version: 66.04
glider: 103
mission: 11
dive: 85
start: 3 12 109 7 27 16
data:
$ID,103
$MISSION,11
$DIVE,85
$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,-144668.47
$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,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
$GPS1,072008,6217.411,-1045.696,39,1.2,40,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-62.4
$GPS2,072625,6217.410,-1045.567,11,1.2,16,-10.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.066,0.208
$KALMAN_X,26375.7,419.3,49.6,-79999.5,-2946.5
$KALMAN_Y,-14220.7,1243.0,4596.0,42788.1,-15952.4
$MHEAD_RNG_PITCHd_Wd,352.8,18729,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-40.85,0.000,2,0.000,0.000,46,2656,3152
$GC,62,-1.10,-146.6,3.9,-12.4,2,86,12.25,2.75,-6.03,0.000,4,0.162,0.086,2196,1233,3502
$GC,133,-1.10,-146.6,15.4,-8.5,5,137,0.00,2.62,0.00,0.000,6,0.000,0.061,2196,2655,3502
$GC,461,-1.10,-146.6,39.1,-6.7,21,465,0.00,2.17,0.00,0.000,4,0.000,0.089,2196,3787,3502
$GC,530,-1.10,-146.6,44.8,-8.4,24,534,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2655,3502
$GC,865,-1.10,-146.6,70.1,-7.3,40,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2654,3502
$GC,1172,-1.10,-146.6,93.4,-7.6,55,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2654,3502
$GC,1482,-1.10,-146.6,120.0,-8.7,70,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2654,3502
$GC,1791,-1.10,-146.6,145.3,-8.5,85,1795,0.00,2.22,0.00,0.000,4,0.000,0.092,2196,3790,3502
$GC,1835,-1.10,-146.6,149.6,-9.8,87,1840,0.00,2.08,0.00,0.000,6,0.000,0.052,2196,2637,3502
$GC,2162,-1.10,-146.6,180.9,-8.2,103,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2636,3502
$GC,2471,-1.10,-146.6,208.3,-8.9,118,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2637,3502
$GC,2780,-1.10,-146.6,233.4,-7.8,133,2784,0.00,2.22,0.00,0.000,4,0.000,0.088,2196,3787,3502
$GC,2825,-1.10,-146.6,236.8,-7.7,135,2829,0.00,2.05,0.00,0.000,6,0.000,0.053,2196,2648,3502
$GC,3153,-1.10,-146.6,258.6,-6.1,151,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3502
$GC,3462,-1.10,-146.6,281.6,-8.2,166,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3502
$GC,3771,-1.10,-146.6,306.2,-8.0,181,3775,0.00,2.20,0.00,0.000,4,0.000,0.089,2196,3782,3502
$GC,3828,-1.10,-146.6,311.0,-7.9,183,3831,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2646,3502
$GC,4149,-1.10,-146.6,335.9,-7.5,199,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3502
$GC,4458,-1.10,-146.6,359.1,-7.6,214,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3502
$GC,4768,-1.10,-146.6,383.0,-7.9,229,4771,0.00,2.17,0.00,0.000,4,0.000,0.084,2196,3783,3502
$GC,4814,-1.10,-146.6,386.7,-8.4,231,4818,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2644,3502
$GC,5146,-1.10,-146.6,414.2,-8.4,247,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3502
$GC,5456,-1.10,-146.6,441.8,-9.1,262,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3502
$GC,5765,-1.10,-146.6,469.8,-8.8,277,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3502
$GC,6074,-1.10,-146.6,496.3,-8.0,292,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3502
$GC,6384,-1.10,-146.6,519.4,-7.6,307,6387,0.00,2.17,0.00,0.000,4,0.000,0.083,2196,3783,3502
$GC,6445,-1.10,-146.6,524.1,-8.2,309,6451,0.00,2.03,0.00,0.000,6,0.000,0.052,2196,2652,3502
