version: 66.04
glider: 103
mission: 11
dive: 185
start: 4 2 109 8 8 55
data:
$ID,103
$MISSION,11
$DIVE,185
$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,-146629.53
$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,14
$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
$GPS1,080207,6245.712,-1213.968,36,1.5,36,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-58.7
$GPS2,080801,6245.660,-1214.057,10,1.5,15,-11.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.131,0.175
$KALMAN_X,-17124.1,1417.0,667.1,1707.6,-14515.4
$KALMAN_Y,-27934.6,3073.8,274.3,-6406.2,-29774.3
$MHEAD_RNG_PITCHd_Wd,334.8,43821,-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,-41.15,0.000,2,0.000,0.000,45,2653,2994
$GC,62,-1.10,-146.6,3.2,-8.6,2,90,12.07,2.67,-9.62,0.000,4,0.156,0.086,2194,1238,3501
$GC,314,-1.10,-146.6,28.9,-9.2,13,319,0.00,2.65,0.00,0.000,6,0.000,0.067,2194,2654,3501
$GC,632,-1.10,-146.6,54.3,-8.1,28,636,0.00,2.20,0.00,0.000,4,0.000,0.094,2194,3790,3501
$GC,694,-1.10,-146.6,59.7,-7.7,30,700,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2645,3501
$GC,1010,-1.10,-146.6,86.2,-8.6,46,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3500
$GC,1319,-1.10,-146.6,112.5,-8.5,61,1323,0.00,2.22,0.00,0.000,4,0.000,0.089,2194,3790,3501
$GC,1368,-1.10,-146.6,116.6,-8.9,63,1371,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2651,3501
$GC,1702,-1.10,-146.6,147.7,-9.8,79,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3501
$GC,2009,-1.10,-146.6,174.5,-8.4,94,2017,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3794,3501
$GC,2059,-1.10,-146.6,178.9,-9.3,96,2062,0.00,2.10,0.00,0.000,6,0.000,0.059,2194,2641,3501
$GC,2391,-1.10,-146.6,205.1,-7.9,112,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3500
$GC,2701,-1.10,-146.6,230.6,-8.3,127,2704,0.00,2.22,0.00,0.000,4,0.000,0.087,2194,3793,3501
$GC,2740,-1.10,-146.6,234.1,-8.7,128,2745,0.00,2.10,0.00,0.000,6,0.000,0.058,2194,2640,3501
$GC,3056,-1.10,-146.6,259.8,-8.3,144,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3501
$GC,3365,-1.10,-146.6,285.7,-8.4,159,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2639,3500
$GC,3674,-1.10,-146.6,311.3,-8.2,174,3678,0.00,2.22,0.00,0.000,4,0.000,0.087,2194,3793,3500
$GC,3720,-1.10,-146.6,315.2,-8.6,176,3724,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2650,3500
$GC,4053,-1.10,-146.6,343.3,-8.2,192,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3500
$GC,4363,-1.10,-146.6,366.7,-7.2,207,4366,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3792,3500
$GC,4413,-1.10,-146.6,370.4,-7.3,209,4416,0.00,2.08,0.00,0.000,6,0.000,0.057,2194,2647,3500
$GC,4740,-1.10,-146.6,391.7,-6.2,225,4743,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3790,3500
$GC,4786,-1.10,-146.6,394.6,-6.4,227,4789,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2644,3500
$GC,5119,-1.10,-146.6,414.8,-6.0,243,5123,0.00,2.55,0.00,0.000,4,0.000,0.061,2194,1221,3501
$GC,5152,-1.10,-146.6,417.0,-6.5,244,5158,0.00,2.62,0.00,0.000,6,0.000,0.061,2194,2659,3500
$GC,5468,-1.10,-146.6,435.2,-5.5,260,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2659,3500
$GC,5780,-1.10,-146.6,450.6,-4.6,275,5783,0.00,2.15,0.00,0.000,4,0.000,0.091,2194,3786,3500
$GC,5842,-1.10,-146.6,453.9,-5.3,277,5848,0.00,2.05,0.00,0.000,6,0.000,0.056,2194,2647,3500
