version: 66.04
glider: 103
mission: 11
dive: 132
start: 3 21 109 3 46 29
data:
$ID,103
$MISSION,11
$DIVE,132
$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,0
$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,-145624.16
$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,21
$R_STBD_OVSHOOT,16
$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
$GPS1,033931,6228.982,-1112.552,39,1.2,39,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-60.8
$GPS2,034540,6229.082,-1112.320,15,2.1,34,-10.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.171,0.136
$KALMAN_X,1933.9,1933.9,1933.9,-4969.3,-49622.7
$KALMAN_Y,744.4,744.4,744.4,2822.3,-19100.3
$MHEAD_RNG_PITCHd_Wd,62.1,23732,-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,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.12,0.000,2,0.000,0.000,51,2649,3180
$GC,62,-1.10,-146.6,3.8,-9.7,2,86,12.10,2.72,-5.55,0.000,4,0.159,0.084,2195,1233,3503
$GC,339,-1.10,-146.6,32.6,-8.6,14,344,0.00,2.65,0.00,0.000,6,0.000,0.066,2195,2654,3502
$GC,660,-1.10,-146.6,57.3,-7.2,30,665,0.00,2.65,0.00,0.000,4,0.000,0.073,2195,1241,3502
$GC,701,-1.10,-146.6,60.2,-7.4,32,705,0.00,2.60,0.00,0.000,6,0.000,0.065,2195,2657,3503
$GC,1028,-1.10,-146.6,81.3,-6.2,48,1031,0.00,2.15,0.00,0.000,4,0.000,0.088,2195,3780,3503
$GC,1084,-1.10,-146.6,85.2,-7.0,50,1087,0.00,2.05,0.00,0.000,6,0.000,0.055,2195,2650,3502
$GC,1406,-1.10,-146.6,105.7,-6.7,66,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,1716,-1.10,-146.6,127.4,-6.8,81,1720,0.00,2.17,0.00,0.000,4,0.000,0.086,2195,3780,3502
$GC,1767,-1.10,-146.6,131.6,-7.9,83,1770,0.00,2.05,0.00,0.000,6,0.000,0.055,2195,2650,3502
$GC,2094,-1.10,-146.6,154.5,-6.5,99,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,2403,-1.10,-146.6,173.4,-5.8,114,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,2712,-1.10,-146.6,190.2,-5.7,129,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,3022,-1.10,-146.6,208.7,-6.1,144,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,3331,-1.10,-146.6,230.2,-7.2,159,3334,0.00,2.17,0.00,0.000,4,0.000,0.087,2195,3782,3502
$GC,3460,-1.10,-146.6,239.5,-6.7,164,3466,0.00,2.05,0.00,0.000,6,0.000,0.055,2195,2647,3502
$GC,3776,-1.10,-146.6,263.2,-7.3,180,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3503
$GC,4085,-1.10,-146.6,284.4,-6.8,195,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3503
$GC,4394,-1.10,-146.6,306.8,-7.1,210,4397,0.00,2.20,0.00,0.000,4,0.000,0.087,2195,3790,3502
$GC,4467,-1.10,-146.6,312.7,-7.5,213,4471,0.00,2.08,0.00,0.000,6,0.000,0.054,2195,2642,3502
$GC,4794,-1.10,-146.6,337.6,-7.4,229,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3502
$GC,5103,-1.10,-146.6,361.9,-8.2,244,5107,0.00,2.17,0.00,0.000,4,0.000,0.085,2195,3782,3502
$GC,5142,-1.10,-146.6,365.3,-9.0,245,5148,0.00,2.03,0.00,0.000,6,0.000,0.055,2195,2650,3503
$GC,5458,-1.10,-146.6,390.0,-7.8,261,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,5767,-1.10,-146.6,415.6,-9.0,276,5771,0.00,2.17,0.00,0.000,4,0.000,0.084,2195,3786,3502
$GC,5840,-1.10,-146.6,422.8,-10.3,279,5844,0.00,2.05,0.00,0.000,6,0.000,0.056,2195,2650,3502
$GC,6167,-1.10,-146.6,452.7,-8.8,295,6171,0.00,2.58,0.00,0.000,4,0.000,0.068,2195,1236,3502
