version: 66.04
glider: 103
mission: 11
dive: 32
start: 2 27 109 22 8 48
data:
$ID,103
$MISSION,11
$DIVE,32
$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,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,-143601.64
$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,11
$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
$GPS1,220237,6138.556,-914.104,32,2.0,32,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-63.6
$GPS2,220756,6138.575,-914.047,14,1.8,14,-9.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.143,0.165
$KALMAN_X,-19615.5,207.4,575.0,32440.7,-4571.5
$KALMAN_Y,-57330.6,276.7,1018.8,106642.6,-7730.7
$MHEAD_RNG_PITCHd_Wd,50.5,11928,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,77,0.00,0.00,-53.53,0.000,6,0.000,0.000,52,2730,3501
$GC,81,-1.10,-146.6,7.2,-14.7,3,102,12.20,2.05,0.00,0.000,4,0.163,0.079,2192,3787,3501
$GC,354,-1.10,-146.6,42.5,-7.9,15,358,0.00,1.85,0.00,0.000,6,0.000,0.044,2192,2745,3501
$GC,682,-1.10,-146.6,70.6,-8.1,31,685,0.00,1.98,0.00,0.000,4,0.000,0.077,2192,3783,3501
$GC,743,-1.10,-146.6,75.9,-7.9,33,749,0.00,1.85,0.00,0.000,6,0.000,0.044,2192,2754,3501
$GC,1059,-1.10,-146.6,101.8,-8.9,49,1064,0.00,2.58,0.00,0.000,4,0.000,0.061,2192,1330,3501
$GC,1093,-1.10,-146.6,105.1,-9.2,50,1099,0.00,2.60,0.00,0.000,6,0.000,0.060,2192,2751,3501
$GC,1410,-1.10,-146.6,132.0,-8.8,66,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2752,3501
$GC,1718,-1.10,-146.6,158.6,-8.1,81,1723,0.00,2.60,0.00,0.000,4,0.000,0.059,2192,1324,3501
$GC,1752,-1.10,-146.6,161.7,-8.7,82,1758,0.00,2.65,0.00,0.000,6,0.000,0.062,2192,2762,3501
$GC,2067,-1.10,-146.6,187.7,-9.0,98,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2761,3501
$GC,2377,-1.10,-146.6,210.9,-7.3,113,2381,0.00,2.62,0.00,0.000,4,0.000,0.061,2192,1323,3501
$GC,2432,-1.10,-146.6,215.1,-7.9,115,2439,0.00,2.62,0.00,0.000,6,0.000,0.062,2192,2756,3501
$GC,2748,-1.10,-146.6,236.1,-6.3,131,2752,0.00,2.60,0.00,0.000,4,0.000,0.060,2192,1330,3501
$GC,2775,-1.10,-146.6,238.3,-7.6,132,2780,0.00,2.62,0.00,0.000,6,0.000,0.061,2192,2755,3502
$GC,3091,-1.10,-146.6,260.5,-6.5,147,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2755,3501
$GC,3400,-1.10,-146.6,282.8,-7.4,162,3405,0.00,2.60,0.00,0.000,4,0.000,0.060,2192,1329,3501
$GC,3434,-1.10,-146.6,285.1,-7.2,163,3440,0.00,2.62,0.00,0.000,6,0.000,0.060,2193,2760,3501
$GC,3750,-1.10,-146.6,307.7,-7.2,179,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2760,3501
$GC,4059,-1.10,-146.6,331.5,-7.6,194,4064,0.00,2.60,0.00,0.000,4,0.000,0.060,2192,1332,3501
$GC,4104,-1.10,-146.6,335.1,-8.0,196,4109,0.00,2.60,0.00,0.000,6,0.000,0.058,2192,2758,3501
$GC,4426,-1.10,-146.6,358.1,-7.1,212,4430,0.00,2.60,0.00,0.000,4,0.000,0.060,2192,1327,3501
$GC,4453,-1.10,-146.6,360.2,-7.5,213,4457,0.00,2.60,0.00,0.000,6,0.000,0.057,2192,2753,3501
$GC,4769,-1.10,-146.6,383.0,-7.0,228,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2753,3501
$GC,5078,-1.10,-146.6,405.5,-7.7,243,5082,0.00,2.58,0.00,0.000,4,0.000,0.060,2192,1333,3501
$GC,5117,-1.10,-146.6,408.7,-7.6,245,5122,0.00,2.58,0.00,0.000,6,0.000,0.055,2192,2754,3501
$GC,5445,-1.10,-146.6,433.4,-7.2,261,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2754,3501
$GC,5754,-1.10,-146.6,456.0,-7.2,276,5758,0.00,2.58,0.00,0.000,4,0.000,0.058,2192,1331,3501
