version: 66.04
glider: 103
mission: 11
dive: 140
start: 3 22 109 23 50 41
data:
$ID,103
$MISSION,11
$DIVE,140
$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,-145781.38
$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,16
$R_STBD_OVSHOOT,21
$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
$GPS1,234255,6235.070,-1130.933,42,1.9,42,-11.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-61.2
$GPS2,234950,6235.088,-1130.872,16,1.7,16,-11.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.023,0.217
$KALMAN_X,30667.6,-986.1,-3255.6,-41281.3,22281.1
$KALMAN_Y,-9366.8,1025.2,20880.3,3702.7,-11828.7
$MHEAD_RNG_PITCHd_Wd,5.1,42756,-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,15,begin dive
$GC,19,-1.10,-146.6,0.0,0.0,0,62,0.00,0.00,-41.38,0.000,2,0.000,0.000,46,2662,3059
$GC,66,-1.10,-146.6,3.3,-9.0,2,88,12.27,0.00,-8.23,0.000,6,0.160,0.000,2194,2662,3501
$GC,392,-1.10,-146.6,35.5,-9.0,18,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2662,3501
$GC,700,-1.10,-146.6,61.9,-8.4,33,703,0.00,2.17,0.00,0.000,4,0.000,0.094,2194,3776,3501
$GC,761,-1.10,-146.6,67.0,-7.1,35,768,0.00,2.08,0.00,0.000,6,0.000,0.063,2194,2642,3501
$GC,1078,-1.10,-146.6,93.4,-9.1,51,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3501
$GC,1388,-1.10,-146.6,120.5,-8.2,66,1392,0.00,2.25,0.00,0.000,4,0.000,0.097,2194,3780,3501
$GC,1474,-1.10,-146.6,128.0,-9.2,70,1478,0.00,2.08,0.00,0.000,6,0.000,0.062,2194,2651,3501
$GC,1807,-1.10,-146.6,156.1,-8.2,86,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3501
$GC,2116,-1.10,-146.6,180.5,-7.8,101,2121,0.00,2.62,0.00,0.000,4,0.000,0.073,2194,1229,3501
$GC,2144,-1.10,-146.6,182.8,-7.8,102,2149,0.00,2.62,0.00,0.000,6,0.000,0.066,2194,2641,3501
$GC,2460,-1.10,-146.6,206.0,-7.1,117,2464,0.00,2.20,0.00,0.000,4,0.000,0.091,2195,3786,3501
$GC,2506,-1.10,-146.6,209.4,-6.8,119,2510,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2646,3501
$GC,2839,-1.10,-146.6,234.2,-7.7,135,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3501
$GC,3148,-1.10,-146.6,257.5,-7.5,150,3152,0.00,2.25,0.00,0.000,4,0.000,0.094,2194,3795,3501
$GC,3194,-1.10,-146.6,261.1,-8.4,152,3197,0.00,2.10,0.00,0.000,6,0.000,0.061,2195,2645,3501
$GC,3527,-1.10,-146.6,286.6,-7.8,168,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3501
$GC,3836,-1.10,-146.6,308.9,-7.0,183,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3501
$GC,4145,-1.10,-146.6,329.3,-6.8,198,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3501
$GC,4454,-1.10,-146.6,352.8,-7.1,213,4458,0.00,2.22,0.00,0.000,4,0.000,0.092,2194,3787,3502
$GC,4500,-1.10,-146.6,355.9,-6.7,215,4504,0.00,2.08,0.00,0.000,6,0.000,0.059,2194,2650,3502
$GC,4835,-1.10,-146.6,376.1,-6.0,231,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,5143,-1.10,-146.6,395.8,-7.1,246,5147,0.00,2.60,0.00,0.000,4,0.000,0.071,2194,1231,3502
$GC,5187,-1.10,-146.6,399.2,-7.8,248,5191,0.00,2.62,0.00,0.000,6,0.000,0.066,2194,2651,3502
$GC,5508,-1.10,-146.6,423.3,-8.0,264,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3502
$GC,5817,-1.10,-146.6,445.4,-7.4,279,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,6126,-1.10,-146.6,466.2,-6.6,294,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3501
$GC,6436,-1.10,-146.6,490.4,-8.4,309,6439,0.00,2.17,0.00,0.000,4,0.000,0.093,2194,3783,3501
