version: 66.04
glider: 103
mission: 11
dive: 191
start: 4 3 109 16 29 32
data:
$ID,103
$MISSION,11
$DIVE,191
$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,-146770.61
$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,13
$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
$GPS1,162301,6254.389,-1250.910,40,1.2,40,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-60.0
$GPS2,162838,6254.348,-1250.726,15,1.2,15,-11.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.177,-0.129
$KALMAN_X,-8523.7,534.0,280.0,-36403.2,1948.6
$KALMAN_Y,-15966.8,-58.9,-290.9,1447.7,1640.8
$MHEAD_RNG_PITCHd_Wd,245.8,14510,-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,-146.6,0.0,0.0,0,70,0.00,0.00,-52.75,0.000,6,0.000,0.000,50,2651,3502
$GC,74,-1.10,-146.6,3.0,-9.0,2,95,12.05,2.72,0.00,0.000,4,0.156,0.077,2195,1242,3502
$GC,219,-1.10,-146.6,26.8,-8.0,8,224,0.00,2.62,0.00,0.000,6,0.000,0.067,2195,2652,3502
$GC,535,-1.10,-146.6,50.9,-7.7,23,539,0.00,2.22,0.00,0.000,4,0.000,0.097,2195,3793,3502
$GC,636,-1.10,-146.6,59.4,-8.2,27,643,0.00,2.10,0.00,0.000,6,0.000,0.063,2195,2647,3502
$GC,953,-1.10,-146.6,85.1,-8.5,43,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3502
$GC,1263,-1.10,-146.6,110.4,-8.1,58,1267,0.00,2.25,0.00,0.000,4,0.000,0.096,2195,3787,3502
$GC,1308,-1.10,-146.6,114.4,-8.5,60,1312,0.00,2.10,0.00,0.000,6,0.000,0.062,2195,2647,3502
$GC,1636,-1.10,-146.6,140.7,-8.0,76,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3502
$GC,1945,-1.10,-146.6,165.3,-8.1,91,1948,0.00,2.22,0.00,0.000,4,0.000,0.090,2195,3788,3502
$GC,1978,-1.10,-146.6,168.3,-8.6,92,1982,0.00,2.10,0.00,0.000,6,0.000,0.063,2195,2645,3502
$GC,2300,-1.10,-146.6,194.0,-8.1,108,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2645,3502
$GC,2609,-1.10,-146.6,218.4,-7.8,123,2612,0.00,2.22,0.00,0.000,4,0.000,0.089,2195,3792,3502
$GC,2659,-1.10,-146.6,222.6,-8.5,125,2663,0.00,2.10,0.00,0.000,6,0.000,0.062,2195,2647,3502
$GC,2987,-1.10,-146.6,247.7,-7.7,141,2990,0.00,2.22,0.00,0.000,4,0.000,0.090,2195,3794,3502
$GC,3020,-1.10,-146.6,250.5,-8.1,142,3024,0.00,2.10,0.00,0.000,6,0.000,0.061,2195,2645,3502
$GC,3342,-1.10,-146.6,274.3,-7.3,158,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3502
$GC,3651,-1.10,-146.6,297.5,-7.4,173,3655,0.00,2.22,0.00,0.000,4,0.000,0.091,2195,3790,3502
$GC,3720,-1.10,-146.6,302.9,-8.1,176,3724,0.00,2.08,0.00,0.000,6,0.000,0.060,2195,2652,3503
$GC,4053,-1.10,-146.6,329.1,-8.0,192,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2652,3503
$GC,4362,-1.10,-146.6,354.0,-8.0,207,4366,0.00,2.20,0.00,0.000,4,0.000,0.090,2195,3789,3502
