version: 66.04
glider: 103
mission: 11
dive: 84
start: 3 12 109 1 30 40
data:
$ID,103
$MISSION,11
$DIVE,84
$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,-144651.45
$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,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
$GPS1,012336,6215.889,-1040.295,38,1.0,43,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-59.6
$GPS2,012949,6215.861,-1040.279,15,1.2,15,-10.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.095,0.197
$KALMAN_X,26130.7,711.1,1174.9,-76573.0,-3933.2
$KALMAN_Y,-11885.7,523.2,5829.4,37076.4,-10347.9
$MHEAD_RNG_PITCHd_Wd,344.6,23926,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,72,0.00,0.00,-53.65,0.000,6,0.000,0.000,53,2648,3503
$GC,75,-1.10,-146.6,3.0,-6.6,2,97,12.18,2.65,0.00,0.000,4,0.161,0.065,2193,1238,3504
$GC,349,-1.10,-146.6,41.5,-9.4,14,354,0.00,2.62,0.00,0.000,6,0.000,0.066,2193,2651,3503
$GC,671,-1.10,-146.6,65.9,-6.5,30,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3504
$GC,982,-1.10,-146.6,89.3,-7.4,45,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3504
$GC,1290,-1.10,-146.6,109.7,-6.6,60,1293,0.00,2.20,0.00,0.000,4,0.000,0.091,2193,3792,3503
$GC,1329,-1.10,-146.6,112.5,-6.8,61,1335,0.00,2.05,0.00,0.000,6,0.000,0.057,2193,2656,3503
$GC,1646,-1.10,-146.6,136.4,-7.8,77,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2656,3503
$GC,1954,-1.10,-146.6,159.7,-7.8,92,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2656,3504
$GC,2263,-1.10,-146.6,185.0,-8.5,107,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2656,3504
$GC,2572,-1.10,-146.6,208.3,-7.8,122,2577,0.00,2.62,0.00,0.000,4,0.000,0.071,2193,1228,3503
$GC,2602,-1.10,-146.6,210.7,-8.0,123,2606,0.00,2.62,0.00,0.000,6,0.000,0.063,2193,2652,3503
$GC,2917,-1.10,-146.6,236.0,-8.0,138,2921,0.00,2.17,0.00,0.000,4,0.000,0.091,2193,3789,3503
$GC,2974,-1.10,-146.6,241.1,-9.4,140,2978,0.00,2.08,0.00,0.000,6,0.000,0.054,2193,2636,3503
$GC,3295,-1.10,-146.6,269.2,-8.1,156,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2636,3504
$GC,3605,-1.10,-146.6,293.8,-7.8,171,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2636,3503
$GC,3914,-1.10,-146.6,315.4,-7.0,186,3918,0.00,2.22,0.00,0.000,4,0.000,0.089,2193,3786,3503
$GC,3960,-1.10,-146.6,318.9,-7.2,188,3964,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2646,3503
$GC,4293,-1.10,-146.6,344.2,-7.9,204,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3503
$GC,4602,-1.10,-146.6,365.8,-6.2,219,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3503
$GC,4912,-1.10,-146.6,381.0,-4.4,234,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3503
$GC,5221,-1.10,-146.6,404.9,-11.8,249,5224,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3783,3503
$GC,5267,-1.10,-146.6,411.0,-13.4,251,5271,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2642,3503
$GC,5600,-1.10,-146.6,452.7,-11.5,267,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3503
$GC,5909,-1.10,-146.6,484.4,-9.6,282,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3503
$GC,6218,-1.10,-146.6,513.2,-9.0,297,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3503
$GC,6527,-1.10,-146.6,540.1,-8.8,312,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3503
$GC,6837,-1.10,-146.6,564.7,-8.1,327,6838,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3503
$GC,7146,-1.10,-146.6,591.9,-9.0,342,7150,0.00,2.20,0.00,0.000,4,0.000,0.084,2193,3789,3503
