version: 66.04
glider: 103
mission: 11
dive: 226
start: 4 12 109 16 22 2
data:
$ID,103
$MISSION,11
$DIVE,226
$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,-147324.97
$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,19
$R_STBD_OVSHOOT,9
$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
$GPS1,161530,6344.241,-1316.014,38,1.2,43,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-55.5
$GPS2,162108,6344.177,-1316.233,15,1.6,15,-12.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.198,0.092
$KALMAN_X,-38072.6,-406.3,3555.1,-30609.0,-20998.3
$KALMAN_Y,-41455.8,-159.4,-642.3,119678.1,-1472.6
$MHEAD_RNG_PITCHd_Wd,77.5,11926,-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,-41.45,0.000,2,0.000,0.000,50,2655,3065
$GC,62,-1.10,-146.6,3.5,-8.9,2,88,12.20,2.70,-7.72,0.000,4,0.156,0.088,2197,1238,3500
$GC,122,-1.10,-146.6,14.1,-10.3,5,126,0.00,2.65,0.00,0.000,6,0.000,0.071,2196,2651,3500
$GC,443,-1.10,-146.6,40.1,-7.8,21,447,0.00,2.20,0.00,0.000,4,0.000,0.093,2197,3789,3500
$GC,489,-1.10,-146.6,43.4,-7.8,23,493,0.00,2.08,0.00,0.000,6,0.000,0.058,2197,2653,3500
$GC,817,-1.10,-146.6,66.4,-7.2,39,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2653,3500
$GC,1128,-1.10,-146.6,88.8,-7.3,54,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2653,3500
$GC,1435,-1.10,-146.6,115.9,-8.6,69,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2653,3500
$GC,1745,-1.10,-146.6,142.5,-6.7,84,1749,0.00,2.20,0.00,0.000,4,0.000,0.088,2196,3788,3500
$GC,1818,-1.10,-146.6,147.9,-6.9,87,1821,0.00,2.08,0.00,0.000,6,0.000,0.057,2196,2649,3500
$GC,2145,-1.10,-146.6,177.0,-7.2,103,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2649,3500
$GC,2454,-1.10,-146.6,199.5,-6.4,118,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3500
$GC,2764,-1.10,-146.6,218.8,-5.9,133,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2648,3500
$GC,3073,-1.10,-146.6,237.6,-7.1,148,3077,0.00,2.22,0.00,0.000,4,0.000,0.092,2196,3790,3501
$GC,3136,-1.10,-146.6,242.7,-8.7,151,3140,0.00,2.08,0.00,0.000,6,0.000,0.057,2196,2649,3500
$GC,3469,-1.10,-146.6,267.9,-7.5,167,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3500
$GC,3778,-1.10,-146.6,292.1,-7.8,182,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3500
$GC,4088,-1.10,-146.6,317.9,-8.8,197,4092,0.00,2.22,0.00,0.000,4,0.000,0.090,2196,3794,3500
$GC,4127,-1.10,-146.6,321.6,-9.6,198,4133,0.00,2.08,0.00,0.000,6,0.000,0.056,2196,2649,3500
$GC,4443,-1.10,-146.6,349.2,-8.6,214,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3500
$GC,4752,-1.10,-146.6,377.7,-9.4,229,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2649,3500
$GC,5061,-1.10,-146.6,407.3,-9.6,244,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3500
$GC,5371,-1.10,-146.6,435.6,-9.5,259,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3500
$GC,5680,-1.10,-146.6,468.2,-11.0,274,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3500
$GC,5990,-1.10,-146.6,501.1,-10.6,289,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3500
$GC,6298,-1.10,-146.6,536.7,-12.3,304,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3500
$GC,6608,-1.10,-146.6,574.9,-11.9,319,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3500
$GC,6917,-1.10,-146.6,610.7,-11.4,334,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3500
$GC,7226,-1.10,-146.6,646.4,-12.3,349,7227,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3500