$GC,4457,-1.10,-146.6,362.1,-8.4,211,4461,0.00,2.08,0.00,0.000,6,0.000,0.058,2195,2645,3503
$GC,4784,-1.10,-146.6,388.0,-7.8,227,4788,0.00,2.20,0.00,0.000,4,0.000,0.088,2195,3785,3503
$GC,4857,-1.10,-146.6,393.9,-7.9,230,4861,0.00,2.08,0.00,0.000,6,0.000,0.057,2195,2641,3503
$GC,5185,-1.10,-146.6,419.8,-8.2,246,5188,0.00,2.22,0.00,0.000,4,0.000,0.088,2195,3793,3503
$GC,5249,-1.10,-146.6,425.1,-8.6,248,5255,0.00,2.08,0.00,0.000,6,0.000,0.056,2195,2647,3502
$GC,5565,-1.10,-146.6,451.8,-8.4,264,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3503
$GC,5874,-1.10,-146.6,476.9,-7.7,279,5878,0.00,2.20,0.00,0.000,4,0.000,0.088,2195,3787,3502
$GC,5920,-1.10,-146.6,480.6,-8.0,281,5924,0.00,2.08,0.00,0.000,6,0.000,0.055,2195,2640,3503
$GC,6253,-1.10,-146.6,505.4,-7.0,297,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3503
$GC,6562,-1.10,-146.6,524.6,-5.9,312,6566,0.00,2.20,0.00,0.000,4,0.000,0.087,2195,3790,3503
$GC,6647,-1.10,-146.6,529.7,-6.0,315,6653,0.00,2.10,0.00,0.000,6,0.000,0.054,2195,2642,3503
$GC,6963,-1.10,-146.6,547.6,-5.7,331,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3502
$GC,7272,-1.10,-146.6,566.1,-6.1,346,7276,0.00,2.22,0.00,0.000,4,0.000,0.089,2195,3792,3502
$GC,7341,-1.10,-146.6,570.6,-6.8,349,7345,0.00,2.05,0.00,0.000,6,0.000,0.054,2195,2649,3502
$GC,7674,-1.10,-146.6,593.0,-7.1,365,7678,0.00,2.20,0.00,0.000,4,0.000,0.091,2195,3786,3503
$GC,7735,-1.10,-146.6,597.7,-8.1,367,7741,0.00,2.05,0.00,0.000,6,0.000,0.054,2195,2642,3502
$GC,8051,-1.10,-146.6,619.7,-6.9,383,8055,0.00,2.22,0.00,0.000,4,0.000,0.091,2195,3790,3502
$GC,8130,-1.10,-146.6,625.6,-7.8,386,8134,0.00,2.05,0.00,0.000,6,0.000,0.054,2195,2648,3502
$GC,8451,-1.10,-146.6,647.6,-6.7,402,8455,0.00,2.22,0.00,0.000,4,0.000,0.092,2195,3793,3502
$GC,8513,-1.10,-146.6,652.0,-7.9,404,8518,0.00,2.05,0.00,0.000,6,0.000,0.054,2195,2650,3502
$GC,8828,-1.10,-146.6,671.9,-6.4,420,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3501
$GC,9138,-1.10,-146.6,693.3,-7.3,435,9142,0.00,2.20,0.00,0.000,4,0.000,0.094,2195,3792,3501
$GC,9184,-1.10,-146.6,696.9,-7.9,437,9188,0.00,2.08,0.00,0.000,6,0.000,0.057,2195,2641,3501
$STATE,9370,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9370,begin apogee
$GC,9379,-0.42,0.0,711.6,7.9,446,9507,0.75,0.00,124.90,1.164,6,0.094,0.000,2345,1995,2902
$STATE,9507,end apogee,CONTROL_FINISHED_OK
$STATE,9508,begin climb
$GC,9511,1.10,146.6,718.5,0.0,452,9644,1.55,2.72,122.82,1.128,4,0.055,0.065,2678,585,2305
$GC,9727,1.17,200.4,716.9,4.5,462,9779,0.00,2.53,46.83,1.104,6,0.000,0.038,2678,2019,2084
