version: 66.04
glider: 103
mission: 11
dive: 188
start: 4 3 109 0 22 12
data:
$ID,103
$MISSION,11
$DIVE,188
$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,-146708.25
$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,21
$R_STBD_OVSHOOT,19
$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
$GPS1,001507,6249.649,-1236.515,37,1.8,37,-11.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-62.4
$GPS2,002119,6249.683,-1236.502,13,1.9,30,-11.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.140,0.168
$KALMAN_X,-17763.1,1108.2,-115.4,-15400.6,-8629.8
$KALMAN_Y,-27529.3,2119.0,1110.4,712.1,-17707.9
$MHEAD_RNG_PITCHd_Wd,332.0,24104,-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,-41.72,0.000,2,0.000,0.000,50,2661,3325
$GC,62,-1.10,-146.6,4.3,-11.6,2,85,12.07,2.72,-2.88,0.000,4,0.157,0.094,2193,1237,3502
$GC,311,-1.10,-146.6,32.3,-7.6,13,315,0.00,2.62,0.00,0.000,6,0.000,0.066,2193,2648,3503
$GC,638,-1.10,-146.6,56.6,-7.9,29,642,0.00,2.22,0.00,0.000,4,0.000,0.095,2193,3792,3503
$GC,716,-1.10,-146.6,63.4,-8.5,32,723,0.00,2.08,0.00,0.000,6,0.000,0.062,2194,2655,3503
$GC,1034,-1.10,-146.6,88.1,-7.7,48,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2655,3503
$GC,1342,-1.10,-146.6,112.2,-8.0,63,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2656,3503
$GC,1651,-1.10,-146.6,136.6,-7.7,78,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2655,3503
$GC,1960,-1.10,-146.6,159.5,-7.6,93,1964,0.00,2.17,0.00,0.000,4,0.000,0.089,2193,3783,3502
$GC,1998,-1.10,-146.6,162.4,-7.9,94,2005,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2647,3503
$GC,2315,-1.10,-146.6,185.3,-7.3,110,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3503
$GC,2623,-1.10,-146.6,207.4,-7.1,125,2627,0.00,2.20,0.00,0.000,4,0.000,0.088,2193,3785,3503
$GC,2662,-1.10,-146.6,210.5,-8.0,126,2669,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2651,3503
$GC,2979,-1.10,-146.6,235.0,-7.6,142,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3503
$GC,3288,-1.10,-146.6,257.6,-8.5,157,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3503
$GC,3597,-1.10,-146.6,283.1,-8.0,172,3600,0.00,2.20,0.00,0.000,4,0.000,0.091,2193,3783,3503
$GC,3630,-1.10,-146.6,286.0,-8.3,173,3634,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2650,3502
$GC,3952,-1.10,-146.6,311.6,-7.9,189,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3502
$GC,4261,-1.10,-146.6,338.0,-8.8,204,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3502
$GC,4571,-1.10,-146.6,362.7,-8.6,219,4574,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3792,3502
$GC,4617,-1.10,-146.6,366.8,-9.0,221,4621,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2643,3502
$GC,4949,-1.10,-146.6,394.5,-8.9,237,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3502
$GC,5258,-1.10,-146.6,418.7,-7.5,252,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3502
$GC,5568,-1.10,-146.6,440.2,-6.6,267,5571,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3786,3502
$GC,5646,-1.10,-146.6,446.0,-7.1,270,5650,0.00,2.05,0.00,0.000,6,0.000,0.056,2194,2646,3502
$GC,5968,-1.10,-146.6,469.6,-7.5,286,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3502
$GC,6277,-1.10,-146.6,493.4,-8.0,301,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3502
