version: 66.04
glider: 103
mission: 11
dive: 251
start: 4 17 109 16 16 53
data:
$ID,103
$MISSION,11
$DIVE,251
$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,-147744.58
$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,14
$R_STBD_OVSHOOT,39
$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
$GPS1,161054,6346.349,-1313.563,63,1.3,63,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-64.9
$GPS2,161601,6346.324,-1313.496,11,1.3,15,-12.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.117,-0.185
$KALMAN_X,7263.0,-287.3,4126.0,-29463.3,-1014.5
$KALMAN_Y,12704.5,-671.3,-6016.9,-24806.3,12899.6
$MHEAD_RNG_PITCHd_Wd,160.2,7382,-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,15,-1.10,-146.6,0.0,0.0,0,49,0.00,0.00,-31.35,0.000,2,0.000,0.000,50,2678,3045
$GC,52,-1.10,-146.6,3.3,-6.2,2,75,12.18,0.00,-8.57,0.000,6,0.156,0.000,2195,2678,3501
$GC,379,-1.10,-146.6,33.8,-7.9,18,383,0.00,2.08,0.00,0.000,4,0.000,0.087,2195,3756,3502
$GC,413,-1.10,-146.6,36.7,-8.6,19,417,0.00,2.00,0.00,0.000,6,0.000,0.061,2195,2666,3502
$GC,735,-1.10,-146.6,60.5,-7.4,35,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2666,3502
$GC,1045,-1.10,-146.6,84.5,-7.7,50,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2666,3501
$GC,1353,-1.10,-146.6,109.0,-7.9,65,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2666,3502
$GC,1662,-1.10,-146.6,132.1,-7.1,80,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2666,3501
$GC,1971,-1.10,-146.6,156.4,-8.4,95,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2667,3502
$GC,2281,-1.10,-146.6,182.8,-8.5,110,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2667,3502
$GC,2590,-1.10,-146.6,208.0,-7.9,125,2594,0.00,2.12,0.00,0.000,4,0.000,0.090,2195,3763,3501
$GC,2636,-1.10,-146.6,211.7,-8.4,127,2639,0.00,2.00,0.00,0.000,6,0.000,0.061,2195,2666,3502
$GC,2968,-1.10,-146.6,237.0,-7.6,143,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2666,3502
$GC,3277,-1.10,-146.6,260.3,-7.4,158,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2666,3502
$GC,3587,-1.10,-146.6,284.3,-7.7,173,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2665,3502
$GC,3896,-1.10,-146.6,308.7,-7.8,188,3900,0.00,2.10,0.00,0.000,4,0.000,0.087,2195,3756,3502
$GC,3942,-1.10,-146.6,312.4,-8.4,190,3946,0.00,1.98,0.00,0.000,6,0.000,0.060,2195,2669,3502
$GC,4275,-1.10,-146.6,338.5,-7.7,206,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3502
$GC,4585,-1.10,-146.6,361.1,-6.9,221,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3502
$GC,4894,-1.10,-146.6,384.8,-8.5,236,4898,0.00,2.10,0.00,0.000,4,0.000,0.087,2195,3763,3502
$GC,4940,-1.10,-146.6,389.2,-9.4,238,4943,0.00,1.98,0.00,0.000,6,0.000,0.057,2195,2668,3502
$GC,5273,-1.10,-146.6,416.6,-7.9,254,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2668,3502
$GC,5582,-1.10,-146.6,440.9,-7.7,269,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2668,3502
$GC,5891,-1.10,-146.6,466.0,-8.3,284,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2668,3502
$GC,6201,-1.10,-146.6,490.8,-7.9,299,6204,0.00,2.10,0.00,0.000,4,0.000,0.085,2195,3766,3502
$GC,6228,-1.10,-146.6,493.1,-8.3,300,6232,0.00,1.98,0.00,0.000,6,0.000,0.054,2195,2668,3502
$GC,6556,-1.10,-146.6,519.2,-8.1,316,6559,0.00,2.10,0.00,0.000,4,0.000,0.089,2195,3757,3502
$GC,6602,-1.10,-146.6,523.0,-8.3,318,6605,0.00,1.95,0.00,0.000,6,0.000,0.054,2195,2669,3502
