version: 66.04
glider: 103
mission: 11
dive: 139
start: 3 22 109 18 23 17
data:
$ID,103
$MISSION,11
$DIVE,139
$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,-145764.45
$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,20
$R_STBD_OVSHOOT,15
$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
$GPS1,181458,6234.226,-1131.499,129,1.5,129,-11.0
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,3
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-61.5
$GPS2,182226,6234.223,-1131.135,18,1.8,18,-11.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.213,-0.051
$KALMAN_X,18482.6,-836.5,1856.8,-34614.9,10370.9
$KALMAN_Y,-3630.6,-612.9,13290.8,5643.1,816.4
$MHEAD_RNG_PITCHd_Wd,267.6,42909,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.10,-146.6,0.0,0.0,0,62,0.00,0.00,-41.17,0.000,2,0.000,0.000,50,2651,3386
$GC,65,-1.10,-146.6,5.3,-18.2,2,87,12.15,0.00,-1.70,0.000,6,0.160,0.000,2196,2650,3503
$GC,397,-1.10,-146.6,53.7,-8.5,18,401,0.00,2.22,0.00,0.000,4,0.000,0.097,2196,3784,3503
$GC,510,-1.10,-146.6,63.1,-6.6,23,513,0.00,2.10,0.00,0.000,6,0.000,0.065,2196,2653,3503
$GC,838,-1.10,-146.6,86.6,-6.7,39,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2653,3503
$GC,1146,-1.10,-146.6,113.4,-10.3,54,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3503
$GC,1456,-1.10,-146.6,147.3,-10.1,69,1459,0.00,2.22,0.00,0.000,4,0.000,0.094,2196,3784,3503
$GC,1502,-1.10,-146.6,151.9,-10.3,71,1506,0.00,2.10,0.00,0.000,6,0.000,0.063,2196,2647,3503
$GC,1835,-1.10,-146.6,182.7,-9.1,87,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3503
$GC,2145,-1.10,-146.6,206.9,-6.8,102,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3503
$GC,2454,-1.10,-146.6,226.0,-6.4,117,2458,0.00,2.22,0.00,0.000,4,0.000,0.094,2196,3780,3503
$GC,2500,-1.10,-146.6,229.4,-7.5,119,2504,0.00,2.08,0.00,0.000,6,0.000,0.062,2196,2649,3503
$GC,2833,-1.10,-146.6,253.3,-7.1,135,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3503
$GC,3142,-1.10,-146.6,275.0,-7.3,150,3150,0.00,2.22,0.00,0.000,4,0.000,0.092,2196,3787,3503
$GC,3195,-1.10,-146.6,279.1,-7.7,152,3199,0.00,2.10,0.00,0.000,6,0.000,0.061,2196,2642,3503
$GC,3522,-1.10,-146.6,304.5,-7.7,168,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3503
$GC,3831,-1.10,-146.6,329.4,-8.2,183,3835,0.00,2.20,0.00,0.000,4,0.000,0.089,2196,3780,3503
$GC,3870,-1.10,-146.6,332.8,-8.4,184,3876,0.00,2.08,0.00,0.000,6,0.000,0.060,2196,2642,3503
$GC,4186,-1.10,-146.6,357.9,-8.2,200,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3503
$GC,4495,-1.10,-146.6,382.8,-7.9,215,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3503
$GC,4804,-1.10,-146.6,406.5,-7.0,230,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3503
$GC,5114,-1.10,-146.6,428.5,-8.1,245,5118,0.00,2.20,0.00,0.000,4,0.000,0.088,2196,3787,3503
$GC,5175,-1.10,-146.6,433.8,-9.0,247,5181,0.00,2.08,0.00,0.000,6,0.000,0.056,2196,2641,3503
$GC,5491,-1.10,-146.6,456.6,-7.0,263,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3503
$GC,5801,-1.10,-146.6,479.1,-7.5,278,5804,0.00,2.20,0.00,0.000,4,0.000,0.087,2196,3782,3503
$GC,5874,-1.10,-146.6,485.0,-8.0,281,5877,0.00,2.05,0.00,0.000,6,0.000,0.056,2196,2642,3503
$GC,6201,-1.10,-146.6,510.8,-7.3,297,6205,0.00,2.20,0.00,0.000,4,0.000,0.090,2196,3782,3503