$GC,7536,-1.10,-146.6,681.7,-11.1,364,7540,0.00,2.60,0.00,0.000,4,0.000,0.070,2196,1227,3500
$GC,7598,-1.10,-146.6,688.4,-10.5,367,7603,0.00,2.60,0.00,0.000,6,0.000,0.059,2197,2654,3500
$GC,7924,-1.10,-146.6,717.2,-7.1,383,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2654,3500
$GC,8234,-1.10,-146.6,741.1,-7.1,398,8238,0.00,2.62,0.00,0.000,4,0.000,0.066,2196,1225,3500
$GC,8274,-1.10,-146.6,743.5,-6.1,400,8278,0.00,2.62,0.00,0.000,6,0.000,0.063,2197,2653,3500
$GC,8601,-1.10,-146.6,760.5,-6.6,416,8605,0.00,2.15,0.00,0.000,4,0.000,0.089,2197,3783,3500
$GC,8663,-1.10,-146.6,765.0,-7.1,418,8669,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2641,3500
$GC,8979,-1.10,-146.6,788.5,-6.8,434,8983,0.00,2.60,0.00,0.000,4,0.000,0.073,2196,1230,3499
$GC,9012,-1.10,-146.6,790.6,-6.4,435,9019,0.00,2.60,0.00,0.000,6,0.000,0.064,2197,2651,3499
$GC,9328,-1.10,-146.6,813.0,-7.9,451,9329,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2651,3498
$GC,9637,-1.10,-146.6,836.8,-7.4,466,9641,0.00,2.17,0.00,0.000,4,0.000,0.091,2197,3787,3497
$GC,9699,-1.10,-146.6,841.0,-6.6,468,9705,0.00,2.05,0.00,0.000,6,0.000,0.056,2197,2653,3497
$STATE,9766,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9766,begin apogee
$GC,9775,-0.42,0.0,845.7,6.9,472,9907,0.77,0.00,127.05,1.236,6,0.099,0.000,2349,2000,2902
$STATE,9908,end apogee,CONTROL_FINISHED_OK
$STATE,9908,begin climb
$GC,9911,1.10,146.6,852.4,0.0,479,10045,1.52,2.72,125.30,1.206,4,0.057,0.064,2677,3424,2304
$GC,10306,1.16,191.6,842.3,4.8,497,10351,0.00,2.58,39.85,1.184,6,0.000,0.044,2677,1989,2120
$GC,10682,1.21,234.7,824.0,4.8,515,10726,0.12,2.80,37.45,1.177,4,0.044,0.067,2717,3418,1945
$GC,10844,1.21,234.7,812.7,8.2,522,10848,0.00,2.58,0.00,0.000,6,0.000,0.048,2717,1996,1945
$GC,11165,1.21,234.7,789.1,8.0,538,11169,0.00,2.60,0.00,0.000,4,0.000,0.064,2717,587,1945
$GC,11249,1.21,234.7,781.9,8.2,542,11254,0.00,2.53,0.00,0.000,6,0.000,0.041,2717,2011,1945
$GC,11576,1.21,234.7,755.2,6.7,558,11580,0.00,2.60,0.00,0.000,4,0.000,0.067,2717,3414,1944
$GC,11626,1.21,234.7,751.8,8.1,560,11630,0.00,2.55,0.00,0.000,6,0.000,0.048,2717,2000,1943
$GC,11942,1.21,234.7,723.7,9.4,575,11946,0.00,2.60,0.00,0.000,4,0.000,0.065,2717,586,1943
$GC,12008,1.21,234.7,717.1,9.1,578,12013,0.00,2.50,0.00,0.000,6,0.000,0.039,2717,2002,1943
$GC,12330,1.21,234.7,692.4,7.0,594,12331,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2002,1943
$GC,12639,1.27,284.1,673.1,4.6,609,12687,0.00,2.67,42.25,1.130,4,0.000,0.061,2717,590,1743
$GC,12744,1.27,284.1,666.8,6.4,614,12749,0.00,2.50,0.00,0.000,6,0.000,0.039,2717,2000,1743
$GC,13072,1.28,294.2,646.6,5.7,630,13084,0.00,0.00,10.45,1.006,6,0.000,0.000,2717,2000,1702
$GC,13380,1.30,303.7,627.7,5.7,645,13392,0.00,0.00,9.85,0.985,6,0.000,0.000,2717,2000,1663
$GC,13690,1.30,303.7,608.1,7.0,660,13694,0.00,2.60,0.00,0.000,4,0.000,0.067,2717,3406,1663
$GC,13739,1.30,303.7,604.2,8.1,662,13744,0.00,2.53,0.00,0.000,6,0.000,0.046,2717,1998,1663
$GC,14055,1.30,303.7,578.1,9.0,677,14060,0.00,2.58,0.00,0.000,4,0.000,0.062,2717,588,1663
$GC,14118,1.30,303.7,571.8,10.1,680,14122,0.00,2.50,0.00,0.000,6,0.000,0.038,2717,2010,1663
$GC,14445,1.30,303.7,542.1,8.9,696,14449,0.00,2.58,0.00,0.000,4,0.000,0.066,2717,3408,1664
$GC,14500,1.30,303.7,537.0,9.5,698,14506,0.00,2.53,0.00,0.000,6,0.000,0.046,2717,1997,1664
$GC,14816,1.30,303.7,512.1,7.5,714,14818,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1997,1664