$GC,6516,-1.10,-146.6,497.1,-8.5,312,6519,0.00,2.05,0.00,0.000,6,0.000,0.056,2194,2645,3501
$GC,6837,-1.10,-146.6,522.3,-8.6,328,6842,0.00,2.60,0.00,0.000,4,0.000,0.071,2194,1227,3501
$GC,6872,-1.10,-146.6,525.0,-7.7,329,6878,0.00,2.62,0.00,0.000,6,0.000,0.064,2194,2650,3501
$GC,7187,-1.10,-146.6,549.5,-7.5,345,7191,0.00,2.17,0.00,0.000,4,0.000,0.094,2194,3785,3500
$GC,7301,-1.10,-146.6,558.1,-7.5,350,7305,0.00,2.05,0.00,0.000,6,0.000,0.058,2194,2652,3500
$GC,7634,-1.10,-146.6,584.1,-8.5,366,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3499
$GC,7943,-1.10,-146.6,611.9,-9.0,381,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3498
$GC,8252,-1.10,-146.6,635.1,-7.2,396,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3497
$GC,8562,-1.10,-146.6,657.5,-7.2,411,8563,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3497
$GC,8871,-1.10,-146.6,678.8,-7.0,426,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3497
$STATE,8930,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8930,begin apogee
$GC,8938,-0.42,0.0,682.9,6.7,429,9065,0.77,0.00,124.30,1.153,6,0.098,0.000,2349,1989,2902
$STATE,9066,end apogee,CONTROL_FINISHED_OK
$STATE,9066,begin climb
$GC,9069,1.10,146.6,688.0,0.0,435,9203,1.55,2.83,123.22,1.121,4,0.060,0.074,2678,3418,2304
$GC,9458,1.17,199.4,683.1,4.5,452,9509,0.00,2.60,45.83,1.108,6,0.000,0.051,2678,1989,2088
$GC,9834,1.19,215.4,662.8,5.6,471,9856,0.00,2.78,14.93,1.065,4,0.000,0.071,2678,3425,2023
$GC,9935,1.19,215.4,656.5,6.5,475,9939,0.00,2.62,0.00,0.000,6,0.000,0.053,2678,1992,2022
$GC,10251,1.20,222.1,638.8,5.8,490,10261,0.10,0.00,7.20,0.960,6,0.051,0.000,2712,1992,1996
$GC,10560,1.20,222.1,617.5,7.0,505,10564,0.00,2.70,0.00,0.000,4,0.000,0.072,2712,3420,1996
$GC,10604,1.20,222.1,614.3,7.5,507,10608,0.00,2.60,0.00,0.000,6,0.000,0.052,2712,1990,1996
$GC,10925,1.20,222.1,594.0,6.3,523,10929,0.00,2.60,0.00,0.000,4,0.000,0.070,2712,590,1995
$GC,10980,1.20,222.1,590.4,6.2,525,10987,0.00,2.53,0.00,0.000,6,0.000,0.043,2712,2019,1995
$GC,11296,1.20,222.1,568.6,6.9,541,11301,0.00,2.60,0.00,0.000,4,0.000,0.073,2712,3407,1995
$GC,11352,1.20,222.1,564.8,6.4,543,11358,0.00,2.55,0.00,0.000,6,0.000,0.051,2712,2000,1995
$GC,11668,1.20,222.1,542.0,8.1,559,11669,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2000,1994
$GC,11977,1.20,222.1,517.5,6.9,574,11979,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2000,1994
$GC,12287,1.23,247.3,499.3,5.3,589,12316,0.00,2.78,22.12,1.051,4,0.000,0.071,2712,3406,1893
$GC,12363,1.23,247.3,494.6,6.1,592,12367,0.00,2.55,0.00,0.000,6,0.000,0.052,2712,2002,1893
$GC,12679,1.26,272.6,476.0,5.3,607,12703,0.00,0.00,22.58,1.023,6,0.000,0.000,2712,2003,1790
$GC,13008,1.26,272.6,456.6,6.0,623,13013,0.00,2.65,0.00,0.000,4,0.000,0.072,2712,3407,1790
$GC,13054,1.26,272.6,453.7,6.3,625,13058,0.00,2.58,0.00,0.000,6,0.000,0.053,2712,1993,1790
$GC,13376,1.33,327.9,436.4,4.5,641,13425,0.00,0.00,47.28,1.002,6,0.000,0.000,2712,1993,1565
$GC,13724,1.33,327.9,413.3,8.0,658,13728,0.00,2.67,0.00,0.000,4,0.000,0.071,2712,3409,1565
$GC,13774,1.33,327.9,409.0,8.1,660,13778,0.00,2.60,0.00,0.000,6,0.000,0.055,2712,1989,1565
$GC,14090,1.33,327.9,382.8,7.7,675,14094,0.00,2.67,0.00,0.000,4,0.000,0.073,2712,3405,1565
$GC,14145,1.33,327.9,378.1,8.5,677,14151,0.00,2.58,0.00,0.000,6,0.000,0.055,2712,1996,1565
$GC,14461,1.33,327.9,353.2,7.8,693,14465,0.00,2.65,0.00,0.000,4,0.000,0.071,2712,3404,1566
