version: 66.04
glider: 103
mission: 11
dive: 230
start: 4 13 109 15 25 44
data:
$ID,103
$MISSION,11
$DIVE,230
$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,-147381.72
$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,16
$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
$GPS1,151906,6346.340,-1311.751,41,1.3,41,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-56.2
$GPS2,152450,6346.331,-1312.002,12,1.5,12,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.210,0.061
$KALMAN_X,-56492.3,1361.7,3257.1,-10136.9,-20382.9
$KALMAN_Y,-46122.1,649.2,-3743.3,130598.8,406.7
$MHEAD_RNG_PITCHd_Wd,86.2,6990,-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,-41.40,0.000,2,0.000,0.000,46,2657,3052
$GC,62,-1.10,-146.6,3.1,-7.4,2,89,12.23,2.72,-8.45,0.000,4,0.157,0.091,2194,1235,3500
$GC,145,-1.10,-146.6,16.3,-11.4,6,150,0.00,2.62,0.00,0.000,6,0.000,0.064,2194,2645,3501
$GC,466,-1.10,-146.6,39.7,-8.1,22,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3501
$GC,776,-1.10,-146.6,67.6,-10.3,37,779,0.00,2.20,0.00,0.000,4,0.000,0.092,2194,3783,3501
$GC,832,-1.10,-146.6,71.8,-7.3,39,836,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2648,3501
$GC,1154,-1.10,-146.6,94.3,-6.5,55,1158,0.00,2.22,0.00,0.000,4,0.000,0.092,2194,3784,3501
$GC,1187,-1.10,-146.6,97.2,-8.9,56,1193,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2642,3501
$GC,1505,-1.10,-146.6,124.8,-8.9,72,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3501
$GC,1812,-1.10,-146.6,153.2,-9.1,87,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3501
$GC,2121,-1.10,-146.6,182.4,-9.7,102,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3501
$GC,2431,-1.10,-146.6,213.7,-10.2,117,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3501
$GC,2739,-1.10,-146.6,242.8,-8.5,132,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3501
$GC,3049,-1.10,-146.6,269.1,-9.0,147,3052,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3785,3501
$GC,3105,-1.10,-146.6,274.6,-9.9,149,3113,0.00,2.08,0.00,0.000,6,0.000,0.057,2194,2646,3501
$GC,3429,-1.10,-146.6,302.4,-8.8,165,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3501
$GC,3738,-1.10,-146.6,327.3,-7.4,180,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3500
$GC,4050,-1.10,-146.6,350.4,-8.0,195,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3501
$GC,4357,-1.10,-146.6,378.5,-9.3,210,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3501
$GC,4666,-1.10,-146.6,408.1,-9.5,225,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3500
$GC,4976,-1.10,-146.6,436.7,-8.7,240,4980,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3787,3501
$GC,5016,-1.10,-146.6,440.2,-7.9,241,5022,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2650,3501
$GC,5332,-1.10,-146.6,467.8,-9.8,257,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3501
$GC,5642,-1.10,-146.6,496.5,-9.5,272,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3501
$GC,5951,-1.10,-146.6,526.9,-10.2,287,5955,0.00,2.17,0.00,0.000,4,0.000,0.084,2194,3786,3501
$GC,6013,-1.10,-146.6,532.5,-8.0,289,6019,0.00,2.05,0.00,0.000,6,0.000,0.050,2194,2639,3501
$GC,6329,-1.10,-146.6,562.1,-8.7,305,6333,0.00,2.20,0.00,0.000,4,0.000,0.084,2194,3789,3501