$GC,7247,-1.10,-146.6,601.9,-10.1,346,7251,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2643,3503
$GC,7568,-1.10,-146.6,626.8,-7.0,362,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3503
$GC,7878,-1.10,-146.6,648.7,-7.0,377,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3503
$GC,8187,-1.10,-146.6,666.2,-5.3,392,8191,0.00,2.20,0.00,0.000,4,0.000,0.084,2193,3792,3503
$GC,8221,-1.10,-146.6,668.2,-6.3,393,8224,0.00,2.05,0.00,0.000,6,0.000,0.051,2193,2641,3503
$GC,8542,-1.10,-146.6,692.4,-9.3,409,8547,0.00,2.55,0.00,0.000,4,0.000,0.068,2193,1238,3503
$GC,8572,-1.10,-146.6,695.2,-9.4,410,8576,0.00,2.58,0.00,0.000,6,0.000,0.055,2193,2662,3503
$GC,8887,-1.10,-146.6,728.9,-12.0,425,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2662,3503
$GC,9197,-1.10,-146.6,758.3,-6.6,440,9198,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2662,3503
$GC,9506,-1.10,-146.6,770.5,-3.2,455,9510,0.00,2.12,0.00,0.000,4,0.000,0.087,2193,3785,3503
$GC,9546,-1.10,-146.6,771.8,-3.1,456,9552,0.00,2.03,0.00,0.000,6,0.000,0.051,2193,2648,3503
$GC,9862,-1.10,-146.6,782.5,-4.5,472,9866,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3792,3502
$GC,9885,-1.10,-146.6,784.0,-6.2,473,9889,0.00,2.05,0.00,0.000,6,0.000,0.051,2193,2640,3502
$GC,10218,-1.10,-146.6,804.3,-7.3,489,10222,0.00,2.55,0.00,0.000,4,0.000,0.070,2193,1240,3502
$GC,10245,-1.10,-146.6,806.2,-7.1,490,10250,0.00,2.60,0.00,0.000,6,0.000,0.064,2193,2653,3502
$STATE,10481,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10482,begin apogee
$GC,10490,-0.42,0.0,825.7,7.8,502,10618,0.77,0.00,125.20,1.204,6,0.093,0.000,2348,2000,2901
$STATE,10619,end apogee,CONTROL_FINISHED_OK
$STATE,10619,begin climb
$GC,10622,1.10,146.6,830.2,0.0,508,10755,1.52,2.72,123.55,1.170,4,0.053,0.068,2678,590,2304
$GC,11002,1.10,146.6,818.4,6.5,525,11006,0.00,2.53,0.00,0.000,6,0.000,0.040,2678,2015,2304
$GC,11324,1.24,262.2,804.6,2.8,541,11428,0.15,0.00,97.60,1.197,6,0.039,0.000,2726,2017,1833
$GC,11737,1.24,262.2,770.4,7.8,561,11741,0.00,2.70,0.00,0.000,4,0.000,0.069,2726,582,1831
$GC,11878,1.24,262.2,759.8,8.1,567,11883,0.00,2.53,0.00,0.000,6,0.000,0.041,2726,2002,1831
$GC,12194,1.24,262.2,730.3,9.8,582,12199,0.00,2.62,0.00,0.000,4,0.000,0.068,2726,3415,1830
$GC,12257,1.24,262.2,724.0,9.7,585,12262,0.00,2.58,0.00,0.000,6,0.000,0.048,2726,1988,1830
$GC,12584,1.24,262.2,689.7,10.6,601,12588,0.00,2.58,0.00,0.000,4,0.000,0.062,2726,584,1830
$GC,12736,1.24,262.2,673.5,10.4,608,12740,0.00,2.50,0.00,0.000,6,0.000,0.038,2726,2006,1829
$GC,13062,1.24,262.2,646.3,8.0,624,13064,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2006,1829
$GC,13372,1.24,262.2,626.0,6.9,639,13373,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2006,1830
$GC,13681,1.24,262.2,604.0,7.6,654,13685,0.00,2.60,0.00,0.000,4,0.000,0.059,2726,587,1830
$GC,13815,1.24,262.2,591.1,10.3,660,13819,0.00,2.47,0.00,0.000,6,0.000,0.036,2726,2003,1830
$GC,14136,1.24,262.2,561.1,9.5,676,14138,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2003,1830
$GC,14446,1.24,262.2,532.4,9.8,691,14447,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2003,1831
$GC,14755,1.24,262.2,504.3,8.3,706,14759,0.00,2.58,0.00,0.000,4,0.000,0.060,2726,588,1831
$GC,14788,1.24,262.2,501.7,7.8,707,14792,0.00,2.47,0.00,0.000,6,0.000,0.037,2726,2006,1831
$GC,15104,1.24,262.2,473.2,9.7,722,15108,0.00,2.55,0.00,0.000,4,0.000,0.063,2726,3407,1831
