version: 66.04
glider: 103
mission: 11
dive: 81
start: 3 11 109 8 11 26
data:
$ID,103
$MISSION,11
$DIVE,81
$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,-144586.12
$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,2650
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$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
$GPS1,080237,6210.227,-1041.349,100,1.1,100,-10.4
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-52.9
$GPS2,081032,6210.283,-1041.354,15,1.5,15,-10.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.121,0.182
$KALMAN_X,29233.8,-548.7,1061.6,-79204.5,-3901.7
$KALMAN_Y,1525.0,-439.4,1305.4,18870.2,-5877.3
$MHEAD_RNG_PITCHd_Wd,44.0,10312,-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,16,-1.10,-146.6,0.0,0.0,0,77,0.00,0.00,-57.72,0.000,6,0.000,0.000,45,2655,3503
$GC,81,-1.10,-146.6,6.9,-13.3,3,102,12.27,2.20,0.00,0.000,4,0.163,0.080,2194,3787,3503
$GC,355,-1.10,-146.6,29.0,-6.9,15,359,0.00,2.10,0.00,0.000,6,0.000,0.063,2194,2651,3503
$GC,683,-1.10,-146.6,65.1,-12.4,31,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3503
$GC,994,-1.10,-146.6,99.2,-12.0,46,997,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3786,3503
$GC,1175,-1.10,-146.6,112.7,-6.7,54,1178,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2642,3503
$GC,1508,-1.10,-146.6,133.3,-6.2,70,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3503
$GC,1817,-1.10,-146.6,156.2,-6.9,85,1821,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3783,3503
$GC,1851,-1.10,-146.6,158.2,-5.7,86,1857,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2650,3503
$GC,2166,-1.10,-146.6,178.2,-6.8,102,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3503
$GC,2476,-1.10,-146.6,198.7,-7.0,117,2480,0.00,2.17,0.00,0.000,4,0.000,0.087,2194,3785,3503
$GC,2522,-1.10,-146.6,201.4,-6.1,119,2525,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2649,3503
$GC,2854,-1.10,-146.6,221.5,-6.2,135,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3503
$GC,3164,-1.10,-146.6,243.6,-6.7,150,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3503
$GC,3473,-1.10,-146.6,262.8,-5.7,165,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3503
$GC,3782,-1.10,-146.6,281.4,-6.2,180,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3503
$GC,4094,-1.10,-146.6,301.2,-6.7,195,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3503
$GC,4401,-1.10,-146.6,323.6,-7.6,210,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3503
$GC,4710,-1.10,-146.6,346.6,-7.1,225,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3503
$GC,5019,-1.10,-146.6,366.3,-6.1,240,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3503
$GC,5329,-1.10,-146.6,385.7,-6.4,255,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3502
$GC,5638,-1.10,-146.6,408.1,-7.4,270,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3502
$GC,5947,-1.10,-146.6,434.1,-8.2,285,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3502
$GC,6257,-1.10,-146.6,457.4,-7.0,300,6260,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3789,3502
$GC,6318,-1.10,-146.6,462.1,-7.7,302,6324,0.00,2.08,0.00,0.000,6,0.000,0.055,2194,2639,3502
$GC,6634,-1.10,-146.6,487.0,-8.5,318,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2639,3502
$GC,6943,-1.10,-146.6,511.8,-7.5,333,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2639,3502