$GC,14505,1.33,327.9,349.6,7.8,695,14510,0.00,2.58,0.00,0.000,6,0.000,0.055,2712,1996,1566
$GC,14827,1.33,327.9,326.2,7.1,711,14832,0.00,2.65,0.00,0.000,4,0.000,0.070,2712,3406,1567
$GC,14861,1.33,327.9,323.3,8.2,712,14867,0.00,2.58,0.00,0.000,6,0.000,0.056,2712,1996,1566
$GC,15177,1.33,327.9,299.0,7.9,728,15181,0.00,2.65,0.00,0.000,4,0.000,0.070,2712,3409,1567
$GC,15216,1.33,327.9,295.7,9.0,730,15221,0.00,2.60,0.00,0.000,6,0.000,0.056,2712,1988,1567
$GC,15544,1.33,327.9,268.4,8.6,746,15548,0.00,2.65,0.00,0.000,4,0.000,0.069,2712,3406,1567
$GC,15588,1.33,327.9,264.1,9.9,748,15592,0.00,2.58,0.00,0.000,6,0.000,0.058,2712,2003,1567
$GC,15909,1.33,327.9,235.5,9.0,764,15913,0.00,2.62,0.00,0.000,4,0.000,0.067,2712,3410,1568
$GC,15948,1.33,327.9,231.6,9.6,765,15954,0.00,2.58,0.00,0.000,6,0.000,0.058,2712,1991,1568
$GC,16264,1.33,327.9,204.0,8.3,781,16268,0.00,2.65,0.00,0.000,4,0.000,0.069,2712,3411,1568
$GC,16314,1.33,327.9,199.7,8.4,783,16318,0.00,2.58,0.00,0.000,6,0.000,0.057,2712,2004,1568
$GC,16630,1.33,327.9,176.4,6.7,798,16634,0.00,2.60,0.00,0.000,4,0.000,0.069,2712,3403,1568
$GC,16669,1.33,327.9,173.6,6.3,800,16674,0.00,2.58,0.00,0.000,6,0.000,0.058,2712,1989,1568
$GC,16997,1.33,327.9,148.8,8.3,816,17001,0.00,2.65,0.00,0.000,4,0.000,0.070,2712,3403,1569
$GC,17038,1.33,327.9,145.1,9.1,818,17042,0.00,2.58,0.00,0.000,6,0.000,0.058,2712,1988,1569
$GC,17365,1.33,327.9,118.5,7.7,834,17369,0.00,2.65,0.00,0.000,4,0.000,0.067,2712,3410,1569
$GC,17398,1.33,327.9,115.5,8.6,835,17404,0.00,2.58,0.00,0.000,6,0.000,0.058,2712,1994,1569
$GC,17714,1.33,327.9,90.7,8.2,851,17718,0.00,2.65,0.00,0.000,4,0.000,0.070,2712,3411,1570
$GC,17769,1.33,327.9,85.7,9.4,853,17776,0.00,2.58,0.00,0.000,6,0.000,0.060,2712,1997,1570
$GC,18086,1.33,327.9,61.4,8.4,869,18087,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1997,1570
$GC,18395,1.33,327.9,34.7,10.8,884,18399,0.00,2.62,0.00,0.000,4,0.000,0.071,2712,3405,1570
$GC,18489,1.33,327.9,26.3,9.1,888,18494,0.00,2.58,0.00,0.000,6,0.000,0.061,2712,2000,1570
$GC,18806,1.48,449.8,11.4,2.6,903,18911,0.22,2.65,97.45,0.683,4,0.049,0.053,2765,3403,1067
$GC,18917,1.48,449.8,4.4,8.0,908,18922,0.00,2.62,0.00,0.000,6,0.000,0.059,2765,2002,1067
$STATE,18942,end climb,SURFACE_DEPTH_REACHED
$STATE,18942,begin surface coast
$FINISH,0.3,1.024867
$STATE,18964,end surface coast,CONTROL_FINISHED_OK
$STATE,18964,begin surface
$SM_CCo,19049,0.00,0.000,0,0,1066,450.37
$SM_GC,1.11,12.10,0.00,0.00,0.032,0.000,0.000,53,2640,1066,-10.92,-0.31,450.37
$IRIDIUM_FIX,6207.28,-1135.06,160698,181848
$TT8_MAMPS,0.028379
$HUMID,1766
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,15.30
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,626.2,66.3
$24V_AH,23.3,28.861
$10V_AH,10.1,15.463
$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,27.025,158.350,504.900,0.000,0.000,25.552,24.902,231.137,9.500,0.000,0.000,16.293,1644.195,14608.294,600.366,1973.821,631.891,33.354,1613.166,0.000,1939.221,0.000,37.322,0.000
$DEVICE_MAMPS,160.303,96.642,1152.801,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,662.305,654.089,552.600,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47484,910
$CAP_FILE_SIZE,132500,0
$CFSIZE,260165632,249352192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230309,050924,6239.639,-1135.257,36,1.6,36,-11.1