$GC,6397,-1.10,-146.6,567.8,-8.6,308,6401,0.00,2.05,0.00,0.000,6,0.000,0.051,2194,2647,3500
$GC,6730,-1.10,-146.6,596.0,-10.0,324,6734,0.00,2.58,0.00,0.000,4,0.000,0.066,2194,1233,3500
$GC,6797,-1.10,-146.6,602.7,-9.8,327,6802,0.00,2.62,0.00,0.000,6,0.000,0.063,2194,2659,3501
$GC,7118,-1.10,-146.6,639.6,-13.0,343,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2659,3500
$GC,7427,-1.10,-146.6,668.2,-10.4,358,7431,0.00,2.62,0.00,0.000,4,0.000,0.065,2194,1230,3500
$GC,7472,-1.10,-146.6,672.7,-10.7,360,7476,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2652,3500
$GC,7793,-1.10,-146.6,709.5,-11.7,376,7797,0.00,2.15,0.00,0.000,4,0.000,0.090,2194,3782,3499
$GC,7832,-1.10,-146.6,713.8,-10.5,377,7838,0.00,2.03,0.00,0.000,6,0.000,0.050,2194,2646,3499
$GC,8148,-1.10,-146.6,742.8,-8.5,393,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3499
$GC,8457,-1.10,-146.6,763.7,-6.5,408,8461,0.00,2.20,0.00,0.000,4,0.000,0.091,2194,3782,3499
$GC,8507,-1.10,-146.6,767.8,-8.0,410,8511,0.00,2.03,0.00,0.000,6,0.000,0.050,2194,2649,3499
$STATE,8770,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8770,begin apogee
$GC,8779,-0.42,0.0,787.1,7.1,423,8912,0.75,0.00,126.53,1.201,6,0.085,0.000,2346,1996,2902
$STATE,8913,end apogee,CONTROL_FINISHED_OK
$STATE,8913,begin climb
$GC,8916,1.10,146.6,792.1,0.0,430,9049,1.55,2.70,124.15,1.169,4,0.058,0.064,2677,588,2304
$GC,9062,1.20,223.8,792.7,3.9,437,9137,0.10,2.55,67.28,1.137,6,0.051,0.036,2709,2031,1989
$GC,9454,1.20,223.8,767.6,6.3,456,9458,0.00,2.53,0.00,0.000,4,0.000,0.064,2709,3396,1989
$GC,9573,1.20,223.8,757.5,9.5,461,9578,0.00,2.53,0.00,0.000,6,0.000,0.042,2709,1982,1988
$GC,9890,1.20,227.4,734.0,5.9,476,9896,0.00,0.00,4.62,0.831,6,0.000,0.000,2709,1982,1975
$GC,10199,1.20,227.4,711.8,7.3,491,10203,0.00,2.65,0.00,0.000,4,0.000,0.066,2709,3405,1974
$GC,10239,1.23,248.0,709.8,5.4,493,10263,0.00,2.53,18.92,1.110,6,0.000,0.045,2709,1990,1890
$GC,10595,1.27,281.5,694.6,5.1,510,10630,0.00,2.65,29.35,1.125,4,0.000,0.064,2709,605,1754
$GC,10716,1.33,335.0,688.5,4.5,515,10769,0.00,2.47,46.65,1.136,6,0.000,0.038,2709,1999,1536
$GC,11081,1.38,374.6,674.4,4.9,533,11123,0.15,2.67,34.78,1.113,4,0.042,0.066,2754,3407,1374
$GC,11176,1.38,374.6,663.7,12.5,537,11180,0.00,2.53,0.00,0.000,6,0.000,0.041,2754,1994,1374
$GC,11497,1.40,389.7,636.2,5.6,553,11519,0.00,2.60,14.05,1.035,4,0.000,0.061,2754,599,1313
$GC,11587,1.40,389.7,629.8,7.9,557,11592,0.00,2.50,0.00,0.000,6,0.000,0.039,2755,2006,1313
$GC,11914,1.40,389.7,593.9,11.0,573,11919,0.00,2.60,0.00,0.000,4,0.000,0.064,2755,3417,1313
$GC,11959,1.40,389.7,589.7,10.3,575,11963,0.00,2.53,0.00,0.000,6,0.000,0.042,2754,1998,1313
$GC,12280,1.40,389.7,555.8,12.3,591,12284,0.00,2.55,0.00,0.000,4,0.000,0.059,2755,595,1313
$GC,12369,1.40,389.7,544.5,13.1,595,12374,0.00,2.50,0.00,0.000,6,0.000,0.038,2755,2010,1313
$GC,12690,1.40,389.7,503.5,14.1,611,12695,0.00,2.58,0.00,0.000,4,0.000,0.066,2754,3408,1313
$GC,12758,1.40,389.7,492.7,14.6,614,12762,0.00,2.53,0.00,0.000,6,0.000,0.045,2754,1998,1313
$GC,13079,1.40,389.7,439.5,17.3,630,13080,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1998,1313
