version: 66.04
glider: 103
mission: 11
dive: 243
start: 4 15 109 22 15 54
data:
$ID,103
$MISSION,11
$DIVE,243
$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,-147622.3
$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,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
$GPS1,220906,6356.567,-1250.826,40,1.6,45,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-57.8
$GPS2,221507,6356.483,-1250.908,12,1.1,12,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.173,-0.134
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,244.6,19680,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.75,0.000,2,0.000,0.000,48,2656,3463
$GC,82,-1.10,-146.6,5.1,-9.6,3,104,12.15,2.20,-0.60,0.000,4,0.159,0.097,2193,3782,3502
$GC,357,-1.10,-146.6,39.0,-9.0,15,361,0.00,2.10,0.00,0.000,6,0.000,0.067,2193,2657,3502
$GC,685,-1.10,-146.6,66.5,-8.7,31,689,0.00,2.22,0.00,0.000,4,0.000,0.093,2193,3789,3502
$GC,847,-1.10,-146.6,81.2,-9.1,38,851,0.00,2.12,0.00,0.000,6,0.000,0.064,2193,2639,3502
$GC,1169,-1.10,-146.6,108.2,-8.3,54,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2639,3502
$GC,1479,-1.10,-146.6,132.9,-7.3,69,1483,0.00,2.25,0.00,0.000,4,0.000,0.094,2193,3785,3502
$GC,1528,-1.10,-146.6,136.8,-8.1,71,1532,0.00,2.10,0.00,0.000,6,0.000,0.063,2193,2645,3502
$GC,1850,-1.10,-146.6,161.8,-7.7,87,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,2160,-1.10,-146.6,186.9,-8.2,102,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3502
$GC,2468,-1.10,-146.6,212.8,-8.4,117,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3502
$GC,2778,-1.10,-146.6,239.7,-9.0,132,2782,0.00,2.25,0.00,0.000,4,0.000,0.095,2193,3790,3502
$GC,2834,-1.10,-146.6,245.0,-9.3,134,2840,0.00,2.10,0.00,0.000,6,0.000,0.062,2193,2648,3502
$GC,3150,-1.10,-146.6,272.9,-8.6,150,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3502
$GC,3459,-1.10,-146.6,299.6,-8.7,165,3464,0.00,2.22,0.00,0.000,4,0.000,0.094,2193,3785,3502
$GC,3517,-1.10,-146.6,304.9,-9.4,167,3520,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2650,3502
$GC,3838,-1.10,-146.6,333.5,-8.3,183,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3502
$GC,4147,-1.10,-146.6,355.7,-7.2,198,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3502
$GC,4457,-1.10,-146.6,379.1,-7.5,213,4460,0.00,2.22,0.00,0.000,4,0.000,0.093,2193,3790,3502
$GC,4541,-1.10,-146.6,385.4,-7.2,216,4547,0.00,2.10,0.00,0.000,6,0.000,0.060,2193,2641,3502
$GC,4857,-1.10,-146.6,407.0,-6.9,232,4861,0.00,2.22,0.00,0.000,4,0.000,0.094,2193,3791,3502
$GC,4890,-1.10,-146.6,409.5,-8.2,233,4894,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2649,3502
$GC,5212,-1.10,-146.6,432.1,-6.8,249,5215,0.00,2.20,0.00,0.000,4,0.000,0.092,2193,3782,3502
$GC,5258,-1.10,-146.6,435.1,-6.5,251,5262,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2639,3502
$GC,5591,-1.10,-146.6,458.3,-6.9,267,5595,0.00,2.58,0.00,0.000,4,0.000,0.071,2193,1233,3502
$GC,5618,-1.10,-146.6,460.2,-6.4,268,5623,0.00,2.62,0.00,0.000,6,0.000,0.065,2193,2653,3502
$GC,5934,-1.10,-146.6,486.1,-8.9,283,5938,0.00,2.17,0.00,0.000,4,0.000,0.095,2193,3785,3502