$GC,6935,-1.10,-146.6,552.4,-8.9,334,6939,0.00,2.58,0.00,0.000,4,0.000,0.068,2195,1253,3502
$GC,6985,-1.10,-146.6,556.9,-8.6,336,6989,0.00,2.55,0.00,0.000,6,0.000,0.060,2195,2650,3502
$GC,7301,-1.10,-146.6,580.1,-7.1,351,7305,0.00,2.15,0.00,0.000,4,0.000,0.087,2195,3783,3502
$GC,7380,-1.10,-146.6,586.5,-8.1,354,7383,0.00,2.00,0.00,0.000,6,0.000,0.051,2195,2664,3502
$GC,7701,-1.10,-146.6,614.0,-8.8,370,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2664,3502
$GC,8010,-1.10,-146.6,637.9,-7.9,385,8015,0.00,2.55,0.00,0.000,4,0.000,0.068,2195,1259,3502
$GC,8051,-1.10,-146.6,640.4,-6.0,387,8055,0.00,2.60,0.00,0.000,6,0.000,0.061,2195,2679,3502
$GC,8377,-1.10,-146.6,665.6,-8.8,403,8381,0.00,2.10,0.00,0.000,4,0.000,0.088,2195,3789,3502
$GC,8561,-1.10,-146.6,681.5,-8.3,411,8565,0.00,2.00,0.00,0.000,6,0.000,0.052,2195,2670,3501
$GC,8894,-1.10,-146.6,704.8,-5.7,427,8899,0.00,2.58,0.00,0.000,4,0.000,0.070,2195,1258,3502
$GC,8940,-1.10,-146.6,707.2,-5.4,429,8945,0.00,2.62,0.00,0.000,6,0.000,0.063,2195,2684,3502
$GC,9262,-1.10,-146.6,732.1,-9.2,445,9266,0.00,2.10,0.00,0.000,4,0.000,0.091,2195,3786,3501
$GC,9335,-1.10,-146.6,739.1,-9.0,448,9338,0.00,2.00,0.00,0.000,6,0.000,0.053,2195,2670,3501
$GC,9662,-1.10,-146.6,760.8,-5.0,464,9667,0.00,2.58,0.00,0.000,4,0.000,0.071,2195,1259,3500
$GC,9696,-1.10,-146.6,762.8,-5.8,465,9703,0.00,2.62,0.00,0.000,6,0.000,0.066,2195,2680,3500
$GC,10013,-1.10,-146.6,781.5,-6.2,481,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2681,3500
$GC,10322,-1.10,-146.6,810.0,-12.1,496,10326,0.00,2.12,0.00,0.000,4,0.000,0.094,2195,3788,3499
$GC,10378,-1.10,-146.6,814.5,-10.3,498,10381,0.00,2.00,0.00,0.000,6,0.000,0.053,2195,2672,3499
$GC,10699,-1.10,-146.6,847.3,-12.7,514,10703,0.00,2.17,0.00,0.000,4,0.000,0.091,2195,3792,3498
$STATE,10708,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10708,begin apogee
$GC,10718,-0.42,0.0,849.1,13.3,514,10851,0.73,0.00,127.03,1.242,6,0.095,0.000,2344,2023,2902
$STATE,10851,end apogee,CONTROL_FINISHED_OK
$STATE,10851,begin climb
$GC,10855,1.10,146.6,854.0,0.0,521,10988,1.60,2.80,125.07,1.207,4,0.069,0.087,2676,615,2304
$GC,11049,1.45,430.0,854.2,-1.8,530,11301,0.38,2.65,242.90,1.197,6,0.071,0.060,2754,2043,1150
$GC,11625,1.45,430.0,805.0,13.0,558,11630,0.00,2.65,0.00,0.000,4,0.000,0.062,2754,610,1149
$GC,11700,1.45,430.0,796.0,11.1,561,11704,0.00,2.53,0.00,0.000,6,0.000,0.042,2754,2029,1149
$GC,12016,1.45,430.0,761.9,10.3,576,12017,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2032,1148
$GC,12325,1.45,430.0,730.5,11.6,591,12329,0.00,2.60,0.00,0.000,4,0.000,0.069,2754,3434,1147
$GC,12343,1.45,430.0,728.2,11.8,592,12347,0.00,2.55,0.00,0.000,6,0.000,0.046,2754,2008,1147
$GC,12670,1.45,430.0,689.5,12.0,608,12674,0.00,2.67,0.00,0.000,4,0.000,0.068,2754,3441,1147
$GC,12697,1.45,430.0,686.0,13.0,609,12701,0.00,2.55,0.00,0.000,6,0.000,0.047,2754,2018,1147
$GC,13013,1.45,430.0,653.5,10.5,624,13017,0.00,2.65,0.00,0.000,4,0.000,0.067,2754,3440,1147
$GC,13034,1.45,430.0,651.0,11.0,625,13039,0.00,2.55,0.00,0.000,6,0.000,0.046,2754,2014,1147
$GC,13356,1.45,430.0,611.7,11.8,641,13358,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2014,1147
$GC,13665,1.45,430.0,579.3,10.6,656,13670,0.00,2.65,0.00,0.000,4,0.000,0.067,2754,3441,1147
$GC,13716,1.45,430.0,573.3,10.5,658,13720,0.00,2.53,0.00,0.000,6,0.000,0.045,2754,2026,1146