$GC,6587,-1.10,-146.6,520.5,-8.9,316,6590,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3789,3502
$GC,6633,-1.10,-146.6,524.8,-9.5,318,6637,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2648,3502
$GC,6965,-1.10,-146.6,552.3,-7.5,334,6969,0.00,2.55,0.00,0.000,4,0.000,0.063,2193,1233,3502
$GC,7005,-1.10,-146.6,555.2,-6.9,336,7009,0.00,2.60,0.00,0.000,6,0.000,0.060,2194,2660,3502
$GC,7331,-1.10,-146.6,578.7,-7.4,352,7335,0.00,2.15,0.00,0.000,4,0.000,0.091,2193,3785,3502
$GC,7382,-1.10,-146.6,582.8,-8.3,354,7386,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2642,3502
$GC,7709,-1.10,-146.6,605.5,-6.8,370,7713,0.00,2.58,0.00,0.000,4,0.000,0.068,2194,1225,3502
$GC,7771,-1.10,-146.6,610.2,-7.4,373,7776,0.00,2.60,0.00,0.000,6,0.000,0.059,2194,2652,3502
$GC,8098,-1.10,-146.6,632.5,-6.4,389,8101,0.00,2.17,0.00,0.000,4,0.000,0.092,2193,3789,3502
$GC,8153,-1.10,-146.6,636.7,-8.0,391,8158,0.00,2.03,0.00,0.000,6,0.000,0.054,2194,2652,3503
$GC,8475,-1.10,-146.6,662.2,-8.0,407,8480,0.00,2.60,0.00,0.000,4,0.000,0.069,2193,1226,3503
$GC,8543,-1.10,-146.6,666.7,-5.8,410,8547,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2655,3503
$GC,8864,-1.10,-146.6,690.8,-6.7,426,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2655,3502
$STATE,8943,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8943,begin apogee
$GC,8952,-0.42,0.0,696.6,7.0,430,9080,0.77,0.00,124.38,1.148,6,0.100,0.000,2346,1993,2902
$STATE,9080,end apogee,CONTROL_FINISHED_OK
$STATE,9080,begin climb
$GC,9084,1.10,146.6,702.4,0.0,436,9215,1.58,2.75,121.82,1.111,4,0.061,0.069,2679,3423,2304
$GC,9363,1.20,222.3,698.8,3.9,449,9434,0.00,2.58,64.07,1.096,6,0.000,0.044,2679,1987,1995
$GC,9756,1.20,222.3,672.8,6.7,468,9758,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1987,1994
$GC,10066,1.20,222.3,649.9,7.1,483,10070,0.00,2.70,0.00,0.000,4,0.000,0.068,2679,3424,1993
$GC,10116,1.20,222.3,646.5,6.9,485,10120,0.00,2.58,0.00,0.000,6,0.000,0.048,2679,1996,1993
$GC,10432,1.21,235.3,629.7,5.6,500,10451,0.12,0.00,12.12,1.025,6,0.044,0.000,2721,1996,1942
$GC,10761,1.21,235.3,607.2,6.6,516,10765,0.00,2.65,0.00,0.000,4,0.000,0.067,2721,3423,1941
$GC,10805,1.21,235.3,603.9,7.0,518,10809,0.00,2.55,0.00,0.000,6,0.000,0.045,2721,1987,1941
$GC,11126,1.21,235.3,578.0,9.6,534,11130,0.00,2.55,0.00,0.000,4,0.000,0.063,2721,590,1941
$GC,11278,1.21,235.3,564.7,8.5,541,11283,0.00,2.50,0.00,0.000,6,0.000,0.037,2721,2020,1940
$GC,11605,1.21,235.3,536.7,8.4,557,11609,0.00,2.62,0.00,0.000,4,0.000,0.061,2721,590,1940
$GC,11694,1.21,235.3,529.4,7.5,561,11698,0.00,2.47,0.00,0.000,6,0.000,0.037,2722,2005,1940
$GC,12015,1.22,238.6,508.6,5.9,577,12021,0.00,0.00,4.43,0.738,6,0.000,0.000,2721,2006,1929
$GC,12325,1.22,239.4,489.8,6.0,592,12326,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2006,1929
$GC,12634,1.22,239.4,470.9,6.2,607,12638,0.00,2.55,0.00,0.000,4,0.000,0.058,2721,597,1929
$GC,12672,1.22,239.4,468.2,6.5,608,12679,0.00,2.45,0.00,0.000,6,0.000,0.037,2721,2002,1929
$GC,12988,1.22,239.4,446.6,7.0,624,12993,0.00,2.58,0.00,0.000,4,0.000,0.065,2721,3408,1929
$GC,13029,1.22,239.4,443.6,8.2,626,13033,0.00,2.53,0.00,0.000,6,0.000,0.044,2721,1990,1930
$GC,13355,1.22,239.4,420.1,7.2,642,13360,0.00,2.62,0.00,0.000,4,0.000,0.064,2721,3410,1929
