version: 66.04
glider: 103
mission: 11
dive: 31
start: 2 27 109 17 15 47
data:
$ID,103
$MISSION,11
$DIVE,31
$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,300
$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,-143586.28
$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,21
$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
$GPS1,170926,6135.482,-914.922,26,3.2,45,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-52.0
$GPS2,171456,6135.461,-914.936,15,1.7,21,-9.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.041,0.242
$KALMAN_X,-18226.8,-84.0,-365.7,31488.1,-1023.1
$KALMAN_Y,-56241.5,166.8,-148.6,101093.5,-5408.2
$MHEAD_RNG_PITCHd_Wd,19.1,17666,-14.7,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.41,-146.6,0.0,0.0,0,99,0.00,0.00,-81.53,0.000,2,0.000,0.000,47,2735,3232
$GC,103,-1.41,-146.6,4.1,-4.5,4,125,11.90,2.60,-4.43,0.000,4,0.163,0.077,2128,1334,3501
$GC,131,-1.41,-146.6,13.1,-26.7,5,136,0.00,2.67,0.00,0.000,6,0.000,0.066,2128,2761,3501
$GC,452,-1.41,-146.6,44.9,-10.5,21,457,0.00,2.65,0.00,0.000,4,0.000,0.067,2128,1328,3500
$GC,470,-1.41,-146.6,46.6,-10.2,22,475,0.00,2.65,0.00,0.000,6,0.000,0.061,2128,2756,3500
$GC,798,-1.41,-146.6,77.1,-8.4,38,803,0.00,2.65,0.00,0.000,4,0.000,0.067,2128,1334,3500
$GC,1056,-1.41,-146.6,102.0,-9.7,49,1063,0.00,2.62,0.00,0.000,6,0.000,0.064,2128,2753,3500
$GC,1374,-1.41,-146.6,132.9,-10.3,65,1378,0.00,2.62,0.00,0.000,4,0.000,0.068,2128,1340,3500
$GC,1459,-1.41,-146.6,142.6,-12.1,69,1463,0.00,2.60,0.00,0.000,6,0.000,0.061,2128,2750,3500
$GC,1788,-1.41,-146.6,176.7,-11.3,85,1792,0.00,2.62,0.00,0.000,4,0.000,0.067,2128,1331,3500
$GC,1820,-1.41,-146.6,180.8,-11.8,86,1826,0.00,2.62,0.00,0.000,6,0.000,0.061,2128,2750,3500
$GC,2136,-1.41,-146.6,216.8,-11.3,102,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2750,3500
$GC,2446,-1.41,-146.6,251.8,-11.4,117,2451,0.00,2.62,0.00,0.000,4,0.000,0.067,2128,1331,3500
$GC,2487,-1.41,-146.6,256.4,-11.4,119,2491,0.00,2.62,0.00,0.000,6,0.000,0.061,2128,2759,3500
$GC,2813,-1.41,-146.6,293.3,-11.4,135,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2759,3500
$GC,3122,-1.41,-146.6,329.5,-11.7,150,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2759,3500
$GC,3432,-1.41,-146.6,365.1,-11.6,165,3436,0.00,2.60,0.00,0.000,4,0.000,0.067,2128,1337,3501
$GC,3471,-1.41,-146.6,369.6,-11.3,167,3476,0.00,2.60,0.00,0.000,6,0.000,0.059,2128,2757,3500
$GC,3798,-1.41,-146.6,405.5,-11.0,183,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2757,3500
$GC,4108,-1.41,-146.6,439.2,-11.3,198,4112,0.00,2.60,0.00,0.000,4,0.000,0.063,2128,1338,3500
$GC,4147,-1.41,-146.6,443.8,-11.4,200,4152,0.00,2.58,0.00,0.000,6,0.000,0.058,2128,2750,3500
$GC,4475,-1.41,-146.6,479.3,-10.8,216,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2750,3500
$GC,4784,-1.41,-146.6,512.9,-11.1,231,4788,0.00,2.60,0.00,0.000,4,0.000,0.064,2128,1332,3500
$GC,4828,-1.41,-146.6,518.1,-11.5,233,4832,0.00,2.60,0.00,0.000,6,0.000,0.059,2128,2754,3500
$GC,5150,-1.41,-146.6,551.8,-10.0,249,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2754,3500
$GC,5458,-1.41,-146.6,582.4,-9.9,264,5462,0.00,2.58,0.00,0.000,4,0.000,0.062,2128,1332,3500
$GC,5502,-1.41,-146.6,587.0,-9.8,266,5507,0.00,2.60,0.00,0.000,6,0.000,0.057,2128,2759,3500