$GC,6195,-1.10,-146.6,455.2,-9.2,296,6199,0.00,2.58,0.00,0.000,6,0.000,0.058,2195,2651,3503
$GC,6512,-1.10,-146.6,479.9,-7.3,311,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2651,3502
$GC,6820,-1.10,-146.6,502.0,-7.4,326,6824,0.00,2.15,0.00,0.000,4,0.000,0.087,2195,3783,3502
$GC,6889,-1.10,-146.6,507.8,-8.5,329,6893,0.00,2.05,0.00,0.000,6,0.000,0.055,2195,2641,3502
$GC,7222,-1.10,-146.6,532.7,-7.1,345,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3501
$GC,7531,-1.10,-146.6,553.8,-6.7,360,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3501
$GC,7840,-1.10,-146.6,572.6,-5.2,375,7844,0.00,2.22,0.00,0.000,4,0.000,0.090,2195,3789,3502
$GC,7914,-1.10,-146.6,576.6,-5.8,378,7917,0.00,2.05,0.00,0.000,6,0.000,0.055,2195,2650,3501
$GC,8241,-1.10,-146.6,598.0,-7.2,394,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3501
$GC,8550,-1.10,-146.6,623.2,-8.4,409,8554,0.00,2.20,0.00,0.000,4,0.000,0.091,2195,3786,3500
$GC,8606,-1.10,-146.6,627.8,-7.8,411,8610,0.00,2.08,0.00,0.000,6,0.000,0.057,2195,2639,3500
$GC,8928,-1.10,-146.6,652.5,-7.7,427,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2639,3499
$GC,9240,-1.10,-146.6,675.3,-7.1,442,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2639,3498
$GC,9546,-1.10,-146.6,697.4,-6.4,457,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2638,3497
$STATE,9626,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9626,begin apogee
$GC,9634,-0.42,0.0,703.1,6.6,461,9762,0.77,0.00,124.28,1.183,6,0.097,0.000,2349,2003,2902
$STATE,9763,end apogee,CONTROL_FINISHED_OK
$STATE,9763,begin climb
$GC,9766,1.10,146.6,708.4,0.0,467,9899,1.55,2.72,122.38,1.148,4,0.058,0.065,2679,3423,2304
$GC,10141,1.18,209.5,700.0,4.3,484,10204,0.00,2.60,54.03,1.125,6,0.000,0.049,2678,1993,2048
$GC,10518,1.19,215.4,680.3,5.8,502,10531,0.00,2.78,6.68,0.937,4,0.000,0.069,2678,3416,2023
$GC,10600,1.21,235.5,675.6,5.4,505,10628,0.12,2.60,18.48,1.090,6,0.048,0.052,2716,1995,1941
$GC,10940,1.22,238.9,652.3,5.9,522,10946,0.00,0.00,4.40,0.797,6,0.000,0.000,2716,1994,1928
$GC,11247,1.22,238.9,631.8,6.5,537,11248,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1994,1928
$GC,11556,1.22,238.9,611.2,7.9,552,11560,0.00,2.67,0.00,0.000,4,0.000,0.071,2716,3416,1927
$GC,11596,1.22,238.9,608.0,8.3,554,11600,0.00,2.58,0.00,0.000,6,0.000,0.051,2716,1993,1927
$GC,11922,1.22,238.9,585.7,6.4,570,11926,0.00,2.67,0.00,0.000,4,0.000,0.069,2716,3420,1926
$GC,11966,1.22,238.9,582.8,6.6,572,11971,0.00,2.60,0.00,0.000,6,0.000,0.051,2716,1989,1926
$GC,12288,1.22,238.9,562.8,6.5,588,12289,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1989,1926
$GC,12597,1.22,238.9,539.1,7.5,603,12601,0.00,2.67,0.00,0.000,4,0.000,0.067,2716,3425,1926
$GC,12660,1.22,238.9,534.2,7.8,606,12664,0.00,2.58,0.00,0.000,6,0.000,0.050,2716,1997,1926
$GC,12986,1.22,238.9,508.3,8.2,622,12987,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1997,1926
$GC,13295,1.22,238.9,483.2,7.9,637,13300,0.00,2.60,0.00,0.000,4,0.000,0.067,2716,586,1926
$GC,13358,1.22,238.9,478.1,8.1,640,13363,0.00,2.50,0.00,0.000,6,0.000,0.038,2716,2013,1926
$GC,13686,1.22,238.9,453.6,7.6,656,13687,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2014,1926
$GC,13995,1.22,238.9,430.2,7.8,671,13999,0.00,2.58,0.00,0.000,4,0.000,0.067,2716,3409,1927
