version: 66.04
glider: 103
mission: 11
dive: 92
start: 3 13 109 20 44 12
data:
$ID,103
$MISSION,11
$DIVE,92
$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,-144813.41
$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,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
$GPS1,203227,6225.115,-1047.769,38,2.3,57,-10.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-51.7
$GPS2,204320,6225.251,-1047.638,15,2.0,15,-10.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.181,0.122
$KALMAN_X,52898.8,-467.4,-1345.2,-105973.4,12507.1
$KALMAN_Y,-26952.3,1636.8,-400.1,74622.9,-16051.7
$MHEAD_RNG_PITCHd_Wd,314.3,10611,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.08,0.000,2,0.000,0.000,53,2651,3439
$GC,82,-1.10,-146.6,4.4,-7.5,3,104,12.15,2.22,-0.98,0.000,4,0.160,0.100,2195,3782,3502
$GC,357,-1.10,-146.6,43.9,-9.0,15,361,0.00,2.08,0.00,0.000,6,0.000,0.064,2195,2659,3502
$GC,685,-1.10,-146.6,66.0,-5.9,31,689,0.00,2.20,0.00,0.000,4,0.000,0.090,2195,3789,3502
$GC,944,-1.10,-146.6,92.1,-8.3,42,948,0.00,2.10,0.00,0.000,6,0.000,0.062,2195,2646,3502
$GC,1265,-1.10,-146.6,114.9,-7.6,58,1269,0.00,2.22,0.00,0.000,4,0.000,0.088,2195,3792,3502
$GC,1366,-1.10,-146.6,122.2,-7.4,62,1370,0.00,2.10,0.00,0.000,6,0.000,0.061,2195,2648,3502
$GC,1688,-1.10,-146.6,146.8,-8.0,78,1692,0.00,2.22,0.00,0.000,4,0.000,0.091,2195,3790,3502
$GC,1722,-1.10,-146.6,149.5,-7.3,79,1725,0.00,2.10,0.00,0.000,6,0.000,0.061,2195,2646,3502
$GC,2044,-1.10,-146.6,175.9,-8.4,95,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3502
$GC,2352,-1.10,-146.6,199.7,-7.2,110,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3502
$GC,2661,-1.10,-146.6,222.0,-7.3,125,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3502
$GC,2971,-1.10,-146.6,243.4,-6.7,140,2974,0.00,2.20,0.00,0.000,4,0.000,0.087,2195,3786,3502
$GC,3034,-1.10,-146.6,247.9,-7.3,142,3040,0.00,2.08,0.00,0.000,6,0.000,0.061,2195,2651,3502
$GC,3350,-1.10,-146.6,270.4,-7.2,158,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2651,3502
$GC,3659,-1.10,-146.6,294.9,-8.3,173,3662,0.00,2.20,0.00,0.000,4,0.000,0.088,2195,3789,3501
$GC,3705,-1.10,-146.6,298.9,-9.0,175,3708,0.00,2.08,0.00,0.000,6,0.000,0.060,2195,2651,3501
$GC,4038,-1.10,-146.6,325.0,-6.9,191,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,4348,-1.10,-146.6,344.4,-6.0,206,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,4657,-1.10,-146.6,363.2,-6.8,221,4661,0.00,2.60,0.00,0.000,4,0.000,0.073,2195,1235,3502
$GC,4702,-1.10,-146.6,366.6,-7.5,223,4707,0.00,2.60,0.00,0.000,6,0.000,0.061,2195,2654,3501
$GC,5024,-1.10,-146.6,388.7,-7.3,239,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2653,3502
$GC,5333,-1.10,-146.6,411.9,-7.2,254,5337,0.00,2.17,0.00,0.000,4,0.000,0.090,2195,3792,3501
$GC,5379,-1.10,-146.6,415.5,-8.1,256,5383,0.00,2.08,0.00,0.000,6,0.000,0.058,2195,2647,3502
$GC,5712,-1.10,-146.6,439.5,-7.0,272,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3501
$GC,6021,-1.10,-146.6,465.3,-8.8,287,6025,0.00,2.20,0.00,0.000,4,0.000,0.089,2195,3785,3501
