version: 66.04
glider: 103
mission: 11
dive: 83
start: 3 11 109 19 41 0
data:
$ID,103
$MISSION,11
$DIVE,83
$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,-144635.81
$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,22
$R_STBD_OVSHOOT,8
$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
$GPS1,193307,6212.916,-1044.166,32,1.3,32,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-55.0
$GPS2,194010,6212.977,-1044.104,13,2.3,32,-10.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.067,0.208
$KALMAN_X,26938.6,-437.0,171.1,-78508.6,-1583.5
$KALMAN_Y,-6978.2,-465.5,2975.0,30713.0,-6572.1
$MHEAD_RNG_PITCHd_Wd,28.2,8699,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,82,0.00,0.00,-61.50,0.000,2,0.000,0.000,53,2647,3350
$GC,85,-1.10,-146.6,4.9,-8.5,3,108,12.18,2.25,-2.33,0.000,4,0.161,0.104,2193,3780,3503
$GC,361,-1.10,-146.6,41.3,-8.5,15,364,0.00,2.08,0.00,0.000,6,0.000,0.060,2193,2650,3503
$GC,688,-1.10,-146.6,71.3,-8.6,31,692,0.00,2.22,0.00,0.000,4,0.000,0.092,2193,3787,3503
$GC,845,-1.10,-146.6,84.7,-7.8,38,849,0.00,2.08,0.00,0.000,6,0.000,0.057,2193,2650,3503
$GC,1173,-1.10,-146.6,113.1,-8.8,54,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3503
$GC,1482,-1.10,-146.6,139.8,-8.0,69,1486,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3793,3503
$GC,1537,-1.10,-146.6,144.2,-8.1,71,1541,0.00,2.08,0.00,0.000,6,0.000,0.056,2193,2652,3503
$GC,1859,-1.10,-146.6,173.5,-9.6,87,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3503
$GC,2168,-1.10,-146.6,199.9,-8.6,102,2176,0.00,2.20,0.00,0.000,4,0.000,0.088,2193,3787,3503
$GC,2210,-1.10,-146.6,203.2,-7.5,103,2216,0.00,2.08,0.00,0.000,6,0.000,0.057,2193,2646,3503
$GC,2526,-1.10,-146.6,226.1,-7.1,119,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3503
$GC,2835,-1.10,-146.6,248.5,-7.3,134,2839,0.00,2.22,0.00,0.000,4,0.000,0.088,2193,3794,3503
$GC,2886,-1.10,-146.6,252.6,-7.9,136,2889,0.00,2.10,0.00,0.000,6,0.000,0.058,2193,2641,3503
$GC,3213,-1.10,-146.6,278.1,-7.6,152,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3503
$GC,3522,-1.10,-146.6,301.5,-7.4,167,3526,0.00,2.22,0.00,0.000,4,0.000,0.087,2193,3793,3503
$GC,3584,-1.10,-146.6,306.3,-7.6,169,3589,0.00,2.08,0.00,0.000,6,0.000,0.057,2193,2649,3503
$GC,3899,-1.10,-146.6,330.1,-7.7,185,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3503
$GC,4209,-1.10,-146.6,352.6,-7.2,200,4213,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3793,3503
$GC,4259,-1.10,-146.6,356.2,-7.0,202,4263,0.00,2.08,0.00,0.000,6,0.000,0.057,2193,2641,3503
$GC,4587,-1.10,-146.6,375.4,-5.7,218,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3504
$GC,4896,-1.10,-146.6,394.0,-5.7,233,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3504
$GC,5205,-1.10,-146.6,411.3,-5.4,248,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3504
$GC,5514,-1.10,-146.6,429.0,-5.9,263,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3504
$GC,5824,-1.10,-146.6,449.8,-6.7,278,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3503
$GC,6133,-1.10,-146.6,466.2,-4.6,293,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3503
$GC,6442,-1.10,-146.6,481.5,-5.9,308,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3503
$GC,6751,-1.10,-146.6,501.5,-6.5,323,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3503
