version: 66.04
glider: 103
mission: 11
dive: 186
start: 4 2 109 13 31 30
data:
$ID,103
$MISSION,11
$DIVE,186
$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,-146662.38
$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,18
$R_STBD_OVSHOOT,12
$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
$GPS1,132324,6246.356,-1222.356,38,1.9,38,-11.6
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-59.0
$GPS2,133040,6246.358,-1222.371,12,3.1,31,-11.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.118,0.184
$KALMAN_X,-17508.2,264.6,1135.5,-4215.8,-12373.0
$KALMAN_Y,-30264.3,2059.0,2533.4,-4071.9,-29633.7
$MHEAD_RNG_PITCHd_Wd,338.9,36672,-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,-41.08,0.000,2,0.000,0.000,51,2648,3187
$GC,63,-1.10,-146.6,3.5,-10.0,2,86,12.05,2.75,-5.32,0.000,4,0.156,0.091,2194,1240,3501
$GC,339,-1.10,-146.6,32.3,-7.2,14,343,0.00,2.65,0.00,0.000,6,0.000,0.068,2194,2657,3501
$GC,660,-1.10,-146.6,56.3,-8.0,30,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2657,3501
$GC,971,-1.10,-146.6,79.0,-7.5,45,975,0.00,2.20,0.00,0.000,4,0.000,0.094,2194,3790,3501
$GC,1010,-1.10,-146.6,82.5,-8.4,46,1016,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2653,3501
$GC,1328,-1.10,-146.6,107.8,-8.1,62,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3501
$GC,1635,-1.10,-146.6,133.5,-8.3,77,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2653,3501
$GC,1944,-1.10,-146.6,161.1,-9.4,92,1948,0.00,2.22,0.00,0.000,4,0.000,0.092,2194,3792,3501
$GC,2000,-1.10,-146.6,166.7,-10.2,94,2004,0.00,2.10,0.00,0.000,6,0.000,0.060,2194,2643,3501
$GC,2322,-1.10,-146.6,196.0,-8.6,110,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,2631,-1.10,-146.6,222.8,-8.9,125,2635,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3787,3501
$GC,2681,-1.10,-146.6,227.3,-8.9,127,2685,0.00,2.08,0.00,0.000,6,0.000,0.059,2194,2651,3501
$GC,3008,-1.10,-146.6,254.6,-8.0,143,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3501
$GC,3317,-1.10,-146.6,279.2,-7.8,158,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3501
$GC,3627,-1.10,-146.6,302.7,-7.5,173,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,3938,-1.10,-146.6,326.4,-7.9,188,3942,0.00,2.20,0.00,0.000,4,0.000,0.090,2194,3787,3502
$GC,3994,-1.10,-146.6,331.1,-8.7,190,3998,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2650,3502
$GC,4316,-1.10,-146.6,356.6,-7.9,206,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,4625,-1.10,-146.6,381.5,-8.3,221,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,4934,-1.10,-146.6,407.2,-8.2,236,4938,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3792,3502
$GC,4974,-1.10,-146.6,410.5,-8.5,237,4980,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2648,3502
$GC,5290,-1.10,-146.6,434.5,-7.4,253,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3502
$GC,5599,-1.10,-146.6,455.8,-6.5,268,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3502
$GC,5911,-1.10,-146.6,476.0,-7.0,283,5914,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3789,3502
$GC,5957,-1.10,-146.6,479.6,-7.4,285,5960,0.00,2.08,0.00,0.000,6,0.000,0.056,2194,2639,3502