$GC,6761,-1.10,-146.6,547.3,-7.7,325,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3502
$GC,7071,-1.10,-146.6,569.3,-5.9,340,7072,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3502
$GC,7380,-1.10,-146.6,587.1,-5.1,355,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3502
$GC,7689,-1.10,-146.6,605.8,-6.6,370,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3502
$GC,8000,-1.10,-146.6,625.2,-6.0,385,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3502
$GC,8308,-1.10,-146.6,638.4,-4.5,400,8312,0.00,2.15,0.00,0.000,4,0.000,0.083,2196,3783,3502
$GC,8409,-1.10,-146.6,644.0,-5.9,404,8413,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2641,3502
$GC,8731,-1.10,-146.6,664.0,-7.0,420,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3502
$GC,9041,-1.10,-146.6,678.7,-3.6,435,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3501
$GC,9350,-1.10,-146.6,698.3,-9.1,450,9354,0.00,2.58,0.00,0.000,4,0.000,0.072,2196,1236,3501
$GC,9394,-1.10,-146.6,703.1,-10.8,452,9398,0.00,2.58,0.00,0.000,6,0.000,0.060,2196,2655,3501
$GC,9714,-1.10,-146.6,727.6,-7.5,468,9716,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2655,3501
$STATE,10000,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10000,begin apogee
$GC,10009,-0.42,0.0,748.5,8.1,482,10136,0.75,0.00,123.28,1.171,6,0.091,0.000,2347,1989,2902
$STATE,10136,end apogee,CONTROL_FINISHED_OK
$STATE,10136,begin climb
$GC,10140,1.10,146.6,749.8,0.0,488,10272,1.55,2.72,122.20,1.112,4,0.059,0.066,2678,586,2304
$GC,10530,1.21,236.1,741.9,3.5,505,10612,0.12,2.53,75.78,1.107,6,0.043,0.039,2722,2018,1939
$GC,10928,1.21,236.1,715.1,8.7,525,10933,0.00,2.67,0.00,0.000,4,0.000,0.067,2722,586,1938
$GC,11187,1.21,236.1,694.1,6.1,536,11193,0.00,2.50,0.00,0.000,6,0.000,0.040,2722,1996,1937
$GC,11502,1.21,236.1,668.7,9.8,552,11507,0.00,2.62,0.00,0.000,4,0.000,0.064,2722,584,1936
$GC,11565,1.21,236.1,661.9,11.1,555,11569,0.00,2.50,0.00,0.000,6,0.000,0.038,2722,2005,1936
$GC,11892,1.21,236.1,627.9,9.8,571,11896,0.00,2.58,0.00,0.000,4,0.000,0.064,2722,3411,1936
$GC,11964,1.21,236.1,621.0,9.6,574,11969,0.00,2.55,0.00,0.000,6,0.000,0.045,2722,1983,1936
$GC,12280,1.21,236.1,596.0,6.8,589,12284,0.00,2.55,0.00,0.000,4,0.000,0.061,2722,584,1935
$GC,12369,1.21,236.1,589.0,8.6,593,12373,0.00,2.50,0.00,0.000,6,0.000,0.036,2722,2014,1935
$GC,12690,1.21,236.1,562.2,7.6,609,12694,0.00,2.62,0.00,0.000,4,0.000,0.061,2722,584,1935
$GC,12723,1.21,236.1,559.4,7.9,610,12729,0.00,2.47,0.00,0.000,6,0.000,0.037,2722,2007,1935
$GC,13039,1.21,236.1,539.1,6.4,626,13040,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2007,1936
$GC,13348,1.21,236.1,518.1,7.0,641,13349,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2007,1936
$GC,13658,1.21,236.1,497.8,6.4,656,13662,0.00,2.60,0.00,0.000,4,0.000,0.061,2722,585,1936
$GC,13736,1.21,236.1,492.6,6.1,659,13742,0.00,2.47,0.00,0.000,6,0.000,0.037,2722,2004,1936
$GC,14052,1.22,243.7,474.9,5.8,675,14066,0.00,2.62,7.60,0.841,4,0.000,0.062,2722,3405,1908
$GC,14096,1.22,243.7,472.2,6.3,677,14100,0.00,2.53,0.00,0.000,6,0.000,0.046,2722,1997,1908
$GC,14423,1.22,243.7,449.2,7.8,693,14427,0.00,2.55,0.00,0.000,4,0.000,0.060,2722,588,1908
