version: 66.04
glider: 103
mission: 11
dive: 30
start: 2 27 109 12 51 55
data:
$ID,103
$MISSION,11
$DIVE,30
$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,412.5
$T_MISSION,440
$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,571.54901
$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,-143564.38
$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,2750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$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
$GPS1,123137,6135.026,-916.162,30,2.0,30,-9.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-55.6
$GPS2,125104,6134.958,-916.356,12,2.4,31,-9.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.137,0.200
$KALMAN_X,-17386.5,60.4,678.3,28172.5,-3285.1
$KALMAN_Y,-52541.0,291.4,91.3,96075.3,-3230.5
$MHEAD_RNG_PITCHd_Wd,43.8,18636,-14.9,-8.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.42,-146.6,0.0,0.0,0,60,0.00,0.00,-41.85,0.000,2,0.000,0.000,51,2740,3039
$GC,63,-1.42,-146.6,3.5,-9.4,2,89,11.82,2.08,-8.48,0.000,4,0.164,0.110,2123,3777,3501
$GC,342,-1.42,-146.6,39.7,-10.6,14,346,0.00,1.85,0.00,0.000,6,0.000,0.053,2123,2747,3501
$GC,664,-1.42,-146.6,72.8,-10.0,30,668,0.00,2.58,0.00,0.000,4,0.000,0.061,2123,1330,3501
$GC,704,-1.42,-146.6,77.2,-11.1,32,708,0.00,2.62,0.00,0.000,6,0.000,0.064,2123,2749,3500
$GC,1031,-1.42,-146.6,108.9,-9.8,48,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2749,3500
$GC,1340,-1.42,-146.6,138.8,-8.5,63,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2749,3500
$GC,1649,-1.42,-146.6,167.0,-9.3,78,1653,0.00,2.58,0.00,0.000,4,0.000,0.060,2123,1337,3500
$GC,1676,-1.42,-146.6,169.6,-8.8,79,1681,0.00,2.62,0.00,0.000,6,0.000,0.061,2123,2760,3500
$GC,1992,-1.42,-146.6,195.4,-8.3,94,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2760,3500
$GC,2301,-1.42,-146.6,222.1,-8.7,109,2306,0.00,2.60,0.00,0.000,4,0.000,0.063,2123,1331,3500
$GC,2342,-1.42,-146.6,225.7,-8.8,111,2346,0.00,2.60,0.00,0.000,6,0.000,0.061,2123,2754,3500
$GC,2668,-1.42,-146.6,255.9,-9.5,127,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2754,3500
$GC,2978,-1.42,-146.6,286.2,-9.9,142,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2754,3500
$GC,3287,-1.42,-146.6,317.1,-9.9,157,3292,0.00,2.60,0.00,0.000,4,0.000,0.064,2123,1335,3500
$GC,3321,-1.42,-146.6,320.5,-9.7,158,3327,0.00,2.60,0.00,0.000,6,0.000,0.058,2123,2761,3500
$GC,3638,-1.42,-146.6,352.1,-9.9,174,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2761,3500
$GC,3946,-1.42,-146.6,384.2,-10.8,189,3951,0.00,2.60,0.00,0.000,4,0.000,0.062,2123,1335,3500
$GC,3987,-1.42,-146.6,388.7,-11.3,191,3991,0.00,2.60,0.00,0.000,6,0.000,0.061,2123,2756,3500
$GC,4313,-1.42,-146.6,424.4,-11.1,207,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2756,3500
$GC,4623,-1.42,-146.6,456.2,-9.8,222,4627,0.00,2.60,0.00,0.000,4,0.000,0.064,2123,1331,3500
