version: 66.04
glider: 103
mission: 11
dive: 248
start: 4 17 109 1 35 50
data:
$ID,103
$MISSION,11
$DIVE,248
$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,-147696.98
$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,2675
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$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
$GPS1,012855,6350.602,-1317.602,41,1.4,41,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-64.7
$GPS2,013456,6350.585,-1317.414,14,1.5,14,-12.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.013,-0.169
$KALMAN_X,7218.8,-332.6,-216.7,-28206.8,6446.4
$KALMAN_Y,8568.9,-1190.4,-394.8,-17863.9,4439.0
$MHEAD_RNG_PITCHd_Wd,197.0,6152,-15.8,-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,-1.42,-80.9,0.0,0.0,0,59,0.00,0.00,-41.53,0.000,2,0.000,0.000,50,2665,3196
$GC,62,-1.42,-80.9,4.0,-11.3,2,85,11.73,2.22,-0.65,0.000,4,0.158,0.097,2126,3793,3234
$GC,124,-1.42,-80.9,17.6,-14.0,4,131,0.00,2.05,0.00,0.000,6,0.000,0.051,2126,2677,3234
$GC,441,-1.42,-80.9,56.5,-11.7,20,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2677,3234
$GC,750,-1.42,-80.9,91.8,-11.4,35,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2677,3234
$GC,1059,-1.42,-80.9,123.9,-10.1,50,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2677,3234
$GC,1368,-1.42,-80.9,155.4,-10.7,65,1372,0.00,2.12,0.00,0.000,4,0.000,0.082,2126,3785,3234
$GC,1407,-1.42,-80.9,159.8,-11.3,66,1413,0.00,2.00,0.00,0.000,6,0.000,0.050,2126,2669,3234
$GC,1723,-1.42,-80.9,193.6,-10.9,82,1727,0.00,2.60,0.00,0.000,4,0.000,0.069,2126,1252,3234
$GC,1767,-1.42,-80.9,198.6,-11.1,84,1771,0.00,2.67,0.00,0.000,6,0.000,0.071,2126,2680,3234
$GC,2088,-1.42,-80.9,232.6,-11.0,100,2091,0.00,2.10,0.00,0.000,4,0.000,0.082,2126,3791,3234
$GC,2121,-1.42,-80.9,236.4,-11.4,101,2125,0.00,2.03,0.00,0.000,6,0.000,0.051,2126,2666,3234
$GC,2443,-1.42,-80.9,269.9,-10.2,117,2447,0.00,2.58,0.00,0.000,4,0.000,0.067,2126,1254,3234
$GC,2470,-1.42,-80.9,273.0,-10.9,118,2474,0.00,2.65,0.00,0.000,6,0.000,0.067,2126,2678,3234
$GC,2786,-1.42,-80.9,305.7,-10.3,133,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2678,3234
$GC,3095,-1.42,-80.9,337.9,-10.4,148,3099,0.00,2.10,0.00,0.000,4,0.000,0.082,2126,3793,3234
$GC,3123,-1.42,-80.9,341.0,-10.8,149,3127,0.00,2.00,0.00,0.000,6,0.000,0.049,2126,2672,3234
$GC,3453,-1.42,-80.9,375.7,-10.5,165,3456,0.00,2.12,0.00,0.000,4,0.000,0.082,2126,3789,3234
$GC,3492,-1.42,-80.9,379.9,-10.2,166,3498,0.00,2.00,0.00,0.000,6,0.000,0.049,2126,2667,3234
$GC,3808,-1.42,-80.9,412.6,-10.4,182,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2667,3234