$GC,5823,-1.41,-146.6,616.9,-9.0,282,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2759,3500
$GC,6132,-1.41,-146.6,644.3,-8.7,297,6137,0.00,2.60,0.00,0.000,4,0.000,0.064,2128,1333,3500
$GC,6172,-1.41,-146.6,648.0,-9.2,299,6177,0.00,2.60,0.00,0.000,6,0.000,0.059,2128,2757,3500
$GC,6500,-1.41,-146.6,674.0,-7.8,315,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2759,3500
$GC,6809,-1.41,-146.6,701.6,-10.3,330,6814,0.00,2.60,0.00,0.000,4,0.000,0.063,2128,1335,3500
$GC,6854,-1.41,-146.6,706.4,-10.3,332,6859,0.00,2.60,0.00,0.000,6,0.000,0.059,2128,2760,3500
$GC,7175,-1.41,-146.6,738.7,-9.6,348,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2760,3500
$GC,7484,-1.41,-146.6,767.9,-9.0,363,7489,0.00,2.62,0.00,0.000,4,0.000,0.065,2128,1326,3500
$GC,7572,-1.41,-146.6,775.2,-9.1,367,7577,0.00,2.60,0.00,0.000,6,0.000,0.059,2128,2752,3500
$GC,7899,-1.41,-146.6,804.8,-9.2,383,7903,0.00,2.60,0.00,0.000,4,0.000,0.064,2128,1332,3500
$GC,7938,-1.41,-146.6,808.5,-9.0,385,7943,0.00,2.58,0.00,0.000,6,0.000,0.056,2128,2750,3500
$STATE,8036,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8036,begin apogee
$GC,8045,-0.42,0.0,818.3,10.0,390,8178,1.10,0.00,124.97,1.237,6,0.091,0.000,2348,1699,2902
$STATE,8178,end apogee,CONTROL_FINISHED_OK
$STATE,8179,begin climb
$GC,8182,1.41,146.6,825.8,0.0,397,8315,1.83,2.72,122.53,1.236,4,0.054,0.063,2744,289,2304
$GC,8568,1.41,146.6,804.9,8.3,414,8574,0.00,2.50,0.00,0.000,6,0.000,0.033,2744,1741,2304
$GC,8884,1.49,219.5,784.4,5.4,430,8952,0.00,2.75,62.00,1.206,4,0.000,0.063,2744,294,2007
$GC,9103,1.52,236.3,768.7,7.4,440,9125,0.12,2.42,15.65,1.124,6,0.044,0.032,2784,1704,1938
$GC,9449,1.52,236.3,735.6,10.7,457,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1705,1938
$GC,9756,1.52,236.3,702.5,10.3,472,9760,0.00,2.50,0.00,0.000,4,0.000,0.049,2783,3101,1938
$GC,9795,1.52,236.3,698.8,9.7,474,9800,0.00,2.50,0.00,0.000,6,0.000,0.041,2784,1691,1938
$GC,10122,1.52,236.3,667.8,9.6,490,10126,0.00,2.50,0.00,0.000,4,0.000,0.046,2783,3093,1938
$GC,10155,1.52,236.3,664.5,9.1,491,10161,0.00,2.47,0.00,0.000,6,0.000,0.039,2784,1688,1938
$GC,10471,1.52,236.3,633.6,10.0,507,10475,0.00,2.53,0.00,0.000,4,0.000,0.047,2784,3101,1938
$GC,10516,1.52,236.3,628.9,10.2,509,10520,0.00,2.47,0.00,0.000,6,0.000,0.039,2784,1691,1938
$GC,10849,1.52,236.3,594.9,10.1,525,10853,0.00,2.50,0.00,0.000,4,0.000,0.047,2783,3092,1938
$GC,10899,1.52,236.3,589.7,10.5,527,10903,0.00,2.45,0.00,0.000,6,0.000,0.040,2784,1699,1938
$GC,11220,1.52,236.3,556.8,10.2,543,11224,0.00,2.47,0.00,0.000,4,0.000,0.046,2784,3093,1938
$GC,11264,1.52,236.3,552.3,10.4,545,11268,0.00,2.45,0.00,0.000,6,0.000,0.040,2784,1700,1938
$GC,11586,1.52,236.3,519.5,10.6,561,11587,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1700,1938
$GC,11895,1.52,236.3,486.4,10.4,576,11899,0.00,2.47,0.00,0.000,4,0.000,0.048,2783,3094,1938
$GC,11973,1.52,236.3,477.7,10.5,579,11977,0.00,2.47,0.00,0.000,6,0.000,0.042,2784,1692,1938
$GC,12289,1.52,236.3,443.9,10.6,594,12293,0.00,2.53,0.00,0.000,4,0.000,0.051,2784,3100,1938
$GC,12333,1.52,236.3,439.1,11.2,596,12337,0.00,2.47,0.00,0.000,6,0.000,0.043,2784,1697,1938