$GC,14462,1.22,243.7,445.8,8.2,695,14466,0.00,2.47,0.00,0.000,6,0.000,0.037,2722,2008,1908
$GC,14790,1.22,243.7,417.2,8.9,711,14791,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2008,1909
$GC,15099,1.22,243.7,389.1,9.0,726,15104,0.00,2.60,0.00,0.000,4,0.000,0.060,2722,581,1909
$GC,15133,1.22,243.7,385.9,9.2,727,15139,0.00,2.47,0.00,0.000,6,0.000,0.038,2722,1999,1909
$GC,15448,1.22,243.7,361.3,7.2,743,15450,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1999,1909
$GC,15758,1.22,243.7,340.5,6.8,758,15759,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1999,1909
$GC,16067,1.22,243.7,317.5,7.7,773,16068,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1999,1910
$GC,16376,1.22,243.7,292.3,8.2,788,16377,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1999,1910
$GC,16686,1.22,243.7,267.2,8.0,803,16687,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1999,1910
$GC,16995,1.22,243.7,244.0,6.9,818,16996,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1999,1910
$GC,17304,1.22,243.7,223.1,6.4,833,17308,0.00,2.58,0.00,0.000,4,0.000,0.062,2722,588,1910
$GC,17354,1.22,243.7,219.8,6.4,835,17359,0.00,2.47,0.00,0.000,6,0.000,0.038,2722,2005,1910
$GC,17670,1.23,252.8,201.1,5.7,850,17681,0.00,0.00,9.45,0.725,6,0.000,0.000,2722,2005,1871
$GC,17979,1.23,252.8,182.3,6.3,865,17984,0.00,2.58,0.00,0.000,4,0.000,0.067,2722,3406,1871
$GC,18013,1.23,252.8,179.8,7.1,866,18019,0.00,2.53,0.00,0.000,6,0.000,0.051,2722,2003,1871
$GC,18329,1.23,252.8,158.4,6.7,882,18330,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2003,1871
$GC,18638,1.23,252.8,136.7,7.2,897,18639,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2003,1871
$GC,18948,1.23,252.8,114.6,6.7,912,18949,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2003,1871
$GC,19257,1.23,252.8,91.0,7.9,927,19261,0.00,2.58,0.00,0.000,4,0.000,0.065,2722,590,1871
$GC,19307,1.23,252.8,86.8,7.8,929,19311,0.00,2.47,0.00,0.000,6,0.000,0.041,2722,2001,1871
$GC,19623,1.23,252.8,63.5,6.4,944,19624,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2001,1871
$GC,19932,1.23,252.8,42.1,6.1,959,19933,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2001,1871
$GC,20241,1.23,252.8,21.4,7.5,974,20242,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2002,1872
$STATE,20506,end climb,SURFACE_DEPTH_REACHED
$STATE,20506,begin surface coast
$FINISH,0.6,1.027445
$STATE,20528,end surface coast,CONTROL_FINISHED_OK
$STATE,20528,begin surface
$SM_CCo,20613,0.00,0.000,0,0,1871,252.90
$SM_GC,1.61,11.75,0.00,0.00,0.031,0.000,0.000,52,2656,1871,-10.93,0.17,252.90
$IRIDIUM_FIX,6153.50,-1041.44,060698,010126
$TT8_MAMPS,0.028379
$HUMID,1758
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.2,31.8
$24V_AH,23.4,21.770
$10V_AH,10.1,11.292
$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,26.425,109.050,338.300,0.000,0.000,29.148,27.392,188.713,6.500,0.000,0.000,16.397,1742.416,16208.417,422.570,2039.493,570.605,33.360,1415.462,0.000,1996.654,0.000,46.011,0.000
$DEVICE_MAMPS,161.837,92.040,1171.209,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,689.881,733.557,591.532,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50550,988
$CAP_FILE_SIZE,128500,0
$CFSIZE,260165632,252407808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,131207,6220.376,-1040.586,41,1.3,41,-10.4