$GC,4117,-1.42,-80.9,442.6,-9.2,197,4121,0.00,2.58,0.00,0.000,4,0.000,0.066,2126,1251,3234
$GC,4150,-1.42,-80.9,445.7,-9.4,198,4157,0.00,2.65,0.00,0.000,6,0.000,0.067,2126,2678,3234
$GC,4466,-1.42,-80.9,474.9,-9.0,214,4474,0.00,2.08,0.00,0.000,4,0.000,0.083,2126,3784,3234
$GC,4547,-1.42,-80.9,482.3,-8.8,217,4551,0.00,1.98,0.00,0.000,6,0.000,0.047,2126,2672,3234
$GC,4869,-1.42,-80.9,509.1,-8.5,233,4873,0.00,2.58,0.00,0.000,4,0.000,0.064,2126,1252,3234
$GC,4924,-1.42,-80.9,513.9,-8.9,235,4930,0.00,2.62,0.00,0.000,6,0.000,0.065,2126,2678,3234
$GC,5241,-1.42,-80.9,540.7,-8.4,251,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2678,3234
$GC,5550,-1.42,-80.9,568.5,-9.3,266,5553,0.00,2.10,0.00,0.000,4,0.000,0.083,2126,3792,3234
$GC,5620,-1.42,-80.9,575.4,-9.5,269,5624,0.00,2.00,0.00,0.000,6,0.000,0.047,2126,2663,3234
$GC,5953,-1.42,-80.9,604.7,-8.9,285,5958,0.00,2.55,0.00,0.000,4,0.000,0.063,2126,1249,3234
$GC,6021,-1.42,-80.9,611.1,-9.7,288,6025,0.00,2.65,0.00,0.000,6,0.000,0.065,2126,2682,3234
$GC,6341,-1.42,-80.9,641.0,-9.6,304,6345,0.00,2.08,0.00,0.000,4,0.000,0.083,2126,3786,3234
$GC,6455,-1.42,-80.9,652.2,-10.2,309,6459,0.00,2.00,0.00,0.000,6,0.000,0.051,2126,2664,3234
$GC,6787,-1.42,-80.9,681.4,-8.3,325,6791,0.00,2.55,0.00,0.000,4,0.000,0.064,2126,1248,3234
$GC,6866,-1.42,-80.9,687.8,-7.8,328,6872,0.00,2.65,0.00,0.000,6,0.000,0.067,2126,2680,3234
$GC,7182,-1.42,-80.9,714.1,-8.9,344,7185,0.00,2.10,0.00,0.000,4,0.000,0.084,2126,3792,3233
$GC,7255,-1.42,-80.9,720.9,-8.9,347,7258,0.00,2.00,0.00,0.000,6,0.000,0.051,2126,2666,3233
$GC,7582,-1.42,-80.9,747.1,-7.9,363,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2665,3233
$GC,7891,-1.42,-80.9,769.1,-7.3,378,7895,0.00,2.15,0.00,0.000,4,0.000,0.087,2126,3783,3232
$GC,8009,-1.42,-80.9,779.5,-9.5,383,8013,0.00,2.03,0.00,0.000,6,0.000,0.051,2126,2648,3232
$GC,8337,-1.42,-80.9,808.9,-8.7,399,8341,0.00,2.53,0.00,0.000,4,0.000,0.067,2125,1260,3232
$GC,8426,-1.42,-80.9,817.0,-8.8,403,8430,0.00,2.65,0.00,0.000,6,0.000,0.070,2126,2679,3232
$STATE,8744,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8744,begin apogee
$GC,8753,-0.42,0.0,844.3,9.0,419,8828,1.15,0.00,71.32,1.243,6,0.109,0.000,2347,2025,2902
$STATE,8828,end apogee,CONTROL_FINISHED_OK
$STATE,8829,begin climb
$GC,8832,1.42,80.9,847.4,0.0,423,8909,1.88,2.65,69.60,1.218,4,0.057,0.061,2748,614,2572
$GC,8959,1.57,200.4,849.2,0.0,428,9068,0.15,2.53,102.55,1.206,6,0.044,0.036,2791,2059,2085
$GC,9390,1.57,200.4,819.3,8.4,449,9394,0.00,2.50,0.00,0.000,4,0.000,0.061,2791,3415,2085