$GC,4667,-1.42,-146.6,460.7,-9.8,224,4671,0.00,2.60,0.00,0.000,6,0.000,0.058,2123,2754,3500
$GC,4987,-1.42,-146.6,492.1,-9.8,240,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2754,3500
$GC,5297,-1.42,-146.6,520.8,-9.1,255,5301,0.00,2.62,0.00,0.000,4,0.000,0.068,2123,1326,3500
$GC,5336,-1.42,-146.6,524.2,-8.7,257,5341,0.00,2.60,0.00,0.000,6,0.000,0.058,2123,2752,3500
$GC,5665,-1.42,-146.6,550.7,-7.6,273,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2752,3500
$GC,5974,-1.42,-146.6,576.6,-8.7,288,5978,0.00,2.55,0.00,0.000,4,0.000,0.060,2123,1332,3499
$GC,6046,-1.42,-146.6,583.3,-9.4,291,6050,0.00,2.60,0.00,0.000,6,0.000,0.058,2123,2759,3500
$GC,6362,-1.42,-146.6,611.2,-9.5,306,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2759,3500
$GC,6672,-1.42,-146.6,642.2,-10.0,321,6676,0.00,2.60,0.00,0.000,4,0.000,0.064,2123,1333,3501
$GC,6721,-1.42,-146.6,647.3,-10.3,323,6726,0.00,2.60,0.00,0.000,6,0.000,0.058,2123,2760,3501
$GC,7037,-1.42,-146.6,677.7,-9.3,338,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2760,3501
$GC,7347,-1.42,-146.6,709.3,-10.8,353,7351,0.00,2.60,0.00,0.000,4,0.000,0.061,2123,1332,3501
$GC,7379,-1.42,-146.6,713.1,-11.5,354,7386,0.00,2.60,0.00,0.000,6,0.000,0.059,2123,2756,3501
$GC,7695,-1.42,-146.6,747.9,-11.7,370,7699,0.00,2.58,0.00,0.000,4,0.000,0.061,2123,1338,3501
$GC,7757,-1.42,-146.6,755.2,-13.0,373,7762,0.00,2.58,0.00,0.000,6,0.000,0.057,2123,2755,3501
$STATE,8020,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8020,begin apogee
$GC,8030,-0.42,0.0,783.6,9.6,386,8162,1.12,0.00,124.55,1.216,6,0.102,0.000,2344,1695,2902
$STATE,8162,end apogee,CONTROL_FINISHED_OK
$STATE,8163,begin climb
$GC,8166,1.42,146.6,790.9,0.0,393,8297,1.90,2.62,123.03,1.187,4,0.054,0.042,2749,3116,2304
$GC,8399,1.59,282.3,787.3,3.0,404,8519,0.17,2.53,114.05,1.180,6,0.039,0.037,2797,1692,1751
$GC,8827,1.59,282.3,746.5,11.4,425,8832,0.00,2.58,0.00,0.000,4,0.000,0.063,2797,300,1751
$GC,8945,1.59,282.3,732.5,12.2,430,8949,0.00,2.47,0.00,0.000,6,0.000,0.033,2797,1725,1750
$GC,9261,1.59,282.3,697.8,11.2,445,9265,0.00,2.45,0.00,0.000,4,0.000,0.049,2797,3097,1750
$GC,9299,1.59,282.3,693.2,11.8,446,9305,0.00,2.47,0.00,0.000,6,0.000,0.040,2797,1701,1749
$GC,9615,1.59,282.3,656.3,11.4,462,9616,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1701,1749
$GC,9925,1.59,282.3,619.5,11.7,477,9929,0.00,2.50,0.00,0.000,4,0.000,0.048,2797,3097,1750
$GC,9969,1.59,282.3,614.2,11.6,479,9973,0.00,2.47,0.00,0.000,6,0.000,0.039,2797,1696,1750
$GC,10290,1.59,282.3,577.2,11.9,495,10291,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1696,1749
$GC,10599,1.59,282.3,538.9,13.1,510,10604,0.00,2.53,0.00,0.000,4,0.000,0.049,2797,3102,1750
$GC,10650,1.59,282.3,532.1,13.1,512,10654,0.00,2.47,0.00,0.000,6,0.000,0.041,2797,1701,1749