$GC,15125,1.30,303.7,491.3,6.9,729,15127,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1997,1664
$GC,15435,1.31,316.1,471.4,5.7,744,15453,0.00,0.00,12.35,0.921,6,0.000,0.000,2717,1997,1613
$GC,15764,1.31,316.1,451.0,6.6,760,15765,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1997,1612
$GC,16073,1.31,318.7,431.5,5.9,775,16082,0.00,2.65,4.15,0.653,4,0.000,0.065,2717,3407,1602
$GC,16140,1.31,318.7,427.2,6.4,778,16144,0.00,2.55,0.00,0.000,6,0.000,0.049,2717,1992,1602
$GC,16467,1.33,334.9,408.0,5.5,794,16489,0.00,2.70,15.15,0.895,4,0.000,0.067,2717,3410,1536
$GC,16513,1.36,353.4,405.5,5.5,796,16535,0.00,2.58,16.67,0.890,6,0.000,0.049,2717,1994,1461
$GC,16845,1.38,373.8,386.3,5.4,812,16865,0.12,0.00,18.35,0.888,6,0.048,0.000,2750,1994,1378
$GC,17173,1.38,373.8,366.2,6.3,828,17178,0.00,2.65,0.00,0.000,4,0.000,0.067,2750,3412,1378
$GC,17201,1.38,373.8,364.2,7.4,829,17206,0.00,2.58,0.00,0.000,6,0.000,0.051,2750,1994,1378
$GC,17517,1.38,373.8,339.8,8.2,844,17518,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1994,1378
$GC,17826,1.38,373.8,312.5,8.6,859,17827,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1994,1378
$GC,18136,1.38,373.8,287.7,8.1,874,18140,0.00,2.65,0.00,0.000,4,0.000,0.068,2750,3414,1378
$GC,18163,1.38,373.8,285.4,9.6,875,18167,0.00,2.58,0.00,0.000,6,0.000,0.052,2750,1996,1378
$GC,18479,1.38,373.8,259.6,8.3,890,18480,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1996,1378
$GC,18788,1.38,373.8,234.7,8.1,905,18792,0.00,2.65,0.00,0.000,4,0.000,0.070,2750,3416,1378
$GC,18821,1.38,373.8,231.5,8.5,906,18827,0.00,2.58,0.00,0.000,6,0.000,0.051,2751,1992,1378
$GC,19137,1.38,373.8,198.9,10.8,922,19138,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1992,1378
$GC,19446,1.38,373.8,167.2,10.1,937,19447,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1992,1378
$GC,19756,1.38,373.8,130.4,10.7,952,19760,0.00,2.58,0.00,0.000,4,0.000,0.067,2750,587,1378
$GC,19796,1.38,373.8,125.2,13.9,954,19800,0.00,2.50,0.00,0.000,6,0.000,0.044,2750,2000,1378
$GC,20123,1.38,373.8,87.3,11.9,970,20125,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2000,1378
$GC,20432,1.38,373.8,53.9,12.1,985,20433,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2000,1378
$GC,20743,1.38,373.8,19.1,11.1,1000,20748,0.00,2.62,0.00,0.000,4,0.000,0.070,2750,590,1378
$GC,20794,1.38,373.8,12.4,13.0,1002,20798,0.00,2.53,0.00,0.000,6,0.000,0.047,2750,2005,1378
$STATE,20900,end climb,SURFACE_DEPTH_REACHED
$STATE,20901,begin surface coast
$FINISH,0.6,1.027463
$STATE,20924,end surface coast,CONTROL_FINISHED_OK
$STATE,20924,begin surface
$SM_CCo,21009,0.00,0.000,0,0,1377,374.08
$SM_GC,1.28,11.98,0.00,0.00,0.035,0.000,0.000,53,2659,1377,-10.93,0.25,374.08
$IRIDIUM_FIX,6317.84,-1323.32,070798,101018
$TT8_MAMPS,0.028379
$HUMID,1785
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.7,54.5
$24V_AH,23.3,40.916
$10V_AH,10.1,23.226
$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,26.725,131.950,458.875,0.000,0.000,22.595,25.440,152.225,7.250,0.000,0.000,15.991,1786.584,16375.911,539.657,2078.678,560.881,33.375,1584.583,0.000,2033.924,0.000,51.542,0.000
$DEVICE_MAMPS,156.468,92.807,1236.404,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,704.945,750.675,552.428,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50547,1008
$CAP_FILE_SIZE,135895,0
$CFSIZE,260165632,243761152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120409,221330,6343.543,-1316.498,41,1.1,41,-12.5