$GC,14032,1.45,430.0,536.7,12.0,673,14036,0.00,2.62,0.00,0.000,4,0.000,0.067,2754,3435,1147
$GC,14076,1.45,430.0,530.9,13.0,675,14080,0.00,2.53,0.00,0.000,6,0.000,0.046,2754,2022,1147
$GC,14397,1.45,430.0,491.8,12.3,691,14398,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2022,1147
$GC,14707,1.45,430.0,453.1,12.0,706,14711,0.00,2.65,0.00,0.000,4,0.000,0.068,2754,3442,1147
$GC,14751,1.45,430.0,447.5,12.1,708,14755,0.00,2.55,0.00,0.000,6,0.000,0.048,2754,2022,1147
$GC,15072,1.45,430.0,410.5,11.1,724,15073,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2022,1148
$GC,15381,1.45,430.0,377.6,10.3,739,15386,0.00,2.65,0.00,0.000,4,0.000,0.068,2754,3442,1148
$GC,15426,1.45,430.0,372.5,11.6,741,15431,0.00,2.55,0.00,0.000,6,0.000,0.050,2754,2026,1148
$GC,15747,1.45,430.0,338.9,10.4,757,15751,0.00,2.65,0.00,0.000,4,0.000,0.070,2754,3443,1148
$GC,15769,1.45,430.0,336.2,11.2,758,15773,0.00,2.55,0.00,0.000,6,0.000,0.050,2754,2019,1148
$GC,16090,1.45,430.0,302.0,10.8,774,16094,0.00,2.65,0.00,0.000,4,0.000,0.070,2754,3436,1149
$GC,16107,1.45,430.0,300.0,10.9,775,16111,0.00,2.55,0.00,0.000,6,0.000,0.051,2754,2019,1149
$GC,16434,1.45,430.0,263.5,11.3,791,16435,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2019,1149
$GC,16743,1.45,430.0,228.1,11.3,806,16747,0.00,2.67,0.00,0.000,4,0.000,0.071,2754,3443,1149
$GC,16783,1.45,430.0,223.4,12.9,808,16787,0.00,2.58,0.00,0.000,6,0.000,0.051,2754,2018,1149
$GC,17110,1.45,430.0,185.6,11.6,824,17114,0.00,2.67,0.00,0.000,4,0.000,0.071,2754,3443,1150
$GC,17131,1.45,430.0,182.9,12.0,825,17136,0.00,2.58,0.00,0.000,6,0.000,0.051,2754,2018,1149
$GC,17453,1.45,430.0,145.5,11.6,841,17458,0.00,2.67,0.00,0.000,4,0.000,0.072,2754,3440,1150
$GC,17482,1.45,430.0,142.1,11.7,842,17486,0.00,2.58,0.00,0.000,6,0.000,0.053,2754,2020,1150
$GC,17799,1.45,430.0,106.0,11.4,857,17801,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2020,1150
$GC,18107,1.45,430.0,71.2,11.2,872,18112,0.00,2.67,0.00,0.000,4,0.000,0.072,2754,3441,1150
$GC,18157,1.45,430.0,65.1,11.7,874,18161,0.00,2.58,0.00,0.000,6,0.000,0.055,2754,2025,1150
$GC,18473,1.45,430.0,29.5,11.3,889,18478,0.00,2.65,0.00,0.000,4,0.000,0.074,2754,3433,1150
$GC,18496,1.45,430.0,26.9,11.3,890,18500,0.00,2.58,0.00,0.000,6,0.000,0.056,2754,2022,1150
$STATE,18732,end climb,SURFACE_DEPTH_REACHED
$STATE,18732,begin surface coast
$FINISH,0.6,1.014418
$STATE,18755,end surface coast,CONTROL_FINISHED_OK
$STATE,18755,begin surface
$SM_CCo,18840,0.00,0.000,0,0,1149,429.77
$SM_GC,1.40,11.77,0.00,0.00,0.023,0.000,0.000,45,2672,1149,-10.94,-0.08,429.77
$IRIDIUM_FIX,6322.64,-1320.84,120798,121227
$TT8_MAMPS,0.028379
$HUMID,1788
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.2,57.8
$24V_AH,23.3,44.234
$10V_AH,10.1,25.182
$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,26.650,151.950,495.000,0.000,0.000,27.971,33.224,122.940,7.000,0.000,0.000,15.880,1629.219,14553.802,523.877,1925.182,513.683,33.347,1531.790,0.000,1874.104,0.000,48.644,0.000
$DEVICE_MAMPS,155.701,93.574,1241.773,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,636.238,662.290,518.395,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44343,903
$CAP_FILE_SIZE,128356,0
$CFSIZE,260165632,242335744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170409,213207,6341.741,-1311.472,36,1.9,36,-12.4