$GC,6158,-1.10,-146.6,471.1,-6.0,293,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3500
$GC,6467,-1.10,-146.6,492.9,-7.5,308,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3500
$GC,6776,-1.10,-146.6,517.6,-8.2,323,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3500
$GC,7086,-1.10,-146.6,544.5,-9.0,338,7089,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3790,3500
$GC,7136,-1.10,-146.6,549.2,-9.2,340,7140,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2651,3500
$GC,7463,-1.10,-146.6,579.4,-9.2,356,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3500
$GC,7773,-1.10,-146.6,605.2,-7.7,371,7777,0.00,2.20,0.00,0.000,4,0.000,0.090,2194,3786,3500
$GC,7834,-1.10,-146.6,610.2,-8.2,373,7840,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2644,3500
$GC,8150,-1.10,-146.6,632.1,-7.0,389,8154,0.00,2.58,0.00,0.000,4,0.000,0.067,2194,1223,3500
$GC,8200,-1.10,-146.6,635.7,-7.5,391,8204,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2656,3500
$GC,8516,-1.10,-146.6,658.7,-8.1,406,8520,0.00,2.15,0.00,0.000,4,0.000,0.091,2194,3782,3500
$GC,8617,-1.10,-146.6,667.1,-8.0,410,8620,0.00,2.03,0.00,0.000,6,0.000,0.051,2194,2650,3500
$GC,8939,-1.10,-146.6,693.8,-8.7,426,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3499
$STATE,9100,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9100,begin apogee
$GC,9109,-0.42,0.0,706.5,7.1,434,9236,0.75,0.00,123.88,1.147,6,0.091,0.000,2345,1998,2902
$STATE,9236,end apogee,CONTROL_FINISHED_OK
$STATE,9237,begin climb
$GC,9240,1.10,146.6,712.1,0.0,440,9372,1.55,2.75,122.32,1.116,4,0.056,0.062,2679,3417,2304
$GC,9459,1.24,258.5,710.3,2.9,450,9562,0.15,2.58,94.22,1.096,6,0.044,0.044,2721,1984,1848
$GC,9889,1.24,258.5,680.3,8.2,471,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1985,1847
$GC,10199,1.24,258.5,656.4,8.0,486,10203,0.00,2.70,0.00,0.000,4,0.000,0.068,2721,3425,1846
$GC,10276,1.24,258.5,649.8,8.5,489,10283,0.00,2.58,0.00,0.000,6,0.000,0.049,2721,2000,1846
$GC,10592,1.24,258.5,627.8,6.4,505,10597,0.00,2.60,0.00,0.000,4,0.000,0.064,2722,586,1846
$GC,10660,1.24,258.5,623.2,7.2,508,10664,0.00,2.53,0.00,0.000,6,0.000,0.038,2722,2020,1845
$GC,10981,1.24,258.5,599.2,7.7,524,10985,0.00,2.55,0.00,0.000,4,0.000,0.066,2722,3405,1845
$GC,11021,1.24,258.5,596.0,8.4,526,11025,0.00,2.53,0.00,0.000,6,0.000,0.046,2721,1994,1845
$GC,11348,1.24,258.5,570.5,7.9,542,11349,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1994,1844
$GC,11657,1.24,258.5,545.2,8.4,557,11661,0.00,2.62,0.00,0.000,4,0.000,0.063,2722,3415,1844
$GC,11697,1.24,258.5,541.8,7.9,559,11701,0.00,2.53,0.00,0.000,6,0.000,0.044,2721,1996,1844
$GC,12023,1.24,258.5,515.5,7.9,575,12027,0.00,2.55,0.00,0.000,4,0.000,0.060,2721,588,1844
$GC,12063,1.24,258.5,512.2,8.2,577,12067,0.00,2.47,0.00,0.000,6,0.000,0.036,2722,2010,1844
$GC,12389,1.24,258.5,486.2,7.6,593,12394,0.00,2.55,0.00,0.000,4,0.000,0.064,2722,3405,1844
$GC,12434,1.24,258.5,482.6,8.3,595,12438,0.00,2.50,0.00,0.000,6,0.000,0.045,2721,1998,1844
$GC,12755,1.24,258.5,458.7,7.3,611,12756,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1998,1845
$GC,13065,1.24,258.5,434.8,7.8,626,13069,0.00,2.53,0.00,0.000,4,0.000,0.060,2721,590,1845
$GC,13092,1.24,258.5,432.4,9.3,627,13097,0.00,2.47,0.00,0.000,6,0.000,0.037,2722,2010,1845