$GC,7252,-1.10,-146.6,532.3,-6.5,348,7256,0.00,2.20,0.00,0.000,4,0.000,0.085,2194,3790,3502
$GC,7321,-1.10,-146.6,537.6,-8.1,351,7325,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2646,3502
$GC,7654,-1.10,-146.6,561.5,-6.7,367,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3502
$GC,7964,-1.10,-146.6,581.0,-6.0,382,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3502
$GC,8273,-1.10,-146.6,598.4,-5.3,397,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3502
$GC,8582,-1.10,-146.6,613.8,-5.9,412,8587,0.00,2.58,0.00,0.000,4,0.000,0.068,2194,1231,3502
$GC,8611,-1.10,-146.6,615.7,-5.7,413,8615,0.00,2.60,0.00,0.000,6,0.000,0.058,2194,2660,3502
$GC,8926,-1.10,-146.6,634.6,-6.6,428,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2660,3502
$GC,9236,-1.10,-146.6,660.2,-9.4,443,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2660,3502
$GC,9545,-1.10,-146.6,699.6,-14.8,458,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2660,3502
$GC,9854,-1.10,-146.6,736.7,-10.9,473,9858,0.00,2.60,0.00,0.000,4,0.000,0.067,2194,1236,3502
$GC,9898,-1.10,-146.6,743.2,-14.7,475,9903,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2660,3502
$GC,10221,-1.10,-146.6,779.0,-9.6,491,10222,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2660,3502
$GC,10530,-1.10,-146.6,796.0,-5.9,506,10534,0.00,2.62,0.00,0.000,4,0.000,0.068,2194,1236,3502
$GC,10642,-1.10,-146.6,807.1,-11.5,511,10646,0.00,2.60,0.00,0.000,6,0.000,0.062,2194,2654,3502
$STATE,10877,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10877,begin apogee
$GC,10886,-0.42,0.0,827.9,7.9,523,11014,0.77,0.00,125.53,1.187,6,0.094,0.000,2349,1999,2901
$STATE,11015,end apogee,CONTROL_FINISHED_OK
$STATE,11015,begin climb
$GC,11019,1.10,146.6,833.7,0.0,529,11151,1.52,2.72,123.62,1.151,4,0.052,0.059,2679,3419,2304
$GC,11379,1.10,146.6,826.1,6.5,545,11383,0.00,2.58,0.00,0.000,6,0.000,0.045,2679,1989,2304
$GC,11695,1.10,147.8,798.0,6.0,560,11699,0.00,2.60,0.00,0.000,4,0.000,0.066,2679,585,2303
$GC,11953,1.33,329.4,789.8,1.0,571,12116,0.22,2.53,153.73,1.159,6,0.034,0.039,2742,2018,1558
$GC,12432,1.33,329.4,745.4,12.0,595,12437,0.00,2.65,0.00,0.000,4,0.000,0.064,2742,593,1558
$GC,12517,1.33,329.4,736.3,10.4,599,12522,0.00,2.50,0.00,0.000,6,0.000,0.042,2742,1995,1558
$GC,12844,1.33,329.4,706.4,9.1,615,12846,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1995,1558
$GC,13154,1.33,329.4,676.4,9.3,630,13158,0.00,2.60,0.00,0.000,4,0.000,0.064,2742,3409,1558
$GC,13194,1.33,329.4,672.6,9.5,631,13200,0.00,2.53,0.00,0.000,6,0.000,0.044,2742,1996,1558
$GC,13510,1.33,329.4,642.8,10.3,647,13514,0.00,2.55,0.00,0.000,4,0.000,0.061,2742,595,1558
$GC,13550,1.33,329.4,638.4,11.0,649,13554,0.00,2.47,0.00,0.000,6,0.000,0.037,2742,2008,1558
$GC,13876,1.33,329.4,602.9,10.4,665,13881,0.00,2.60,0.00,0.000,4,0.000,0.059,2742,588,1558
$GC,13932,1.33,329.4,597.0,11.0,667,13938,0.00,2.47,0.00,0.000,6,0.000,0.038,2742,2001,1558
$GC,14248,1.33,329.4,570.2,7.5,683,14253,0.00,2.58,0.00,0.000,4,0.000,0.062,2742,3413,1558
$GC,14293,1.33,329.4,566.7,7.7,685,14297,0.00,2.50,0.00,0.000,6,0.000,0.043,2742,2002,1558
$GC,14620,1.33,329.4,540.4,8.6,701,14621,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2002,1557
$GC,14929,1.33,329.4,513.9,8.4,716,14933,0.00,2.55,0.00,0.000,4,0.000,0.061,2742,591,1558
$GC,14963,1.33,329.4,510.8,8.4,717,14969,0.00,2.47,0.00,0.000,6,0.000,0.038,2742,2007,1558