$GC,6290,-1.10,-146.6,505.2,-8.1,301,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2639,3502
$GC,6599,-1.10,-146.6,529.6,-7.8,316,6603,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3783,3502
$GC,6650,-1.10,-146.6,534.0,-8.5,318,6653,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2647,3502
$GC,6977,-1.10,-146.6,559.0,-7.8,334,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3502
$GC,7286,-1.10,-146.6,582.5,-7.5,349,7290,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3786,3502
$GC,7365,-1.10,-146.6,589.0,-8.1,352,7368,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2647,3502
$GC,7686,-1.10,-146.6,611.6,-7.2,368,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3501
$GC,7996,-1.10,-146.6,637.8,-8.9,383,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3501
$GC,8304,-1.10,-146.6,664.5,-8.1,398,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3502
$GC,8614,-1.10,-146.6,684.0,-5.3,413,8618,0.00,2.55,0.00,0.000,4,0.000,0.065,2194,1230,3501
$GC,8693,-1.10,-146.6,688.1,-5.4,416,8697,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2651,3501
$STATE,8964,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8964,begin apogee
$GC,8973,-0.42,0.0,706.5,6.3,429,9101,0.75,0.00,125.10,1.138,6,0.081,0.000,2347,1996,2902
$STATE,9102,end apogee,CONTROL_FINISHED_OK
$STATE,9102,begin climb
$GC,9105,1.10,146.6,709.8,0.0,435,9237,1.58,2.72,122.45,1.111,4,0.062,0.066,2680,3426,2304
$GC,9295,1.26,270.7,709.1,2.6,444,9407,0.15,2.58,104.35,1.100,6,0.044,0.043,2722,1989,1798
$GC,9729,1.26,270.7,679.9,7.3,465,9733,0.00,2.67,0.00,0.000,4,0.000,0.067,2722,3416,1797
$GC,9769,1.26,270.7,676.9,7.8,467,9773,0.00,2.55,0.00,0.000,6,0.000,0.048,2722,2002,1797
$GC,10095,1.26,270.7,652.3,8.2,483,10099,0.00,2.60,0.00,0.000,4,0.000,0.066,2722,590,1795
$GC,10180,1.26,270.7,644.9,8.9,487,10184,0.00,2.53,0.00,0.000,6,0.000,0.041,2722,2019,1795
$GC,10506,1.26,270.7,614.0,9.2,503,10511,0.00,2.58,0.00,0.000,4,0.000,0.071,2722,3403,1795
$GC,10596,1.26,270.7,606.2,8.1,507,10601,0.00,2.55,0.00,0.000,6,0.000,0.049,2722,1989,1794
$GC,10918,1.26,270.7,584.2,6.5,523,10922,0.00,2.55,0.00,0.000,4,0.000,0.061,2722,590,1794
$GC,10951,1.26,270.7,581.8,6.6,524,10957,0.00,2.47,0.00,0.000,6,0.000,0.038,2722,2000,1794
$GC,11267,1.26,270.7,559.7,7.5,540,11271,0.00,2.60,0.00,0.000,4,0.000,0.067,2722,3410,1794
$GC,11322,1.26,270.7,555.2,8.3,542,11328,0.00,2.53,0.00,0.000,6,0.000,0.047,2722,1998,1793
$GC,11638,1.26,270.7,530.6,7.7,558,11642,0.00,2.62,0.00,0.000,4,0.000,0.065,2722,3412,1794
$GC,11671,1.26,270.7,527.9,8.0,559,11677,0.00,2.53,0.00,0.000,6,0.000,0.047,2722,1999,1794
$GC,11987,1.26,270.7,502.2,8.4,575,11988,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2000,1794
$GC,12296,1.26,270.7,475.0,9.7,590,12300,0.00,2.62,0.00,0.000,4,0.000,0.067,2722,3414,1794
$GC,12329,1.26,270.7,471.5,9.4,591,12335,0.00,2.55,0.00,0.000,6,0.000,0.048,2722,1988,1795
$GC,12645,1.26,270.7,439.1,10.0,607,12646,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1988,1795
$GC,12954,1.26,270.7,409.2,9.1,622,12955,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1988,1795
