version: 66.04
glider: 103
mission: 11
dive: 86
start: 3 12 109 13 19 12
data:
$ID,103
$MISSION,11
$DIVE,86
$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,-144681.47
$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,20
$R_STBD_OVSHOOT,13
$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
$GPS1,131207,6220.376,-1040.586,41,1.3,41,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-59.9
$GPS2,131820,6220.310,-1040.498,12,1.4,12,-10.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.145,0.163
$KALMAN_X,34582.1,-533.0,-241.0,-82555.7,3976.0
$KALMAN_Y,-8842.3,-463.6,-14.5,49106.6,-4967.8
$MHEAD_RNG_PITCHd_Wd,328.7,18846,-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,15,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.70,0.000,2,0.000,0.000,52,2656,3250
$GC,62,-1.10,-146.6,4.3,-12.6,2,81,12.23,0.00,-4.07,0.000,6,0.158,0.000,2196,2656,3502
$GC,389,-1.10,-146.6,40.0,-7.2,18,392,0.00,2.20,0.00,0.000,4,0.000,0.092,2196,3789,3502
$GC,428,-1.10,-146.6,43.0,-7.4,19,434,0.00,2.05,0.00,0.000,6,0.000,0.055,2196,2652,3502
$GC,744,-1.10,-146.6,65.8,-7.8,35,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3502
$GC,1055,-1.10,-146.6,91.9,-8.5,50,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3502
$GC,1363,-1.10,-146.6,118.1,-8.7,65,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3502
$GC,1672,-1.10,-146.6,143.7,-8.3,80,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3502
$GC,1981,-1.10,-146.6,169.0,-7.9,95,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3502
$GC,2290,-1.10,-146.6,193.1,-7.6,110,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3502
$GC,2599,-1.10,-146.6,216.4,-7.6,125,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3502
$GC,2909,-1.10,-146.6,239.4,-7.5,140,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3502
$GC,3218,-1.10,-146.6,262.8,-7.7,155,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3502
$GC,3527,-1.10,-146.6,289.2,-8.7,170,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3501
$GC,3836,-1.10,-146.6,314.7,-8.4,185,3840,0.00,2.17,0.00,0.000,4,0.000,0.088,2196,3782,3501
$GC,3875,-1.10,-146.6,318.2,-8.5,186,3882,0.00,2.05,0.00,0.000,6,0.000,0.057,2196,2645,3501
$GC,4191,-1.10,-146.6,344.1,-8.6,202,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3501
$GC,4501,-1.10,-146.6,369.4,-8.0,217,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2645,3501
$GC,4810,-1.10,-146.6,392.7,-7.1,232,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2645,3501
$GC,5119,-1.10,-146.6,415.0,-7.3,247,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2645,3501
$GC,5429,-1.10,-146.6,441.3,-9.2,262,5432,0.00,2.20,0.00,0.000,4,0.000,0.088,2196,3786,3502
$GC,5501,-1.10,-146.6,448.8,-10.2,265,5505,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2642,3501
$GC,5829,-1.10,-146.6,481.0,-9.5,281,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3501
$GC,6138,-1.10,-146.6,507.6,-7.7,296,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3501
$GC,6448,-1.10,-146.6,531.5,-7.0,311,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3501
$GC,6756,-1.10,-146.6,549.0,-6.7,326,6761,0.00,2.58,0.00,0.000,4,0.000,0.070,2196,1228,3501
$GC,6784,-1.10,-146.6,550.9,-7.0,327,6789,0.00,2.60,0.00,0.000,6,0.000,0.060,2196,2655,3501
$GC,7100,-1.10,-146.6,571.7,-6.8,342,7104,0.00,2.15,0.00,0.000,4,0.000,0.088,2196,3787,3501
$GC,7158,-1.10,-146.6,575.9,-6.7,344,7161,0.00,2.05,0.00,0.000,6,0.000,0.051,2196,2637,3501
$GC,7479,-1.10,-146.6,598.9,-7.0,360,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2638,3501
$GC,7789,-1.10,-146.6,616.0,-5.0,375,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2637,3501
$GC,8098,-1.10,-146.6,641.3,-9.5,390,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2637,3501
$GC,8407,-1.10,-146.6,681.2,-13.2,405,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2637,3500
$GC,8716,-1.10,-146.6,711.8,-7.4,420,8720,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3786,3500
$GC,8767,-1.10,-146.6,714.4,-4.1,422,8770,0.00,2.03,0.00,0.000,6,0.000,0.051,2196,2647,3500
$GC,9094,-1.10,-146.6,734.9,-6.6,438,9095,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3500
$STATE,9318,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9318,begin apogee
$GC,9326,-0.42,0.0,751.4,7.5,449,9454,0.75,0.00,124.60,1.141,6,0.091,0.000,2346,1993,2902
$STATE,9455,end apogee,CONTROL_FINISHED_OK
$STATE,9455,begin climb
$GC,9458,1.10,146.6,756.3,0.0,455,9590,1.55,2.70,122.95,1.113,4,0.052,0.065,2679,587,2304
