version: 66.04
glider: 103
mission: 11
dive: 244
start: 4 16 109 3 8 38
data:
$ID,103
$MISSION,11
$DIVE,244
$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,-147638.42
$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,10
$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
$GPS1,030231,6353.902,-1252.538,37,1.9,37,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-60.8
$GPS2,030750,6353.886,-1252.536,15,1.4,15,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.191,-0.105
$KALMAN_X,1068.0,1068.0,1068.0,-4635.5,-399.4
$KALMAN_Y,-97.7,-97.7,-97.7,-4506.9,36.5
$MHEAD_RNG_PITCHd_Wd,253.5,15976,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,62,0.00,0.00,-41.70,0.000,2,0.000,0.000,50,2649,3086
$GC,65,-1.10,-146.6,3.5,-9.8,2,91,12.15,2.30,-7.40,0.000,4,0.159,0.114,2194,3785,3502
$GC,344,-1.10,-146.6,33.5,-9.3,14,347,0.00,2.10,0.00,0.000,6,0.000,0.066,2194,2655,3502
$GC,665,-1.10,-146.6,61.4,-9.2,30,669,0.00,2.22,0.00,0.000,4,0.000,0.093,2194,3790,3502
$GC,923,-1.10,-146.6,85.4,-9.5,41,927,0.00,2.12,0.00,0.000,6,0.000,0.063,2194,2639,3502
$GC,1245,-1.10,-146.6,112.5,-8.4,57,1249,0.00,2.25,0.00,0.000,4,0.000,0.093,2194,3789,3502
$GC,1295,-1.10,-146.6,116.9,-8.7,59,1299,0.00,2.10,0.00,0.000,6,0.000,0.064,2194,2652,3502
$GC,1617,-1.10,-146.6,144.2,-8.5,75,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3502
$GC,1926,-1.10,-146.6,170.7,-8.5,90,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3502
$GC,2236,-1.10,-146.6,197.4,-8.5,105,2240,0.00,2.20,0.00,0.000,4,0.000,0.091,2194,3783,3503
$GC,2281,-1.10,-146.6,201.4,-9.1,107,2285,0.00,2.10,0.00,0.000,6,0.000,0.063,2194,2640,3502
$GC,2614,-1.10,-146.6,230.1,-8.9,123,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3502
$GC,2924,-1.10,-146.6,256.0,-8.3,138,2927,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3785,3503
$GC,2985,-1.10,-146.6,261.6,-9.0,140,2992,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2646,3503
$GC,3301,-1.10,-146.6,287.6,-8.3,156,3305,0.00,2.22,0.00,0.000,4,0.000,0.090,2194,3789,3503
$GC,3347,-1.10,-146.6,291.6,-8.5,158,3351,0.00,2.10,0.00,0.000,6,0.000,0.063,2194,2645,3503
$GC,3680,-1.10,-146.6,320.6,-9.0,174,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3503
$GC,3990,-1.10,-146.6,345.2,-7.3,189,3994,0.00,2.22,0.00,0.000,4,0.000,0.089,2194,3794,3503
$GC,4023,-1.10,-146.6,347.9,-8.0,190,4027,0.00,2.10,0.00,0.000,6,0.000,0.060,2194,2644,3503
$GC,4346,-1.10,-146.6,371.6,-7.3,206,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3503
$GC,4655,-1.10,-146.6,395.1,-7.8,221,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3503
$GC,4964,-1.10,-146.6,419.4,-7.6,236,4968,0.00,2.58,0.00,0.000,4,0.000,0.069,2194,1231,3503
$GC,5004,-1.10,-146.6,422.5,-7.8,238,5008,0.00,2.60,0.00,0.000,6,0.000,0.064,2194,2652,3503
$GC,5330,-1.10,-146.6,443.9,-6.2,254,5334,0.00,2.20,0.00,0.000,4,0.000,0.093,2194,3794,3503
$GC,5431,-1.10,-146.6,450.9,-7.0,258,5435,0.00,2.08,0.00,0.000,6,0.000,0.055,2194,2642,3503
$GC,5753,-1.10,-146.6,471.0,-6.1,274,5756,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3788,3503
$GC,5792,-1.10,-146.6,473.7,-6.6,275,5798,0.00,2.05,0.00,0.000,6,0.000,0.056,2194,2647,3503
$GC,6109,-1.10,-146.6,494.0,-6.8,291,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3503