$GC,13263,1.26,270.7,382.4,7.9,637,13264,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1988,1796
$GC,13573,1.26,270.7,356.0,8.6,652,13577,0.00,2.65,0.00,0.000,4,0.000,0.067,2722,3413,1796
$GC,13635,1.26,270.7,351.0,7.4,655,13639,0.00,2.55,0.00,0.000,6,0.000,0.050,2722,1989,1796
$GC,13962,1.26,270.7,326.5,7.5,671,13966,0.00,2.65,0.00,0.000,4,0.000,0.068,2722,3414,1796
$GC,13989,1.26,270.7,324.1,8.4,672,13994,0.00,2.55,0.00,0.000,6,0.000,0.051,2722,1993,1797
$GC,14305,1.26,270.7,299.3,7.9,687,14306,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1993,1797
$GC,14614,1.26,270.7,273.8,8.6,702,14619,0.00,2.65,0.00,0.000,4,0.000,0.070,2722,3413,1797
$GC,14659,1.26,270.7,269.7,9.0,704,14663,0.00,2.55,0.00,0.000,6,0.000,0.051,2722,1998,1797
$GC,14980,1.26,270.7,240.1,9.3,720,14981,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1998,1797
$GC,15289,1.26,270.7,211.1,9.3,735,15290,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1998,1797
$GC,15599,1.26,270.7,182.9,8.9,750,15603,0.00,2.65,0.00,0.000,4,0.000,0.071,2722,3410,1798
$GC,15654,1.26,270.7,177.9,8.5,752,15660,0.00,2.55,0.00,0.000,6,0.000,0.053,2722,1998,1798
$GC,15970,1.26,270.7,152.8,7.0,768,15974,0.00,2.62,0.00,0.000,4,0.000,0.069,2722,3406,1798
$GC,15997,1.26,270.7,150.5,9.2,769,16001,0.00,2.55,0.00,0.000,6,0.000,0.053,2722,1994,1798
$GC,16313,1.26,270.7,123.5,8.0,784,16315,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1994,1798
$GC,16623,1.26,270.7,100.2,7.4,799,16627,0.00,2.65,0.00,0.000,4,0.000,0.071,2722,3409,1798
$GC,16663,1.26,270.7,97.0,8.2,801,16667,0.00,2.55,0.00,0.000,6,0.000,0.054,2722,2000,1798
$GC,16995,1.26,270.7,70.8,8.3,817,16997,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2000,1798
$GC,17306,1.26,270.7,44.2,8.9,832,17311,0.00,2.62,0.00,0.000,4,0.000,0.071,2722,3408,1798
$GC,17351,1.26,270.7,39.8,8.5,834,17356,0.00,2.58,0.00,0.000,6,0.000,0.058,2722,1995,1798
$GC,17673,1.26,270.7,13.0,8.7,850,17678,0.00,2.60,0.00,0.000,4,0.000,0.073,2723,589,1798
$GC,17768,1.26,270.7,4.1,9.5,854,17773,0.00,2.45,0.00,0.000,6,0.000,0.036,2722,2013,1798
$STATE,17798,end climb,SURFACE_DEPTH_REACHED
$STATE,17799,begin surface coast
$FINISH,0.2,1.005815
$STATE,17821,end surface coast,CONTROL_FINISHED_OK
$STATE,17821,begin surface
$SM_CCo,17906,0.00,0.000,0,0,1798,271.06
$SM_GC,1.39,11.65,0.00,0.00,0.025,0.000,0.000,47,2645,1798,-10.94,-0.14,271.06
$IRIDIUM_FIX,6221.17,-1218.48,270698,080807
$TT8_MAMPS,0.028379
$HUMID,1762
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.8,64.7
$24V_AH,23.4,35.161
$10V_AH,10.1,19.467
$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,26.175,129.900,351.900,0.000,0.000,30.222,27.871,226.568,5.500,0.000,0.000,32.225,1545.190,13889.857,443.208,1845.542,611.663,33.356,1358.648,0.000,1796.661,0.000,38.939,0.000
$DEVICE_MAMPS,156.468,94.341,1138.228,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,602.098,632.077,528.626,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44269,857
$CAP_FILE_SIZE,120558,0
$CFSIZE,260165632,246484992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020409,183107,6247.552,-1228.276,33,1.6,33,-11.6