$GC,9616,1.26,270.8,759.5,2.6,462,9730,0.15,2.55,104.75,1.100,6,0.039,0.038,2727,2026,1798
$GC,10039,1.26,270.8,723.7,6.7,483,10044,0.00,2.58,0.00,0.000,4,0.000,0.067,2727,3407,1797
$GC,10135,1.29,296.9,718.4,5.3,487,10167,0.00,2.58,23.52,1.064,6,0.000,0.049,2727,1985,1691
$GC,10476,1.29,296.9,693.1,9.4,504,10477,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1985,1689
$GC,10785,1.29,296.9,662.0,9.9,519,10786,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1984,1689
$GC,11095,1.29,296.9,635.7,7.7,534,11099,0.00,2.60,0.00,0.000,4,0.000,0.062,2727,3398,1688
$GC,11122,1.29,296.9,633.7,7.9,535,11126,0.00,2.50,0.00,0.000,6,0.000,0.044,2727,1995,1688
$GC,11438,1.29,296.9,608.1,8.6,550,11442,0.00,2.55,0.00,0.000,4,0.000,0.061,2727,592,1688
$GC,11483,1.29,296.9,603.8,10.1,552,11488,0.00,2.45,0.00,0.000,6,0.000,0.037,2727,1994,1688
$GC,11810,1.29,296.9,571.2,11.6,568,11811,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1994,1688
$GC,12119,1.29,296.9,532.7,12.2,583,12120,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1994,1688
$GC,12428,1.29,296.9,499.6,9.5,598,12432,0.00,2.60,0.00,0.000,4,0.000,0.065,2727,3415,1688
$GC,12468,1.29,296.9,496.1,8.6,600,12472,0.00,2.53,0.00,0.000,6,0.000,0.047,2727,2000,1688
$GC,12801,1.29,296.9,473.5,7.0,616,12805,0.00,2.55,0.00,0.000,4,0.000,0.061,2727,591,1689
$GC,12845,1.29,296.9,470.2,7.9,618,12849,0.00,2.47,0.00,0.000,6,0.000,0.038,2727,2007,1689
$GC,13166,1.29,296.9,446.6,7.7,634,13170,0.00,2.58,0.00,0.000,4,0.000,0.065,2727,3414,1689
$GC,13193,1.29,296.9,444.1,9.1,635,13197,0.00,2.53,0.00,0.000,6,0.000,0.048,2727,2001,1689
$GC,13509,1.29,296.9,419.9,7.9,650,13513,0.00,2.55,0.00,0.000,4,0.000,0.061,2728,590,1690
$GC,13564,1.29,296.9,415.3,8.9,652,13570,0.00,2.47,0.00,0.000,6,0.000,0.038,2727,2007,1690
$GC,13880,1.29,296.9,389.8,8.2,668,13884,0.00,2.58,0.00,0.000,4,0.000,0.066,2727,3415,1690
$GC,13907,1.29,296.9,387.3,8.5,669,13912,0.00,2.55,0.00,0.000,6,0.000,0.048,2727,1989,1690
$GC,14223,1.29,296.9,360.5,8.5,684,14227,0.00,2.55,0.00,0.000,4,0.000,0.063,2727,585,1690
$GC,14273,1.29,296.9,356.1,8.7,686,14277,0.00,2.47,0.00,0.000,6,0.000,0.038,2727,2000,1690
$GC,14589,1.29,296.9,328.2,9.0,701,14590,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2000,1690
$GC,14898,1.29,296.9,300.3,9.1,716,14899,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2000,1691
$GC,15207,1.29,296.9,270.5,10.0,731,15209,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2000,1691
$GC,15517,1.29,296.9,240.8,9.1,746,15518,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2000,1691
$GC,15826,1.29,296.9,214.8,8.6,761,15830,0.00,2.58,0.00,0.000,4,0.000,0.063,2727,585,1691
$GC,15866,1.29,296.9,211.1,8.9,763,15870,0.00,2.47,0.00,0.000,6,0.000,0.040,2727,1998,1691
$GC,16198,1.29,296.9,184.5,8.4,779,16199,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1998,1691
$GC,16507,1.29,296.9,157.8,8.7,794,16509,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1998,1691
$GC,16818,1.29,296.9,130.7,8.9,809,16819,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1998,1692
$GC,17126,1.29,296.9,102.1,9.3,824,17128,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1998,1692
$GC,17436,1.29,296.9,70.2,10.9,839,17440,0.00,2.60,0.00,0.000,4,0.000,0.066,2727,588,1692
$GC,17476,1.29,296.9,65.6,11.7,841,17480,0.00,2.47,0.00,0.000,6,0.000,0.041,2727,1998,1692
$GC,17808,1.29,296.9,31.9,10.4,857,17809,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1998,1692
$STATE,18115,end climb,SURFACE_DEPTH_REACHED
$STATE,18115,begin surface coast
$FINISH,0.5,1.027448
$STATE,18137,end surface coast,CONTROL_FINISHED_OK
$STATE,18137,begin surface
$SM_CCo,18222,0.00,0.000,0,0,1692,296.81
$SM_GC,1.29,11.68,0.00,0.00,0.026,0.000,0.000,48,2646,1692,-10.93,-0.11,296.81
$IRIDIUM_FIX,6153.50,-1042.30,060698,070759
$TT8_MAMPS,0.028379
$HUMID,1764
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,702.0,58.2
$24V_AH,23.4,21.903
$10V_AH,10.1,11.371
$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,26.350,89.900,375.825,0.000,0.000,27.767,28.115,186.732,6.000,0.000,0.000,12.379,1517.997,14411.765,442.813,1677.187,540.612,33.363,1281.460,0.000,1652.334,0.000,41.518,0.000
$DEVICE_MAMPS,158.002,92.040,1141.296,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,609.854,650.132,513.114,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44291,873
$CAP_FILE_SIZE,111272,0
$CFSIZE,260165632,252370944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120309,182407,6219.377,-1046.724,36,1.0,36,-10.5