$GC,15131,1.24,262.2,470.3,10.1,723,15135,0.00,2.50,0.00,0.000,6,0.000,0.044,2727,1999,1832
$GC,15452,1.24,262.2,437.3,10.2,739,15453,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1999,1832
$GC,15761,1.24,262.2,404.6,10.7,754,15762,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1999,1832
$GC,16070,1.24,262.2,372.5,9.1,769,16071,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1999,1833
$GC,16380,1.24,262.2,348.5,7.2,784,16384,0.00,2.60,0.00,0.000,4,0.000,0.065,2726,3406,1833
$GC,16413,1.24,262.2,346.0,7.3,785,16419,0.00,2.53,0.00,0.000,6,0.000,0.049,2726,1989,1833
$GC,16729,1.24,262.2,323.7,7.4,801,16733,0.00,2.55,0.00,0.000,4,0.000,0.064,2726,584,1833
$GC,16762,1.24,262.2,321.1,7.5,802,16766,0.00,2.47,0.00,0.000,6,0.000,0.038,2726,2000,1833
$GC,17078,1.24,262.2,300.2,6.3,817,17082,0.00,2.58,0.00,0.000,4,0.000,0.067,2726,3412,1833
$GC,17111,1.24,262.2,297.9,6.2,818,17116,0.00,2.55,0.00,0.000,6,0.000,0.049,2726,1990,1834
$GC,17427,1.24,262.2,278.1,6.4,833,17428,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1990,1834
$GC,17737,1.24,262.2,257.2,7.2,848,17738,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1991,1834
$GC,18046,1.24,262.2,233.3,7.7,863,18050,0.00,2.62,0.00,0.000,4,0.000,0.066,2726,3406,1834
$GC,18079,1.24,262.2,230.6,8.7,864,18083,0.00,2.53,0.00,0.000,6,0.000,0.051,2726,2002,1834
$GC,18394,1.24,262.2,202.9,9.4,879,18396,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2002,1834
$GC,18704,1.24,262.2,173.5,9.5,894,18705,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2002,1834
$GC,19013,1.24,262.2,144.9,8.7,909,19015,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2002,1835
$GC,19323,1.24,262.2,118.9,7.9,924,19324,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2002,1834
$GC,19632,1.24,262.2,96.5,7.7,939,19636,0.00,2.58,0.00,0.000,4,0.000,0.066,2726,590,1835
$GC,19665,1.24,262.2,93.4,9.8,940,19671,0.00,2.45,0.00,0.000,6,0.000,0.040,2726,1998,1835
$GC,19983,1.24,262.2,64.5,8.2,956,19987,0.00,2.60,0.00,0.000,4,0.000,0.067,2726,3418,1835
$GC,20016,1.24,262.2,61.7,7.2,957,20022,0.00,2.55,0.00,0.000,6,0.000,0.053,2727,1995,1835
$GC,20332,1.24,262.2,35.9,8.4,973,20333,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1995,1835
$GC,20643,1.24,262.2,12.3,7.7,988,20644,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1995,1835
$STATE,20782,end climb,SURFACE_DEPTH_REACHED
$STATE,20783,begin surface coast
$FINISH,0.4,1.027448
$STATE,20806,end surface coast,CONTROL_FINISHED_OK
$STATE,20806,begin surface
$SM_CCo,20891,0.00,0.000,0,0,1835,261.74
$SM_GC,1.50,11.70,0.00,0.00,0.027,0.000,0.000,46,2652,1835,-10.93,0.06,261.74
$IRIDIUM_FIX,6148.92,-1045.98,050698,191954
$TT8_MAMPS,0.029146
$HUMID,1772
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.1,84.0
$24V_AH,23.3,21.648
$10V_AH,10.1,11.203
$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,26.325,123.775,346.350,0.000,0.000,29.365,26.048,186.886,6.500,0.000,0.000,15.015,1778.779,16380.092,439.547,2069.209,590.749,33.346,1467.098,0.000,2038.735,0.000,44.815,0.000
$DEVICE_MAMPS,161.070,91.273,1204.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,696.601,747.833,577.954,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50523,996
$CAP_FILE_SIZE,132344,0
$CFSIZE,260165632,252469248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,072008,6217.411,-1045.696,39,1.2,40,-10.5