$GC,6417,-1.10,-146.6,516.3,-7.1,306,6421,0.00,2.22,0.00,0.000,4,0.000,0.092,2194,3790,3503
$GC,6486,-1.10,-146.6,521.7,-6.8,309,6489,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2648,3503
$GC,6819,-1.10,-146.6,541.0,-5.2,325,6823,0.00,2.22,0.00,0.000,4,0.000,0.094,2194,3787,3503
$GC,6903,-1.10,-146.6,545.8,-6.0,328,6909,0.00,2.05,0.00,0.000,6,0.000,0.055,2194,2651,3503
$GC,7219,-1.10,-146.6,565.4,-6.6,344,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3503
$GC,7528,-1.10,-146.6,587.4,-7.4,359,7532,0.00,2.22,0.00,0.000,4,0.000,0.092,2194,3793,3503
$GC,7612,-1.10,-146.6,594.4,-8.3,362,7618,0.00,2.08,0.00,0.000,6,0.000,0.055,2194,2644,3503
$GC,7928,-1.10,-146.6,617.5,-6.7,378,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3502
$GC,8238,-1.10,-146.6,641.0,-8.6,393,8242,0.00,2.22,0.00,0.000,4,0.000,0.093,2194,3787,3501
$GC,8318,-1.10,-146.6,647.7,-8.2,396,8322,0.00,2.05,0.00,0.000,6,0.000,0.056,2194,2651,3501
$STATE,8451,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8451,begin apogee
$GC,8459,-0.42,0.0,658.5,7.7,403,8588,0.77,0.00,124.93,1.124,6,0.101,0.000,2345,1990,2903
$STATE,8588,end apogee,CONTROL_FINISHED_OK
$STATE,8588,begin climb
$GC,8592,1.10,146.6,664.3,0.0,409,8724,1.58,2.70,122.38,1.088,4,0.060,0.064,2679,587,2304
$GC,8868,1.20,222.0,662.0,3.9,421,8939,0.00,2.53,64.45,1.071,6,0.000,0.038,2679,2023,1997
$GC,9268,1.20,222.0,639.6,6.5,441,9272,0.00,2.58,0.00,0.000,4,0.000,0.069,2679,3403,1996
$GC,9352,1.20,222.0,634.4,6.6,445,9357,0.00,2.55,0.00,0.000,6,0.000,0.048,2679,1988,1996
$GC,9680,1.21,232.0,613.9,5.7,461,9696,0.10,2.67,10.00,0.976,4,0.050,0.066,2717,3397,1956
$GC,9752,1.21,232.0,608.8,7.3,463,9756,0.00,2.53,0.00,0.000,6,0.000,0.048,2717,1995,1956
$GC,10068,1.21,232.0,585.0,7.3,478,10072,0.00,2.62,0.00,0.000,4,0.000,0.067,2717,3399,1955
$GC,10175,1.21,232.0,577.3,7.2,483,10179,0.00,2.53,0.00,0.000,6,0.000,0.048,2717,1993,1955
$GC,10502,1.21,232.0,551.4,8.4,499,10506,0.00,2.58,0.00,0.000,4,0.000,0.062,2717,585,1954
$GC,10546,1.21,232.0,547.5,8.4,501,10550,0.00,2.50,0.00,0.000,6,0.000,0.038,2717,2006,1954
$GC,10867,1.21,232.0,520.7,8.1,517,10871,0.00,2.60,0.00,0.000,4,0.000,0.061,2717,590,1954
$GC,10894,1.21,232.0,518.3,8.6,518,10898,0.00,2.47,0.00,0.000,6,0.000,0.038,2717,2003,1954
$GC,11210,1.21,232.0,493.8,7.2,533,11214,0.00,2.58,0.00,0.000,4,0.000,0.067,2718,3403,1953
$GC,11265,1.21,232.0,489.6,7.5,535,11270,0.00,2.53,0.00,0.000,6,0.000,0.046,2717,1989,1954
$GC,11581,1.21,232.0,465.2,7.8,550,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1989,1954
$GC,11891,1.21,232.0,440.2,8.2,565,11895,0.00,2.62,0.00,0.000,4,0.000,0.066,2717,3402,1953
$GC,11912,1.21,232.0,438.3,8.2,566,11916,0.00,2.50,0.00,0.000,6,0.000,0.045,2717,1999,1954
$GC,12233,1.21,232.0,413.6,7.4,582,12234,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2000,1954
$GC,12543,1.21,232.0,388.6,8.2,597,12546,0.00,2.55,0.00,0.000,4,0.000,0.061,2717,589,1955
$GC,12566,1.21,232.0,386.6,8.5,598,12570,0.00,2.47,0.00,0.000,6,0.000,0.038,2717,2007,1955
$GC,12892,1.21,232.0,363.7,6.2,614,12897,0.00,2.58,0.00,0.000,4,0.000,0.067,2717,3410,1955
$GC,12943,1.21,232.0,360.5,6.8,616,12947,0.00,2.53,0.00,0.000,6,0.000,0.048,2718,1998,1955
$GC,13259,1.26,278.3,344.5,4.7,631,13304,0.00,2.67,38.70,0.906,4,0.000,0.062,2717,587,1767