$GC,6067,-1.10,-146.6,469.5,-9.1,289,6071,0.00,2.08,0.00,0.000,6,0.000,0.058,2195,2639,3501
$GC,6400,-1.10,-146.6,496.8,-8.3,305,6401,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2639,3501
$GC,6709,-1.10,-146.6,522.4,-8.7,320,6713,0.00,2.22,0.00,0.000,4,0.000,0.088,2195,3793,3501
$GC,6743,-1.10,-146.6,525.4,-9.4,321,6747,0.00,2.08,0.00,0.000,6,0.000,0.058,2195,2647,3502
$GC,7065,-1.10,-146.6,552.4,-7.9,337,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3502
$GC,7374,-1.10,-146.6,570.2,-4.9,352,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3502
$GC,7683,-1.10,-146.6,584.2,-5.1,367,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3501
$GC,7992,-1.10,-146.6,606.5,-7.0,382,7997,0.00,2.58,0.00,0.000,4,0.000,0.070,2195,1225,3501
$GC,8055,-1.10,-146.6,611.1,-7.6,385,8059,0.00,2.60,0.00,0.000,6,0.000,0.058,2195,2656,3500
$GC,8382,-1.10,-146.6,634.5,-6.5,401,8386,0.00,2.65,0.00,0.000,4,0.000,0.071,2195,1229,3500
$GC,8455,-1.10,-146.6,639.8,-7.0,404,8459,0.00,2.62,0.00,0.000,6,0.000,0.061,2195,2663,3500
$GC,8771,-1.10,-146.6,657.9,-5.8,419,8775,0.00,2.67,0.00,0.000,4,0.000,0.073,2194,1226,3500
$GC,8798,-1.10,-146.6,659.7,-6.8,420,8803,0.00,2.65,0.00,0.000,6,0.000,0.066,2195,2657,3500
$STATE,8905,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8905,begin apogee
$GC,8913,-0.42,0.0,668.9,8.3,425,9040,0.77,0.00,123.47,1.114,6,0.100,0.000,2347,1996,2902
$STATE,9041,end apogee,CONTROL_FINISHED_OK
$STATE,9041,begin climb
$GC,9044,1.10,146.6,671.7,0.0,431,9176,1.55,2.78,122.18,1.077,4,0.058,0.077,2678,590,2304
$GC,9429,1.14,179.7,666.8,5.1,448,9464,0.00,2.53,29.45,1.056,6,0.000,0.041,2678,2013,2169
$GC,9787,1.14,179.7,650.2,6.8,466,9791,0.00,2.60,0.00,0.000,4,0.000,0.066,2678,3415,2167
$GC,9832,1.23,249.7,648.0,4.1,468,9898,0.12,2.58,58.65,1.087,6,0.044,0.048,2717,1993,1883
$GC,10220,1.23,249.7,617.3,8.5,487,10224,0.00,2.62,0.00,0.000,4,0.000,0.070,2717,585,1882
$GC,10350,1.23,249.7,605.1,9.1,493,10354,0.00,2.53,0.00,0.000,6,0.000,0.041,2718,2009,1881
$GC,10677,1.35,351.6,585.6,3.2,509,10768,0.00,2.75,84.55,1.085,4,0.000,0.067,2717,598,1468
$GC,10909,1.35,351.6,569.5,10.7,519,10915,0.00,2.50,0.00,0.000,6,0.000,0.043,2718,1995,1467
$GC,11225,1.35,351.6,540.2,8.5,535,11229,0.00,2.65,0.00,0.000,4,0.000,0.071,2717,3416,1467
$GC,11309,1.35,351.6,533.0,8.1,539,11314,0.00,2.60,0.00,0.000,6,0.000,0.054,2717,1990,1467
$GC,11636,1.35,351.6,506.8,7.7,555,11640,0.00,2.67,0.00,0.000,4,0.000,0.067,2717,3419,1467
$GC,11680,1.35,351.6,503.2,7.8,557,11684,0.00,2.60,0.00,0.000,6,0.000,0.053,2717,1989,1467
$GC,12001,1.35,351.6,471.6,10.4,573,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1989,1467
$GC,12310,1.35,351.6,440.1,10.5,588,12314,0.00,2.67,0.00,0.000,4,0.000,0.069,2718,3417,1467
$GC,12354,1.35,351.6,435.2,10.8,590,12358,0.00,2.60,0.00,0.000,6,0.000,0.054,2717,1989,1467
$GC,12675,1.35,351.6,401.4,10.2,606,12680,0.00,2.67,0.00,0.000,4,0.000,0.068,2717,3420,1467