$GC,10098,1.24,262.3,699.9,4.3,480,10160,0.15,2.62,52.42,1.122,4,0.038,0.067,2726,3402,1832
$GC,10219,1.24,262.3,692.3,6.7,485,10224,0.00,2.55,0.00,0.000,6,0.000,0.046,2726,1987,1831
$GC,10535,1.24,262.3,670.8,7.1,500,10536,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1987,1830
$GC,10844,1.24,262.3,647.9,7.3,515,10849,0.00,2.65,0.00,0.000,4,0.000,0.067,2726,3403,1830
$GC,10975,1.24,262.3,638.7,6.8,521,10979,0.00,2.53,0.00,0.000,6,0.000,0.049,2726,2001,1830
$GC,11301,1.24,262.3,616.2,7.2,537,11306,0.00,2.62,0.00,0.000,4,0.000,0.068,2726,3405,1829
$GC,11364,1.24,262.3,611.4,8.1,540,11368,0.00,2.53,0.00,0.000,6,0.000,0.048,2726,1998,1829
$GC,11691,1.24,262.3,588.1,6.9,556,11695,0.00,2.62,0.00,0.000,4,0.000,0.067,2726,3405,1829
$GC,11753,1.24,262.3,583.7,6.6,559,11758,0.00,2.53,0.00,0.000,6,0.000,0.047,2726,1994,1829
$GC,12080,1.24,262.3,560.7,7.2,575,12085,0.00,2.55,0.00,0.000,4,0.000,0.061,2726,591,1828
$GC,12114,1.24,262.3,558.0,7.7,576,12120,0.00,2.47,0.00,0.000,6,0.000,0.038,2726,2004,1829
$GC,12430,1.24,262.3,533.2,8.1,592,12434,0.00,2.58,0.00,0.000,4,0.000,0.066,2726,3405,1829
$GC,12474,1.24,262.3,529.5,8.3,594,12478,0.00,2.53,0.00,0.000,6,0.000,0.045,2726,1989,1829
$GC,12795,1.24,262.3,502.8,8.1,610,12800,0.00,2.62,0.00,0.000,4,0.000,0.066,2726,3405,1829
$GC,12824,1.24,262.3,500.4,9.2,611,12828,0.00,2.50,0.00,0.000,6,0.000,0.045,2726,1998,1829
$GC,13140,1.24,262.3,474.4,8.0,626,13144,0.00,2.60,0.00,0.000,4,0.000,0.064,2726,3406,1830
$GC,13202,1.24,262.3,469.2,8.3,629,13206,0.00,2.47,0.00,0.000,6,0.000,0.044,2726,2002,1830
$GC,13534,1.24,262.3,442.6,7.7,645,13538,0.00,2.62,0.00,0.000,4,0.000,0.067,2726,3415,1830
$GC,13561,1.24,262.3,440.2,8.9,646,13566,0.00,2.53,0.00,0.000,6,0.000,0.046,2726,2001,1830
$GC,13878,1.24,262.3,414.0,8.3,661,13882,0.00,2.55,0.00,0.000,4,0.000,0.060,2726,588,1831
$GC,13950,1.24,262.3,407.7,7.9,664,13954,0.00,2.47,0.00,0.000,6,0.000,0.038,2726,2006,1831
$GC,14266,1.24,262.3,383.2,7.6,679,14270,0.00,2.58,0.00,0.000,4,0.000,0.067,2726,3406,1831
$GC,14299,1.24,262.3,380.6,7.4,680,14305,0.00,2.50,0.00,0.000,6,0.000,0.048,2726,1999,1831
$GC,14615,1.24,262.3,356.2,8.0,696,14620,0.00,2.62,0.00,0.000,4,0.000,0.067,2726,3413,1831
$GC,14643,1.24,262.3,353.7,8.2,697,14647,0.00,2.53,0.00,0.000,6,0.000,0.048,2726,2002,1831
$GC,14959,1.24,262.3,327.8,8.3,712,14963,0.00,2.55,0.00,0.000,4,0.000,0.061,2726,584,1832
$GC,15005,1.24,262.3,323.6,10.2,714,15009,0.00,2.47,0.00,0.000,6,0.000,0.038,2726,1998,1832
$GC,15337,1.24,262.3,296.3,8.2,730,15341,0.00,2.60,0.00,0.000,4,0.000,0.067,2726,3412,1831