$GC,7060,-1.10,-146.6,523.3,-7.5,338,7064,0.00,2.20,0.00,0.000,4,0.000,0.085,2193,3787,3503
$GC,7099,-1.10,-146.6,526.2,-8.0,339,7106,0.00,2.05,0.00,0.000,6,0.000,0.053,2193,2644,3503
$GC,7415,-1.10,-146.6,549.8,-7.1,355,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3503
$GC,7724,-1.10,-146.6,570.0,-6.2,370,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3503
$GC,8034,-1.10,-146.6,587.0,-5.5,385,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3503
$GC,8344,-1.10,-146.6,603.0,-5.0,400,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3503
$GC,8652,-1.10,-146.6,620.7,-6.6,415,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3503
$GC,8962,-1.10,-146.6,642.2,-8.1,430,8965,0.00,2.20,0.00,0.000,4,0.000,0.085,2193,3787,3503
$GC,9008,-1.10,-146.6,646.4,-9.5,432,9011,0.00,2.03,0.00,0.000,6,0.000,0.051,2193,2652,3503
$GC,9340,-1.10,-146.6,677.3,-9.0,448,9341,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3503
$GC,9649,-1.10,-146.6,705.7,-9.2,463,9653,0.00,2.17,0.00,0.000,4,0.000,0.084,2193,3789,3503
$GC,9700,-1.10,-146.6,710.6,-9.6,465,9704,0.00,2.05,0.00,0.000,6,0.000,0.051,2193,2638,3503
$GC,10027,-1.10,-146.6,741.5,-9.1,481,10032,0.00,2.58,0.00,0.000,4,0.000,0.069,2193,1228,3503
$GC,10049,-1.10,-146.6,743.3,-8.1,482,10054,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2657,3503
$GC,10370,-1.10,-146.6,765.3,-7.2,498,10372,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2656,3503
$GC,10680,-1.10,-146.6,789.0,-7.7,513,10684,0.00,2.62,0.00,0.000,4,0.000,0.067,2193,1232,3502
$GC,10742,-1.10,-146.6,794.1,-8.6,516,10746,0.00,2.60,0.00,0.000,6,0.000,0.060,2193,2659,3502
$GC,11069,-1.10,-146.6,814.8,-6.3,532,11073,0.00,2.62,0.00,0.000,4,0.000,0.067,2193,1233,3501
$STATE,11088,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11088,begin apogee
$GC,11097,-0.42,0.0,816.1,5.8,533,11225,0.73,0.00,125.55,1.187,6,0.093,0.000,2343,2023,2902
$STATE,11226,end apogee,CONTROL_FINISHED_OK
$STATE,11226,begin climb
$GC,11230,1.10,146.6,822.7,0.0,539,11362,1.55,2.67,123.35,1.153,4,0.052,0.058,2678,3416,2304
$GC,11620,1.17,200.2,812.7,4.5,557,11671,0.00,2.58,46.33,1.144,6,0.000,0.048,2677,1998,2085
$GC,11986,1.28,288.1,789.9,3.6,574,12067,0.17,0.00,74.65,1.160,6,0.036,0.000,2735,1997,1727
$GC,12377,1.28,288.1,748.1,12.2,593,12381,0.00,2.62,0.00,0.000,4,0.000,0.068,2735,586,1726
$GC,12511,1.28,288.1,730.6,11.9,599,12515,0.00,2.53,0.00,0.000,6,0.000,0.038,2735,2011,1726
$GC,12832,1.28,288.1,699.4,8.9,615,12836,0.00,2.60,0.00,0.000,4,0.000,0.066,2735,3416,1725
$GC,12882,1.28,288.1,695.2,8.3,617,12886,0.00,2.58,0.00,0.000,6,0.000,0.047,2735,1987,1725
$GC,13197,1.28,288.1,673.7,6.7,632,13198,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1987,1725
$GC,13507,1.28,291.7,653.5,5.9,647,13513,0.00,0.00,4.57,0.785,6,0.000,0.000,2735,1987,1712
$GC,13816,1.28,291.7,628.5,9.3,662,13817,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1987,1712
$GC,14125,1.28,291.7,597.5,10.5,677,14129,0.00,2.60,0.00,0.000,4,0.000,0.059,2735,3409,1712
$GC,14158,1.28,291.7,594.0,9.6,678,14164,0.00,2.53,0.00,0.000,6,0.000,0.043,2736,1988,1712
$GC,14474,1.28,291.7,563.7,9.2,694,14478,0.00,2.53,0.00,0.000,4,0.000,0.061,2735,587,1713
$GC,14520,1.28,291.7,559.2,10.7,696,14524,0.00,2.47,0.00,0.000,6,0.000,0.035,2736,2009,1713