$GC,15278,1.33,329.4,484.8,8.0,733,15279,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2007,1558
$GC,15588,1.33,329.4,460.2,8.3,748,15589,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2007,1558
$GC,15897,1.33,329.4,433.3,8.7,763,15901,0.00,2.55,0.00,0.000,4,0.000,0.064,2742,3414,1558
$GC,15936,1.33,329.4,429.7,8.8,764,15942,0.00,2.53,0.00,0.000,6,0.000,0.048,2742,1995,1558
$GC,16252,1.33,329.4,403.4,8.3,780,16253,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1995,1559
$GC,16561,1.33,329.4,380.4,7.1,795,16562,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1995,1558
$GC,16870,1.33,329.4,358.0,7.2,810,16871,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1995,1559
$GC,17179,1.33,329.4,334.6,7.8,825,17181,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1995,1559
$GC,17489,1.33,329.4,309.6,8.2,840,17493,0.00,2.62,0.00,0.000,4,0.000,0.064,2742,3415,1559
$GC,17551,1.33,329.4,304.1,9.2,843,17555,0.00,2.55,0.00,0.000,6,0.000,0.050,2742,1995,1559
$GC,17878,1.33,329.4,275.9,8.3,859,17882,0.00,2.55,0.00,0.000,4,0.000,0.064,2742,591,1559
$GC,17911,1.33,329.4,272.9,8.4,860,17917,0.00,2.45,0.00,0.000,6,0.000,0.040,2742,1997,1559
$GC,18227,1.33,329.4,244.5,9.4,876,18228,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1997,1560
$GC,18536,1.33,329.4,216.7,9.4,891,18541,0.00,2.58,0.00,0.000,4,0.000,0.062,2742,591,1560
$GC,18622,1.33,329.4,208.8,8.8,895,18626,0.00,2.47,0.00,0.000,6,0.000,0.040,2742,2003,1560
$GC,18949,1.33,329.4,182.6,8.0,911,18954,0.00,2.58,0.00,0.000,4,0.000,0.066,2742,3410,1560
$GC,18984,1.33,329.4,179.6,8.0,912,18990,0.00,2.55,0.00,0.000,6,0.000,0.051,2742,1990,1560
$GC,19300,1.33,329.4,150.4,9.9,928,19304,0.00,2.55,0.00,0.000,4,0.000,0.064,2742,588,1560
$GC,19350,1.33,329.4,145.5,10.1,930,19354,0.00,2.50,0.00,0.000,6,0.000,0.042,2742,2009,1560
$GC,19666,1.33,329.4,116.4,9.0,945,19667,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2009,1560
$GC,19975,1.33,329.4,85.5,9.4,960,19980,0.00,2.60,0.00,0.000,4,0.000,0.062,2742,590,1560
$GC,19997,1.33,329.4,83.1,11.4,961,20002,0.00,2.47,0.00,0.000,6,0.000,0.040,2742,2002,1560
$GC,20319,1.33,329.4,50.4,10.7,977,20321,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2002,1560
$GC,20629,1.33,329.4,19.9,9.0,992,20633,0.00,2.60,0.00,0.000,4,0.000,0.065,2742,590,1560
$GC,20701,1.33,329.4,12.5,10.5,995,20705,0.00,2.47,0.00,0.000,6,0.000,0.039,2742,2006,1560
$STATE,20808,end climb,SURFACE_DEPTH_REACHED
$STATE,20808,begin surface coast
$FINISH,0.5,1.024043
$STATE,20830,end surface coast,CONTROL_FINISHED_OK
$STATE,20830,begin surface
$SM_CCo,20915,0.00,0.000,0,0,1559,329.44
$SM_GC,1.54,11.85,0.00,0.00,0.031,0.000,0.000,53,2640,1559,-10.93,-0.28,329.44
$IRIDIUM_FIX,6144.36,-1042.54,050698,010136
$TT8_MAMPS,0.028379
$HUMID,1768
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.2,37.3
$24V_AH,23.4,21.216
$10V_AH,10.1,10.939
$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,26.650,125.250,402.875,0.000,0.000,31.206,27.148,282.497,7.500,0.000,0.000,15.522,1777.360,16280.393,490.353,2154.352,681.634,33.366,1557.794,0.000,2109.652,0.000,53.750,0.000
$DEVICE_MAMPS,163.371,90.506,1187.316,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,698.673,737.144,548.915,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50579,1001
$CAP_FILE_SIZE,136096,0
$CFSIZE,260165632,252657664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110309,140127,6211.368,-1037.105,29,2.4,48,-10.4