$GC,6246,-1.10,-146.6,514.1,-7.4,299,6250,0.00,2.03,0.00,0.000,6,0.000,0.054,2196,2645,3503
$GC,6579,-1.10,-146.6,539.0,-7.5,315,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2645,3502
$GC,6888,-1.10,-146.6,560.5,-6.7,330,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2645,3502
$GC,7198,-1.10,-146.6,582.2,-7.2,345,7201,0.00,2.22,0.00,0.000,4,0.000,0.093,2196,3787,3502
$GC,7271,-1.10,-146.6,587.6,-7.0,348,7275,0.00,2.05,0.00,0.000,6,0.000,0.058,2196,2651,3502
$GC,7598,-1.10,-146.6,609.1,-6.6,364,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3501
$GC,7907,-1.10,-146.6,628.1,-6.5,379,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3500
$GC,8216,-1.10,-146.6,648.7,-6.6,394,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2652,3500
$GC,8525,-1.10,-146.6,670.0,-6.8,409,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3499
$GC,8835,-1.10,-146.6,691.6,-6.7,424,8838,0.00,2.22,0.00,0.000,4,0.000,0.095,2196,3787,3499
$GC,8881,-1.10,-146.6,694.5,-6.7,426,8885,0.00,2.08,0.00,0.000,6,0.000,0.061,2196,2648,3498
$STATE,8984,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8985,begin apogee
$GC,8993,-0.42,0.0,701.6,6.5,431,9121,0.75,0.00,124.40,1.180,6,0.080,0.000,2350,1996,2902
$STATE,9121,end apogee,CONTROL_FINISHED_OK
$STATE,9121,begin climb
$GC,9124,1.10,146.6,706.1,0.0,437,9257,1.52,2.75,123.53,1.129,4,0.056,0.071,2679,586,2304
$GC,9513,1.23,247.2,696.8,3.2,454,9605,0.12,2.55,85.07,1.134,6,0.045,0.041,2718,2016,1894
$GC,9933,1.23,247.2,667.1,7.2,475,9937,0.00,2.62,0.00,0.000,4,0.000,0.074,2718,3407,1893
$GC,9966,1.23,247.2,664.5,7.7,476,9972,0.00,2.58,0.00,0.000,6,0.000,0.051,2718,1995,1893
$GC,10281,1.23,247.2,641.3,7.5,492,10286,0.00,2.62,0.00,0.000,4,0.000,0.070,2718,586,1892
$GC,10314,1.23,247.2,638.7,7.6,493,10321,0.00,2.53,0.00,0.000,6,0.000,0.043,2718,2000,1892
$GC,10630,1.23,247.2,616.2,7.3,509,10634,0.00,2.62,0.00,0.000,4,0.000,0.074,2718,3407,1892
$GC,10658,1.23,247.2,614.1,8.2,510,10662,0.00,2.58,0.00,0.000,6,0.000,0.052,2718,1990,1892
$GC,10973,1.23,247.2,590.4,7.6,525,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1990,1891
$GC,11283,1.23,247.2,567.0,7.4,540,11287,0.00,2.67,0.00,0.000,4,0.000,0.072,2718,3415,1892
$GC,11361,1.23,247.2,560.7,8.5,543,11367,0.00,2.58,0.00,0.000,6,0.000,0.052,2718,1996,1892
$GC,11676,1.23,247.2,537.7,7.4,559,11681,0.00,2.67,0.00,0.000,4,0.000,0.074,2718,3409,1891
$GC,11721,1.23,247.2,534.1,7.6,561,11725,0.00,2.58,0.00,0.000,6,0.000,0.053,2718,1992,1891
$GC,12042,1.23,247.2,507.5,8.6,577,12046,0.00,2.67,0.00,0.000,4,0.000,0.072,2718,3409,1891
$GC,12131,1.23,247.2,500.1,8.0,581,12135,0.00,2.58,0.00,0.000,6,0.000,0.054,2718,1992,1891
$GC,12452,1.23,247.2,479.2,6.3,597,12453,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1991,1891
$GC,12761,1.23,247.2,457.7,7.3,612,12765,0.00,2.67,0.00,0.000,4,0.000,0.071,2718,3417,1891
$GC,12823,1.23,247.2,452.9,7.3,615,12827,0.00,2.58,0.00,0.000,6,0.000,0.052,2718,1993,1891
$GC,13150,1.23,247.2,427.2,8.1,631,13151,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1993,1892
$GC,13459,1.23,247.2,402.9,7.6,646,13463,0.00,2.65,0.00,0.000,4,0.000,0.071,2718,3407,1892
$GC,13492,1.23,247.2,400.1,7.6,647,13498,0.00,2.55,0.00,0.000,6,0.000,0.052,2718,1996,1892
$GC,13808,1.23,247.2,375.6,7.8,663,13812,0.00,2.58,0.00,0.000,4,0.000,0.064,2718,586,1892