$GC,12715,1.35,351.6,397.3,10.1,608,12719,0.00,2.60,0.00,0.000,6,0.000,0.055,2717,1994,1467
$GC,13041,1.35,351.6,368.5,8.3,624,13043,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1995,1467
$GC,13351,1.35,351.6,340.5,10.1,639,13355,0.00,2.65,0.00,0.000,4,0.000,0.068,2717,3418,1467
$GC,13406,1.35,351.6,334.3,10.7,641,13412,0.00,2.60,0.00,0.000,6,0.000,0.058,2717,1997,1467
$GC,13722,1.35,351.6,298.7,11.8,657,13723,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1997,1468
$GC,14031,1.35,351.6,263.1,11.2,672,14032,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1997,1468
$GC,14340,1.35,351.6,232.4,9.1,687,14345,0.00,2.65,0.00,0.000,4,0.000,0.068,2717,3422,1468
$GC,14408,1.35,351.6,226.7,7.6,690,14412,0.00,2.62,0.00,0.000,6,0.000,0.058,2717,1989,1468
$GC,14729,1.35,351.6,201.9,8.2,706,14733,0.00,2.58,0.00,0.000,4,0.000,0.070,2717,590,1468
$GC,14757,1.35,351.6,199.1,10.3,707,14761,0.00,2.47,0.00,0.000,6,0.000,0.040,2718,2004,1468
$GC,15078,1.35,351.6,168.6,9.6,723,15082,0.00,2.60,0.00,0.000,4,0.000,0.069,2717,3412,1468
$GC,15134,1.35,351.6,162.8,9.8,725,15140,0.00,2.58,0.00,0.000,6,0.000,0.057,2717,1990,1468
$GC,15451,1.35,351.6,133.8,9.5,741,15456,0.00,2.65,0.00,0.000,4,0.000,0.067,2717,3416,1468
$GC,15479,1.35,351.6,130.8,10.2,742,15484,0.00,2.60,0.00,0.000,6,0.000,0.058,2717,1993,1468
$GC,15796,1.35,351.6,101.8,9.6,757,15797,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1993,1469
$GC,16105,1.35,351.6,73.0,8.9,772,16109,0.00,2.62,0.00,0.000,4,0.000,0.067,2717,3407,1469
$GC,16160,1.35,351.6,68.8,8.6,774,16166,0.00,2.58,0.00,0.000,6,0.000,0.060,2717,1994,1469
$GC,16476,1.35,351.6,43.6,7.5,790,16481,0.00,2.60,0.00,0.000,4,0.000,0.071,2717,588,1469
$GC,16517,1.35,351.6,39.9,9.3,792,16521,0.00,2.47,0.00,0.000,6,0.000,0.040,2717,2004,1470
$GC,16850,1.35,351.6,14.8,10.7,808,16854,0.00,2.62,0.00,0.000,4,0.000,0.067,2717,586,1470
$GC,16900,1.35,351.6,8.3,12.3,810,16904,0.00,2.50,0.00,0.000,6,0.000,0.044,2717,1997,1470
$STATE,16966,end climb,SURFACE_DEPTH_REACHED
$STATE,16966,begin surface coast
$FINISH,0.4,1.027391
$STATE,16988,end surface coast,CONTROL_FINISHED_OK
$STATE,16988,begin surface
$SM_CCo,17072,0.00,0.000,0,0,1469,351.51
$SM_GC,1.18,11.80,0.00,0.00,0.033,0.000,0.000,51,2656,1469,-10.93,0.17,351.51
$IRIDIUM_FIX,6158.08,-1054.01,070698,202028
$TT8_MAMPS,0.028379
$HUMID,1782
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.3,52.2
$24V_AH,23.4,22.710
$10V_AH,10.1,11.865
$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,26.400,145.500,418.300,0.000,0.000,86.680,103.199,210.288,5.250,0.000,0.000,15.318,1513.324,13060.524,506.582,1934.232,709.270,33.352,1482.790,0.000,1885.455,0.000,36.947,0.000
$DEVICE_MAMPS,159.536,99.710,1114.451,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,574.127,587.816,497.850,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41136,814
$CAP_FILE_SIZE,125427,0
$CFSIZE,260165632,251998208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140309,013021,6229.021,-1047.235,40,2.9,59,-10.6