$GC,6030,-1.10,-146.6,494.5,-9.0,287,6033,0.00,2.05,0.00,0.000,6,0.000,0.056,2193,2650,3502
$GC,6357,-1.10,-146.6,515.1,-5.9,303,6361,0.00,2.22,0.00,0.000,4,0.000,0.096,2193,3788,3501
$GC,6430,-1.10,-146.6,519.7,-5.9,306,6434,0.00,2.08,0.00,0.000,6,0.000,0.056,2193,2641,3502
$GC,6758,-1.10,-146.6,537.9,-5.5,322,6762,0.00,2.25,0.00,0.000,4,0.000,0.094,2193,3793,3501
$GC,6820,-1.10,-146.6,542.4,-7.6,324,6826,0.00,2.08,0.00,0.000,6,0.000,0.057,2193,2647,3502
$GC,7136,-1.10,-146.6,567.2,-7.4,340,7139,0.00,2.25,0.00,0.000,4,0.000,0.097,2193,3789,3502
$GC,7227,-1.10,-146.6,573.9,-7.6,344,7230,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2645,3501
$GC,7559,-1.10,-146.6,594.2,-5.1,360,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3501
$GC,7869,-1.10,-146.6,610.2,-5.6,375,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3500
$GC,8177,-1.10,-146.6,629.6,-6.6,390,8181,0.00,2.25,0.00,0.000,4,0.000,0.100,2193,3785,3500
$GC,8223,-1.10,-146.6,633.6,-8.9,392,8227,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2641,3500
$STATE,8388,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8388,begin apogee
$GC,8397,-0.42,0.0,645.3,7.4,400,8525,0.77,0.00,124.53,1.120,6,0.097,0.000,2345,2000,2902
$STATE,8525,end apogee,CONTROL_FINISHED_OK
$STATE,8526,begin climb
$GC,8529,1.10,146.6,651.2,0.0,406,8661,1.58,2.72,122.78,1.085,4,0.059,0.065,2680,583,2304
$GC,8917,1.14,176.4,642.0,5.2,423,8949,0.00,2.53,26.70,1.050,6,0.000,0.038,2680,2032,2182
$GC,9274,1.20,224.7,624.1,4.7,441,9320,0.00,2.75,41.05,1.074,4,0.000,0.065,2680,586,1986
$GC,9490,1.20,224.7,610.6,6.9,451,9494,0.00,2.50,0.00,0.000,6,0.000,0.042,2680,1993,1986
$GC,9816,1.20,224.7,589.8,6.5,467,9821,0.00,2.62,0.00,0.000,4,0.000,0.071,2680,3409,1985
$GC,9872,1.20,224.7,585.5,8.1,469,9879,0.00,2.58,0.00,0.000,6,0.000,0.050,2680,1986,1985
$GC,10188,1.20,224.7,560.6,9.6,485,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1986,1984
$GC,10498,1.20,224.9,537.1,6.0,500,10502,0.00,2.67,0.00,0.000,4,0.000,0.071,2680,3408,1984
$GC,10548,1.25,268.3,534.6,4.8,502,10593,0.15,2.55,36.97,1.057,6,0.042,0.048,2724,1994,1808
$GC,10912,1.25,268.3,515.4,6.5,520,10916,0.00,2.67,0.00,0.000,4,0.000,0.072,2724,3405,1808
$GC,10952,1.25,268.3,512.7,6.6,522,10956,0.00,2.55,0.00,0.000,6,0.000,0.052,2724,2000,1808
$GC,11278,1.25,268.3,480.0,11.1,538,11282,0.00,2.65,0.00,0.000,4,0.000,0.073,2724,3405,1807
$GC,11307,1.25,268.3,476.7,11.7,539,11311,0.00,2.55,0.00,0.000,6,0.000,0.052,2724,2000,1807
$GC,11623,1.28,294.1,452.8,5.3,554,11653,0.00,2.75,22.45,0.986,4,0.000,0.072,2724,3402,1703
$GC,11677,1.28,294.1,449.6,6.3,556,11681,0.00,2.58,0.00,0.000,6,0.000,0.052,2724,1996,1703
$GC,11993,1.28,294.1,424.3,10.0,571,11994,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1996,1703
$GC,12302,1.28,294.1,391.3,10.0,586,12307,0.00,2.65,0.00,0.000,4,0.000,0.072,2724,3403,1703
$GC,12324,1.28,294.1,389.0,10.2,587,12328,0.00,2.55,0.00,0.000,6,0.000,0.051,2724,1996,1703
$GC,12645,1.28,294.1,359.7,9.4,603,12649,0.00,2.65,0.00,0.000,4,0.000,0.071,2724,3403,1703