$GC,12659,1.52,236.3,405.9,9.8,612,12664,0.00,2.50,0.00,0.000,4,0.000,0.051,2783,3091,1938
$GC,12715,1.52,236.3,400.4,9.3,614,12721,0.00,2.47,0.00,0.000,6,0.000,0.044,2784,1692,1938
$GC,13031,1.52,236.3,372.1,9.0,630,13035,0.00,2.50,0.00,0.000,4,0.000,0.052,2784,3092,1938
$GC,13065,1.52,236.3,369.0,8.5,631,13069,0.00,2.45,0.00,0.000,6,0.000,0.044,2784,1702,1938
$GC,13386,1.52,236.3,341.9,8.3,647,13387,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1702,1938
$GC,13695,1.52,236.3,316.5,8.5,662,13699,0.00,2.50,0.00,0.000,4,0.000,0.053,2784,3094,1938
$GC,13773,1.52,236.3,309.5,9.4,665,13779,0.00,2.47,0.00,0.000,6,0.000,0.046,2783,1693,1938
$GC,14089,1.52,236.3,279.3,9.2,681,14093,0.00,2.53,0.00,0.000,4,0.000,0.054,2784,3093,1938
$GC,14134,1.52,236.3,275.0,8.9,683,14138,0.00,2.47,0.00,0.000,6,0.000,0.046,2784,1700,1938
$GC,14455,1.52,236.3,243.3,10.5,699,14459,0.00,2.50,0.00,0.000,4,0.000,0.053,2784,3094,1938
$GC,14477,1.52,236.3,240.9,10.3,700,14481,0.00,2.50,0.00,0.000,6,0.000,0.048,2784,1692,1938
$GC,14804,1.52,236.3,207.3,9.9,716,14808,0.00,2.53,0.00,0.000,4,0.000,0.054,2783,3096,1938
$GC,14860,1.52,236.3,201.5,10.3,718,14866,0.00,2.50,0.00,0.000,6,0.000,0.048,2783,1693,1938
$GC,15176,1.52,236.3,171.6,9.6,734,15180,0.00,2.53,0.00,0.000,4,0.000,0.054,2784,3093,1938
$GC,15216,1.52,236.3,167.8,9.2,736,15220,0.00,2.47,0.00,0.000,6,0.000,0.048,2784,1699,1938
$GC,15544,1.52,236.3,137.1,10.3,752,15549,0.00,2.53,0.00,0.000,4,0.000,0.056,2783,3096,1938
$GC,15589,1.52,236.3,132.2,10.1,754,15593,0.00,2.50,0.00,0.000,6,0.000,0.048,2784,1695,1938
$GC,15910,1.52,236.3,102.3,8.8,770,15915,0.00,2.53,0.00,0.000,4,0.000,0.057,2784,3091,1938
$GC,15955,1.52,236.3,97.9,8.8,772,15959,0.00,2.50,0.00,0.000,6,0.000,0.049,2783,1693,1938
$GC,16276,1.52,236.3,67.2,10.3,788,16281,0.00,2.53,0.00,0.000,4,0.000,0.054,2783,3094,1938
$GC,16304,1.52,236.3,64.5,9.9,789,16308,0.00,2.50,0.00,0.000,6,0.000,0.050,2783,1696,1938
$GC,16620,1.52,236.3,37.2,9.8,804,16621,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1695,1938
$GC,16930,1.52,236.3,13.2,8.9,819,16934,0.00,2.50,0.00,0.000,4,0.000,0.052,2784,3093,1938
$GC,16979,1.52,236.3,8.4,9.5,821,16984,0.00,2.53,0.00,0.000,6,0.000,0.057,2784,1700,1938
$STATE,17045,end climb,SURFACE_DEPTH_REACHED
$STATE,17045,begin surface coast
$FINISH,0.4,1.010015
$STATE,17069,end surface coast,CONTROL_FINISHED_OK
$STATE,17069,begin surface
$SM_CCo,17095,41.40,0.731,0,0,1679,300.00
$SM_GC,1.50,0.00,0.00,41.40,0.000,0.000,0.731,52,2729,1679,-10.98,-0.59,300.00
$IRIDIUM_FIX,6112.75,-914.35,240598,121258
$TT8_MAMPS,0.029146
$HUMID,1760
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.2,52.8
$24V_AH,23.3,14.391
$10V_AH,10.1,6.434
$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,27.025,177.325,325.150,41.400,0.000,29.771,26.498,147.808,6.750,0.000,0.000,21.280,1523.619,13003.373,520.856,1893.271,527.907,33.349,1490.604,0.000,1847.172,0.000,46.361,0.000
$DEVICE_MAMPS,163.371,78.234,1237.171,730.951,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,578.754,608.323,488.900,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41121,825
$CAP_FILE_SIZE,127391,0
$CFSIZE,260165632,255934464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270209,220237,6138.556,-914.104,32,2.0,32,-9.4