$GC,5798,-1.10,-146.6,459.2,-7.0,278,5802,0.00,2.58,0.00,0.000,6,0.000,0.054,2192,2751,3501
$GC,6119,-1.10,-146.6,481.4,-6.8,294,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2751,3501
$GC,6429,-1.10,-146.6,500.6,-5.9,309,6434,0.00,2.55,0.00,0.000,4,0.000,0.058,2192,1332,3501
$GC,6487,-1.10,-146.6,503.8,-5.4,311,6493,0.00,2.58,0.00,0.000,6,0.000,0.055,2192,2751,3501
$GC,6803,-1.10,-146.6,521.7,-5.7,327,6808,0.00,2.58,0.00,0.000,4,0.000,0.059,2192,1333,3500
$GC,6837,-1.10,-146.6,523.9,-6.1,328,6843,0.00,2.58,0.00,0.000,6,0.000,0.057,2192,2752,3501
$GC,7153,-1.10,-146.6,544.6,-7.4,344,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2753,3500
$GC,7462,-1.10,-146.6,569.3,-8.0,359,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2752,3500
$GC,7771,-1.10,-146.6,593.9,-7.5,374,7775,0.00,2.58,0.00,0.000,4,0.000,0.058,2192,1328,3501
$GC,7811,-1.10,-146.6,596.9,-7.4,376,7815,0.00,2.58,0.00,0.000,6,0.000,0.055,2192,2750,3500
$GC,8138,-1.10,-146.6,619.8,-7.5,392,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2750,3501
$GC,8447,-1.10,-146.6,641.1,-6.7,407,8451,0.00,2.58,0.00,0.000,4,0.000,0.058,2192,1323,3501
$GC,8509,-1.10,-146.6,645.0,-6.0,410,8513,0.00,2.60,0.00,0.000,6,0.000,0.056,2192,2760,3500
$GC,8836,-1.10,-146.6,662.5,-5.6,426,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2760,3500
$GC,9145,-1.10,-146.6,683.4,-8.2,441,9149,0.00,2.58,0.00,0.000,4,0.000,0.058,2192,1335,3500
$GC,9275,-1.10,-146.6,694.6,-8.5,447,9280,0.00,2.58,0.00,0.000,6,0.000,0.056,2192,2757,3500
$GC,9602,-1.10,-146.6,720.6,-8.7,463,9606,0.00,2.58,0.00,0.000,4,0.000,0.058,2192,1332,3500
$GC,9779,-1.10,-146.6,734.3,-7.4,471,9783,0.00,2.58,0.00,0.000,6,0.000,0.057,2193,2750,3501
$GC,10106,-1.10,-146.6,761.6,-9.9,487,10110,0.00,2.58,0.00,0.000,4,0.000,0.061,2193,1332,3501
$GC,10260,-1.10,-146.6,773.8,-5.9,494,10265,0.00,2.62,0.00,0.000,6,0.000,0.063,2192,2756,3500
$GC,10587,-1.10,-146.6,794.4,-7.3,510,10591,0.00,1.98,0.00,0.000,4,0.000,0.087,2192,3783,3499
$GC,10643,-1.10,-146.6,797.5,-5.0,512,10647,0.00,1.85,0.00,0.000,6,0.000,0.047,2192,2737,3500
$STATE,10838,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10838,begin apogee
$GC,10847,-0.42,0.0,821.8,15.3,522,10974,0.77,0.00,123.88,1.283,6,0.092,0.000,2348,1706,2902
$STATE,10976,end apogee,CONTROL_FINISHED_OK
$STATE,10976,begin climb
$GC,10979,1.10,146.6,830.9,0.0,528,11112,1.58,2.75,123.45,1.252,4,0.065,0.066,2678,3118,2304
$GC,11172,1.10,146.6,835.0,8.4,537,11177,0.00,2.67,0.00,0.000,6,0.000,0.062,2678,1691,2303
$GC,11499,1.26,270.6,815.6,2.6,553,11612,0.15,2.78,104.25,1.262,4,0.055,0.081,2714,300,1798
$GC,11783,1.42,408.2,787.1,2.2,566,11908,0.15,2.53,115.38,1.251,6,0.042,0.040,2760,1724,1238
$GC,12217,1.42,408.2,730.2,10.9,587,12221,0.00,2.75,0.00,0.000,4,0.000,0.076,2760,289,1237
$GC,12302,1.42,408.2,717.3,15.2,591,12307,0.00,2.53,0.00,0.000,6,0.000,0.041,2760,1702,1236
$GC,12629,1.42,408.2,674.8,14.0,607,12633,0.00,2.58,0.00,0.000,4,0.000,0.061,2760,3108,1236
$GC,12668,1.42,408.2,669.6,14.3,609,12673,0.00,2.58,0.00,0.000,6,0.000,0.052,2760,1694,1236
$GC,12995,1.42,408.2,628.5,12.1,625,13000,0.00,2.60,0.00,0.000,4,0.000,0.057,2760,3116,1236
$GC,13068,1.42,408.2,619.6,11.9,628,13072,0.00,2.58,0.00,0.000,6,0.000,0.048,2760,1689,1236
$GC,13389,1.42,408.2,582.6,11.4,644,13393,0.00,2.58,0.00,0.000,4,0.000,0.054,2760,3109,1236