$GC,14039,1.22,238.9,426.5,8.4,673,14044,0.00,2.53,0.00,0.000,6,0.000,0.048,2716,2000,1927
$GC,14361,1.22,238.9,401.7,7.9,689,14365,0.00,2.58,0.00,0.000,4,0.000,0.064,2716,588,1927
$GC,14427,1.22,238.9,396.3,7.7,692,14431,0.00,2.47,0.00,0.000,6,0.000,0.038,2716,2004,1927
$GC,14754,1.22,238.9,370.0,8.3,708,14759,0.00,2.58,0.00,0.000,4,0.000,0.066,2716,3406,1928
$GC,14788,1.22,238.9,366.9,9.4,709,14794,0.00,2.53,0.00,0.000,6,0.000,0.048,2716,1997,1928
$GC,15104,1.22,238.9,342.1,7.5,725,15105,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1997,1928
$GC,15413,1.22,238.9,318.2,7.6,740,15414,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1997,1929
$GC,15722,1.22,238.9,293.4,7.8,755,15723,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1997,1930
$GC,16031,1.22,238.9,271.5,6.8,770,16033,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1997,1930
$GC,16341,1.22,238.9,250.8,6.7,785,16346,0.00,2.62,0.00,0.000,4,0.000,0.067,2716,3409,1931
$GC,16381,1.22,238.9,247.8,7.5,787,16386,0.00,2.55,0.00,0.000,6,0.000,0.051,2716,1992,1931
$GC,16708,1.22,238.9,224.9,7.1,803,16709,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1992,1931
$GC,17017,1.22,238.9,200.7,8.0,818,17019,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1992,1931
$GC,17326,1.22,238.9,176.2,8.5,833,17328,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1992,1932
$GC,17636,1.22,238.9,151.2,7.7,848,17637,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1992,1932
$GC,17946,1.22,238.9,127.6,7.6,863,17947,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1992,1933
$GC,18256,1.22,238.9,103.5,8.3,878,18260,0.00,2.58,0.00,0.000,4,0.000,0.067,2716,586,1933
$GC,18296,1.22,238.9,100.0,8.1,880,18301,0.00,2.50,0.00,0.000,6,0.000,0.041,2716,2009,1933
$GC,18623,1.22,238.9,72.7,8.4,896,18624,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2009,1933
$GC,18932,1.22,238.9,47.7,8.2,911,18933,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2009,1934
$GC,19241,1.22,238.9,23.7,8.2,926,19246,0.00,2.62,0.00,0.000,4,0.000,0.067,2716,590,1934
$GC,19297,1.22,238.9,18.8,8.7,928,19304,0.00,2.47,0.00,0.000,6,0.000,0.041,2716,2007,1934
$STATE,19528,end climb,SURFACE_DEPTH_REACHED
$STATE,19528,begin surface coast
$FINISH,0.5,1.018806
$STATE,19550,end surface coast,CONTROL_FINISHED_OK
$STATE,19550,begin surface
$SM_CCo,19635,0.00,0.000,0,0,1933,237.70
$SM_GC,1.97,11.77,0.00,0.00,0.034,0.000,0.000,50,2642,1933,-10.93,-0.23,237.70
$IRIDIUM_FIX,6202.67,-1109.47,140698,212154
$TT8_MAMPS,0.029146
$HUMID,1787
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.80
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,675.3,37.3
$24V_AH,23.3,27.725
$10V_AH,10.1,14.759
$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,26.325,118.500,330.225,0.000,0.000,23.627,28.018,161.797,9.750,0.000,0.000,35.056,1680.543,15327.471,418.159,2021.854,548.672,30.192,1402.150,0.000,1965.410,0.000,45.899,0.000
$DEVICE_MAMPS,158.769,91.273,1183.481,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,673.366,683.278,576.530,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47467,941
$CAP_FILE_SIZE,125622,0
$CFSIZE,260165632,249868288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210309,091500,6235.011,-1106.567,38,1.3,38,-10.8