$GC,13858,1.23,247.2,370.9,9.0,665,13862,0.00,2.50,0.00,0.000,6,0.000,0.040,2718,2006,1893
$GC,14174,1.23,247.2,344.0,8.2,680,14178,0.00,2.60,0.00,0.000,4,0.000,0.071,2718,3416,1893
$GC,14214,1.23,247.2,340.8,7.6,681,14221,0.00,2.58,0.00,0.000,6,0.000,0.052,2718,1994,1893
$GC,14530,1.23,247.2,317.6,7.1,697,14531,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1994,1894
$GC,14839,1.23,247.2,295.8,7.1,712,14841,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1994,1895
$GC,15149,1.23,247.2,274.6,6.9,727,15153,0.00,2.65,0.00,0.000,4,0.000,0.070,2718,3415,1895
$GC,15188,1.23,247.2,271.8,6.5,729,15193,0.00,2.58,0.00,0.000,6,0.000,0.054,2718,1989,1895
$GC,15515,1.23,247.2,250.3,6.5,745,15517,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1989,1895
$GC,15825,1.23,247.2,229.3,6.8,760,15829,0.00,2.65,0.00,0.000,4,0.000,0.068,2718,3410,1896
$GC,15858,1.23,247.2,227.0,6.8,761,15864,0.00,2.58,0.00,0.000,6,0.000,0.054,2718,1992,1896
$GC,16174,1.23,247.2,203.9,8.0,777,16175,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1992,1896
$GC,16483,1.23,247.2,179.3,8.0,792,16487,0.00,2.62,0.00,0.000,4,0.000,0.071,2718,3405,1896
$GC,16533,1.23,247.2,175.1,8.2,794,16537,0.00,2.55,0.00,0.000,6,0.000,0.055,2718,2000,1897
$GC,16849,1.23,247.2,151.1,7.4,809,16853,0.00,2.58,0.00,0.000,4,0.000,0.066,2718,588,1897
$GC,16893,1.23,247.2,147.5,7.9,811,16897,0.00,2.50,0.00,0.000,6,0.000,0.041,2718,2009,1897
$GC,17215,1.23,247.2,122.6,7.5,827,17219,0.00,2.60,0.00,0.000,4,0.000,0.070,2718,3417,1898
$GC,17264,1.23,247.2,118.7,6.8,829,17269,0.00,2.58,0.00,0.000,6,0.000,0.054,2718,1987,1897
$GC,17580,1.23,247.2,97.9,6.5,844,17582,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1987,1898
$GC,17890,1.23,247.2,77.3,6.7,859,17891,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1987,1898
$GC,18199,1.28,288.6,59.0,4.9,874,18239,0.00,0.00,35.05,0.720,6,0.000,0.000,2718,1986,1725
$GC,18550,1.28,288.6,35.5,7.7,891,18551,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1986,1724
$GC,18858,1.28,288.6,11.3,8.4,906,18862,0.00,2.65,0.00,0.000,4,0.000,0.067,2718,3409,1724
$GC,18885,1.28,288.6,9.2,7.9,907,18890,0.00,2.60,0.00,0.000,6,0.000,0.060,2718,1995,1725
$STATE,18992,end climb,SURFACE_DEPTH_REACHED
$STATE,18992,begin surface coast
$FINISH,0.4,1.026064
$STATE,19014,end surface coast,CONTROL_FINISHED_OK
$STATE,19014,begin surface
$SM_CCo,19098,0.00,0.000,0,0,1724,288.96
$SM_GC,1.14,11.73,0.00,0.00,0.028,0.000,0.000,46,2658,1724,-10.94,0.23,288.96
$IRIDIUM_FIX,6207.28,-1134.13,160698,121203
$TT8_MAMPS,0.028379
$HUMID,1772
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.70
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,625.3,86.0
$24V_AH,23.3,28.697
$10V_AH,10.1,15.376
$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,26.275,133.775,368.050,0.000,0.000,24.950,27.935,257.171,8.500,0.000,0.000,18.280,1641.850,14859.864,459.651,1930.716,646.679,33.344,1432.057,0.000,1891.563,0.000,37.381,0.000
$DEVICE_MAMPS,160.303,96.642,1179.646,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,655.836,662.195,547.446,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47420,913
$CAP_FILE_SIZE,127303,0
$CFSIZE,260165632,249417728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220309,234255,6235.070,-1130.933,42,1.9,42,-11.0