$GC,12685,1.28,294.1,355.7,10.6,605,12689,0.00,2.55,0.00,0.000,6,0.000,0.051,2724,1994,1703
$GC,13012,1.28,294.1,324.7,9.1,621,13013,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1994,1703
$GC,13321,1.28,294.1,298.1,8.2,636,13326,0.00,2.65,0.00,0.000,4,0.000,0.071,2724,3410,1704
$GC,13388,1.28,294.1,292.6,8.2,639,13392,0.00,2.58,0.00,0.000,6,0.000,0.053,2724,1989,1704
$GC,13709,1.28,294.1,268.3,7.5,655,13713,0.00,2.65,0.00,0.000,4,0.000,0.072,2724,3403,1704
$GC,13759,1.28,294.1,264.3,7.9,657,13763,0.00,2.55,0.00,0.000,6,0.000,0.053,2724,1995,1704
$GC,14075,1.28,294.1,241.0,7.4,672,14079,0.00,2.65,0.00,0.000,4,0.000,0.072,2724,3403,1705
$GC,14096,1.28,294.1,239.1,7.6,673,14101,0.00,2.55,0.00,0.000,6,0.000,0.053,2724,1995,1705
$GC,14418,1.28,294.1,214.0,8.0,689,14422,0.00,2.65,0.00,0.000,4,0.000,0.071,2724,3407,1705
$GC,14451,1.28,294.1,211.4,7.5,690,14458,0.00,2.55,0.00,0.000,6,0.000,0.053,2724,1989,1705
$GC,14767,1.28,294.1,184.2,8.4,706,14772,0.00,2.65,0.00,0.000,4,0.000,0.070,2724,3410,1705
$GC,14795,1.28,294.1,181.6,9.3,707,14799,0.00,2.58,0.00,0.000,6,0.000,0.052,2724,1987,1706
$GC,15111,1.28,294.1,154.8,8.5,722,15115,0.00,2.65,0.00,0.000,4,0.000,0.071,2724,3405,1706
$GC,15144,1.28,294.1,151.8,8.3,723,15150,0.00,2.55,0.00,0.000,6,0.000,0.054,2724,1996,1706
$GC,15460,1.28,294.1,125.8,8.1,739,15465,0.00,2.65,0.00,0.000,4,0.000,0.071,2724,3409,1707
$GC,15488,1.28,294.1,123.3,8.4,740,15492,0.00,2.58,0.00,0.000,6,0.000,0.054,2724,1989,1707
$GC,15806,1.28,294.1,97.4,8.2,755,15811,0.00,2.65,0.00,0.000,4,0.000,0.070,2724,3406,1707
$GC,15840,1.28,294.1,94.2,8.4,756,15846,0.00,2.55,0.00,0.000,6,0.000,0.056,2724,1996,1707
$GC,16157,1.28,294.1,68.1,8.2,772,16162,0.00,2.65,0.00,0.000,4,0.000,0.071,2724,3409,1707
$GC,16186,1.28,294.1,65.7,8.3,773,16190,0.00,2.58,0.00,0.000,6,0.000,0.055,2724,1995,1707
$GC,16502,1.28,294.1,41.9,7.5,788,16503,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1995,1707
$GC,16811,1.28,294.1,18.1,8.1,803,16813,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1995,1707
$STATE,17015,end climb,SURFACE_DEPTH_REACHED
$STATE,17015,begin surface coast
$FINISH,0.6,1.014022
$STATE,17036,end surface coast,CONTROL_FINISHED_OK
$STATE,17037,begin surface
$SM_CCo,17122,0.00,0.000,0,0,1707,293.13
$SM_GC,1.38,11.80,0.00,0.00,0.031,0.000,0.000,50,2646,1707,-10.93,-0.11,293.13
$IRIDIUM_FIX,6337.14,-1251.95,100798,171757
$TT8_MAMPS,0.028379
$HUMID,1783
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.2,79.7
$24V_AH,23.3,43.219
$10V_AH,10.1,24.492
$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,26.450,157.725,374.475,0.000,0.000,28.614,29.371,178.810,4.750,0.000,0.000,12.037,1516.538,13009.293,477.763,1904.758,570.695,29.245,1452.311,0.000,1866.774,0.000,33.785,0.000
$DEVICE_MAMPS,158.769,100.477,1119.820,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,573.176,596.822,508.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41197,814
$CAP_FILE_SIZE,124772,0
$CFSIZE,260165632,242851840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160409,030231,6353.902,-1252.538,37,1.9,37,-12.3