$GC,13388,1.40,389.7,394.1,13.1,645,13392,0.00,2.55,0.00,0.000,4,0.000,0.062,2754,592,1313
$GC,13416,1.40,389.7,390.3,13.5,646,13420,0.00,2.47,0.00,0.000,6,0.000,0.040,2755,2001,1313
$GC,13743,1.40,389.7,349.8,11.8,662,13747,0.00,2.60,0.00,0.000,4,0.000,0.067,2754,3409,1313
$GC,13776,1.40,389.7,346.2,9.9,663,13782,0.00,2.55,0.00,0.000,6,0.000,0.048,2754,1989,1314
$GC,14092,1.40,389.7,317.9,8.9,679,14093,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1989,1314
$GC,14401,1.40,389.7,292.1,8.0,694,14405,0.00,2.65,0.00,0.000,4,0.000,0.067,2755,3413,1314
$GC,14428,1.40,389.7,289.7,8.4,695,14432,0.00,2.55,0.00,0.000,6,0.000,0.050,2754,1998,1314
$GC,14744,1.40,389.7,265.8,7.8,710,14748,0.00,2.62,0.00,0.000,4,0.000,0.069,2755,3405,1314
$GC,14765,1.40,389.7,264.0,7.4,711,14770,0.00,2.55,0.00,0.000,6,0.000,0.051,2754,1994,1314
$GC,15086,1.40,389.7,241.4,6.4,727,15091,0.00,2.65,0.00,0.000,4,0.000,0.070,2754,3408,1314
$GC,15120,1.40,389.7,238.9,7.0,728,15126,0.00,2.55,0.00,0.000,6,0.000,0.051,2754,1998,1314
$GC,15436,1.40,389.7,216.9,7.0,744,15437,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1997,1314
$GC,15745,1.40,389.7,195.0,6.9,759,15749,0.00,2.65,0.00,0.000,4,0.000,0.070,2754,3412,1314
$GC,15802,1.40,389.7,191.0,7.0,761,15808,0.00,2.58,0.00,0.000,6,0.000,0.052,2755,1989,1314
$GC,16118,1.40,389.7,170.4,6.7,777,16119,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1989,1314
$GC,16429,1.40,389.7,144.1,9.4,792,16433,0.00,2.65,0.00,0.000,4,0.000,0.071,2754,3406,1314
$GC,16469,1.40,389.7,140.2,10.0,794,16473,0.00,2.55,0.00,0.000,6,0.000,0.053,2755,1998,1315
$GC,16796,1.40,389.7,110.5,9.5,810,16797,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1997,1314
$GC,17105,1.40,389.7,79.0,10.6,825,17109,0.00,2.65,0.00,0.000,4,0.000,0.070,2754,3412,1314
$GC,17145,1.40,389.7,75.0,10.5,827,17149,0.00,2.58,0.00,0.000,6,0.000,0.055,2755,1994,1314
$GC,17472,1.40,389.7,44.2,10.2,843,17473,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1994,1314
$GC,17781,1.40,389.7,7.6,12.5,858,17786,0.00,2.67,0.00,0.000,4,0.000,0.074,2755,3413,1315
$GC,17803,1.40,389.7,4.6,13.0,859,17808,0.00,2.60,0.00,0.000,6,0.000,0.059,2754,1997,1315
$STATE,17853,end climb,SURFACE_DEPTH_REACHED
$STATE,17854,begin surface coast
$FINISH,0.4,1.027483
$STATE,17876,end surface coast,CONTROL_FINISHED_OK
$STATE,17876,begin surface
$SM_CCo,17961,0.00,0.000,0,0,1315,389.54
$SM_GC,1.25,11.93,0.00,0.00,0.031,0.000,0.000,49,2644,1315,-10.92,-0.17,389.54
$IRIDIUM_FIX,6317.84,-1323.32,080798,090959
$TT8_MAMPS,0.028379
$HUMID,1783
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,776.3,19.8
$24V_AH,23.3,41.540
$10V_AH,10.1,23.577
$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,26.700,145.150,466.325,0.000,0.000,27.558,28.382,153.819,7.250,0.000,0.000,12.110,1556.059,13807.650,539.065,1849.528,547.055,33.345,1503.394,0.000,1808.199,0.000,49.728,0.000
$DEVICE_MAMPS,157.235,92.040,1201.122,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,612.831,629.590,511.563,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44283,863
$CAP_FILE_SIZE,124459,0
$CFSIZE,260165632,243519488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130409,202625,6346.786,-1314.880,42,1.7,42,-12.5