$GC,10965,1.59,282.3,492.2,13.0,527,10969,0.00,2.50,0.00,0.000,4,0.000,0.051,2797,3106,1750
$GC,11011,1.59,282.3,486.1,12.9,529,11015,0.00,2.50,0.00,0.000,6,0.000,0.041,2797,1692,1749
$GC,11343,1.59,282.3,443.1,13.0,545,11347,0.00,2.53,0.00,0.000,4,0.000,0.051,2797,3102,1750
$GC,11370,1.59,282.3,439.3,13.9,546,11375,0.00,2.50,0.00,0.000,6,0.000,0.043,2797,1691,1750
$GC,11686,1.59,282.3,398.7,12.9,561,11691,0.00,2.55,0.00,0.000,4,0.000,0.051,2797,3109,1750
$GC,11727,1.59,282.3,393.4,12.2,563,11731,0.00,2.50,0.00,0.000,6,0.000,0.044,2797,1702,1750
$GC,12053,1.59,282.3,350.5,12.9,579,12054,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1701,1750
$GC,12363,1.59,282.3,312.5,12.0,594,12367,0.00,2.53,0.00,0.000,4,0.000,0.054,2797,3099,1750
$GC,12425,1.59,282.3,305.4,10.6,597,12429,0.00,2.50,0.00,0.000,6,0.000,0.046,2797,1697,1750
$GC,12758,1.59,282.3,270.0,10.3,613,12759,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1696,1750
$GC,13067,1.59,282.3,237.9,11.0,628,13071,0.00,2.55,0.00,0.000,4,0.000,0.055,2797,3107,1750
$GC,13131,1.59,282.3,231.3,9.8,631,13135,0.00,2.53,0.00,0.000,6,0.000,0.048,2797,1694,1750
$GC,13457,1.59,282.3,196.7,11.1,647,13458,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1694,1750
$GC,13767,1.59,282.3,161.3,11.0,662,13771,0.00,2.55,0.00,0.000,4,0.000,0.056,2797,3104,1750
$GC,13818,1.59,282.3,155.8,9.6,664,13823,0.00,2.53,0.00,0.000,6,0.000,0.048,2797,1692,1750
$GC,14140,1.59,282.3,119.5,11.9,680,14141,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1692,1750
$GC,14449,1.59,282.3,81.1,11.9,695,14454,0.00,2.55,0.00,0.000,4,0.000,0.056,2797,3102,1750
$GC,14490,1.59,282.3,76.1,12.0,697,14494,0.00,2.47,0.00,0.000,6,0.000,0.047,2797,1699,1750
$GC,14823,1.59,282.3,34.6,11.6,713,14824,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1699,1750
$STATE,15109,end climb,SURFACE_DEPTH_REACHED
$STATE,15109,begin surface coast
$FINISH,0.6,1.007772
$STATE,15131,end surface coast,CONTROL_FINISHED_OK
$STATE,15131,begin surface
$SM_CCo,15157,206.70,0.714,0,0,572,571.55
$SM_GC,0.99,0.00,0.00,206.70,0.000,0.000,0.714,47,2734,572,-11.00,-0.42,571.55
$IRIDIUM_FIX,6112.75,-914.35,240598,121258
$TT8_MAMPS,0.029146
$HUMID,1734
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.6,65.1
$24V_AH,23.3,14.256
$10V_AH,10.1,6.354
$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,27.100,125.400,361.625,206.700,0.000,132.055,257.643,302.952,6.500,0.000,0.000,34.673,1320.212,11881.322,651.629,1606.166,1072.898,33.353,1463.078,0.000,1555.604,0.000,46.703,0.000
$DEVICE_MAMPS,164.138,109.681,1215.695,714.077,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,511.687,536.041,426.155,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34837,728
$CAP_FILE_SIZE,113135,0
$CFSIZE,260165632,256012288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270209,170926,6135.482,-914.922,26,3.2,45,-9.4