$GC,9464,1.57,200.4,812.6,9.0,452,9468,0.00,2.50,0.00,0.000,6,0.000,0.041,2791,2008,2085
$GC,9780,1.57,200.4,785.3,8.8,467,9784,0.00,2.55,0.00,0.000,4,0.000,0.062,2791,615,2084
$GC,9875,1.57,200.4,776.3,9.2,471,9879,0.00,2.47,0.00,0.000,6,0.000,0.038,2791,2028,2084
$GC,10191,1.57,200.4,750.1,8.3,486,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2029,2083
$GC,10500,1.57,200.4,725.0,7.4,501,10501,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2029,2083
$GC,10810,1.57,200.4,703.3,7.1,516,10813,0.00,2.58,0.00,0.000,4,0.000,0.060,2791,617,2083
$GC,10871,1.57,200.4,698.1,8.7,518,10878,0.00,2.47,0.00,0.000,6,0.000,0.038,2791,2036,2082
$GC,11187,1.57,200.4,671.9,8.8,534,11192,0.00,2.60,0.00,0.000,4,0.000,0.059,2791,615,2082
$GC,11250,1.57,200.4,666.0,9.4,537,11254,0.00,2.47,0.00,0.000,6,0.000,0.037,2791,2037,2082
$GC,11577,1.57,200.4,639.2,8.3,553,11581,0.00,2.53,0.00,0.000,4,0.000,0.059,2791,3429,2082
$GC,11604,1.57,200.4,636.6,9.7,554,11608,0.00,2.47,0.00,0.000,6,0.000,0.039,2791,2023,2082
$GC,11920,1.57,200.4,609.2,9.4,569,11924,0.00,2.53,0.00,0.000,4,0.000,0.059,2791,622,2082
$GC,12086,1.57,200.4,594.3,9.0,576,12090,0.00,2.45,0.00,0.000,6,0.000,0.035,2791,2038,2082
$GC,12402,1.57,200.4,568.1,8.0,591,12407,0.00,2.58,0.00,0.000,4,0.000,0.057,2791,619,2082
$GC,12543,1.57,200.4,556.4,8.1,597,12547,0.00,2.45,0.00,0.000,6,0.000,0.035,2791,2031,2082
$GC,12859,1.57,200.4,530.8,8.1,612,12863,0.00,2.55,0.00,0.000,4,0.000,0.056,2791,622,2082
$GC,12966,1.57,200.4,521.5,8.6,617,12970,0.00,2.45,0.00,0.000,6,0.000,0.035,2791,2037,2083
$GC,13299,1.57,200.4,494.7,8.3,633,13300,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2037,2083
$GC,13608,1.57,200.4,471.4,7.4,648,13612,0.00,2.58,0.00,0.000,4,0.000,0.057,2791,613,2083
$GC,13716,1.57,200.4,463.4,7.8,653,13720,0.00,2.45,0.00,0.000,6,0.000,0.035,2791,2029,2083
$GC,14048,1.57,200.4,440.7,6.8,669,14052,0.00,2.55,0.00,0.000,4,0.000,0.056,2791,618,2084
$GC,14178,1.57,200.4,430.6,7.7,675,14182,0.00,2.45,0.00,0.000,6,0.000,0.035,2791,2035,2084
$GC,14506,1.57,200.4,404.9,8.3,691,14510,0.00,2.53,0.00,0.000,4,0.000,0.060,2791,3436,2084
$GC,14545,1.57,200.4,401.4,8.8,692,14551,0.00,2.47,0.00,0.000,6,0.000,0.040,2791,2020,2085
$GC,14861,1.57,200.4,374.6,9.0,708,14865,0.00,2.50,0.00,0.000,4,0.000,0.058,2791,621,2085
$GC,14945,1.57,200.4,366.3,9.9,712,14950,0.00,2.45,0.00,0.000,6,0.000,0.036,2791,2035,2085
$GC,15272,1.57,200.4,335.6,9.4,728,15277,0.00,2.58,0.00,0.000,4,0.000,0.057,2791,611,2086
$GC,15336,1.57,200.4,329.5,10.2,731,15340,0.00,2.45,0.00,0.000,6,0.000,0.037,2791,2026,2085