$GC,15399,1.24,262.3,291.0,8.5,733,15403,0.00,2.55,0.00,0.000,6,0.000,0.050,2726,1989,1832
$GC,15726,1.24,262.3,265.0,7.8,749,15727,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1989,1832
$GC,16035,1.24,262.3,241.0,8.0,764,16039,0.00,2.62,0.00,0.000,4,0.000,0.067,2726,3406,1833
$GC,16068,1.24,262.3,238.2,8.2,765,16072,0.00,2.53,0.00,0.000,6,0.000,0.051,2726,1999,1833
$GC,16384,1.24,262.3,211.9,8.2,780,16385,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1999,1832
$GC,16693,1.24,262.3,185.8,8.4,795,16697,0.00,2.62,0.00,0.000,4,0.000,0.068,2726,3417,1833
$GC,16733,1.24,262.3,182.4,8.1,797,16737,0.00,2.55,0.00,0.000,6,0.000,0.051,2726,1998,1833
$GC,17059,1.24,262.3,155.2,8.3,813,17061,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1998,1833
$GC,17369,1.24,262.3,130.3,8.2,828,17373,0.00,2.62,0.00,0.000,4,0.000,0.069,2726,3405,1834
$GC,17419,1.24,262.3,126.0,8.2,830,17423,0.00,2.55,0.00,0.000,6,0.000,0.052,2726,1989,1834
$GC,17735,1.24,262.3,100.8,7.9,845,17737,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1989,1834
$GC,18044,1.24,262.3,76.7,7.9,860,18049,0.00,2.65,0.00,0.000,4,0.000,0.069,2726,3412,1834
$GC,18100,1.24,262.3,72.1,7.0,862,18107,0.00,2.55,0.00,0.000,6,0.000,0.054,2726,1990,1834
$GC,18418,1.24,262.3,47.8,7.5,878,18420,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1990,1835
$GC,18726,1.24,262.3,24.0,7.4,893,18730,0.00,2.65,0.00,0.000,4,0.000,0.070,2726,3411,1835
$GC,18775,1.24,262.3,19.8,9.4,895,18779,0.00,2.53,0.00,0.000,6,0.000,0.051,2726,2001,1835
$STATE,18991,end climb,SURFACE_DEPTH_REACHED
$STATE,18991,begin surface coast
$FINISH,0.2,1.006120
$STATE,19013,end surface coast,CONTROL_FINISHED_OK
$STATE,19013,begin surface
$SM_CCo,19098,0.00,0.000,0,0,1833,261.98
$SM_GC,1.41,11.80,0.00,0.00,0.032,0.000,0.000,53,2650,1833,-10.93,0.00,261.98
$IRIDIUM_FIX,6230.49,-1241.98,280698,111121
$TT8_MAMPS,0.029146
$HUMID,1789
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.3,71.0
$24V_AH,23.3,35.773
$10V_AH,10.1,19.898
$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,26.300,179.250,346.975,0.000,0.000,23.543,26.970,151.732,5.500,0.000,0.000,15.363,1678.440,14652.622,462.373,2072.817,565.360,33.358,1521.120,0.000,2030.182,0.000,38.954,0.000
$DEVICE_MAMPS,156.468,96.642,1164.306,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,636.840,671.634,543.967,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44326,907
$CAP_FILE_SIZE,137036,0
$CFSIZE,260165632,246149120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030409,214907,6251.275,-1252.484,39,1.2,39,-11.9