$GC,13414,1.24,258.5,407.2,7.7,643,13418,0.00,2.55,0.00,0.000,4,0.000,0.064,2722,3405,1845
$GC,13458,1.24,258.5,403.5,7.8,645,13463,0.00,2.53,0.00,0.000,6,0.000,0.048,2722,1990,1846
$GC,13779,1.24,258.5,378.2,8.1,661,13781,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1991,1846
$GC,14089,1.24,258.5,351.8,9.1,676,14093,0.00,2.60,0.00,0.000,4,0.000,0.064,2722,3406,1847
$GC,14122,1.24,258.5,349.2,7.4,677,14128,0.00,2.53,0.00,0.000,6,0.000,0.048,2722,1996,1846
$GC,14438,1.24,258.5,325.5,7.7,693,14439,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1996,1847
$GC,14747,1.24,258.5,301.5,7.5,708,14748,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1996,1847
$GC,15057,1.24,258.5,276.8,8.1,723,15061,0.00,2.62,0.00,0.000,4,0.000,0.067,2722,3415,1847
$GC,15112,1.24,258.5,272.3,7.3,725,15118,0.00,2.55,0.00,0.000,6,0.000,0.051,2722,1988,1847
$GC,15428,1.24,258.5,250.1,7.1,741,15429,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1988,1848
$GC,15738,1.24,258.5,228.3,7.1,756,15742,0.00,2.65,0.00,0.000,4,0.000,0.068,2722,3411,1848
$GC,15783,1.24,258.5,224.7,7.1,758,15788,0.00,2.55,0.00,0.000,6,0.000,0.051,2722,1996,1848
$GC,16105,1.24,258.5,201.1,7.8,774,16106,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1996,1848
$GC,16414,1.24,258.5,177.3,7.8,789,16418,0.00,2.62,0.00,0.000,4,0.000,0.068,2722,3406,1848
$GC,16447,1.24,258.5,174.8,7.3,790,16453,0.00,2.53,0.00,0.000,6,0.000,0.051,2722,1996,1849
$GC,16763,1.24,258.5,152.7,7.1,806,16764,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1996,1849
$GC,17073,1.24,258.5,130.0,7.2,821,17077,0.00,2.62,0.00,0.000,4,0.000,0.069,2721,3405,1849
$GC,17117,1.24,258.5,126.2,7.8,823,17121,0.00,2.55,0.00,0.000,6,0.000,0.054,2722,1995,1849
$GC,17438,1.24,258.5,101.2,7.8,839,17439,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1995,1849
$GC,17749,1.24,258.5,74.9,8.6,854,17754,0.00,2.62,0.00,0.000,4,0.000,0.068,2722,3406,1849
$GC,17790,1.24,258.5,71.4,7.8,856,17794,0.00,2.55,0.00,0.000,6,0.000,0.053,2722,1993,1849
$GC,18117,1.24,258.5,45.6,7.6,872,18118,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1993,1849
$GC,18426,1.24,258.5,21.0,7.9,887,18431,0.00,2.58,0.00,0.000,4,0.000,0.067,2722,586,1849
$GC,18454,1.24,258.5,19.0,6.8,888,18459,0.00,2.50,0.00,0.000,6,0.000,0.046,2722,1995,1849
$STATE,18685,end climb,SURFACE_DEPTH_REACHED
$STATE,18685,begin surface coast
$FINISH,0.3,1.014189
$STATE,18708,end surface coast,CONTROL_FINISHED_OK
$STATE,18708,begin surface
$SM_CCo,18793,0.00,0.000,0,0,1849,258.30
$SM_GC,1.46,11.82,0.00,0.00,0.034,0.000,0.000,51,2647,1849,-10.94,-0.08,258.30
$IRIDIUM_FIX,6221.17,-1203.72,270698,030340
$TT8_MAMPS,0.029146
$HUMID,1763
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.2,39.3
$24V_AH,23.4,35.032
$10V_AH,10.1,19.385
$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,26.350,147.300,340.425,0.000,0.000,31.467,30.454,144.243,6.000,0.000,0.000,15.244,1631.089,14571.812,443.672,1937.634,560.713,33.370,1421.091,0.000,1894.372,0.000,43.396,0.000
$DEVICE_MAMPS,156.468,93.574,1147.432,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,632.461,660.706,542.309,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44202,900
$CAP_FILE_SIZE,127495,0
$CFSIZE,260165632,246534144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020409,132324,6246.356,-1222.356,38,1.9,38,-11.6