$GC,13328,1.29,298.0,340.8,5.5,634,13353,0.00,2.53,17.73,0.861,6,0.000,0.038,2717,2010,1686
$GC,13677,1.29,298.0,317.5,7.4,651,13681,0.00,2.60,0.00,0.000,4,0.000,0.068,2717,3414,1686
$GC,13726,1.29,298.0,313.4,7.9,653,13731,0.00,2.58,0.00,0.000,6,0.000,0.051,2717,1994,1686
$GC,14042,1.29,298.0,288.9,7.8,668,14047,0.00,2.65,0.00,0.000,4,0.000,0.069,2717,3410,1686
$GC,14069,1.29,298.0,286.6,7.7,669,14074,0.00,2.58,0.00,0.000,6,0.000,0.051,2717,1989,1686
$GC,14385,1.29,298.0,263.5,7.2,684,14390,0.00,2.65,0.00,0.000,4,0.000,0.070,2717,3405,1686
$GC,14426,1.29,298.0,260.6,7.0,686,14430,0.00,2.55,0.00,0.000,6,0.000,0.052,2717,1995,1686
$GC,14753,1.29,298.0,238.1,6.8,702,14757,0.00,2.65,0.00,0.000,4,0.000,0.070,2718,3407,1687
$GC,14786,1.29,298.0,235.6,6.9,703,14792,0.00,2.55,0.00,0.000,6,0.000,0.052,2717,1998,1687
$GC,15102,1.29,298.0,213.5,7.3,719,15106,0.00,2.62,0.00,0.000,4,0.000,0.069,2717,3405,1687
$GC,15123,1.29,298.0,211.7,7.9,720,15128,0.00,2.55,0.00,0.000,6,0.000,0.051,2717,1994,1687
$GC,15445,1.29,298.0,186.8,8.0,736,15450,0.00,2.65,0.00,0.000,4,0.000,0.070,2717,3408,1688
$GC,15485,1.29,298.0,183.4,8.5,738,15490,0.00,2.55,0.00,0.000,6,0.000,0.052,2717,1998,1688
$GC,15813,1.29,298.0,158.8,7.5,754,15817,0.00,2.65,0.00,0.000,4,0.000,0.071,2718,3412,1688
$GC,15853,1.29,298.0,155.6,7.8,756,15857,0.00,2.58,0.00,0.000,6,0.000,0.053,2717,1989,1688
$GC,16180,1.29,298.0,129.1,8.0,772,16184,0.00,2.65,0.00,0.000,4,0.000,0.071,2717,3405,1688
$GC,16224,1.29,298.0,125.3,8.2,774,16229,0.00,2.55,0.00,0.000,6,0.000,0.054,2718,1998,1688
$GC,16546,1.29,298.0,100.1,7.5,790,16551,0.00,2.65,0.00,0.000,4,0.000,0.071,2717,3410,1688
$GC,16580,1.29,298.0,97.5,7.0,791,16586,0.00,2.55,0.00,0.000,6,0.000,0.054,2718,1998,1688
$GC,16898,1.29,298.0,72.8,8.4,807,16899,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1998,1688
$GC,17205,1.29,298.0,48.9,7.3,822,17210,0.00,2.65,0.00,0.000,4,0.000,0.071,2718,3412,1688
$GC,17268,1.29,298.0,44.1,7.4,825,17272,0.00,2.58,0.00,0.000,6,0.000,0.056,2717,1996,1688
$GC,17597,1.29,298.0,18.9,8.2,841,17601,0.00,2.65,0.00,0.000,4,0.000,0.072,2717,3407,1688
$GC,17618,1.29,298.0,16.7,8.8,842,17623,0.00,2.58,0.00,0.000,6,0.000,0.055,2718,1989,1688
$STATE,17813,end climb,SURFACE_DEPTH_REACHED
$STATE,17814,begin surface coast
$FINISH,0.5,1.003920
$STATE,17836,end surface coast,CONTROL_FINISHED_OK
$STATE,17836,begin surface
$SM_CCo,17921,0.00,0.000,0,0,1687,298.04
$SM_GC,1.56,11.75,0.00,0.00,0.029,0.000,0.000,48,2642,1687,-10.94,-0.23,298.04
$IRIDIUM_FIX,6332.30,-1259.31,100798,222253
$TT8_MAMPS,0.028379
$HUMID,1784
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.6,17.2
$24V_AH,23.3,43.346
$10V_AH,10.1,24.576
$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,26.350,177.375,378.175,0.000,0.000,24.223,31.536,135.055,5.500,0.000,0.000,15.495,1599.625,13612.355,471.226,2025.845,526.345,30.196,1504.900,0.000,1971.698,0.000,38.471,0.000
$DEVICE_MAMPS,158.769,113.516,1124.422,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,600.436,618.724,525.196,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44270,853
$CAP_FILE_SIZE,131940,0
$CFSIZE,260165632,242786304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160409,080837,6351.938,-1258.484,40,1.0,40,-12.4