$GC,13389,1.22,239.4,417.6,7.3,643,13395,0.00,2.53,0.00,0.000,6,0.000,0.045,2722,1989,1930
$GC,13705,1.22,239.4,394.8,7.5,659,13706,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1989,1930
$GC,14014,1.22,239.4,370.8,7.8,674,14015,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1989,1930
$GC,14324,1.22,239.4,345.7,8.1,689,14325,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1989,1931
$GC,14633,1.22,239.4,321.4,8.3,704,14637,0.00,2.62,0.00,0.000,4,0.000,0.066,2721,3406,1931
$GC,14677,1.22,239.4,317.5,9.0,706,14681,0.00,2.53,0.00,0.000,6,0.000,0.048,2721,1990,1932
$GC,14998,1.22,239.4,292.3,7.6,722,14999,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1990,1932
$GC,15307,1.22,239.4,270.0,7.0,737,15308,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1990,1932
$GC,15616,1.22,239.4,248.8,7.0,752,15620,0.00,2.62,0.00,0.000,4,0.000,0.068,2722,3405,1932
$GC,15649,1.22,239.4,246.3,6.8,753,15655,0.00,2.53,0.00,0.000,6,0.000,0.048,2721,1994,1932
$GC,15965,1.22,239.4,223.9,7.3,769,15966,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1994,1932
$GC,16274,1.22,239.4,201.4,7.5,784,16275,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1994,1933
$GC,16583,1.22,239.4,177.3,7.8,799,16584,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1994,1933
$GC,16893,1.22,239.4,153.4,7.7,814,16897,0.00,2.62,0.00,0.000,4,0.000,0.068,2721,3404,1933
$GC,16933,1.22,239.4,150.5,8.0,816,16937,0.00,2.53,0.00,0.000,6,0.000,0.050,2721,1994,1933
$GC,17260,1.22,239.4,126.6,7.2,832,17264,0.00,2.55,0.00,0.000,4,0.000,0.064,2721,590,1933
$GC,17305,1.22,239.4,123.0,8.5,834,17309,0.00,2.47,0.00,0.000,6,0.000,0.041,2721,2002,1933
$GC,17626,1.22,239.4,100.9,6.5,850,17627,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2001,1933
$GC,17937,1.22,239.4,81.4,6.3,865,17938,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2001,1934
$GC,18245,1.22,239.4,60.9,6.7,880,18246,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2002,1934
$GC,18554,1.22,239.4,38.2,7.7,895,18558,0.00,2.60,0.00,0.000,4,0.000,0.071,2721,3406,1933
$GC,18587,1.22,239.4,35.2,8.5,896,18593,0.00,2.53,0.00,0.000,6,0.000,0.053,2721,1996,1934
$GC,18905,1.22,239.4,9.9,7.5,912,18906,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1996,1933
$STATE,19023,end climb,SURFACE_DEPTH_REACHED
$STATE,19023,begin surface coast
$FINISH,0.2,1.003702
$STATE,19045,end surface coast,CONTROL_FINISHED_OK
$STATE,19045,begin surface
$SM_CCo,19130,0.00,0.000,0,0,1933,237.70
$SM_GC,1.76,11.80,0.00,0.00,0.033,0.000,0.000,51,2650,1933,-10.93,0.00,237.70
$IRIDIUM_FIX,6225.82,-1229.69,270698,181856
$TT8_MAMPS,0.028379
$HUMID,1781
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.0,79.5
$24V_AH,23.4,35.395
$10V_AH,10.1,19.640
$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,26.350,128.525,326.825,0.000,0.000,27.931,27.372,164.410,5.250,0.000,0.000,30.905,1649.833,14904.378,424.328,1962.068,556.739,33.356,1392.225,0.000,1908.802,0.000,37.366,0.000
$DEVICE_MAMPS,157.235,95.108,1148.199,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,645.353,677.994,571.104,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47509,919
$CAP_FILE_SIZE,125904,0
$CFSIZE,260165632,246345728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030409,054231,6252.795,-1239.951,52,1.3,52,-11.8