.040,1123.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,607.139,640.959,538.928,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44313,860
$CAP_FILE_SIZE,122748,0
$CFSIZE,260165632,246603776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020409,080207,6245.712,-1213.968,36,1.5,36,-11.5