$GC,15663,1.57,200.4,299.9,9.1,747,15667,0.00,2.55,0.00,0.000,4,0.000,0.058,2791,616,2086
$GC,15707,1.57,200.4,295.5,9.4,749,15712,0.00,2.45,0.00,0.000,6,0.000,0.037,2791,2026,2086
$GC,16029,1.57,200.4,267.8,8.0,765,16033,0.00,2.55,0.00,0.000,4,0.000,0.057,2791,616,2086
$GC,16119,1.57,200.4,260.5,8.1,769,16123,0.00,2.45,0.00,0.000,6,0.000,0.037,2791,2026,2086
$GC,16440,1.57,200.4,233.2,8.9,785,16441,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2025,2086
$GC,16749,1.57,200.4,205.0,9.2,800,16754,0.00,2.55,0.00,0.000,4,0.000,0.058,2791,615,2086
$GC,16850,1.57,200.4,195.6,10.0,804,16856,0.00,2.45,0.00,0.000,6,0.000,0.038,2791,2024,2086
$GC,17166,1.57,200.4,167.8,9.2,820,17170,0.00,2.55,0.00,0.000,4,0.000,0.058,2791,610,2086
$GC,17234,1.57,200.4,161.5,8.3,823,17239,0.00,2.47,0.00,0.000,6,0.000,0.038,2791,2032,2086
$GC,17561,1.57,200.4,131.9,9.0,839,17565,0.00,2.58,0.00,0.000,4,0.000,0.058,2791,615,2086
$GC,17662,1.57,200.4,122.2,10.0,843,17668,0.00,2.45,0.00,0.000,6,0.000,0.038,2791,2029,2086
$GC,17978,1.57,200.4,94.4,8.8,859,17982,0.00,2.58,0.00,0.000,4,0.000,0.059,2791,609,2087
$GC,18050,1.57,200.4,88.1,8.2,862,18054,0.00,2.47,0.00,0.000,6,0.000,0.038,2791,2028,2087
$GC,18368,1.57,200.4,62.3,8.1,877,18373,0.00,2.58,0.00,0.000,4,0.000,0.060,2791,611,2087
$GC,18464,1.57,200.4,53.6,8.6,881,18468,0.00,2.47,0.00,0.000,6,0.000,0.037,2791,2038,2087
$GC,18782,1.57,200.4,28.3,7.8,896,18786,0.00,2.58,0.00,0.000,4,0.000,0.061,2791,621,2087
$GC,18849,1.57,200.4,22.6,7.9,899,18853,0.00,2.45,0.00,0.000,6,0.000,0.038,2791,2028,2087
$STATE,19126,end climb,SURFACE_DEPTH_REACHED
$STATE,19126,begin surface coast
$FINISH,0.5,1.005762
$STATE,19148,end surface coast,CONTROL_FINISHED_OK
$STATE,19148,begin surface
$SM_CCo,19173,21.20,0.687,0,0,1984,225.19
$SM_GC,2.74,0.00,0.00,21.20,0.000,0.000,0.687,50,2672,1984,-10.99,-0.08,225.19
$IRIDIUM_FIX,6327.46,-1313.59,110798,191959
$TT8_MAMPS,0.029146
$HUMID,1765
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,826.5,27.7
$24V_AH,23.2,43.852
$10V_AH,10.1,24.935
$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,26.925,190.750,243.475,21.200,0.000,28.654,27.151,165.032,7.500,0.000,0.000,14.381,1733.250,14629.832,401.586,2196.021,590.678,33.361,1504.076,0.000,2144.853,0.000,55.357,0.000
$DEVICE_MAMPS,158.002,97.409,1243.307,687.232,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,637.872,680.214,511.487,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47418,914
$CAP_FILE_SIZE,143720,0
$CFSIZE,260165632,242503680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170409,065706,6347.882,-1314.325,39,1.9,39,-12.5