$GC,13444,1.42,408.2,576.0,12.0,646,13451,0.00,2.55,0.00,0.000,6,0.000,0.048,2760,1689,1236
$GC,13760,1.42,408.2,540.6,11.4,662,13764,0.00,2.58,0.00,0.000,4,0.000,0.054,2760,3109,1236
$GC,13844,1.42,408.2,530.5,12.7,665,13851,0.00,2.53,0.00,0.000,6,0.000,0.048,2760,1693,1236
$GC,14160,1.42,408.2,492.7,11.6,681,14164,0.00,2.58,0.00,0.000,4,0.000,0.055,2760,3110,1236
$GC,14232,1.42,408.2,484.0,11.4,684,14236,0.00,2.55,0.00,0.000,6,0.000,0.048,2760,1690,1236
$GC,14553,1.42,408.2,446.4,12.0,700,14557,0.00,2.58,0.00,0.000,4,0.000,0.054,2760,3110,1237
$GC,14625,1.42,408.2,437.6,12.5,703,14630,0.00,2.53,0.00,0.000,6,0.000,0.048,2760,1701,1237
$GC,14947,1.42,408.2,399.2,12.0,719,14951,0.00,2.58,0.00,0.000,4,0.000,0.056,2760,3117,1237
$GC,15026,1.42,408.2,389.6,12.3,722,15032,0.00,2.55,0.00,0.000,6,0.000,0.050,2760,1699,1238
$GC,15342,1.42,408.2,350.1,11.9,738,15346,0.00,2.58,0.00,0.000,4,0.000,0.055,2760,3119,1238
$GC,15408,1.42,408.2,341.9,11.5,741,15413,0.00,2.58,0.00,0.000,6,0.000,0.051,2760,1691,1238
$GC,15730,1.42,408.2,304.0,11.4,757,15734,0.00,2.60,0.00,0.000,4,0.000,0.058,2760,3118,1238
$GC,15808,1.42,408.2,294.5,11.6,760,15814,0.00,2.55,0.00,0.000,6,0.000,0.051,2760,1696,1238
$GC,16124,1.42,408.2,258.1,11.5,776,16128,0.00,2.58,0.00,0.000,4,0.000,0.058,2761,3107,1238
$GC,16192,1.42,408.2,250.5,10.7,779,16196,0.00,2.55,0.00,0.000,6,0.000,0.052,2760,1694,1238
$GC,16518,1.42,408.2,214.4,10.8,795,16522,0.00,2.60,0.00,0.000,4,0.000,0.060,2760,3113,1238
$GC,16597,1.42,408.2,205.6,10.0,798,16601,0.00,2.55,0.00,0.000,6,0.000,0.052,2760,1701,1238
$GC,16912,1.42,408.2,170.3,11.3,813,16916,0.00,2.58,0.00,0.000,4,0.000,0.060,2761,3108,1238
$GC,16991,1.42,408.2,160.9,12.4,816,16995,0.00,2.55,0.00,0.000,6,0.000,0.053,2760,1696,1239
$GC,17307,1.42,408.2,124.4,11.5,831,17312,0.00,2.58,0.00,0.000,4,0.000,0.059,2760,3108,1239
$GC,17380,1.42,408.2,115.8,11.5,834,17384,0.00,2.55,0.00,0.000,6,0.000,0.054,2760,1698,1239
$GC,17696,1.42,408.2,80.7,11.1,849,17700,0.00,2.58,0.00,0.000,4,0.000,0.061,2760,3108,1239
$GC,17774,1.42,408.2,71.3,11.8,852,17781,0.00,2.55,0.00,0.000,6,0.000,0.053,2760,1689,1239
$GC,18090,1.42,408.2,34.7,11.4,868,18095,0.00,2.60,0.00,0.000,4,0.000,0.060,2760,3111,1239
$GC,18169,1.42,408.2,25.5,11.7,871,18175,0.00,2.55,0.00,0.000,6,0.000,0.054,2760,1692,1239
$STATE,18379,end climb,SURFACE_DEPTH_REACHED
$STATE,18379,begin surface coast
$FINISH,0.3,1.018365
$STATE,18401,end surface coast,CONTROL_FINISHED_OK
$STATE,18401,begin surface
$SM_CCo,18486,0.00,0.000,0,0,1239,407.93
$SM_GC,1.22,11.88,0.00,0.00,0.028,0.000,0.000,48,2739,1239,-10.93,-0.31,407.93
$IRIDIUM_FIX,6112.75,-913.63,240598,171706
$TT8_MAMPS,0.028379
$HUMID,1782
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,750.2,81.0
$24V_AH,23.2,14.570
$10V_AH,10.1,6.520
$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,26.725,191.475,466.950,0.000,0.000,31.540,27.512,138.739,6.750,0.000,0.000,14.730,1644.491,13906.646,570.816,2131.598,549.193,33.360,1684.182,0.000,2089.997,0.000,44.814,0.000
$DEVICE_MAMPS,163.371,87.438,1283.191,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,620.683,654.251,489.319,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44275,883
$CAP_FILE_SIZE,137025,0
$CFSIZE,260165632,255868928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280209,031807,6140.961,-910.841,36,1.5,36,-9.4