$GC,14846,1.28,291.7,526.3,9.9,712,14850,0.00,2.55,0.00,0.000,4,0.000,0.062,2735,3408,1713
$GC,14880,1.28,291.7,522.8,9.5,713,14886,0.00,2.50,0.00,0.000,6,0.000,0.044,2735,1999,1713
$GC,15196,1.28,291.7,491.9,9.4,729,15199,0.00,2.53,0.00,0.000,4,0.000,0.060,2735,593,1713
$GC,15235,1.28,291.7,488.1,9.8,730,15241,0.00,2.45,0.00,0.000,6,0.000,0.036,2736,2007,1713
$GC,15551,1.28,291.7,459.8,9.1,746,15552,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2007,1713
$GC,15860,1.28,291.7,432.6,8.8,761,15861,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2008,1713
$GC,16169,1.28,291.7,404.3,9.3,776,16170,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2007,1714
$GC,16479,1.28,291.7,372.8,10.4,791,16480,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2007,1714
$GC,16788,1.28,291.7,343.3,9.8,806,16792,0.00,2.55,0.00,0.000,4,0.000,0.064,2736,3406,1714
$GC,16821,1.28,291.7,339.7,10.3,807,16825,0.00,2.53,0.00,0.000,6,0.000,0.049,2735,1996,1714
$GC,17137,1.28,291.7,307.9,10.1,822,17138,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1996,1715
$GC,17446,1.28,291.7,277.4,9.8,837,17447,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1996,1715
$GC,17755,1.28,291.7,247.3,9.4,852,17757,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1996,1715
$GC,18065,1.28,291.7,216.1,10.5,867,18069,0.00,2.60,0.00,0.000,4,0.000,0.066,2736,3404,1715
$GC,18093,1.28,291.7,213.2,10.8,868,18097,0.00,2.53,0.00,0.000,6,0.000,0.051,2736,2002,1715
$GC,18414,1.28,291.7,180.8,10.1,884,18415,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2002,1715
$GC,18723,1.28,291.7,149.8,9.9,899,18724,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2002,1716
$GC,19033,1.28,291.7,121.9,9.0,914,19037,0.00,2.58,0.00,0.000,4,0.000,0.067,2735,590,1716
$GC,19095,1.28,291.7,116.0,9.7,917,19100,0.00,2.47,0.00,0.000,6,0.000,0.039,2735,2005,1716
$GC,19423,1.28,291.7,87.6,7.4,933,19424,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2005,1716
$GC,19732,1.28,291.7,62.1,8.3,948,19737,0.00,2.60,0.00,0.000,4,0.000,0.065,2736,590,1716
$GC,19777,1.28,291.7,58.0,8.6,950,19781,0.00,2.47,0.00,0.000,6,0.000,0.041,2736,1998,1716
$GC,20104,1.28,291.7,27.4,10.8,966,20105,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1998,1716
$STATE,20369,end climb,SURFACE_DEPTH_REACHED
$STATE,20369,begin surface coast
$FINISH,0.4,1.018111
$STATE,20391,end surface coast,CONTROL_FINISHED_OK
$STATE,20391,begin surface
$SM_CCo,20476,0.00,0.000,0,0,1716,290.93
$SM_GC,1.41,11.77,0.00,0.00,0.029,0.000,0.000,53,2644,1716,-10.93,-0.17,290.93
$IRIDIUM_FIX,6148.92,-1035.20,050698,141418
$TT8_MAMPS,0.028379
$HUMID,1776
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.2,74.9
$24V_AH,23.4,21.516
$10V_AH,10.1,11.112
$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,26.400,114.625,374.450,0.000,0.000,27.597,28.498,219.707,6.500,0.000,0.000,33.059,1727.423,16030.212,473.716,2047.201,615.001,33.357,1480.915,0.000,1997.511,0.000,44.808,0.000
$DEVICE_MAMPS,161.070,104.312,1186.549,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,687.819,729.218,547.226,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50612,980
$CAP_FILE_SIZE,129293,0
$CFSIZE,260165632,252538880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,012336,6215.889,-1040.295,38,1.0,43,-10.4